AP_Scripting: allow setting throttle factor from add_motor_raw

[magate]

add_motor_raw defaults throttle factor to 1:

ardupilot/libraries/AP_Motors/AP_MotorsMatrix.h

Line 79 in bb2249f

void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order, float throttle_factor = 1.0f);

There is a scripting set_throttle_factor. This does not seem to be working with frame class (https://ardupilot.org/plane/docs/parameters-Plane-stable-V4.5.6.html#q-frame-class-frame-class) 15 though.

[IamPete1]

You can't add fields without breaking existing scripts.

It certainly should work, they key thing is that you have to set the factors after adding the motor but prior to calling the init. We have a partial example with the static matrix:

ardupilot/libraries/AP_Scripting/applets/x-quad-cg-allocation.lua

Lines 166 to 187 in 66a2788

	function update_static_mixer(ratio)
	MotorsMatrix:add_motor_raw(0,-0.5, 0.5, 0.5, 2)
	MotorsMatrix:add_motor_raw(1, 0.5,-0.5, 0.5, 4)
	MotorsMatrix:add_motor_raw(2, 0.5, 0.5,-0.5, 1)
	MotorsMatrix:add_motor_raw(3,-0.5,-0.5,-0.5, 3)
	throttle_factors = build_factors(ratio)
	MotorsMatrix:set_throttle_factor(0, throttle_factors[1])
	MotorsMatrix:set_throttle_factor(1, throttle_factors[2])
	MotorsMatrix:set_throttle_factor(2, throttle_factors[3])
	MotorsMatrix:set_throttle_factor(3, throttle_factors[4])
	if not MotorsMatrix:init(4) then
	warn_user("Failed to initialize motor matrix!", MAV_SEVERITY.EMERGENCY)
	else
	if ratio ~= last_ratio then
	warn_user("Set ratio to " .. tostring(ratio), MAV_SEVERITY.INFO)
	last_ratio = ratio
	end
	end
	motors:set_frame_string("Static CoM adjust")
	end

What behavior are you seeing?

[magate]

You can't add fields without breaking existing scripts.

It certainly should work, they key thing is that you have to set the factors after adding the motor but prior to calling the init. We have a partial example with the static matrix:

ardupilot/libraries/AP_Scripting/applets/x-quad-cg-allocation.lua

Lines 166 to 187 in 66a2788

	function update_static_mixer(ratio)
	MotorsMatrix:add_motor_raw(0,-0.5, 0.5, 0.5, 2)
	MotorsMatrix:add_motor_raw(1, 0.5,-0.5, 0.5, 4)
	MotorsMatrix:add_motor_raw(2, 0.5, 0.5,-0.5, 1)
	MotorsMatrix:add_motor_raw(3,-0.5,-0.5,-0.5, 3)
	throttle_factors = build_factors(ratio)
	MotorsMatrix:set_throttle_factor(0, throttle_factors[1])
	MotorsMatrix:set_throttle_factor(1, throttle_factors[2])
	MotorsMatrix:set_throttle_factor(2, throttle_factors[3])
	MotorsMatrix:set_throttle_factor(3, throttle_factors[4])
	if not MotorsMatrix:init(4) then
	warn_user("Failed to initialize motor matrix!", MAV_SEVERITY.EMERGENCY)
	else
	if ratio ~= last_ratio then
	warn_user("Set ratio to " .. tostring(ratio), MAV_SEVERITY.INFO)
	last_ratio = ratio
	end
	end
	motors:set_frame_string("Static CoM adjust")
	end

What behavior are you seeing?

This looks like what I want. I'll play with it a bit more. Thanks.