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Arducopter Motors Hexa: Revert HEXA_PLUS_ and HEXA_X_ to single HEXA_FRAME

This commit is contained in:
Pat Hickey 2012-01-25 22:30:01 -08:00
parent b245265669
commit dbd1cc6a9f
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/motors_hexa.pde
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@ -37,7 +37,7 @@ static void output_motors_armed()
g.rc_3.calc_pwm(); g.rc_3.calc_pwm();
g.rc_4.calc_pwm(); g.rc_4.calc_pwm();
#if FRAME_CONFIG == HEXA_X_FRAME if(g.frame_orientation == X_FRAME){
roll_out = g.rc_1.pwm_out / 2; roll_out = g.rc_1.pwm_out / 2;
pitch_out = (float)g.rc_2.pwm_out * .866; pitch_out = (float)g.rc_2.pwm_out * .866;
@ -50,7 +50,7 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT CCW motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT CCW
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out; // MIDDLE CW motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out; // MIDDLE CW
motor_out[MOT_5] = g.rc_3.radio_out - roll_out - pitch_out; // BACK CCW motor_out[MOT_5] = g.rc_3.radio_out - roll_out - pitch_out; // BACK CCW
#elif FRAME_CONFIG == HEXA_PLUS_FRAME } else {
roll_out = (float)g.rc_1.pwm_out * .866; roll_out = (float)g.rc_1.pwm_out * .866;
pitch_out = g.rc_2.pwm_out / 2; pitch_out = g.rc_2.pwm_out / 2;
@ -63,7 +63,7 @@ static void output_motors_armed()
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK LEFT CW motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK LEFT CW
motor_out[MOT_5] = g.rc_3.radio_out - g.rc_2.pwm_out; // BACK CCW motor_out[MOT_5] = g.rc_3.radio_out - g.rc_2.pwm_out; // BACK CCW
motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // BACK RIGHT CW motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // BACK RIGHT CW
#endif }
// Yaw // Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW motor_out[MOT_1] += g.rc_4.pwm_out; // CCW