mirror of https://github.com/ArduPilot/ardupilot
231 lines
8.0 KiB
Plaintext
231 lines
8.0 KiB
Plaintext
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// desired angle in
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// motor commands out (in degrees)
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void init_pids()
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{
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max_stabilize_dampener = pid_stabilize_roll.kP() * 2500;
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stabilze_dampener = 5729.57795 * stabilize_rate_roll_pitch;
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max_yaw_dampener = pid_yaw.kP() * 6000; // .3 * 6000 = 1800
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stabilze_yaw_dampener = 5729.57795 * stabilize_rate_yaw; // .3
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}
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void output_stabilize()
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{
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float roll_error, pitch_error;
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int max_out;
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Vector3f omega = dcm.get_gyro();
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/*testing code:*/
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//pitch_sensor = roll_sensor = 0; // testing only
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//stabilize_rate_roll_pitch = (float)rc_6.control_in / 1000;
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//init_pids();
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// control +- 45° is mixed with the navigation request by the Autopilot
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// output is in degrees = target pitch and roll of copter
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rc_1.servo_out = rc_1.control_mix(nav_roll);
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rc_2.servo_out = rc_2.control_mix(nav_pitch);
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roll_error = rc_1.servo_out - roll_sensor;
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pitch_error = rc_2.servo_out - pitch_sensor;
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yaw_error = nav_yaw - yaw_sensor;
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yaw_error = wrap_180(yaw_error);
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// limit the error we're feeding to the PID
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roll_error = constrain(roll_error, -2500, 2500);
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pitch_error = constrain(pitch_error, -2500, 2500);
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yaw_error = constrain(yaw_error, -6000, 6000);
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//Serial.printf("s: %d \t mix %d, err %d", (int)roll_sensor, (int)rc_1.servo_out, (int)roll_error);
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// write out angles back to servo out - this will be converted to PWM by RC_Channel
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rc_1.servo_out = pid_stabilize_roll.get_pid(roll_error, deltaMiliSeconds, 1.0);
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rc_2.servo_out = pid_stabilize_pitch.get_pid(pitch_error, deltaMiliSeconds, 1.0);
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rc_4.servo_out = pid_yaw.get_pid(yaw_error, deltaMiliSeconds, 1.0); // .3 = 198pwm
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//Serial.printf("\tpid: %d", (int)rc_1.servo_out);
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// We adjust the output by the rate of rotation:
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// Rate control through bias corrected gyro rates
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// omega is the raw gyro reading
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int roll_dampener = (omega.x * stabilze_dampener);// Omega is in radians
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int pitch_dampener = (omega.y * stabilze_dampener);
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int yaw_dampener = (omega.z * stabilze_yaw_dampener);
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// Limit dampening to be equal to propotional term for symmetry
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rc_1.servo_out -= constrain(roll_dampener, -max_stabilize_dampener, max_stabilize_dampener); // +- 15°
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rc_2.servo_out -= constrain(pitch_dampener, -max_stabilize_dampener, max_stabilize_dampener); // +- 15°
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rc_4.servo_out -= constrain(yaw_dampener, -max_yaw_dampener, max_yaw_dampener); // +- 15°
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//Serial.printf(" yaw out: %d, d: %d", (int)rc_4.angle_to_pwm(), yaw_dampener);
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//Serial.printf("\trd: %d", roll_dampener);
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//Serial.printf("\tlimit: %d, PWM: %d", rc_1.servo_out, rc_1.angle_to_pwm());
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}
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// err -2500 pid: -1100 rd: 1117 limit: -1650, PWM: -152
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//s: -1247 mix 0, err 1247 pid: 548 rd: -153 limit: 395, PWM: 35
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void output_rate_control()
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{
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Vector3f omega = dcm.get_gyro();
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rc_4.servo_out = rc_4.control_in;
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rc_1.servo_out = rc_2.control_in;
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rc_2.servo_out = rc_2.control_in;
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// Rate control through bias corrected gyro rates
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// omega is the raw gyro reading plus Omega_I, so it´s bias corrected
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rc_1.servo_out -= (omega.x * 5729.57795 * acro_rate_roll_pitch);
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rc_2.servo_out -= (omega.y * 5729.57795 * acro_rate_roll_pitch);
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rc_4.servo_out -= (omega.z * 5729.57795 * acro_rate_yaw);
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//Serial.printf("\trated out %d, omega ", rc_1.servo_out);
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//Serial.print((Omega[0] * 5729.57795 * stabilize_rate_roll_pitch), 3);
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// Limit output
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rc_1.servo_out = constrain(rc_1.servo_out, -MAX_SERVO_OUTPUT, MAX_SERVO_OUTPUT);
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rc_2.servo_out = constrain(rc_2.servo_out, -MAX_SERVO_OUTPUT, MAX_SERVO_OUTPUT);
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rc_4.servo_out = constrain(rc_4.servo_out, -MAX_SERVO_OUTPUT, MAX_SERVO_OUTPUT);
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}
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// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
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// Keeps outdated data out of our calculations
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void reset_I(void)
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{
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pid_nav.reset_I();
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pid_throttle.reset_I();
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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void set_servos_4(void)
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{
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static byte num;
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//motor_armed = false;
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// Quadcopter mix
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if (motor_armed == true) {
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int out_min = rc_3.radio_min;
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// Throttle is 0 to 1000 only
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rc_3.servo_out = constrain(rc_3.servo_out, 0, 1000);
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if(rc_3.servo_out > 0)
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out_min = rc_3.radio_min + 50;
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//Serial.printf("out: %d %d %d %d\t\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
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// creates the radio_out anf pwm_out values
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rc_1.calc_pwm();
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rc_2.calc_pwm();
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rc_3.calc_pwm();
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rc_4.calc_pwm();
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//Serial.printf("out: %d %d %d %d\n", rc_1.radio_out, rc_2.radio_out, rc_3.radio_out, rc_4.radio_out);
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//Serial.printf("yaw: %d ", rc_4.radio_out);
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if(frame_type == PLUS_FRAME){
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out;
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out;
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motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out;
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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}else{
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int roll_out = rc_1.pwm_out / 2;
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int pitch_out = rc_2.pwm_out / 2;
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out;
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out;
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}
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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motor_out[RIGHT] += rc_4.pwm_out;
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motor_out[LEFT] += rc_4.pwm_out;
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motor_out[FRONT] -= rc_4.pwm_out;
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motor_out[BACK] -= rc_4.pwm_out;
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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motor_out[RIGHT] = constrain(motor_out[RIGHT], out_min, rc_3.radio_max);
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motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max);
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motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max);
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motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max);
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///*
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int r_out = ((long)(motor_out[RIGHT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int l_out = ((long)(motor_out[LEFT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int f_out = ((long)(motor_out[FRONT] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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int b_out = ((long)(motor_out[BACK] - rc_3.radio_min) * 100) / (long)(rc_3.radio_max - rc_3.radio_min);
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//*/
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//~#*set_servos_4: 398, -39 38 38 -36
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/*
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num++;
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if (num > 50){
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num = 0;
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Serial.printf("control_in: %d ", rc_3.control_in);
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Serial.printf(" servo: %d %d %d %d\t", rc_1.servo_out, rc_2.servo_out, rc_3.servo_out, rc_4.servo_out);
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Serial.printf(" pwm: %d %d %d %d\n", r_out, l_out, f_out, b_out);
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}
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//*/
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//Serial.printf("set: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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//Serial.printf("s: %d %d %d\t\t", (int)roll_sensor, (int)pitch_sensor, (int)yaw_sensor);
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///Serial.printf("outmin: %d\n", out_min);
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/*
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write_int(r_out);
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write_int(l_out);
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write_int(f_out);
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write_int(b_out);
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write_int((int)(roll_sensor / 100));
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write_int((int)(pitch_sensor / 100));
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write_int((int)(yaw_sensor / 100));
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write_int((int)(yaw_error / 100));
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write_int((int)(current_loc.alt));
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write_int((int)(altitude_error));
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flush(10);
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//*/
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// Send commands to motors
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if(rc_3.servo_out > 0){
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APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
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APM_RC.OutputCh(CH_2, motor_out[LEFT]);
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APM_RC.OutputCh(CH_3, motor_out[FRONT]);
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APM_RC.OutputCh(CH_4, motor_out[BACK]);
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}else{
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APM_RC.OutputCh(CH_1, rc_3.radio_min);
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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}
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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}else{
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// Send commands to motors
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APM_RC.OutputCh(CH_1, rc_3.radio_min);
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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// reset I terms of PID controls
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reset_I();
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// Initialize yaw command to actual yaw when throttle is down...
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rc_4.control_in = ToDeg(yaw);
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}
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}
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void demo_servos(byte i) {
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// nothing to do
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}
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