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Added Y6 support 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1792 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-19 19:21:43 +00:00
parent 2850ac6c74
commit 783656b574
3 changed files with 44 additions and 9 deletions
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1
ArduCopterMega/defines.h
View File

@ -21,6 +21,7 @@
#define X_FRAME 1 #define X_FRAME 1
#define TRI_FRAME 2 #define TRI_FRAME 2
#define HEXA_FRAME 3 #define HEXA_FRAME 3
#define Y6_FRAME 4
// Internal defines, don't edit and expect things to work // Internal defines, don't edit and expect things to work
// ------------------------------------------------------- // -------------------------------------------------------

45
ArduCopterMega/motors.pde
View File

@ -100,11 +100,13 @@ set_servos_4()
int roll_out = (float)g.rc_1.pwm_out * .866; int roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
// front two motors //left front
motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out; motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out;
//right front
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out;
// rear motors // rear
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
// this is a compensation for the angle of the yaw motor. Its linear, but should work ok. // this is a compensation for the angle of the yaw motor. Its linear, but should work ok.
@ -130,13 +132,40 @@ set_servos_4()
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_4] += g.rc_4.pwm_out; // CCW motor_out[CH_4] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW motor_out[CH_8] -= g.rc_4.pwm_out; // CW
}else if (g.frame_type == Y6_FRAME) {
//Serial.println("Y6_FRAME");
int roll_out = (float)g.rc_1.pwm_out * .866;
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_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_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_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW
//yaw
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_4] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
}else{ }else{
@ -151,7 +180,7 @@ set_servos_4()
motor_out[CH_3] = constrain(motor_out[CH_3], out_min, g.rc_3.radio_max.get()); motor_out[CH_3] = constrain(motor_out[CH_3], out_min, g.rc_3.radio_max.get());
motor_out[CH_4] = constrain(motor_out[CH_4], out_min, g.rc_3.radio_max.get()); motor_out[CH_4] = constrain(motor_out[CH_4], out_min, g.rc_3.radio_max.get());
if (g.frame_type == HEXA_FRAME) { if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
motor_out[CH_7] = constrain(motor_out[CH_7], out_min, g.rc_3.radio_max.get()); motor_out[CH_7] = constrain(motor_out[CH_7], out_min, g.rc_3.radio_max.get());
motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get()); motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get());
} }
@ -244,7 +273,7 @@ set_servos_4()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
if (g.frame_type == HEXA_FRAME) { if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
APM_RC.OutputCh(CH_7, motor_out[CH_7]); APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -260,7 +289,7 @@ set_servos_4()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
if (g.frame_type == HEXA_FRAME) { if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -289,7 +318,7 @@ set_servos_4()
APM_RC.OutputCh(CH_4, motor_out[CH_4]); APM_RC.OutputCh(CH_4, motor_out[CH_4]);
if (g.frame_type == HEXA_FRAME) { if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)){
APM_RC.OutputCh(CH_7, motor_out[CH_7]); APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
} }

7
ArduCopterMega/setup.pde
View File

@ -451,8 +451,11 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
} else if (!strcmp_P(argv[1].str, PSTR("hexa"))) { } else if (!strcmp_P(argv[1].str, PSTR("hexa"))) {
g.frame_type = HEXA_FRAME; g.frame_type = HEXA_FRAME;
} else if (!strcmp_P(argv[1].str, PSTR("y6"))) {
g.frame_type = Y6_FRAME;
}else{ }else{
Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa]\n")); Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa, y6]\n"));
report_frame(); report_frame();
return 0; return 0;
} }
@ -780,6 +783,8 @@ void report_frame()
Serial.printf_P(PSTR("TRI ")); Serial.printf_P(PSTR("TRI "));
else if(g.frame_type == HEXA_FRAME) else if(g.frame_type == HEXA_FRAME)
Serial.printf_P(PSTR("HEXA ")); Serial.printf_P(PSTR("HEXA "));
else if(g.frame_type == Y6_FRAME)
Serial.printf_P(PSTR("Y6 "));
Serial.printf_P(PSTR("frame (%d)"), (int)g.frame_type); Serial.printf_P(PSTR("frame (%d)"), (int)g.frame_type);
print_blanks(2); print_blanks(2);