mirror of https://github.com/ArduPilot/ardupilot
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
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@ -110,9 +110,9 @@ static void output_motors_armed()
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motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
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motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
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}
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if ( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME ) {
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// Yaw
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motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
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@ -124,6 +124,18 @@ static void output_motors_armed()
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motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
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} else if ( g.frame_orientation == V_FRAME ) {
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// Yaw of each motor is diferent in V frames.
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motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_8] += g.rc_4.pwm_out; // CCW
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}
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// TODO add stability patch
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motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
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