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Yaw fix for Max Y6

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1810 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-24 01:36:52 +00:00
parent c7deedd785
commit 5a841e41c0
1 changed files with 24 additions and 24 deletions
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48
ArduCopterMega/motors.pde
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@ -147,15 +147,15 @@ set_servos_4()
int pitch_out = g.rc_2.pwm_out / 2;
//left
motor_out[CH_2] = (g.rc_3.radio_out + roll_out + pitch_out) * 0.95; // CCW TOP
motor_out[CH_2] = ((g.rc_3.radio_out * 0.92) + roll_out + pitch_out); // CCW TOP
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
//right
motor_out[CH_7] = (g.rc_3.radio_out - roll_out + pitch_out) * 0.95; // CCW TOP
motor_out[CH_7] = ((g.rc_3.radio_out * 0.92) - roll_out + pitch_out); // CCW TOP
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
//back
motor_out[CH_8] = (g.rc_3.radio_out - g.rc_2.pwm_out) * 0.95; // CW TOP
motor_out[CH_8] = ((g.rc_3.radio_out * 0.92) - g.rc_2.pwm_out); // CW TOP
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW
//yaw
@ -169,7 +169,7 @@ set_servos_4()
}else{
Serial.print("frame error");
//Serial.print("frame error");
}
@ -224,33 +224,33 @@ set_servos_4()
//*/
/*
write_int(motor_out[CH_1]);
write_int(motor_out[CH_2]);
write_int(motor_out[CH_3]);
write_int(motor_out[CH_4]);
gcs_simple.write_int(motor_out[CH_1]);
gcs_simple.write_int(motor_out[CH_2]);
gcs_simple.write_int(motor_out[CH_3]);
gcs_simple.write_int(motor_out[CH_4]);
write_int(g.rc_3.servo_out);
write_int((int)(cos_yaw_x * 100));
write_int((int)(sin_yaw_y * 100));
write_int((int)(dcm.yaw_sensor / 100));
write_int((int)(nav_yaw / 100));
gcs_simple.write_int(g.rc_3.servo_out);
gcs_simple.write_int((int)(cos_yaw_x * 100));
gcs_simple.write_int((int)(sin_yaw_y * 100));
gcs_simple.write_int((int)(dcm.yaw_sensor / 100));
gcs_simple.write_int((int)(nav_yaw / 100));
write_int((int)nav_lat);
write_int((int)nav_lon);
gcs_simple.write_int((int)nav_lat);
gcs_simple.write_int((int)nav_lon);
write_int((int)nav_roll);
write_int((int)nav_pitch);
gcs_simple.write_int((int)nav_roll);
gcs_simple.write_int((int)nav_pitch);
//24
write_long(current_loc.lat); //28
write_long(current_loc.lng); //32
write_int((int)current_loc.alt); //34
gcs_simple.write_long(current_loc.lat); //28
gcs_simple.write_long(current_loc.lng); //32
gcs_simple.write_int((int)current_loc.alt); //34
write_long(next_WP.lat);
write_long(next_WP.lng);
write_int((int)next_WP.alt); //44
gcs_simple.write_long(next_WP.lat);
gcs_simple.write_long(next_WP.lng);
gcs_simple.write_int((int)next_WP.alt); //44
flush(10);
gcs_simple.flush(10); // Message ID
//*/
/*Serial.printf("a %ld, e %ld, i %d, t %d, b %4.2f\n",