mirror of https://github.com/ArduPilot/ardupilot
Arducopter Motors Octa: Change V frame MOT_ output ordering.
* I backed this out from Max's changes, but I'm not sure whether its correct.
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@ -96,19 +96,20 @@ static void output_motors_armed()
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//Front side
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motor_out[MOT_4] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
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motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
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motor_out[MOT_6] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
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//Left side
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motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
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motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
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motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
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motor_out[MOT_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
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//Right side
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motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
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motor_out[MOT_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
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motor_out[MOT_5] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
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motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
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//Back side
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motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
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motor_out[MOT_1] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
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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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