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Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME

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This commit is contained in:
Pat Hickey 2012-01-25 22:31:56 -08:00
parent 0735c2b62f
commit a24f89fb6d
1 changed files with 4 additions and 5 deletions
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9
ArduCopter/motors_octa.pde
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@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if (FRAME_CONFIG == OCTA_FRAME) || (FRAME_CONFIG == OCTA_V_FRAME)
#if FRAME_CONFIG == OCTA_FRAME
static void init_motors_out()
{
@ -39,7 +39,6 @@ static void output_motors_armed()
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
#if FRAME_TYPE == OCTA_FRAME
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.4;
pitch_out = (float)g.rc_2.pwm_out * 0.4;
@ -79,8 +78,8 @@ static void output_motors_armed()
motor_out[MOT_7] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[MOT_5] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}
#elif FRAME_TYPE == OCTA_V_FRAME
}else if(g.frame_orientation == V_FRAME){
int roll_out2, pitch_out2;
int roll_out3, pitch_out3;
@ -111,8 +110,8 @@ static void output_motors_armed()
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
#endif // FRAME_TYPE
}
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW