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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
This commit is contained in:
jasonshort 2011-08-05 16:46:46 +00:00
parent 4752468730
commit 99a327ccbf
1 changed files with 61 additions and 44 deletions
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105
ArduCopterMega/motors_y6.pde
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@ -2,6 +2,8 @@
#if FRAME_CONFIG == Y6_FRAME #if FRAME_CONFIG == Y6_FRAME
#define YAW_DIRECTION 1
static void output_motors_armed() static void output_motors_armed()
{ {
int out_min = g.rc_3.radio_min; int out_min = g.rc_3.radio_min;
@ -18,29 +20,63 @@ static void output_motors_armed()
g.rc_3.calc_pwm(); g.rc_3.calc_pwm();
g.rc_4.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 roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
//left //left
motor_out[CH_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP 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 //right
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP 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 //back
motor_out[CH_8] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP 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_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
// Yaw // Yaw
//top
motor_out[CH_2] += g.rc_4.pwm_out; // CCW motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += 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 motor_out[CH_8] += g.rc_4.pwm_out; // CCW
//bottom
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= 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 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 // limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min); 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_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], 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 #if CUT_MOTORS == ENABLED
// Send commands to motors // if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out > 0){ if(g.rc_3.servo_out == 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]); motor_out[CH_1] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_2, motor_out[CH_2]); motor_out[CH_2] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_3, motor_out[CH_3]); motor_out[CH_3] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_4, motor_out[CH_4]); motor_out[CH_4] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_7, motor_out[CH_7]); motor_out[CH_7] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_8, motor_out[CH_8]); motor_out[CH_8] = g.rc_3.radio_min;
}
// 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();
#endif #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() static void output_motors_disarmed()