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removed debug code

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1775 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-15 05:55:51 +00:00
parent 41c9b1edd7
commit c1f785df66
1 changed files with 14 additions and 16 deletions
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30
ArduCopterMega/motors.pde
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@ -13,14 +13,12 @@ void arm_motors()
if (arming_counter > ARM_DELAY) { if (arming_counter > ARM_DELAY) {
motor_armed = true; motor_armed = true;
} else{ } else{
//Serial.printf("arm %d\n", arming_counter);
arming_counter++; arming_counter++;
} }
}else if (g.rc_4.control_in < -2700) { }else if (g.rc_4.control_in < -2700) {
if (arming_counter > DISARM_DELAY){ if (arming_counter > DISARM_DELAY){
motor_armed = false; motor_armed = false;
}else{ }else{
//Serial.printf("arm %d\n", arming_counter);
arming_counter++; arming_counter++;
} }
}else{ }else{
@ -69,10 +67,10 @@ set_servos_4()
motor_out[CH_3] = g.rc_3.radio_out + g.rc_2.pwm_out; motor_out[CH_3] = g.rc_3.radio_out + g.rc_2.pwm_out;
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
motor_out[CH_1] += g.rc_4.pwm_out; // CCW motor_out[CH_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW motor_out[CH_4] -= g.rc_4.pwm_out; // CW
}else if(g.frame_type == X_FRAME){ }else if(g.frame_type == X_FRAME){
//Serial.println("X_FRAME"); //Serial.println("X_FRAME");
@ -125,11 +123,11 @@ set_servos_4()
//left side //left side
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
//right side //right side
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW motor_out[CH_7] += g.rc_4.pwm_out; // CCW
@ -138,9 +136,9 @@ set_servos_4()
motor_out[CH_3] -= g.rc_4.pwm_out; // CW motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW motor_out[CH_8] -= g.rc_4.pwm_out; // CW
}else{ }else{
Serial.print("frame error"); Serial.print("frame error");
@ -159,7 +157,6 @@ set_servos_4()
} }
num++; num++;
if (num > 50){ if (num > 50){
num = 0; num = 0;
/* /*
@ -197,7 +194,7 @@ set_servos_4()
init_pids(); init_pids();
//*/ //*/
///* /*
write_int(motor_out[CH_1]); write_int(motor_out[CH_1]);
write_int(motor_out[CH_2]); write_int(motor_out[CH_2]);
write_int(motor_out[CH_3]); write_int(motor_out[CH_3]);
@ -215,13 +212,14 @@ set_servos_4()
write_int((int)nav_roll); write_int((int)nav_roll);
write_int((int)nav_pitch); write_int((int)nav_pitch);
write_long(current_loc.lat); // 28 //24
write_long(current_loc.lng); // 32 write_long(current_loc.lat); //28
write_int((int)current_loc.alt); // 34 write_long(current_loc.lng); //32
write_int((int)current_loc.alt); //34
write_long(next_WP.lat); write_long(next_WP.lat);
write_long(next_WP.lng); write_long(next_WP.lng);
write_int((int)next_WP.alt); // 44 write_int((int)next_WP.alt); //44
flush(10); flush(10);
//*/ //*/