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ArduCopter Hexa output_motor_test: individually select all 6 motors 

* each of the 6 hexacopter motors can be selected individually
  by moving the joystick to extremes.

* previously, this was built from the quadcopter output_motor_test
  and some motors (left/right motors on +, front/back motors on X)
  were only selectable as pairs.
This commit is contained in:
Pat Hickey 2012-02-11 16:04:55 -08:00
parent 739317276d
commit 84dd0d2fda
1 changed files with 40 additions and 60 deletions
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102
ArduCopter/motors_hexa.pde
View File

@ -158,6 +158,8 @@ static void output_motors_disarmed()
static void output_motor_test()
{
motors_output_enable();
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
@ -165,48 +167,53 @@ static void output_motor_test()
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
bool right = (g.rc_1.control_in > 3000);
bool left = (g.rc_1.control_in < -3000);
bool front = (g.rc_2.control_in < -3000);
bool back = (g.rc_2.control_in > 3000);
if(g.frame_orientation == X_FRAME){
// 31
// 24
if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_1] += 100;
if ( right && !( front || back ) )
motor_out[MOT_1] += 150; // Right
if ( left && !(front || back ) )
motor_out[MOT_2] += 150; // Left
if ( back ) {
if ( left )
motor_out[MOT_6] += 150;
if ( right )
motor_out[MOT_4] += 150;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_2] += 100;
if ( front ) {
if ( left )
motor_out[MOT_3] += 150;
if ( right )
motor_out[MOT_5] += 150;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_6] += 100;
motor_out[MOT_4] += 100;
} else { /* PLUS_FRAME */
if ( front && !( left || right ) )
motor_out[MOT_1] += 150;
if ( back && !( left || right ) )
motor_out[MOT_2] += 150;
if ( left ) {
if ( front )
motor_out[MOT_5] += 150;
if ( back )
motor_out[MOT_3] += 150;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_5] += 100;
motor_out[MOT_3] += 100;
}
}else{
// 3
// 2 1
// 4
if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_4] += 100;
motor_out[MOT_6] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_5] += 100;
motor_out[MOT_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_2] += 100;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_1] += 100;
if ( right ) {
if ( front )
motor_out[MOT_4] += 150;
if ( back )
motor_out[MOT_6] += 150;
}
}
@ -219,31 +226,4 @@ static void output_motor_test()
APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
}
/*
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(1000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(1000);
}
*/
#endif