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ArduCopter motors_octa: rewrite janky loops to use ch_of_mot 

* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
This commit is contained in:
Pat Hickey 2012-01-01 16:17:23 -05:00
parent 79030a84b8
commit 46b8037a73
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/motors_octa.pde
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@ -150,14 +150,13 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue
for(int8_t i = CH_1; i <= CH_11; i++ ) {
if(i == CH_5 || i == CH_6 || i == CH_9)
continue;
if(motor_filtered[i] < motor_out[i]){
motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
for(int8_t m = 0; m <= 8; m++ ) {
int c = ch_of_mot(m);
if(motor_filtered[c] < motor_out[c]){
motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
}else{
// don't filter
motor_filtered[i] = motor_out[i];
motor_filtered[c] = motor_out[c];
}
}