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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1598 f9c3cf11-9bcb-44bc-f272-b75c42450872

This commit is contained in:
jasonshort 2011-02-06 07:03:28 +00:00
parent ea8acd664f
commit d1e9d62072
1 changed files with 21 additions and 2 deletions
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23
ArduCopterMega/motors.pde
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@ -166,14 +166,33 @@ set_servos_4()
init_pids(); init_pids();
//Serial.print("kP: "); //Serial.print("kP: ");
//Serial.println(pid_stabilize_roll.kP(),3); //Serial.println(pid_stabilize_roll.kP(),3);
*/ //*/
/* /*
// YAW // YAW
// make sure you init_pids() after changing the kP // make sure you init_pids() after changing the kP
pid_yaw.kP((float)rc_6.control_in / 1000); pid_yaw.kP((float)rc_6.control_in / 1000);
init_pids(); init_pids();
*/ //*/
/*
write_int(motor_out[CH_1]);
write_int(motor_out[CH_2]);
write_int(motor_out[CH_3]);
write_int(motor_out[CH_4]);
write_int((int)(dcm.roll_sensor / 100));
write_int((int)(dcm.pitch_sensor / 100));
write_int((int)(dcm.yaw_sensor / 100));
write_int((int)(nav_yaw / 100));
write_int((int)nav_lat);
write_int((int)nav_lon);
write_int((int)nav_roll);
write_int((int)nav_pitch);
flush(10);
//*/
} }
// Send commands to motors // Send commands to motors