4.6:Add Mecanum Omni3 config

ArduPilot · Nov 13, 2024 · 0a37e27 · 0a37e27
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diff --git a/images/omni3mecanum.png b/images/omni3mecanum.png
diff --git a/rover/source/docs/rover-motor-and-servo-connections.rst b/rover/source/docs/rover-motor-and-servo-connections.rst
@@ -43,9 +43,15 @@ Omni vehicles can move laterally (i.e. left and right) without changing their he
 .. image:: ../images/omni-motor-order.png
     :target: ../_images/omni-motor-order.png
 
+Another style of wheel is Mecanum (`like these from RobotShop <https://www.robotshop.com/products/80mm-right-mecanum-wheel>`__). For these wheels, the autopilot motor outputs that should be connected to each motor are shown below.
+
+.. image:: ../../../images/omni3mecanum.png
+    :target: ../_images/omni3mecanum.png
+    :width: 450px
+
 For this setup these parameters values will need to be set
 
-- :ref:`FRAME_TYPE <FRAME_TYPE>` = 1 (Omni3), 2 (OmniX) or 3 (OmniPlus)
+- :ref:`FRAME_TYPE <FRAME_TYPE>` = 1 (Omni3), 2 (OmniX), 3 (OmniPlus) or 4 (Omni3Mecanum)
 - :ref:`SERVO1_FUNCTION <SERVO1_FUNCTION>` = 33 (motor1)
 - :ref:`SERVO2_FUNCTION <SERVO2_FUNCTION>` = 34 (motor2)
 - :ref:`SERVO3_FUNCTION <SERVO3_FUNCTION>` = 35 (motor3)