mirror of https://github.com/ArduPilot/ardupilot
new Hexa code
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1591 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
4079127e5d
commit
7b9ede0b29
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@ -61,94 +61,95 @@ set_servos_4()
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if(frame_type == PLUS_FRAME){
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out;
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out;
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motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out;
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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motor_out[CH_1] = rc_3.radio_out - rc_1.pwm_out;
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motor_out[CH_2] = rc_3.radio_out + rc_1.pwm_out;
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motor_out[CH_3] = rc_3.radio_out + rc_2.pwm_out;
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motor_out[CH_4] = rc_3.radio_out - rc_2.pwm_out;
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motor_out[RIGHT] += rc_4.pwm_out;
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motor_out[LEFT] += rc_4.pwm_out;
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motor_out[FRONT] -= rc_4.pwm_out;
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motor_out[BACK] -= rc_4.pwm_out;
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motor_out[CH_1] += rc_4.pwm_out; // CCW
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motor_out[CH_2] += rc_4.pwm_out; // CCW
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motor_out[CH_3] -= rc_4.pwm_out; // CW
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motor_out[CH_4] -= rc_4.pwm_out; // CW
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}else if(frame_type == X_FRAME){
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int roll_out = rc_1.pwm_out / 2;
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int pitch_out = rc_2.pwm_out / 2;
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int roll_out = rc_1.pwm_out / 2;
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int pitch_out = rc_2.pwm_out / 2;
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out;
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motor_out[CH_3] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[CH_2] = rc_3.radio_out + roll_out - pitch_out;
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out;
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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motor_out[CH_1] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[CH_4] = rc_3.radio_out - roll_out - pitch_out;
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motor_out[RIGHT] += rc_4.pwm_out;
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motor_out[LEFT] += rc_4.pwm_out;
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motor_out[FRONT] -= rc_4.pwm_out;
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motor_out[BACK] -= rc_4.pwm_out;
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
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motor_out[CH_1] += rc_4.pwm_out; // CCW
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motor_out[CH_2] += rc_4.pwm_out; // CCW
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motor_out[CH_3] -= rc_4.pwm_out; // CW
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motor_out[CH_4] -= rc_4.pwm_out; // CW
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
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}else if(frame_type == TRI_FRAME){
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// Tri-copter power distribution
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int roll_out = (float)rc_1.pwm_out * .866;
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int pitch_out = rc_2.pwm_out / 2;
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int roll_out = (float)rc_1.pwm_out * .866;
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int pitch_out = rc_2.pwm_out / 2;
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// front two motors
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motor_out[LEFT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[CH_2] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[CH_1] = rc_3.radio_out - roll_out + pitch_out;
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// rear motors
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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motor_out[CH_4] = rc_3.radio_out - rc_2.pwm_out;
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// servo Yaw
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//motor_out[FRONT] = rc_4.radio_out;
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APM_RC.OutputCh(CH_7,rc_4.radio_out);
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//motor_out[CH_3] = rc_4.radio_out;
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APM_RC.OutputCh(CH_7, rc_4.radio_out);
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}else if (frame_type == HEXA_FRAME) {
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int roll_out = (float)rc_1.pwm_out * .866;
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int pitch_out = rc_2.pwm_out / 2;
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out; // CCW
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motor_out[RIGHTFRONT] = rc_3.radio_out - roll_out + pitch_out; // CW
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out; // CW
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out; // CCW
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motor_out[LEFTBACK] = rc_3.radio_out + roll_out - pitch_out; // CW
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out; // CCW
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motor_out[FRONT] += rc_4.pwm_out; // CCW
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motor_out[RIGHTFRONT] -= rc_4.pwm_out; // CW
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motor_out[LEFT] -= rc_4.pwm_out; // CW
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motor_out[RIGHT] += rc_4.pwm_out; // CCW
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motor_out[LEFTBACK] += rc_4.pwm_out; // CW
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motor_out[BACK] -= rc_4.pwm_out; // CCW
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//left side
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motor_out[CH_2] = rc_3.radio_out + rc_1.pwm_out; // CCW
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motor_out[CH_3] = rc_3.radio_out + roll_out + pitch_out; // CW
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motor_out[CH_8] = rc_3.radio_out + roll_out - pitch_out; // CW
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//right side
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motor_out[CH_1] = rc_3.radio_out - rc_1.pwm_out; // CW
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motor_out[CH_7] = rc_3.radio_out - roll_out + pitch_out; // CCW
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motor_out[CH_4] = rc_3.radio_out - roll_out - pitch_out; // CCW
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motor_out[CH_7] += rc_4.pwm_out; // CCW
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motor_out[CH_2] += rc_4.pwm_out; // CCW
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motor_out[CH_4] += rc_4.pwm_out; // CCW
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motor_out[CH_3] -= rc_4.pwm_out; // CW
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motor_out[CH_1] -= rc_4.pwm_out; // CW
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motor_out[CH_8] -= rc_4.pwm_out; // CW
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/*
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if(counteri == 5) {
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Serial.printf(" %d %d \n%d %d %d %d \n %d %d \n\n", motor_out[FRONT], motor_out[RIGHTFRONT], motor_out[LEFT], motor_out[RIGHT], roll_out, pitch_out, motor_out[LEFTBACK], motor_out[BACK]);
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counteri = 0;
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}
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counteri++;
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*/
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} else {
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} else {
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Serial.print("frame error");
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}
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motor_out[RIGHT] = constrain(motor_out[RIGHT], out_min, rc_3.radio_max);
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motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max);
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motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max);
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motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max);
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motor_out[CH_1] = constrain(motor_out[CH_1], out_min, rc_3.radio_max);
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motor_out[CH_2] = constrain(motor_out[CH_2], out_min, rc_3.radio_max);
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motor_out[CH_3] = constrain(motor_out[CH_3], out_min, rc_3.radio_max);
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motor_out[CH_4] = constrain(motor_out[CH_4], out_min, rc_3.radio_max);
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if (frame_type == HEXA_FRAME) {
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motor_out[CH_7] = constrain(motor_out[CH_7], out_min, rc_3.radio_max);
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motor_out[CH_8] = constrain(motor_out[CH_8], out_min, rc_3.radio_max);
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}
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num++;
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if (num > 10){
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@ -156,6 +157,8 @@ set_servos_4()
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//Serial.print("!");
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//debugging with Channel 6
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//pid_baro_throttle.kD((float)rc_6.control_in / 1000); // 0 to 1
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/*
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// ROLL and PITCH
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// make sure you init_pids() after changing the kP
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@ -176,17 +179,17 @@ set_servos_4()
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// Send commands to motors
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if(rc_3.servo_out > 0){
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APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
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APM_RC.OutputCh(CH_2, motor_out[LEFT]);
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APM_RC.OutputCh(CH_3, motor_out[FRONT]);
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APM_RC.OutputCh(CH_4, motor_out[BACK]);
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APM_RC.OutputCh(CH_1, motor_out[CH_1]);
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APM_RC.OutputCh(CH_2, motor_out[CH_2]);
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APM_RC.OutputCh(CH_3, motor_out[CH_3]);
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APM_RC.OutputCh(CH_4, motor_out[CH_4]);
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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if (frame_type == HEXA_FRAME) {
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APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]);
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APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]);
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APM_RC.OutputCh(CH_7, motor_out[CH_7]);
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APM_RC.OutputCh(CH_8, motor_out[CH_8]);
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APM_RC.Force_Out6_Out7();
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}
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