- add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
- break;
- case MOTOR_FRAME_TYPE_X:
- add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
- add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
- add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
- add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
- add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
- add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
- break;
- case MOTOR_FRAME_TYPE_H:
- // H is same as X except middle motors are closer to center
- add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
- add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
- add_motor_raw(AP_MOTORS_MOT_3, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
- add_motor_raw(AP_MOTORS_MOT_4, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
- add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
- add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
- break;
- default:
- // hexa frame class does not support this frame type