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Motor mix update for X8 (octo quad), 

diagrams:
http://wiki.ardupilot-mega.googlecode.com/git/images/APM1/ACM-X8_APM14.jpg
http://wiki.ardupilot-mega.googlecode.com/git/images/APM2/FRAMES_X8.jpg
This commit is contained in:
levinemax 2012-02-09 03:57:40 +00:00
parent a63e6243d2
commit 0d3369af45
1 changed files with 25 additions and 41 deletions
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66
ArduCopter/motors_octa_quad.pde
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@ -40,60 +40,44 @@ static void output_motors_armed()
g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * .707;
pitch_out = (float)g.rc_2.pwm_out * .707;
roll_out = g.rc_1.pwm_out * .707;
pitch_out = g.rc_2.pwm_out * .707;
// Front Left
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_6] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // APM2 OUT1 APM1 OUT1 FRONT RIGHT CCW TOP
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // APM2 OUT2 APM1 OUT2 FRONT LEFT CW TOP
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // APM2 OUT3 APM1 OUT3 BACK LEFT CCW TOP
motor_out[MOT_4] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // APM2 OUT4 APM1 OUT4 BACK RIGHT CW TOP
motor_out[MOT_5] = g.rc_3.radio_out + roll_out + pitch_out; // APM2 OUT5 APM1 OUT7 FRONT LEFT CCW BOTTOM
motor_out[MOT_6] = g.rc_3.radio_out - roll_out + pitch_out; // APM2 OUT6 APM1 OUT8 FRONT RIGHT CW BOTTOM
motor_out[MOT_7] = g.rc_3.radio_out - roll_out - pitch_out; // APM2 OUT7 APM1 OUT10 BACK RIGHT CCW BOTTOM
motor_out[MOT_8] = g.rc_3.radio_out + roll_out - pitch_out; // APM2 OUT8 APM1 OUT11 BACK LEFT CW BOTTOM
// Front Right
motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out - roll_out + pitch_out; // CW
// Back Left
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
// Back Right
motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
motor_out[MOT_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
}if(g.frame_orientation == PLUS_FRAME){
}else{
roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out;
// Left
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
motor_out[MOT_6] = g.rc_3.radio_out - roll_out; // CW
// Right
motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
motor_out[MOT_2] = g.rc_3.radio_out + roll_out; // CW
// Front
motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out + pitch_out; // CW
// Back
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - pitch_out; // CW
}
motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; //APM2 OUT1 APM1 OUT1 FRONT CCW TOP
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; //APM2 OUT2 APM1 OUT2 LEFT CW TOP
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; //APM2 OUT3 APM1 OUT3 BACK CCW TOP
motor_out[MOT_4] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; //APM2 OUT4 APM1 OUT4 RIGHT CW TOP
motor_out[MOT_5] = g.rc_3.radio_out + roll_out; //APM2 OUT5 APM1 OUT7 LEFT CCW BOTTOM
motor_out[MOT_6] = g.rc_3.radio_out + pitch_out; //APM2 OUT6 APM1 OUT8 FRONT CW BOTTOM
motor_out[MOT_7] = g.rc_3.radio_out - roll_out; //APM2 OUT7 APM1 OUT10 RIGHT CCW BOTTOM
motor_out[MOT_8] = g.rc_3.radio_out - pitch_out; //APM2 OUT8 APM1 OUT11 BACK CW BOTTOM
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
}
// TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);