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2.0.39 

Simplified the CUT_MOTORS section of the code.
Added Stability patch

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3028 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:45:51 +00:00
parent 3e8ca40d7d
commit 4752468730
1 changed files with 32 additions and 27 deletions
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59
ArduCopterMega/motors_tri.pde
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@ -16,7 +16,6 @@ static void output_motors_armed()
g.rc_2.calc_pwm();
g.rc_3.calc_pwm();
int roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2;
@ -29,39 +28,45 @@ static void output_motors_armed()
//motor_out[CH_4] += (float)(abs(g.rc_4.control_in)) * .013;
// Tridge's stability patch
if (motor_out[CH_1] > out_max) {
motor_out[CH_2] -= (motor_out[CH_1] - out_max) >> 1;
motor_out[CH_4] -= (motor_out[CH_1] - out_max) >> 1;
motor_out[CH_1] = out_max;
}
if (motor_out[CH_2] > out_max) {
motor_out[CH_1] -= (motor_out[CH_2] - out_max) >> 1;
motor_out[CH_4] -= (motor_out[CH_2] - out_max) >> 1;
motor_out[CH_2] = out_max;
}
if (motor_out[CH_4] > out_max) {
motor_out[CH_1] -= (motor_out[CH_4] - out_max) >> 1;
motor_out[CH_2] -= (motor_out[CH_4] - out_max) >> 1;
motor_out[CH_4] = out_max;
}
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_4] = max(motor_out[CH_4], 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_4] = min(motor_out[CH_4], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
// InstantPWM
APM_RC.Force_Out0_Out1();
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_4, 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_4, motor_out[CH_4]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
// if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out == 0){
motor_out[CH_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min;
}
#endif
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
}
static void output_motors_disarmed()