Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopter motors_tri: rewrite CH_ macros with MOT_ macros

Browse Source 
* Third Tricopter motor was on CH_4, so it is called MOT_4. This
  will be changed in a subsequent commit.
This commit is contained in:
Pat Hickey 2012-01-01 20:13:01 -05:00
parent 73610ddb6c
commit ac7f6a5602
1 changed files with 38 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

76
ArduCopter/motors_tri.pde
View File

@ -4,7 +4,7 @@
static void init_motors_out() static void init_motors_out()
{ {
#if INSTANT_PWM == 0 #if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_4) ); APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4) );
#endif #endif
} }
@ -28,50 +28,50 @@ static void output_motors_armed()
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
//left front //left front
motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out; motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out;
//right front //right front
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out;
// rear // rear
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
//motor_out[CH_4] += (float)(abs(g.rc_4.control_in)) * .013; //motor_out[MOT_4] += (float)(abs(g.rc_4.control_in)) * .013;
// Tridge's stability patch // Tridge's stability patch
if (motor_out[CH_1] > out_max) { if (motor_out[MOT_1] > out_max) {
motor_out[CH_2] -= (motor_out[CH_1] - out_max) >> 1; motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[CH_4] -= (motor_out[CH_1] - out_max) >> 1; motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[CH_1] = out_max; motor_out[MOT_1] = out_max;
} }
if (motor_out[CH_2] > out_max) { if (motor_out[MOT_2] > out_max) {
motor_out[CH_1] -= (motor_out[CH_2] - out_max) >> 1; motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[CH_4] -= (motor_out[CH_2] - out_max) >> 1; motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[CH_2] = out_max; motor_out[MOT_2] = out_max;
} }
if (motor_out[CH_4] > out_max) { if (motor_out[MOT_4] > out_max) {
motor_out[CH_1] -= (motor_out[CH_4] - out_max) >> 1; motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[CH_2] -= (motor_out[CH_4] - out_max) >> 1; motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[CH_4] = out_max; motor_out[MOT_4] = 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[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min); motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the 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){
motor_out[CH_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
} }
#endif #endif
APM_RC.OutputCh(CH_1, motor_out[CH_1]); APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]); APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]); APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
// InstantPWM // InstantPWM
@ -94,33 +94,33 @@ static void output_motors_disarmed()
} }
// Send commands to motors // Send commands to motors
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
} }
static void output_motor_test() static void output_motor_test()
{ {
motor_out[CH_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
if(g.rc_1.control_in > 3000){ // right if(g.rc_1.control_in > 3000){ // right
motor_out[CH_1] += 100; motor_out[MOT_1] += 100;
} }
if(g.rc_1.control_in < -3000){ // left if(g.rc_1.control_in < -3000){ // left
motor_out[CH_2] += 100; motor_out[MOT_2] += 100;
} }
if(g.rc_2.control_in > 3000){ // back if(g.rc_2.control_in > 3000){ // back
motor_out[CH_4] += 100; motor_out[MOT_4] += 100;
} }
APM_RC.OutputCh(CH_1, motor_out[CH_1]); APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]); APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]); APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
} }
#endif #endif