From 984e6c792804619cab52e26cd0ad83fbd5c8d990 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 15 Mar 2011 05:55:51 +0000
Subject: [PATCH] removed debug code

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1775 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/motors.pde | 30 ++++++++++++++----------------
 1 file changed, 14 insertions(+), 16 deletions(-)

diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index 9a00d94427..6aafda44ee 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -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);
 			//*/