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2.0.39 

New order for motors!! Based on Hein's testing. See Wiki for updated layouts
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3026 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:44:22 +00:00
parent 1cda03037c
commit 25e129fb05
1 changed files with 85 additions and 95 deletions
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180
ArduCopterMega/motors_octa.pde
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@ -25,41 +25,41 @@ static void output_motors_armed()
//Front side //Front side
motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[CH_11] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Left side //Back side
motor_out[CH_2] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
//Left side
motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT
motor_out[CH_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK motor_out[CH_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK
//Right side //Right side
motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK motor_out[CH_11] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK
motor_out[CH_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT
//Back side }else if(g.frame_orientation == PLUS_FRAME){
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
}if(g.frame_orientation == PLUS_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.71; roll_out = (float)g.rc_1.pwm_out * 0.71;
pitch_out = (float)g.rc_2.pwm_out * 0.71; pitch_out = (float)g.rc_2.pwm_out * 0.71;
//Front side //Front side
motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[CH_2] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT motor_out[CH_3] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
motor_out[CH_11] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT motor_out[CH_7] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
//Left side //Left side
motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
//Right side //Right side
motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT motor_out[CH_11] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
//Back side //Back side
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK motor_out[CH_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}else{ }else if(g.frame_orientation == V_FRAME){
int roll_out2, pitch_out2; int roll_out2, pitch_out2;
int roll_out3, pitch_out3; int roll_out3, pitch_out3;
@ -71,37 +71,49 @@ static void output_motors_armed()
pitch_out2 = (float)g.rc_2.pwm_out * 0.34; pitch_out2 = (float)g.rc_2.pwm_out * 0.34;
roll_out3 = (float)g.rc_1.pwm_out * 0.666; roll_out3 = (float)g.rc_1.pwm_out * 0.666;
pitch_out3 = (float)g.rc_2.pwm_out * 0.32; pitch_out3 = (float)g.rc_2.pwm_out * 0.32;
roll_out4 = (float)g.rc_1.pwm_out * 0.5; roll_out4 = g.rc_1.pwm_out / 2;
pitch_out4 = (float)g.rc_2.pwm_out * 0.98; pitch_out4 = (float)g.rc_2.pwm_out * 0.98;
//Front side //Front side
motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT motor_out[CH_10] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[CH_11] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Left side //Left side
motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT motor_out[CH_1] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
motor_out[CH_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK motor_out[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
//Right side //Right side
motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK motor_out[CH_2] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
motor_out[CH_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT motor_out[CH_8] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
//Back side //Back side
motor_out[CH_7] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT motor_out[CH_11] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
} }
// Yaw // Yaw
motor_out[CH_2] += g.rc_4.pwm_out; // CCW motor_out[CH_3] += g.rc_4.pwm_out; // CCW
motor_out[CH_4] += g.rc_4.pwm_out; // CCW motor_out[CH_4] += g.rc_4.pwm_out; // CCW
motor_out[CH_11] += g.rc_4.pwm_out; // CCW motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_8] += g.rc_4.pwm_out; // CCW motor_out[CH_8] += g.rc_4.pwm_out; // CCW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_7] -= g.rc_4.pwm_out; // CW motor_out[CH_2] -= g.rc_4.pwm_out; // CW
motor_out[CH_10] -= g.rc_4.pwm_out; // CW motor_out[CH_10] -= g.rc_4.pwm_out; // CW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_11] -= g.rc_4.pwm_out; // CW
// TODO add stability patch
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
// limit output so motors don't stop // limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min); motor_out[CH_1] = max(motor_out[CH_1], out_min);
@ -113,57 +125,34 @@ static void output_motors_armed()
motor_out[CH_10] = max(motor_out[CH_10], out_min); motor_out[CH_10] = max(motor_out[CH_10], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min); motor_out[CH_11] = max(motor_out[CH_11], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// Send commands to motors // if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out > 0){ if(g.rc_3.servo_out == 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]); motor_out[CH_1] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_2, motor_out[CH_2]); motor_out[CH_2] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_3, motor_out[CH_3]); motor_out[CH_3] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_4, motor_out[CH_4]); motor_out[CH_4] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_7, motor_out[CH_7]); motor_out[CH_7] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_8, motor_out[CH_8]); motor_out[CH_8] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_10, motor_out[CH_10]); motor_out[CH_10] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_11, motor_out[CH_11]); motor_out[CH_11] = g.rc_3.radio_min;
}
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
}else{
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
}
#else
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
#endif #endif
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
} }
static void output_motors_disarmed() static void output_motors_disarmed()
@ -182,33 +171,38 @@ static void output_motors_disarmed()
// Send commands to motors // Send commands to motors
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
} }
static void output_motor_test() static void output_motor_test()
{ {
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50); APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50); APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 50); APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 50);
delay(1000); delay(1000);
@ -217,11 +211,7 @@ static void output_motor_test()
delay(1000); delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 50); APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
delay(1000); delay(1000);
} }