From 0dc202502de8e879f427c94ce0c415f8a558c2fb Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Tue, 2 Dec 2014 10:49:19 +0100 Subject: added VTOL geometries to determine number of motors --- src/modules/mavlink/mavlink_messages.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) (limited to 'src/modules/mavlink/mavlink_messages.cpp') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a8f956ad0..a68381f9f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1358,7 +1358,10 @@ protected: /* scale outputs depending on system type */ if (system_type == MAV_TYPE_QUADROTOR || system_type == MAV_TYPE_HEXAROTOR || - system_type == MAV_TYPE_OCTOROTOR) { + system_type == MAV_TYPE_OCTOROTOR || + system_type == MAV_TYPE_VTOL_DUOROTOR || + system_type == MAV_TYPE_VTOL_QUADROTOR) { + /* multirotors: set number of rotor outputs depending on type */ unsigned n; @@ -1372,6 +1375,14 @@ protected: n = 6; break; + case MAV_TYPE_VTOL_DUOROTOR: + n = 2; + break; + + case MAV_TYPE_VTOL_QUADROTOR: + n = 4; + break; + default: n = 8; break; -- cgit v1.2.3