From 6a333b743a79d9f77720a6d9e911c8953ad20d99 Mon Sep 17 00:00:00 2001 From: Pat Hickey Date: Wed, 25 Jan 2012 22:38:04 -0800 Subject: [PATCH] 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. --- ArduCopter/motors_octa.pde | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/ArduCopter/motors_octa.pde b/ArduCopter/motors_octa.pde index 9fe79057ba..50f25f6039 100644 --- a/ArduCopter/motors_octa.pde +++ b/ArduCopter/motors_octa.pde @@ -96,19 +96,20 @@ static void output_motors_armed() //Front side motor_out[MOT_4] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT - motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT + motor_out[MOT_6] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT //Left side - motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT - motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK + motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT + motor_out[MOT_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK //Right side - motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK - motor_out[MOT_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT + motor_out[MOT_5] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK + motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT //Back side - motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT - motor_out[MOT_1] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT + motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT + motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT + }