APM（Ardupilot）——电机输出流程图

电机类声明：system.cpp

*/
void Copter::allocate_motors(void)
{
    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
#if FRAME_CONFIG != HELI_FRAME
        case AP_Motors::MOTOR_FRAME_QUAD:
        case AP_Motors::MOTOR_FRAME_HEXA:
        case AP_Motors::MOTOR_FRAME_Y6:
        case AP_Motors::MOTOR_FRAME_OCTA:
        case AP_Motors::MOTOR_FRAME_OCTAQUAD:
        case AP_Motors::MOTOR_FRAME_DODECAHEXA:
        default:
            motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsMatrix::var_info;
            break;
        case AP_Motors::MOTOR_FRAME_TRI:
            motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
            motors_var_i