Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-26 18:48:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Emile's Fixes

Browse Source
This commit is contained in:
Jason Short 2012-02-22 10:27:34 -08:00
parent 4483f19f85
commit c7c16a5b0f
1 changed files with 77 additions and 83 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

158
ArduCopter/motors_hexa.pde
View File

@ -5,19 +5,19 @@
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) | _BV(MOT_4) APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6) ); | _BV(MOT_5) | _BV(MOT_6));
#endif #endif
} }
static void motors_output_enable() static void motors_output_enable()
{ {
APM_RC.enable_out(MOT_1); APM_RC.enable_out(MOT_1);
APM_RC.enable_out(MOT_2); APM_RC.enable_out(MOT_2);
APM_RC.enable_out(MOT_3); APM_RC.enable_out(MOT_3);
APM_RC.enable_out(MOT_4); APM_RC.enable_out(MOT_4);
APM_RC.enable_out(MOT_5); APM_RC.enable_out(MOT_5);
APM_RC.enable_out(MOT_6); APM_RC.enable_out(MOT_6);
} }
static void output_motors_armed() static void output_motors_armed()
@ -44,7 +44,7 @@ static void output_motors_armed()
//left side //left side
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW Middle 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 + roll_out + pitch_out; // CW Front motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW Front
motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CW Back 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 - g.rc_1.pwm_out; // CW Middle motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW Middle
@ -73,26 +73,26 @@ static void output_motors_armed()
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] -= 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
// Tridge's stability patch // Tridge's stability patch
for (int m = 0; m <= 6; m++) { for (int m = 0; m <= 6; m++){
int c = ch_of_mot(m); int c = ch_of_mot(m);
int c_opp = ch_of_mot(m^1); // m^1 is the opposite motor. c_opp is channel of opposite motor. int c_opp = ch_of_mot(m ^ 1); // m ^ 1 is the opposite motor. c_opp is channel of opposite motor.
if (motor_out[c] > out_max) { if(motor_out[c] > out_max){
motor_out[c_opp] -= motor_out[c] - out_max; motor_out[c_opp] -= motor_out[c] - out_max;
motor_out[c] = out_max; motor_out[c] = 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
@ -108,8 +108,8 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration // this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue // Idea by Denny Rowland to help with his Yaw issue
for(int8_t m = 0; m <= 6; m++ ) { for(int8_t m = 0; m <= 6; m++){
int c = ch_of_mot(m); int c = ch_of_mot(m);
if(motor_filtered[c] < motor_out[c]){ if(motor_filtered[c] < motor_out[c]){
motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2; motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
}else{ }else{
@ -143,7 +143,7 @@ static void output_motors_disarmed()
} }
// fill the motor_out[] array for HIL use // fill the motor_out[] array for HIL use
for (unsigned char i = 0; i < 8; i++) { for (unsigned char i = 0; i < 8; i++){
motor_out[i] = g.rc_3.radio_min; motor_out[i] = g.rc_3.radio_min;
} }
@ -158,7 +158,7 @@ static void output_motors_disarmed()
static void output_motor_test() static void output_motor_test()
{ {
motors_output_enable(); motors_output_enable();
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;
@ -168,74 +168,68 @@ static void output_motor_test()
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
if(g.frame_orientation == X_FRAME){ if(g.frame_orientation == X_FRAME){
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(4000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
delay(4000); delay(2000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300);
}
} else { /* PLUS_FRAME */ } else { /* PLUS_FRAME */
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
delay(4000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
delay(4000); delay(2000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(2000); delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300); delay(300);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
} }
}
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]);