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/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
public class Hexacopter : CopterModel {
int[] min = new int[6];
int[] max = new int[6];
int[] cmd = new int[6];
const int YAW_DIRECTION = 1;
private enum Position {
FRONT,
FRONT_RIGHT,
REAR_RIGHT,
REAR,
REAR_LEFT,
FRONT_LEFT,
}
public override uint8 get_motor_amount() {
return 6;
}
public override void set_max(uint8 motor, int val) {
max[motor] = val;
}
public override int get_max(uint8 motor) {
return max[motor];
}
public override void set_min(uint8 motor, int val) {
min[motor] = val;
}
public override int get_min(uint8 motor) {
return min[motor];
}
public override int[] get_motor_data(int throttle, int motorAxisCommandYaw, int motorAxisCommandRoll, int motorAxisCommandPitch) {
int throttleCorrection = (motorAxisCommandYaw*3/6).abs();
cmd[Position.FRONT] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw);
cmd[Position.FRONT_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw);
cmd[Position.REAR_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw);
cmd[Position.REAR] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw);
cmd[Position.REAR_LEFT] = (throttle - throttleCorrection) - motorAxisCommandPitch + (YAW_DIRECTION * motorAxisCommandYaw);
cmd[Position.FRONT_LEFT] = (throttle - throttleCorrection) + motorAxisCommandPitch - (YAW_DIRECTION * motorAxisCommandYaw);
return cmd;
}
}
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