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new Hexa code 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1591 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-05 06:14:44 +00:00
parent 4079127e5d
commit 7b9ede0b29
1 changed files with 63 additions and 60 deletions
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123
ArduCopterMega/motors.pde
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@ -61,94 +61,95 @@ set_servos_4()
if(frame_type == PLUS_FRAME){ if(frame_type == PLUS_FRAME){
motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out; motor_out[CH_1] = rc_3.radio_out - rc_1.pwm_out;
motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out; motor_out[CH_2] = rc_3.radio_out + rc_1.pwm_out;
motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out; motor_out[CH_3] = rc_3.radio_out + rc_2.pwm_out;
motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out; motor_out[CH_4] = rc_3.radio_out - rc_2.pwm_out;
motor_out[RIGHT] += rc_4.pwm_out; motor_out[CH_1] += rc_4.pwm_out; // CCW
motor_out[LEFT] += rc_4.pwm_out; motor_out[CH_2] += rc_4.pwm_out; // CCW
motor_out[FRONT] -= rc_4.pwm_out; motor_out[CH_3] -= rc_4.pwm_out; // CW
motor_out[BACK] -= rc_4.pwm_out; motor_out[CH_4] -= rc_4.pwm_out; // CW
}else if(frame_type == X_FRAME){ }else if(frame_type == X_FRAME){
int roll_out = rc_1.pwm_out / 2; int roll_out = rc_1.pwm_out / 2;
int pitch_out = rc_2.pwm_out / 2; int pitch_out = rc_2.pwm_out / 2;
motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out; motor_out[CH_3] = rc_3.radio_out + roll_out + pitch_out;
motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out; motor_out[CH_2] = rc_3.radio_out + roll_out - pitch_out;
motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out; motor_out[CH_1] = rc_3.radio_out - roll_out + pitch_out;
motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out; motor_out[CH_4] = rc_3.radio_out - roll_out - pitch_out;
//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
motor_out[RIGHT] += rc_4.pwm_out; //Serial.printf("\tb4: %d %d %d %d ", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
motor_out[LEFT] += rc_4.pwm_out;
motor_out[FRONT] -= rc_4.pwm_out; motor_out[CH_1] += rc_4.pwm_out; // CCW
motor_out[BACK] -= rc_4.pwm_out; motor_out[CH_2] += rc_4.pwm_out; // CCW
//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]); motor_out[CH_3] -= rc_4.pwm_out; // CW
motor_out[CH_4] -= rc_4.pwm_out; // CW
//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
}else if(frame_type == TRI_FRAME){ }else if(frame_type == TRI_FRAME){
// Tri-copter power distribution // Tri-copter power distribution
int roll_out = (float)rc_1.pwm_out * .866; int roll_out = (float)rc_1.pwm_out * .866;
int pitch_out = rc_2.pwm_out / 2; int pitch_out = rc_2.pwm_out / 2;
// front two motors // front two motors
motor_out[LEFT] = rc_3.radio_out + roll_out + pitch_out; motor_out[CH_2] = rc_3.radio_out + roll_out + pitch_out;
motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out; motor_out[CH_1] = rc_3.radio_out - roll_out + pitch_out;
// rear motors // rear motors
motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out; motor_out[CH_4] = rc_3.radio_out - rc_2.pwm_out;
// servo Yaw // servo Yaw
//motor_out[FRONT] = rc_4.radio_out; //motor_out[CH_3] = rc_4.radio_out;
APM_RC.OutputCh(CH_7,rc_4.radio_out); APM_RC.OutputCh(CH_7, rc_4.radio_out);
}else if (frame_type == HEXA_FRAME) { }else if (frame_type == HEXA_FRAME) {
int roll_out = (float)rc_1.pwm_out * .866; int roll_out = (float)rc_1.pwm_out * .866;
int pitch_out = rc_2.pwm_out / 2; int pitch_out = rc_2.pwm_out / 2;
motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out; // CCW
motor_out[RIGHTFRONT] = rc_3.radio_out - roll_out + pitch_out; // CW
motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out; // CW
motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out; // CCW
motor_out[LEFTBACK] = rc_3.radio_out + roll_out - pitch_out; // CW
motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[FRONT] += rc_4.pwm_out; // CCW //left side
motor_out[RIGHTFRONT] -= rc_4.pwm_out; // CW motor_out[CH_2] = rc_3.radio_out + rc_1.pwm_out; // CCW
motor_out[LEFT] -= rc_4.pwm_out; // CW motor_out[CH_3] = rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[RIGHT] += rc_4.pwm_out; // CCW motor_out[CH_8] = rc_3.radio_out + roll_out - pitch_out; // CW
motor_out[LEFTBACK] += rc_4.pwm_out; // CW
motor_out[BACK] -= rc_4.pwm_out; // CCW //right side
motor_out[CH_1] = rc_3.radio_out - rc_1.pwm_out; // CW
motor_out[CH_7] = rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_7] += rc_4.pwm_out; // CCW
motor_out[CH_2] += rc_4.pwm_out; // CCW
motor_out[CH_4] += rc_4.pwm_out; // CCW
motor_out[CH_3] -= rc_4.pwm_out; // CW
motor_out[CH_1] -= rc_4.pwm_out; // CW
motor_out[CH_8] -= rc_4.pwm_out; // CW
} else {
/*
if(counteri == 5) {
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]);
counteri = 0;
}
counteri++;
*/
} else {
Serial.print("frame error"); Serial.print("frame error");
} }
motor_out[RIGHT] = constrain(motor_out[RIGHT], out_min, rc_3.radio_max); motor_out[CH_1] = constrain(motor_out[CH_1], out_min, rc_3.radio_max);
motor_out[LEFT] = constrain(motor_out[LEFT], out_min, rc_3.radio_max); motor_out[CH_2] = constrain(motor_out[CH_2], out_min, rc_3.radio_max);
motor_out[FRONT] = constrain(motor_out[FRONT], out_min, rc_3.radio_max); motor_out[CH_3] = constrain(motor_out[CH_3], out_min, rc_3.radio_max);
motor_out[BACK] = constrain(motor_out[BACK], out_min, rc_3.radio_max); motor_out[CH_4] = constrain(motor_out[CH_4], out_min, rc_3.radio_max);
if (frame_type == HEXA_FRAME) {
motor_out[CH_7] = constrain(motor_out[CH_7], out_min, rc_3.radio_max);
motor_out[CH_8] = constrain(motor_out[CH_8], out_min, rc_3.radio_max);
}
num++; num++;
if (num > 10){ if (num > 10){
@ -156,6 +157,8 @@ set_servos_4()
//Serial.print("!"); //Serial.print("!");
//debugging with Channel 6 //debugging with Channel 6
//pid_baro_throttle.kD((float)rc_6.control_in / 1000); // 0 to 1
/* /*
// ROLL and PITCH // ROLL and PITCH
// make sure you init_pids() after changing the kP // make sure you init_pids() after changing the kP
@ -176,17 +179,17 @@ set_servos_4()
// Send commands to motors // Send commands to motors
if(rc_3.servo_out > 0){ if(rc_3.servo_out > 0){
APM_RC.OutputCh(CH_1, motor_out[RIGHT]); APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[LEFT]); APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[FRONT]); APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[BACK]); APM_RC.OutputCh(CH_4, motor_out[CH_4]);
// InstantPWM // InstantPWM
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
if (frame_type == HEXA_FRAME) { if (frame_type == HEXA_FRAME) {
APM_RC.OutputCh(CH_7, motor_out[RIGHTFRONT]); APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[LEFTBACK]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
} }