Blimp & AP_Motors: Add AP_Motors class for blimp.

MichelleRos · Aug 24, 2023 · e4c7446 · e4c7446
1 parent 50733fc
commit e4c7446
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Showing 6 changed files with 103 additions and 749 deletions.
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
@@ -51,6 +51,7 @@
 #include <AC_PID/AC_PID_Basic.h>
 #include <AC_PID/AC_PID.h>
 #include <AP_Vehicle/AP_MultiCopter.h>
+#include <AP_Motors/AP_Motors.h>            // AP Motors library
 
 #include <Filter/NotchFilter.h>
 
@@ -193,7 +194,7 @@ class Blimp : public AP_Vehicle
     }
 
     // Motor Output
-    Fins *motors;
+    AP_MotorsBlimp *motors;
     Loiter *loiter;
 
     int32_t _home_bearing;

diff --git a/Blimp/system.cpp b/Blimp/system.cpp
@@ -254,7 +254,10 @@ const char* Blimp::get_frame_string()
  */
 void Blimp::allocate_motors(void)
 {
-    switch ((Fins::motor_frame_class)g2.frame_class.get()) {
+    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
+    case AP_MotorsBlimp::MOTOR_FRAME_BLIMP:
+        motors = new AP_MotorsBlimp();
+        break;
     case Fins::MOTOR_FRAME_FISHBLIMP:
     default:
         motors = new Fins(blimp.scheduler.get_loop_rate_hz());

diff --git a/libraries/AP_Motors/AP_Motors.h b/libraries/AP_Motors/AP_Motors.h
@@ -13,3 +13,4 @@
 #include "AP_Motors6DOF.h"
 #include "AP_MotorsMatrix_6DoF_Scripting.h"
 #include "AP_MotorsMatrix_Scripting_Dynamic.h"
+#include "AP_MotorsBlimp.h"