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ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.

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rmackay9 2012-04-04 22:53:21 +09:00
parent 86d2a9ffdb
commit acc24291f3
1 changed files with 32 additions and 32 deletions
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64
ArduCopter/Log.pde
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@ -357,52 +357,52 @@ static void Log_Write_Motors()
DataFlash.WriteByte(LOG_MOTORS_MSG);
#if FRAME_CONFIG == TRI_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_4]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//3
DataFlash.WriteInt(g.rc_4.radio_out);//4
#elif FRAME_CONFIG == HEXA_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
DataFlash.WriteInt(motor_out[CH_7]);//5
DataFlash.WriteInt(motor_out[CH_8]);//6
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//6
#elif FRAME_CONFIG == Y6_FRAME
//left
DataFlash.WriteInt(motor_out[CH_2]);//1
DataFlash.WriteInt(motor_out[CH_3]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//2
//right
DataFlash.WriteInt(motor_out[CH_7]);//3
DataFlash.WriteInt(motor_out[CH_1]);//4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//4
//back
DataFlash.WriteInt(motor_out[CH_8]);//5
DataFlash.WriteInt(motor_out[CH_4]);//6
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//6
#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
DataFlash.WriteInt(motor_out[CH_7]);//5
DataFlash.WriteInt(motor_out[CH_8]); //6
DataFlash.WriteInt(motor_out[CH_10]);//7
DataFlash.WriteInt(motor_out[CH_11]);//8
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_7]);//7
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_8]);//8
#elif FRAME_CONFIG == HELI_FRAME
DataFlash.WriteInt(heli_servo_out[0]);//1
DataFlash.WriteInt(heli_servo_out[1]);//2
DataFlash.WriteInt(heli_servo_out[2]);//3
DataFlash.WriteInt(heli_servo_out[3]);//4
DataFlash.WriteInt(g.heli_ext_gyro_gain);//5
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
DataFlash.WriteInt(motors.ext_gyro_gain);//5
#else // quads
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
#endif
DataFlash.WriteByte(END_BYTE);