SITL: support up to 32 rotors in a frame

ArduPilot · Jan 6, 2025 · bb96db5 · bb96db5
1 parent 592031c
commit bb96db5
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
@@ -409,7 +409,7 @@ void Frame::load_frame_params(const char *model_json)
     };
     char label_name[20];
     for (uint8_t i=0; i<ARRAY_SIZE(per_motor_vars); i++) {
-        for (uint8_t j=0; j<12; j++) {
+        for (uint8_t j=0; j<SIM_FRAME_MAX_ACTUATORS; j++) {
             snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
             auto v = obj->get(label_name);
             if (v.is<AP_JSON::null>()) {

diff --git a/libraries/SITL/SIM_Frame.h b/libraries/SITL/SIM_Frame.h
@@ -22,6 +22,10 @@
 #include "SIM_Motor.h"
 #include <AP_JSON/AP_JSON.h>
 
+#ifndef SIM_FRAME_MAX_ACTUATORS
+#define SIM_FRAME_MAX_ACTUATORS 32
+#endif
+
 namespace SITL {
 
 /*
@@ -132,10 +136,9 @@ class Frame {
         // if zero value will be estimated from mass
         Vector3f moment_of_inertia;
 
-        // if zero will no be used
-        Vector3f motor_pos[12];
-        Vector3f motor_thrust_vec[12];
-        float yaw_factor[12] = {0};
+        Vector3f motor_pos[SIM_FRAME_MAX_ACTUATORS];
+        Vector3f motor_thrust_vec[SIM_FRAME_MAX_ACTUATORS];
+        float yaw_factor[SIM_FRAME_MAX_ACTUATORS] {0,};
 
         // number of motors
         float num_motors = 4;