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minor changes

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2420 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-27 17:58:39 +00:00
parent ee67f964a1
commit 0d1f184076
2 changed files with 9 additions and 0 deletions
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1
ArduCopterMega/defines.h
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@ -39,6 +39,7 @@
#define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_MTK 4
#define GPS_PROTOCOL_HIL 5 #define GPS_PROTOCOL_HIL 5
#define GPS_PROTOCOL_MTK16 6 #define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7
// Radio channels // Radio channels
// Note channels are from 0! // Note channels are from 0!

8
ArduCopterMega/motors_hexa.pde
View File

@ -56,6 +56,14 @@ void output_motors_armed()
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW motor_out[CH_8] -= g.rc_4.pwm_out; // CW
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
// Send commands to motors // Send commands to motors
if(g.rc_3.servo_out > 0){ if(g.rc_3.servo_out > 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]); APM_RC.OutputCh(CH_1, motor_out[CH_1]);