APM（Ardupilot）涉及电机输出流程图

    */
    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(copt