From 99a327ccbf37778fe446a2d83f51e36ae2659743 Mon Sep 17 00:00:00 2001 From: jasonshort Date: Fri, 5 Aug 2011 16:46:46 +0000 Subject: [PATCH] 2.0.39 Moved the motors based on feedback from Max Levine. See Wiki for details. Simplified the CUT_MOTORS section of the code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3029 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/motors_y6.pde | 105 ++++++++++++++++++++--------------- 1 file changed, 61 insertions(+), 44 deletions(-) diff --git a/ArduCopterMega/motors_y6.pde b/ArduCopterMega/motors_y6.pde index 4ffcb760e9..ede41a0fba 100644 --- a/ArduCopterMega/motors_y6.pde +++ b/ArduCopterMega/motors_y6.pde @@ -2,6 +2,8 @@ #if FRAME_CONFIG == Y6_FRAME +#define YAW_DIRECTION 1 + static void output_motors_armed() { int out_min = g.rc_3.radio_min; @@ -18,29 +20,63 @@ static void output_motors_armed() g.rc_3.calc_pwm(); g.rc_4.calc_pwm(); + // Multi-Wii Mix + //left + motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW + motor_out[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW + //right + motor_out[CH_7] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW + motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW + //back + motor_out[CH_8] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW + motor_out[CH_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW + + //left + motor_out[CH_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW + motor_out[CH_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW + //right + motor_out[CH_7] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW + motor_out[CH_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW + //back + motor_out[CH_8] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW + motor_out[CH_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW + + + /* int roll_out = (float)g.rc_1.pwm_out * .866; int pitch_out = g.rc_2.pwm_out / 2; //left motor_out[CH_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP - motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW + motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW //right motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP - motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW + motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW //back - motor_out[CH_8] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP - motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW + motor_out[CH_8] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP + motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW // Yaw + //top motor_out[CH_2] += g.rc_4.pwm_out; // CCW motor_out[CH_7] += g.rc_4.pwm_out; // CCW motor_out[CH_8] += g.rc_4.pwm_out; // CCW + //bottom motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_4] -= 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); // limit output so motors don't stop motor_out[CH_1] = max(motor_out[CH_1], out_min); @@ -50,48 +86,29 @@ static void output_motors_armed() motor_out[CH_7] = max(motor_out[CH_7], out_min); motor_out[CH_8] = max(motor_out[CH_8], 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); - #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]); - - // 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); - } - #else - 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]); - - // InstantPWM - APM_RC.Force_Out0_Out1(); - APM_RC.Force_Out6_Out7(); - APM_RC.Force_Out2_Out3(); + // 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; + } #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]); + 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]); + + // InstantPWM + APM_RC.Force_Out0_Out1(); + APM_RC.Force_Out6_Out7(); + APM_RC.Force_Out2_Out3(); } static void output_motors_disarmed()