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Revert all changes to ArduCopter Motors MOT mappings. 

Revert "Arducopter Motors Octa: Change V frame MOT_ output ordering."

This reverts commit bdab02f408ddc5451fcb4c6390b2475d31ac657f.

Revert "hexa frame FRAME_CONFIG fixup"

This reverts commit d15e692df613cb728ec671a54dce166f6f1940a0.

Revert "Arducopter Motors Octa: revert OCTA_V_FRAME back to part of OCTA_FRAME"

This reverts commit cb0a8c62fbd07a8ae9dcb8d4fffce337ace1aa1c.

Revert "Arducopter Motors Hexa: Change ordering of MOT designations in Plus frame"

This reverts commit 120d7f9050d5ec9f8fbe02c0ed4f38621949f4ee.

Revert "Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME"

This reverts commit 7d65ec311fd2e1222a36d0b34c366e21f3869fcc.

Revert "Arducopter Frames: revert to old HEXA_FRAME and OCTA_FRAME defines."

This reverts commit 47c6e8662f4d5e8fb920f2049338541343d8d18e.

Revert "Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types."

This reverts commit 8259c90ec7cb29dedac19890cd9a4449b7399e36.
This commit is contained in:
Pat Hickey 2012-02-01 10:10:51 -08:00
parent 297e9052a6
commit b65eb110bd
6 changed files with 225 additions and 269 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

73
ArduCopter/config_channels.h
View File

@ -11,7 +11,7 @@
// APM_Config.h and use APM_Config.h.example as a reference. // APM_Config.h and use APM_Config.h.example as a reference.
// //
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING // WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
// ///
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// //
@ -23,8 +23,6 @@
// Output CH mapping for ArduCopter motor channels // Output CH mapping for ArduCopter motor channels
// //
// //
#define CH_INVALID (-1)
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define MOT_1 CH_1 # define MOT_1 CH_1
# define MOT_2 CH_2 # define MOT_2 CH_2
@ -35,57 +33,6 @@
# define MOT_7 CH_7 # define MOT_7 CH_7
# define MOT_8 CH_8 # define MOT_8 CH_8
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
#if FRAME_CONFIG == QUAD_FRAME
// X and Plus
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
// Placeholders:
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == TRI_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_4
// Placeholders:
# define MOT_4 CH_INVALID
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == HEXA_FRAME
# define MOT_1 CH_7
# define MOT_2 CH_3
# define MOT_3 CH_2
# define MOT_4 CH_8
# define MOT_5 CH_4
# define MOT_6 CH_1
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == Y6_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_7
# define MOT_3 CH_3
# define MOT_4 CH_2
# define MOT_5 CH_8
# define MOT_6 CH_4
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == OCTA_FRAME
# define MOT_1 CH_2
# define MOT_2 CH_1
# define MOT_3 CH_11
# define MOT_4 CH_10
# define MOT_5 CH_8
# define MOT_6 CH_7
# define MOT_7 CH_4
# define MOT_8 CH_3
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
# define MOT_1 CH_1 # define MOT_1 CH_1
# define MOT_2 CH_2 # define MOT_2 CH_2
# define MOT_3 CH_3 # define MOT_3 CH_3
@ -94,17 +41,7 @@
# define MOT_6 CH_8 # define MOT_6 CH_8
# define MOT_7 CH_10 # define MOT_7 CH_10
# define MOT_8 CH_11 # define MOT_8 CH_11
#else // HELI #endif
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
#endif // FRAME_CONFIG
#endif // CONFIG_APM_HARDWARE
// //
// //
@ -123,10 +60,10 @@
// //
// //
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
/* Camera Pitch and Camera Roll: Not yet defined for APM2 /* Camera Pitch and Camera Roll: Not yet defined for APM2
* They will likely be dependent on the frame config */ * They will likely be dependent on the frame config */
# define CH_CAM_PITCH (-1) # define CH_CAM_PITCH CH_11
# define CH_CAM_ROLL (-1) # define CH_CAM_ROLL CH_10
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define CH_CAM_PITCH CH_5 # define CH_CAM_PITCH CH_5
# define CH_CAM_ROLL CH_6 # define CH_CAM_ROLL CH_6

80
ArduCopter/motors_hexa.pde
View File

@ -37,41 +37,42 @@ 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();
if(g.frame_orientation == X_FRAME){ if(g.frame_orientation == X_FRAME){
roll_out = g.rc_1.pwm_out / 2; roll_out = g.rc_1.pwm_out / 2;
pitch_out = (float)g.rc_2.pwm_out * .866; pitch_out = (float)g.rc_2.pwm_out * .866;
//LEFT SIDE //left side
motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT CW motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW Middle
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out; // MIDDLE CCW motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW Front
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK CW motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CW Back
//RIGHT SIDE //right side
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT CCW motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW Middle
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out; // MIDDLE CW motor_out[MOT_5] = g.rc_3.radio_out - roll_out + pitch_out; // CCW Front
motor_out[MOT_5] = g.rc_3.radio_out - roll_out - pitch_out; // BACK CCW motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW Back
} else {
}else{
roll_out = (float)g.rc_1.pwm_out * .866; roll_out = (float)g.rc_1.pwm_out * .866;
pitch_out = g.rc_2.pwm_out / 2; pitch_out = g.rc_2.pwm_out / 2;
//FRONT SIDE //Front side
motor_out[MOT_5] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT RIGHT CCW motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[MOT_6] = g.rc_3.radio_out + g.rc_2.pwm_out; // FRONT CW motor_out[MOT_5] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
motor_out[MOT_1] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT LEFT CCW motor_out[MOT_4] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
//BACK SIDE //Back side
motor_out[MOT_2] = g.rc_3.radio_out + roll_out - pitch_out; // BACK LEFT CW motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW BACK
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out; // BACK CCW motor_out[MOT_3] = g.rc_3.radio_out + roll_out - pitch_out; // CW, BACK LEFT
motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // BACK RIGHT CW motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // CW BACK RIGHT
} }
// Yaw // Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW motor_out[MOT_4] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
@ -99,9 +100,9 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min; motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
} }
#endif #endif
@ -166,43 +167,46 @@ static void output_motor_test()
if(g.frame_orientation == X_FRAME){ if(g.frame_orientation == X_FRAME){
// 31
// 24
if(g.rc_1.control_in > 3000){ // right if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_6] += 100; motor_out[MOT_1] += 100;
} }
if(g.rc_1.control_in < -3000){ // left if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_3] += 100; motor_out[MOT_2] += 100;
} }
if(g.rc_2.control_in > 3000){ // back if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_5] += 100; motor_out[MOT_6] += 100;
motor_out[MOT_4] += 100; motor_out[MOT_4] += 100;
} }
if(g.rc_2.control_in < -3000){ // front if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_1] += 100; motor_out[MOT_5] += 100;
motor_out[MOT_2] += 100; motor_out[MOT_3] += 100;
} }
}else{ }else{
// 3
// 2 1
// 4
if(g.rc_1.control_in > 3000){ // right if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_1] += 100; motor_out[MOT_4] += 100;
motor_out[MOT_6] += 100; motor_out[MOT_6] += 100;
} }
if(g.rc_1.control_in < -3000){ // left if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_5] += 100;
motor_out[MOT_3] += 100; motor_out[MOT_3] += 100;
motor_out[MOT_4] += 100;
} }
if(g.rc_2.control_in > 3000){ // back if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_5] += 100; motor_out[MOT_2] += 100;
} }
if(g.rc_2.control_in < -3000){ // front if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_2] += 100; motor_out[MOT_1] += 100;
} }
} }

119
ArduCopter/motors_octa.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == OCTA_FRAME #if FRAME_CONFIG == OCTA_FRAME
static void init_motors_out() static void init_motors_out()
{ {
@ -44,42 +44,42 @@ static void output_motors_armed()
pitch_out = (float)g.rc_2.pwm_out * 0.4; pitch_out = (float)g.rc_2.pwm_out * 0.4;
//Front side //Front side
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Back side //Back side
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
//Left side //Left side
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT
motor_out[MOT_5] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK
//Right side //Right side
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT
}else if(g.frame_orientation == PLUS_FRAME){ }else if(g.frame_orientation == PLUS_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.71; roll_out = (float)g.rc_1.pwm_out * 0.71;
pitch_out = (float)g.rc_2.pwm_out * 0.71; pitch_out = (float)g.rc_2.pwm_out * 0.71;
//Front side //Front side
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT motor_out[MOT_3] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT motor_out[MOT_5] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
//Left side //Left side
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
//Right side //Right side
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
//Back side //Back side
motor_out[MOT_7] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[MOT_5] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}else if(g.frame_orientation == V_FRAME){ }else if(g.frame_orientation == V_FRAME){
int roll_out2, pitch_out2; int roll_out2, pitch_out2;
int roll_out3, pitch_out3; int roll_out3, pitch_out3;
@ -95,68 +95,55 @@ static void output_motors_armed()
pitch_out4 = (float)g.rc_2.pwm_out * 0.98; pitch_out4 = (float)g.rc_2.pwm_out * 0.98;
//Front side //Front side
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT motor_out[MOT_7] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_6] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Left side //Left side
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT motor_out[MOT_1] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
motor_out[MOT_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
//Right side //Right side
motor_out[MOT_5] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK motor_out[MOT_2] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
//Back side //Back side
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
} }
if ( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME ) { // Yaw
// Yaw motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW motor_out[MOT_4] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW motor_out[MOT_7] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
} else if ( g.frame_orientation == V_FRAME ) {
// Yaw of each motor is diferent in V frames.
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_8] += g.rc_4.pwm_out; // CCW
}
// TODO add stability patch // TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max); motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max); motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max); motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max); motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max); motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max); motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max); motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max); motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
// limit output so motors don't stop // limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min); motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min); motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min); motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min); motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min); motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min); motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min); motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
@ -165,11 +152,11 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min; motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min; motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min; motor_out[MOT_8] = g.rc_3.radio_min;
} }
#endif #endif
@ -218,12 +205,13 @@ static void output_motors_disarmed()
// Send commands to motors // Send commands to motors
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_7, g.rc_3.radio_min); APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
} }
static void output_motor_test() static void output_motor_test()
@ -300,3 +288,4 @@ static void output_motor_test()
} }
#endif #endif

86
ArduCopter/motors_octa_quad.pde
View File

@ -40,63 +40,79 @@ static void output_motors_armed()
g.rc_4.calc_pwm(); g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){ if(g.frame_orientation == X_FRAME){
roll_out = g.rc_1.pwm_out * .707; roll_out = (float)g.rc_1.pwm_out * .707;
pitch_out = g.rc_2.pwm_out * .707; pitch_out = (float)g.rc_2.pwm_out * .707;
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // OUT 1 FRONT RIGHT CCW BOTTOM // Front Left
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // OUT 2 FRONT RIGHT CW TOP motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // OUT 3 FRONT LEFT CCW TOP motor_out[MOT_6] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[MOT_4] = g.rc_3.radio_out + roll_out + pitch_out; // OUT 4 FRONT LEFT CW BOTTOM
motor_out[MOT_5] = g.rc_3.radio_out + roll_out - pitch_out; // OUT 5 BACK LEFT CCW BOTTOM // Front Right
motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // OUT 6 BACK LEFT CW TOP motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // OUT 7 BACK RIGHT CCW TOP motor_out[MOT_8] = g.rc_3.radio_out - roll_out + pitch_out; // CW
motor_out[MOT_8] = g.rc_3.radio_out - roll_out - pitch_out; // OUT 8 BACK RIGHT CW BOTTOM
// Back Left
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
// Back Right
motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
motor_out[MOT_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
}else{
}if(g.frame_orientation == PLUS_FRAME){
roll_out = g.rc_1.pwm_out; roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out; pitch_out = g.rc_2.pwm_out;
motor_out[MOT_1] = g.rc_3.radio_out + pitch_out; //OUT 1 FRONT CCW BOTTOM // Left
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; //OUT 2 FRONT CW TOP motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; //OUT 3 LEFT CCW TOP motor_out[MOT_6] = g.rc_3.radio_out - roll_out; // CW
motor_out[MOT_4] = g.rc_3.radio_out - roll_out; //OUT 4 LEFT CW BOTTOM
motor_out[MOT_5] = g.rc_3.radio_out - pitch_out; //OUT 5 BACK CCW BOTTOM // Right
motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; //OUT 6 BACK CW TOP motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; //OUT 7 RIGHT CCW TOP motor_out[MOT_2] = g.rc_3.radio_out + roll_out; // CW
motor_out[MOT_8] = g.rc_3.radio_out + roll_out; //OUT 8 RIGHT CW BOTTOM
// Front
motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out + pitch_out; // CW
// Back
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - pitch_out; // CW
} }
// Yaw // Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
// TODO add stability patch // TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max); motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max); motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max); motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max); motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max); motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max); motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max); motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max); motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
// limit output so motors don't stop // limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min); motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min); motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min); motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min); motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min); motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min); motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min); motor_out[MOT_8] = max(motor_out[MOT_8], 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
@ -104,11 +120,11 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min; motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min; motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min; motor_out[MOT_8] = g.rc_3.radio_min;
} }
#endif #endif

34
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(MOT_1) | _BV(MOT_2) | _BV(MOT_3) ); APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4) );
#endif #endif
} }
@ -40,46 +40,46 @@ static void output_motors_armed()
//right front //right front
motor_out[MOT_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[MOT_3] = 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[MOT_3] += (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[MOT_1] > out_max) { if (motor_out[MOT_1] > out_max) {
motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1; motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[MOT_3] -= (motor_out[MOT_1] - out_max) >> 1; motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[MOT_1] = out_max; motor_out[MOT_1] = out_max;
} }
if (motor_out[MOT_2] > out_max) { if (motor_out[MOT_2] > out_max) {
motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1; motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[MOT_3] -= (motor_out[MOT_2] - out_max) >> 1; motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[MOT_2] = out_max; motor_out[MOT_2] = out_max;
} }
if (motor_out[MOT_3] > out_max) { if (motor_out[MOT_4] > out_max) {
motor_out[MOT_1] -= (motor_out[MOT_3] - out_max) >> 1; motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[MOT_2] -= (motor_out[MOT_3] - out_max) >> 1; motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[MOT_3] = out_max; motor_out[MOT_4] = out_max;
} }
// limit output so motors don't stop // limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min); motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], 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[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
} }
#endif #endif
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_4, motor_out[MOT_4]);
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
// InstantPWM // InstantPWM
@ -104,14 +104,14 @@ static void output_motors_disarmed()
// Send commands to motors // Send commands to motors
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, 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[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = 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
@ -123,12 +123,12 @@ static void output_motor_test()
} }
if(g.rc_2.control_in > 3000){ // back if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_3] += 100; motor_out[MOT_4] += 100;
} }
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_4, motor_out[MOT_4]);
} }
#endif #endif

102
ArduCopter/motors_y6.pde
View File

@ -38,61 +38,71 @@ 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 // Multi-Wii Mix
//left
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
//right
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
//back
motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[MOT_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 1 RIGHT BOTTOM CCW //left
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 2 RIGHT TOP CW motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 3 LEFT BOTTOM CCW motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
motor_out[MOT_4] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 4 LEFT TOP CW //right
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // OUT 5 REAR TOP CCW motor_out[MOT_5] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
motor_out[MOT_6] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // OUT 6 REAR BOTTOM CW motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
//back
// YAW motor_out[MOT_6] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM CCW
motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP CW
motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM CCW
motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP CW
motor_out[MOT_5] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP CCW
motor_out[MOT_6] -= 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;
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // RIGHT BOTTOM CCW //left
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // RIGHT TOP CW motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // LEFT BOTTOM CCW motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[MOT_4] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // LEFT TOP CW
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // REAR TOP CCW //right
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out; // REAR BOTTOM CW motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
//back
motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
// Yaw // Yaw
//top
motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW //bottom
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
*/ */
// TODO: add stability patch // TODO: add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max); motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max); motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max); motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max); motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max); motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max); motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
// limit output so motors don't stop // limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min); motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min); motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min); motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min); motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min); motor_out[MOT_6] = max(motor_out[MOT_6], 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
@ -100,9 +110,9 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min; motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
} }
#endif #endif
@ -167,17 +177,17 @@ static void output_motor_test()
if(g.rc_1.control_in > 3000){ // right if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_1] += 100; motor_out[MOT_1] += 100;
motor_out[MOT_2] += 100; motor_out[MOT_5] += 100;
} }
if(g.rc_1.control_in < -3000){ // left if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_4] += 100; motor_out[MOT_2] += 100;
motor_out[MOT_3] += 100; motor_out[MOT_3] += 100;
} }
if(g.rc_2.control_in > 3000){ // back if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_6] += 100; motor_out[MOT_6] += 100;
motor_out[MOT_5] += 100; motor_out[MOT_4] += 100;
} }
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]); APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);