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ArduCopter Octa: fix yaw motors for Octa V. 

* I based this off the APM1 Octa V diagram at
  http://code.google.com/p/arducopter/wiki/AC2_Multi
This commit is contained in:
Pat Hickey 2012-01-31 19:37:49 -08:00
parent 6a333b743a
commit 36389cdbd8
1 changed files with 23 additions and 11 deletions
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34
ArduCopter/motors_octa.pde
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@ -110,20 +110,32 @@ static void output_motors_armed()
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
}
// 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_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
if ( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME ) {
// 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_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
} else if ( g.frame_orientation == V_FRAME ) {
// Yaw of each motor is diferent in V frames.
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_8] += g.rc_4.pwm_out; // CCW
}
// TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);