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hexa frame setp

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1536 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2011-01-23 16:40:03 +00:00
parent b8598c7ef6
commit 021746fd0a
5 changed files with 60 additions and 9 deletions
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13
ArduCopterMega/APM_Config.h
View File

@ -2,23 +2,26 @@
// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_BACK
//#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define MAGORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#define ARM_AT_STARTUP 0
// For future development, don't enable unless you know them
// These are all experimental and underwork, jp 23-12-10
//#define ENABLE_EXTRAS ENABLED
//#define ENABLE_EXTRAINIT ENABLED
#define ENABLE_EXTRAS ENABLED
#define ENABLE_EXTRAINIT ENABLED
//#define ENABLE_CAM ENABLED
//#define ENABLE_AM ENABLED
#define ENABLE_AM ENABLED
//#define ENABLE_xx ENABLED
// Logging
#define LOG_CURRENT ENABLED

3
ArduCopterMega/ArduCopterMega.pde
View File

@ -426,6 +426,7 @@ boolean SW_DIP2;
boolean SW_DIP3;
boolean SW_DIP4; // closest to header pins
int counteri = 0;
// Basic Initialization
@ -956,4 +957,4 @@ void read_AHRS(void)
roll_sensor = dcm.roll_sensor;
pitch_sensor = dcm.pitch_sensor;
yaw_sensor = dcm.yaw_sensor;
}
}

4
ArduCopterMega/defines.h
View File

@ -51,6 +51,9 @@
#define FRONT 2
#define BACK 3
#define RIGHTFRONT 6
#define LEFTBACK 7
#define MAX_SERVO_OUTPUT 2700
#define SONAR 0
@ -71,6 +74,7 @@
#define PLUS_FRAME 0
#define X_FRAME 1
#define TRI_FRAME 2
#define HEXA_FRAME 3
// Auto Pilot modes
// ----------------

42
ArduCopterMega/radio.pde
View File

@ -112,6 +112,7 @@ void set_servos_4(void)
{
static byte num;
// Quadcopter mix
if (motor_armed == true) {
int out_min = rc_3.radio_min;
@ -170,7 +171,32 @@ void set_servos_4(void)
APM_RC.OutputCh(CH_7,rc_4.radio_out);
}else{
}else if (frame_type == HEXA_FRAME) {
// int roll_out = rc_1.pwm_out / 2;
// int pitch_out = rc_2.pwm_out / 2;
int roll_out = (float)rc_1.pwm_out * .866;
int pitch_out = rc_2.pwm_out / 2;
motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out + rc_4.pwm_out; // CCW
motor_out[RIGHTFRONT] = rc_3.radio_out - roll_out + pitch_out - rc_4.pwm_out; // CW
motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out - rc_4.pwm_out; // CW
motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out + rc_4.pwm_out; // CCW
motor_out[LEFTBACK] = rc_3.radio_out + roll_out - pitch_out + rc_4.pwm_out; // CW
motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out - rc_4.pwm_out; // CCW
/*
if(counteri == 5) {
Serial.printf(" %d %d \n%d %d %d %d \n %d %d \n\n", motor_out[FRONT], motor_out[RIGHTFRONT], motor_out[LEFT], motor_out[RIGHT], roll_out, pitch_out, motor_out[LEFTBACK], motor_out[BACK]);
counteri = 0;
}
counteri++;
*/
} else {
Serial.print("frame error");
@ -225,6 +251,12 @@ void set_servos_4(void)
APM_RC.OutputCh(CH_2, motor_out[LEFT]);
APM_RC.OutputCh(CH_3, motor_out[FRONT]);
APM_RC.OutputCh(CH_4, motor_out[BACK]);
if (frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]);
APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]);
}
}else{
@ -232,6 +264,12 @@ void set_servos_4(void)
APM_RC.OutputCh(CH_2, rc_3.radio_min);
APM_RC.OutputCh(CH_3, rc_3.radio_min);
APM_RC.OutputCh(CH_4, rc_3.radio_min);
if (frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, rc_3.radio_min);
APM_RC.OutputCh(CH_8, rc_3.radio_min);
}
}
@ -253,4 +291,4 @@ void set_servos_4(void)
// Initialize yaw command to actual yaw when throttle is down...
rc_4.control_in = ToDeg(yaw);
}
}
}

7
ArduCopterMega/setup.pde
View File

@ -425,8 +425,11 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
} else if (!strcmp_P(argv[1].str, PSTR("tri"))) {
frame_type = TRI_FRAME;
} else if (!strcmp_P(argv[1].str, PSTR("hexa"))) {
frame_type = HEXA_FRAME;
} else {
Serial.printf_P(PSTR("\nOptions:[+, x, tri]\n"));
Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa]\n"));
report_frame();
return 0;
}
@ -732,6 +735,8 @@ void report_frame()
Serial.printf_P(PSTR("Plus "));
else if(frame_type == TRI_FRAME)
Serial.printf_P(PSTR("TRI "));
else if(frame_type == HEXA_FRAME)
Serial.printf_P(PSTR("HEXA "));
Serial.printf_P(PSTR("frame (%d)"), (int)frame_type);
print_blanks(2);