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AP_Motors: support twin-motor tailsitters 

use differential thrust for roll
This commit is contained in:
Andrew Tridgell 2017-02-13 12:26:59 +11:00
parent b3380ecfa7
commit 83d055eceb
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -64,6 +64,13 @@ void AP_MotorsTailsitter::output_to_motors()
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, _elevator*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, _rudder*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle*THROTTLE_RANGE);
// also support differential roll with twin motors
float throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
float throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left*THROTTLE_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right*THROTTLE_RANGE);
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();