2.0.26

minor updates, 
Arming motors now for only Stabilize, Simple, and Acro Modes.
V Octo Support


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2657 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -33,6 +33,7 @@
 	/*
 	PLUS_FRAME
 	X_FRAME
+    V_FRAME
 	*/
 
 

ArduCopterMega/ArduCopterMega.pde

@@ -45,10 +45,10 @@ version 2.1 of the License, or (at your option) any later version.
 #include <GCS_MAVLink.h>    // MAVLink GCS definitions
 
 // Configuration
+#include "defines.h"
 #include "config.h"
 
 // Local modules
-#include "defines.h"
 #include "Parameters.h"
 #include "GCS.h"
 #include "HIL.h"
@@ -496,13 +496,6 @@ void loop()
 		//if (delta_ms_fast_loop > 6)
 		//	Log_Write_Performance();
 
-		/*
-		if(delta_ms_fast_loop > 11){
-			update_timer_light(true);
-			//Serial.println(delta_ms_fast_loop,DEC);
-		}else{
-			update_timer_light(false);
-		}*/
 
 		// Execute the fast loop
 		// ---------------------

ArduCopterMega/Camera.pde

@@ -9,7 +9,6 @@ void init_camera()
 	g.rc_camera_pitch.radio_trim 	= 1500;
 	g.rc_camera_pitch.radio_max 	= 2000;
 
-
 	g.rc_camera_roll.set_angle(4500);
 	g.rc_camera_roll.radio_min 		= 1000;
 	g.rc_camera_roll.radio_trim 	= 1500;

ArduCopterMega/Mavlink_Common.h

@@ -44,18 +44,6 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 			uint8_t nav_mode = MAV_NAV_VECTOR;
 
 			switch(control_mode) {
-				case ACRO:
-					mode 		= MAV_MODE_MANUAL;
-					break;
-				case STABILIZE:
-					mode 		= MAV_MODE_GUIDED;
-					break;
-				case SIMPLE:
-					mode 		= MAV_MODE_TEST1;
-					break;
-				case ALT_HOLD:
-					mode 		= MAV_MODE_TEST2;
-					break;
 				case LOITER:
 					mode 		= MAV_MODE_AUTO;
 					nav_mode 	= MAV_NAV_HOLD;
@@ -68,6 +56,9 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					mode 		= MAV_MODE_AUTO;
 					nav_mode 	= MAV_NAV_RETURNING;
 					break;
+				default:
+					mode 		= control_mode + 100;
+
 			}
 
 			uint8_t status 		= MAV_STATE_ACTIVE;

ArduCopterMega/defines.h

@@ -24,7 +24,7 @@
 
 #define PLUS_FRAME 0
 #define X_FRAME 1
-
+#define V_FRAME 2
 
 // LED output
 #define NORMAL_LEDS 0
@@ -106,8 +106,8 @@
 // ----------------
 #define STABILIZE 0			// hold level position
 #define ACRO 1				// rate control
-#define ALT_HOLD 2			// AUTO control
+#define SIMPLE 2			//
-#define SIMPLE 3			//
+#define ALT_HOLD 3			// AUTO control
 #define AUTO 4				// AUTO control
 #define GCS_AUTO 5			// AUTO control
 #define LOITER 6			// Hold a single location

ArduCopterMega/motors.pde

@@ -17,6 +17,8 @@ void arm_motors()
 		// full right
 		if (g.rc_4.control_in > 4000) {
 
+			if (control_mode < ALT_HOLD){
+
 				if (arming_counter > AUTO_LEVEL_DELAY){
 					auto_level_counter = 255;
 					arming_counter = 0;
@@ -33,6 +35,7 @@ void arm_motors()
 				} else{
 					arming_counter++;
 				}
+			}
 
 		// full left
 		}else if (g.rc_4.control_in < -4000) {

ArduCopterMega/motors_octa.pde

@@ -38,7 +38,7 @@ void output_motors_armed()
 		motor_out[CH_7]		= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out;	 // CW	 BACK LEFT
 		motor_out[CH_4]		= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out;	 // CCW	BACK RIGHT
 
-	}else{
+	}if(g.frame_orientation == PLUS_FRAME){
 		roll_out 		= (float)g.rc_1.pwm_out * 0.71;
 		pitch_out 	 	= (float)g.rc_2.pwm_out * 0.71;
 
@@ -57,6 +57,38 @@ void output_motors_armed()
 		motor_out[CH_7]		= g.rc_3.radio_out - g.rc_2.pwm_out;		// CW	BACK
 		motor_out[CH_4]		= g.rc_3.radio_out - roll_out - pitch_out;	// CCW 	BACK RIGHT
 		motor_out[CH_8]		= g.rc_3.radio_out + roll_out - pitch_out;	// CCW	BACK LEFT
+
+	}else{
+
+		int roll_out2, pitch_out2;
+		int roll_out3, pitch_out3;
+		int roll_out4, pitch_out4;
+
+		roll_out 	 	= g.rc_1.pwm_out;
+		pitch_out 	 	= g.rc_2.pwm_out;
+		roll_out2 	 	= (float)g.rc_1.pwm_out * 0.833;
+		pitch_out2 	 	= (float)g.rc_2.pwm_out * 0.34;
+		roll_out3 	 	= (float)g.rc_1.pwm_out * 0.666;
+		pitch_out3 	 	= (float)g.rc_2.pwm_out * 0.32;
+		roll_out4 	 	= (float)g.rc_1.pwm_out * 0.5;
+		pitch_out4 	 	= (float)g.rc_2.pwm_out * 0.98;
+
+		//Front side
+		motor_out[CH_1]		= g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;		// CW	 FRONT RIGHT
+		motor_out[CH_11] 	= g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;		// CCW FRONT LEFT
+
+		//Left side
+		motor_out[CH_10] 	= g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW	 LEFT FRONT
+		motor_out[CH_8] 	= g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
+
+		//Right side
+		motor_out[CH_3] 	= g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW	 RIGHT BACK
+		motor_out[CH_2]		= g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
+
+		//Back side
+		motor_out[CH_7]		= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4;	// CW	 BACK LEFT
+		motor_out[CH_4]		= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4;	// CCW BACK RIGHT
+
 	}
 
 	// Yaw

ArduCopterMega/setup.pde

@@ -653,7 +653,7 @@ setup_gyro(uint8_t argc, const Menu::arg *argv)
 
 void clear_offsets()
 {
-	Vector3f _offsets;
+	Vector3f _offsets(0.0,0.0,0.0);
 	compass.set_offsets(_offsets);
 	compass.save_offsets();
 }

ArduCopterMega/system.pde

@@ -40,7 +40,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.25 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.26 Beta", main_menu_commands);
 
 void init_ardupilot()
 {