Custom MotorsMatrix Arducopter Lua Script

motor_mix.lua

-- duplicate the #defines from AP_Motors
local AP_MOTORS_MOT_1 = 0
local AP_MOTORS_MOT_2 = 1
local AP_MOTORS_MOT_3 = 2
local AP_MOTORS_MOT_4 = 3

local function add_motor(motor_num, angle_degrees, yaw_factor, testing_order)

    gcs:send_text(6, string.format("Adding motor:%i to MotorsMatrix", motor_num + 1))

    MotorsMatrix:add_motor_raw(
        motor_num,
        math.cos(math.rad(angle_degrees + 90)),
        math.cos(math.rad(angle_degrees)),
        yaw_factor,
        testing_order
    )

    gcs:send_text(6, string.format("Added motor:%i to MotorsMatrix", motor_num + 1))

end

-- This script fails unless the correct FRAME_CLASS is set
local message = 'Empty message'

if not(param:set('FRAME_CLASS', 15)) then
    message = 'Unable to set FRAME_CLASS to 15'
else
    message = 'FRAME_CLASS Succesfully set to 15'
end

gcs:send_text(6, message)
assert((param:get('FRAME_CLASS') == 15), 'Incorrect FRAME_CLASS')

--[[
    default V (Discovery) definition:

add_motor(AP_MOTORS_MOT_1,   45,  0.7981f,  1);
add_motor(AP_MOTORS_MOT_2, -135,  1.0000f,  3);
add_motor(AP_MOTORS_MOT_3,  -45, -0.7981f,  4);
add_motor(AP_MOTORS_MOT_4,  135, -1.0000f,  2);
--]]

gcs:send_text(6, "MotorsMatrix initializing")

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)

assert(MotorsMatrix:init(4), "Failed to init MotorsMatrix")

gcs:send_text(6, "MotorsMatrix initialized")