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ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down

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rmackay9 2012-03-06 23:20:30 +09:00
parent 72a775cc2a
commit 8b256cf924
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/motors_hexa.pde
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@ -77,9 +77,9 @@ static void output_motors_armed()
// Tridge's stability patch
for (int m = 0; m <= 6; m++){
for (int m = 1; m <= 6; m++){
int c = ch_of_mot(m);
int c_opp = ch_of_mot(m ^ 1); // m ^ 1 is the opposite motor. c_opp is channel of opposite motor.
int c_opp = ch_of_mot(((m-1)^1)+1); // ((m-1)^1)+1 is the opposite motor. c_opp is channel of opposite motor.
if(motor_out[c] > out_max){
motor_out[c_opp] -= motor_out[c] - out_max;
motor_out[c] = out_max;
@ -108,7 +108,7 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue
for(int8_t m = 0; m <= 6; m++){
for(int8_t m = 1; m <= 6; m++){
int c = ch_of_mot(m);
if(motor_filtered[c] < motor_out[c]){
motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;