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MOTORS Mixer: temp removal of Yaw Contrib code

This commit is contained in:
Jason Short 2012-08-09 16:57:51 -07:00
parent ab60681376
commit d37ca9343b
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -125,7 +125,7 @@ void AP_MotorsMatrix::output_armed()
int8_t i; int8_t i;
int16_t out_min = _rc_throttle->radio_min; int16_t out_min = _rc_throttle->radio_min;
int16_t out_max = _rc_throttle->radio_max; int16_t out_max = _rc_throttle->radio_max;
int16_t yaw_contribution = 0; //int16_t yaw_contribution = 0;
// Throttle is 0 to 1000 only // Throttle is 0 to 1000 only
_rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle); _rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle);
@ -142,16 +142,16 @@ void AP_MotorsMatrix::output_armed()
// mix roll, pitch, yaw, throttle into output for each motor // mix roll, pitch, yaw, throttle into output for each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
yaw_contribution = _rc_yaw->pwm_out*_yaw_factor[i]; /*yaw_contribution = _rc_yaw->pwm_out*_yaw_factor[i];
if (yaw_contribution > 0 ){ if (yaw_contribution > 0 ){
yaw_contribution *= 0.7; yaw_contribution *= 0.7;
}else{ }else{
yaw_contribution *= 1.42; yaw_contribution *= 1.42;
} }*/
motor_out[i] = _rc_throttle->radio_out + motor_out[i] = _rc_throttle->radio_out +
_rc_roll->pwm_out * _roll_factor[i] + _rc_roll->pwm_out * _roll_factor[i] +
_rc_pitch->pwm_out * _pitch_factor[i] + _rc_pitch->pwm_out * _pitch_factor[i] +
yaw_contribution; _rc_yaw->pwm_out*_yaw_factor[i];
} }
} }
@ -235,7 +235,7 @@ void AP_MotorsMatrix::output_test()
// first delay is longer // first delay is longer
delay(4000); delay(4000);
// loop through all the possible orders spinning any motors that match that description // loop through all the possible orders spinning any motors that match that description
for( i=min_order; i<=max_order; i++ ) { for( i=min_order; i<=max_order; i++ ) {
for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) { for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
@ -258,7 +258,7 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
{ {
// ensure valid motor number is provided // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
// increment number of motors if this motor is being newly motor_enabled // increment number of motors if this motor is being newly motor_enabled
if( !motor_enabled[motor_num] ) { if( !motor_enabled[motor_num] ) {
motor_enabled[motor_num] = true; motor_enabled[motor_num] = true;
@ -320,7 +320,7 @@ void AP_MotorsMatrix::remove_motor(int8_t motor_num)
opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED; opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
} }
// if another motor has referred to this motor as it's opposite, remove that reference // if another motor has referred to this motor as it's opposite, remove that reference
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( opposite_motor[i] == motor_num ) if( opposite_motor[i] == motor_num )
opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED; opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;