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removed debug code 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1775 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-15 05:55:51 +00:00
parent 323f2bfa59
commit 984e6c7928
1 changed files with 14 additions and 16 deletions
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30
ArduCopterMega/motors.pde
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@ -13,14 +13,12 @@ void arm_motors()
if (arming_counter > ARM_DELAY) {
motor_armed = true;
} else{
//Serial.printf("arm %d\n", arming_counter);
arming_counter++;
}
}else if (g.rc_4.control_in < -2700) {
if (arming_counter > DISARM_DELAY){
motor_armed = false;
}else{
//Serial.printf("arm %d\n", arming_counter);
arming_counter++;
}
}else{
@ -69,10 +67,10 @@ set_servos_4()
motor_out[CH_3] = g.rc_3.radio_out + g.rc_2.pwm_out;
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
motor_out[CH_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
}else if(g.frame_type == X_FRAME){
//Serial.println("X_FRAME");
@ -125,11 +123,11 @@ set_servos_4()
//left side
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
//right side
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
@ -138,9 +136,9 @@ set_servos_4()
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
}else{
}else{
Serial.print("frame error");
@ -159,7 +157,6 @@ set_servos_4()
}
num++;
if (num > 50){
num = 0;
/*
@ -197,7 +194,7 @@ set_servos_4()
init_pids();
//*/
///*
/*
write_int(motor_out[CH_1]);
write_int(motor_out[CH_2]);
write_int(motor_out[CH_3]);
@ -215,13 +212,14 @@ set_servos_4()
write_int((int)nav_roll);
write_int((int)nav_pitch);
write_long(current_loc.lat); // 28
write_long(current_loc.lng); // 32
write_int((int)current_loc.alt); // 34
//24
write_long(current_loc.lat); //28
write_long(current_loc.lng); //32
write_int((int)current_loc.alt); //34
write_long(next_WP.lat);
write_long(next_WP.lng);
write_int((int)next_WP.alt); // 44
write_int((int)next_WP.alt); //44
flush(10);
//*/