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AP_Motors: add support for tricopter tailsitter in AP_MotorsMatrix #15447

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AP_Motors: add support for tricopter tailsitter in AP_MotorsMatrix #15447

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10 changes: 9 additions & 1 deletion libraries/AP_Motors/AP_MotorsMatrix.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -491,7 +491,15 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty

switch (frame_class) {

case MOTOR_FRAME_QUAD:
case MOTOR_FRAME_TRI:
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I think, combine indentation with other CASE

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not sure what you mean

// frame_type ignored since only one frame type is currently supported
add_motor(AP_MOTORS_MOT_1, 90, 0, 2);
add_motor(AP_MOTORS_MOT_2, -90, 0, 4);
add_motor(AP_MOTORS_MOT_4, 180, 0, 3);
success = true;
break;

case MOTOR_FRAME_QUAD:
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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