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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.
This commit is contained in:
Pat Hickey 2012-01-25 22:38:04 -08:00
parent 7ca81bd2c9
commit 6a333b743a
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/motors_octa.pde
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@ -96,19 +96,20 @@ static void output_motors_armed()
//Front side //Front side
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT 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 //Left side
motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT motor_out[MOT_2] = 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_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
//Right side //Right side
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK motor_out[MOT_5] = 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_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
//Back side //Back side
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT motor_out[MOT_3] = 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_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
} }