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2.0.39 

Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3025 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:43:44 +00:00
parent e7a87006b0
commit 87a015b205
1 changed files with 37 additions and 51 deletions
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58
ArduCopterMega/motors_octa_quad.pde
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@ -74,6 +74,16 @@ static void output_motors_armed()
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
motor_out[CH_11] -= g.rc_4.pwm_out; // CW
// TODO add stability patch
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
@ -84,43 +94,20 @@ static void output_motors_armed()
motor_out[CH_10] = max(motor_out[CH_10], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
}else{
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, 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_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
// if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out == 0){
motor_out[CH_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min;
motor_out[CH_3] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min;
motor_out[CH_7] = g.rc_3.radio_min;
motor_out[CH_8] = g.rc_3.radio_min;
motor_out[CH_10] = g.rc_3.radio_min;
motor_out[CH_11] = g.rc_3.radio_min;
}
#else
#endif
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
@ -134,7 +121,6 @@ static void output_motors_armed()
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
#endif
}
static void output_motors_disarmed()