From bb96db5466ea359139c34088f46d7b7239e1a381 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jul 2024 11:14:43 +1000
Subject: [PATCH] SITL: support up to 32 rotors in a frame

---
 libraries/SITL/SIM_Frame.cpp |  2 +-
 libraries/SITL/SIM_Frame.h   | 11 +++++++----
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index c3f2fba101295..e31bb817172df 100644
--- 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
index a097943f6e5c4..1c5dba3c3256c 100644
--- 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;