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ardupilot/ArduCopter/config_channels.h

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ArduCopter: add config_motors.h with MOT_n to CH_m mapping * APM1 values are not valid, but hopefully APM2 will stay that way?
2011-12-30 13:41:35 -04:00
#ifndef __ARDUCOPTER_CONFIG_MOTORS_H__
#define __ARDUCOPTER_CONFIG_MOTORS_H__
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
//
ArduCopter: add config_motors.h with MOT_n to CH_m mapping * APM1 values are not valid, but hopefully APM2 will stay that way?
2011-12-30 13:41:35 -04:00
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
#include "config.h"
//
//
// Output CH mapping for ArduCopter motor channels
//
//
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
#define CH_INVALID (-1)
ArduCopter: add config_motors.h with MOT_n to CH_m mapping * APM1 values are not valid, but hopefully APM2 will stay that way?
2011-12-30 13:41:35 -04:00
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
#if FRAME_CONFIG == QUAD_FRAME
// X and Plus
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
// Placeholders:
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == TRI_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_4
// Placeholders:
# define MOT_4 CH_INVALID
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == HEXA_X_FRAME
// X orientation (what will be the best way to set 'if' 'else'? )
# define MOT_1 CH_7
# define MOT_2 CH_3
# define MOT_3 CH_2
# define MOT_4 CH_8
# define MOT_5 CH_4
# define MOT_6 CH_1
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == HEXA_PLUS_FRAME
# define MOT_1 CH_4
# define MOT_2 CH_1
# define MOT_3 CH_7
# define MOT_4 CH_3
# define MOT_5 CH_2
# define MOT_6 CH_8
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == Y6_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_7
# define MOT_3 CH_3
# define MOT_4 CH_2
# define MOT_5 CH_8
# define MOT_6 CH_4
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == OCTA_FRAME
# define MOT_1 CH_2
# define MOT_2 CH_1
# define MOT_3 CH_11
# define MOT_4 CH_10
# define MOT_5 CH_8
# define MOT_6 CH_7
# define MOT_7 CH_4
# define MOT_8 CH_3
#elif FRAME_CONFIG == OCTA_V_FRAME
# define MOT_1 CH_4
# define MOT_2 CH_2
# define MOT_3 CH_8
# define MOT_4 CH_10
# define MOT_5 CH_7
# define MOT_6 CH_1
# define MOT_7 CH_3
# define MOT_8 CH_11
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
ArduCopter: add config_motors.h with MOT_n to CH_m mapping * APM1 values are not valid, but hopefully APM2 will stay that way?
2011-12-30 13:41:35 -04:00
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8]
2012-01-01 16:03:38 -04:00
# define MOT_5 CH_7
# define MOT_6 CH_8
# define MOT_7 CH_10
# define MOT_8 CH_11
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
#else // HELI
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
#endif // FRAME_CONFIG
#endif // CONFIG_APM_HARDWARE
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-01 16:04:06 -04:00
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-01 16:24:07 -04:00
//
//
// Output CH mapping for TRI_FRAME yaw servo
//
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
ArduCopter Tri: fix for enable_out of yaw servo, defined yaw servo for APM2
2012-01-27 11:39:01 -04:00
# define CH_TRI_YAW CH_7
ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define
2012-01-01 16:24:07 -04:00
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define CH_TRI_YAW CH_7
#endif
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-01 16:04:06 -04:00
//
//
// Output CH mapping for Aux channels
//
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
/* Camera Pitch and Camera Roll: Not yet defined for APM2
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-01 16:04:06 -04:00
* They will likely be dependent on the frame config */
Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. * HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and HEXA_PLUS_FRAME * OCTA_FRAME stays the same name for X and +, but the V frame configuration requires new OCTA_V_FRAME name.
2012-01-15 18:57:14 -04:00
# define CH_CAM_PITCH (-1)
# define CH_CAM_ROLL (-1)
ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL
2012-01-01 16:04:06 -04:00
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define CH_CAM_PITCH CH_5
# define CH_CAM_ROLL CH_6
ArduCopter: add config_motors.h with MOT_n to CH_m mapping * APM1 values are not valid, but hopefully APM2 will stay that way?
2011-12-30 13:41:35 -04:00
#endif
#endif // __ARDUCOPTER_CONFIG_MOTORS_H__