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ACM: removed Filtering code for motors in Quad for testing

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This commit is contained in:
Jason Short 2012-03-11 23:19:07 -07:00
parent a989b88680
commit b3795f1c00
1 changed files with 0 additions and 37 deletions
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37
ArduCopter/motors_quad.pde
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@ -100,43 +100,6 @@ static void output_motors_armed()
} }
#endif #endif
// this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue
/*for(int8_t i = MOT_1; i <= MOT_4; i++){
if(motor_filtered[i] < motor_out[i]){
motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
}else{
// don't filter
motor_filtered[i] = motor_out[i];
}
}
APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
*/
/*
if(g.rc_7.radio_in > 1700){
for(int8_t i = MOT_1; i <= MOT_4; i++){
motor_out[i] = (motor_previous[i] * 3 + motor_out[i]) / 4;
motor_previous[i] = motor_out[i];
}
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
}else{
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
}
//*/
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]); APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]); APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]); APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);