private static FlightCapability MavTypeToFlightCapability(MAVLink.MAV_TYPE mavType)
{
switch (mavType)
{
case MAVLink.MAV_TYPE.FIXED_WING:
return(FlightCapability.FixedWing);
// There are a lot more types but these will do for now
case MAVLink.MAV_TYPE.QUADROTOR:
case MAVLink.MAV_TYPE.COAXIAL:
case MAVLink.MAV_TYPE.HEXAROTOR:
case MAVLink.MAV_TYPE.OCTOROTOR:
case MAVLink.MAV_TYPE.TRICOPTER:
case MAVLink.MAV_TYPE.DODECAROTOR:
return(FlightCapability.Rotary);
default:
return(FlightCapability.Unspecified);
}
}
public static Motor[] build_motors(MAVLink.MAV_TYPE frame, int frame_orientation)
{
motors = new Motor[0];
if (frame == MAVLink.MAV_TYPE.HEXAROTOR) // y6
{
// hard coded config for supported frames
if (frame_orientation == AP_MOTORS_PLUS_FRAME)
{
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, -120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
else
{
// X frame set-up
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);
}
}
else if (frame == MAVLink.MAV_TYPE.HEXAROTOR && false) // y6
{
if (frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME)
{
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}
else
{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}
}
else if (frame == MAVLink.MAV_TYPE.OCTOROTOR)
{
// hard coded config for supported frames
if (frame_orientation == AP_MOTORS_PLUS_FRAME)
{
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
else if (frame_orientation == AP_MOTORS_V_FRAME)
{
// V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
}
else
{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
}
else if (frame == MAVLink.MAV_TYPE.OCTOROTOR && false) // octaquad
{
// hard coded config for supported frames
if (frame_orientation == AP_MOTORS_PLUS_FRAME)
{
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}
else if (frame_orientation == AP_MOTORS_V_FRAME)
{
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -45, -0.7981, 7);
add_motor(AP_MOTORS_MOT_3, -135, 1.0000, 5);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 3);
add_motor(AP_MOTORS_MOT_5, -45, 0.7981, 8);
add_motor(AP_MOTORS_MOT_6, 45, -0.7981, 2);
add_motor(AP_MOTORS_MOT_7, 135, 1.0000, 4);
add_motor(AP_MOTORS_MOT_8, -135, -1.0000, 6);
}
else if (frame_orientation == AP_MOTORS_H_FRAME)
{
// H frame set-up - same as X but motors spin in opposite directions
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}
else
{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}
}
else if (frame == MAVLink.MAV_TYPE.QUADROTOR)
{
// hard coded config for supported frames
if (frame_orientation == AP_MOTORS_PLUS_FRAME)
{
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
else if (frame_orientation == AP_MOTORS_V_FRAME)
{
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
}
else if (frame_orientation == AP_MOTORS_H_FRAME)
{
// H frame set-up - same as X but motors spin in opposite directiSons
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
}
else if (frame_orientation == AP_MOTORS_VTAIL_FRAME)
{
/* Lynxmotion Hunter Vtail 400/500
*
* Roll control comes only from the front motors, Yaw control only from the rear motors
* roll factor is measured by the angle perpendicular to that of the prop arm to the roll axis (x)
* pitch factor is measured by the angle perpendicular to the prop arm to the pitch axis (y)
*
* assumptions:
* 20 20
\ / 3_____________1
\ / |
\ / |
\ 40 \/ 40 20 | 20
\ Tail / \
\ 2 4
\
\ All angles measured from their closest axis
\
\ Note: if we want the front motors to help with yaw,
\ motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle
\ motors 3's yaw factor should be changed to -sin(radians(40))
*/
// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1);
// back left: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4);
// back right: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
}
else
{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
}
}
else if (frame == MAVLink.MAV_TYPE.TRICOPTER)
{
if (frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME)
{
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}
else
{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}
}
return(motors);
}
private int get_motormax()
{
var motormax = 8;
if (MainV2.comPort.MAV.aptype == MAVLink.MAV_TYPE.GROUND_ROVER)
{
return(4);
}
var enable = MainV2.comPort.MAV.param.ContainsKey("FRAME") || MainV2.comPort.MAV.param.ContainsKey("Q_FRAME_TYPE") || MainV2.comPort.MAV.param.ContainsKey("FRAME_TYPE");
if (!enable)
{
Enabled = false;
return(motormax);
}
MAVLink.MAV_TYPE type = MAVLink.MAV_TYPE.QUADROTOR;
int frame_type = 0; // + frame
if (MainV2.comPort.MAV.param.ContainsKey("Q_FRAME_CLASS"))
{
var value = (int)MainV2.comPort.MAV.param["Q_FRAME_CLASS"].Value;
switch (value)
{
case 0:
case 1:
type = MAVLink.MAV_TYPE.QUADROTOR;
break;
case 2:
case 5:
type = MAVLink.MAV_TYPE.HEXAROTOR;
break;
case 3:
case 4:
type = MAVLink.MAV_TYPE.OCTOROTOR;
break;
case 6:
type = MAVLink.MAV_TYPE.HELICOPTER;
break;
case 7:
type = MAVLink.MAV_TYPE.TRICOPTER;
break;
}
frame_type = (int)MainV2.comPort.MAV.param["Q_FRAME_TYPE"].Value;
}
else if (MainV2.comPort.MAV.param.ContainsKey("FRAME"))
{
type = MainV2.comPort.MAV.aptype;
frame_type = (int)MainV2.comPort.MAV.param["FRAME"].Value;
}
else if (MainV2.comPort.MAV.param.ContainsKey("FRAME_TYPE"))
{
type = MainV2.comPort.MAV.aptype;
frame_type = (int)MainV2.comPort.MAV.param["FRAME_TYPE"].Value;
}
var motors = new Motor[0];
if (type == MAVLink.MAV_TYPE.TRICOPTER)
{
motormax = 4;
motors = Motor.build_motors(MAVLink.MAV_TYPE.TRICOPTER, frame_type);
}
else if (type == MAVLink.MAV_TYPE.QUADROTOR)
{
motormax = 4;
motors = Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, frame_type);
}
else if (type == MAVLink.MAV_TYPE.HEXAROTOR)
{
motormax = 6;
motors = Motor.build_motors(MAVLink.MAV_TYPE.HEXAROTOR, frame_type);
}
else if (type == MAVLink.MAV_TYPE.OCTOROTOR)
{
motormax = 8;
motors = Motor.build_motors(MAVLink.MAV_TYPE.OCTOROTOR, frame_type);
}
else if (type == MAVLink.MAV_TYPE.HELICOPTER)
{
motormax = 0;
}
return(motormax);
}
private int get_motormax()
{
var motormax = 8;
var enable = MainV2.comPort.MAV.param.ContainsKey("FRAME") || MainV2.comPort.MAV.param.ContainsKey("Q_FRAME_TYPE") || MainV2.comPort.MAV.param.ContainsKey("FRAME_TYPE");
if (!enable)
{
Enabled = false;
return(motormax);
}
MAVLink.MAV_TYPE type = MAVLink.MAV_TYPE.QUADROTOR;
int frame_type = 0; // + frame
if (MainV2.comPort.MAV.param.ContainsKey("Q_FRAME_CLASS"))
{
var value = (int)MainV2.comPort.MAV.param["Q_FRAME_CLASS"].Value;
switch (value)
{
case 0:
type = MAVLink.MAV_TYPE.QUADROTOR;
break;
case 1:
type = MAVLink.MAV_TYPE.HEXAROTOR;
break;
case 2:
type = MAVLink.MAV_TYPE.OCTOROTOR;
break;
case 3:
type = MAVLink.MAV_TYPE.OCTOROTOR;
break;
}
frame_type = (int)MainV2.comPort.MAV.param["Q_FRAME_TYPE"].Value;
}
else if (MainV2.comPort.MAV.param.ContainsKey("FRAME"))
{
type = MainV2.comPort.MAV.aptype;
frame_type = (int)MainV2.comPort.MAV.param["FRAME"].Value;
}
else if (MainV2.comPort.MAV.param.ContainsKey("FRAME_TYPE"))
{
type = MainV2.comPort.MAV.aptype;
frame_type = (int)MainV2.comPort.MAV.param["FRAME_TYPE"].Value;
}
var motors = new Motor[0];
if (type == MAVLink.MAV_TYPE.TRICOPTER)
{
motormax = 4;
motors = Motor.build_motors(MAVLink.MAV_TYPE.TRICOPTER, frame_type);
}
else if (type == MAVLink.MAV_TYPE.QUADROTOR)
{
motormax = 4;
motors = Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, frame_type);
if (frame_type == 0)//+字型机架
{
pictureBox1.BackgroundImage = Properties.Resources._4_;
}
else if (frame_type == 1)
{
pictureBox1.BackgroundImage = Properties.Resources._4x;
}
else
{
pictureBox1.BackgroundImage = null;
}
}
else if (type == MAVLink.MAV_TYPE.HEXAROTOR)
{
motormax = 6;
motors = Motor.build_motors(MAVLink.MAV_TYPE.HEXAROTOR, frame_type);
if (frame_type == 0)//+字型机架
{
pictureBox1.BackgroundImage = Properties.Resources._6_;
}
else if (frame_type == 1)
{
pictureBox1.BackgroundImage = Properties.Resources._6x;
}
else
{
pictureBox1.BackgroundImage = null;
}
}
else if (type == MAVLink.MAV_TYPE.OCTOROTOR)
{
motormax = 8;
motors = Motor.build_motors(MAVLink.MAV_TYPE.OCTOROTOR, frame_type);
if (frame_type == 0)//+字型机架
{
pictureBox1.BackgroundImage = Properties.Resources._8_;
}
else if (frame_type == 1)
{
pictureBox1.BackgroundImage = Properties.Resources._8x;
}
else
{
pictureBox1.BackgroundImage = null;
}
}
else if (type == MAVLink.MAV_TYPE.HELICOPTER)
{
motormax = 0;
}
return(motormax);
}