From dd16a000cb69d8f3e323fefab13deaa7a840b2e3 Mon Sep 17 00:00:00 2001
From: jphelirc <jphelirc@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 12 Apr 2011 01:58:46 +0000
Subject: [PATCH] preparing for hexa-x and hexa-+ frames, code updates

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1875 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/defines.h  |  3 ++-
 ArduCopterMega/motors.pde | 10 +++++-----
 ArduCopterMega/setup.pde  | 15 ++++++++++-----
 3 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/ArduCopterMega/defines.h b/ArduCopterMega/defines.h
index 2eff8fe9ac..24cada92f7 100644
--- a/ArduCopterMega/defines.h
+++ b/ArduCopterMega/defines.h
@@ -20,8 +20,9 @@
 #define PLUS_FRAME 0
 #define X_FRAME 1
 #define TRI_FRAME 2
-#define HEXA_FRAME 3
+#define HEXAX_FRAME 3
 #define Y6_FRAME 4
+#define HEXAP_FRAME 5
 
 // Internal defines, don't edit and expect things to work
 // -------------------------------------------------------
diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index 07b9a66899..548e0cca23 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -116,7 +116,7 @@ set_servos_4()
 			APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
 
 
-		}else if (g.frame_type == HEXA_FRAME) {
+		}else if (g.frame_type == HEXAX_FRAME) {
 			//Serial.println("6_FRAME");
 
 			int roll_out 		= (float)g.rc_1.pwm_out * .866;
@@ -180,7 +180,7 @@ set_servos_4()
 		motor_out[CH_3]		= constrain(motor_out[CH_3], 	out_min, g.rc_3.radio_max.get());
 		motor_out[CH_4] 	= constrain(motor_out[CH_4], 	out_min, g.rc_3.radio_max.get());
 
-		if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
+		if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
 			motor_out[CH_7]		= constrain(motor_out[CH_7], 	out_min, g.rc_3.radio_max.get());
 			motor_out[CH_8]		= constrain(motor_out[CH_8], 	out_min, g.rc_3.radio_max.get());
 		}
@@ -273,7 +273,7 @@ set_servos_4()
 			APM_RC.Force_Out0_Out1();
 			APM_RC.Force_Out2_Out3();
 
-			if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
+			if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
 				APM_RC.OutputCh(CH_7, motor_out[CH_7]);
 				APM_RC.OutputCh(CH_8, motor_out[CH_8]);
 				APM_RC.Force_Out6_Out7();
@@ -289,7 +289,7 @@ set_servos_4()
 			APM_RC.Force_Out0_Out1();
 			APM_RC.Force_Out2_Out3();
 
-			if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)) {
+			if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
 				APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
 				APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
 				APM_RC.Force_Out6_Out7();
@@ -318,7 +318,7 @@ set_servos_4()
 		APM_RC.OutputCh(CH_4, motor_out[CH_4]);
 
 
-		if ((g.frame_type == HEXA_FRAME) || (g.frame_type == Y6_FRAME)){
+		if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)){
 			APM_RC.OutputCh(CH_7, motor_out[CH_7]);
 			APM_RC.OutputCh(CH_8, motor_out[CH_8]);
 		}
diff --git a/ArduCopterMega/setup.pde b/ArduCopterMega/setup.pde
index f02caea240..7738044d14 100644
--- a/ArduCopterMega/setup.pde
+++ b/ArduCopterMega/setup.pde
@@ -474,12 +474,15 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 	} else if (!strcmp_P(argv[1].str, PSTR("tri"))) {
 		g.frame_type = TRI_FRAME;
 
-	} else if (!strcmp_P(argv[1].str, PSTR("hexa"))) {
-		g.frame_type = HEXA_FRAME;
+	} else if (!strcmp_P(argv[1].str, PSTR("hexax"))) {
+		g.frame_type = HEXAX_FRAME;
 
 	} else if (!strcmp_P(argv[1].str, PSTR("y6"))) {
 		g.frame_type = Y6_FRAME;
 
+	} else if (!strcmp_P(argv[1].str, PSTR("hexa+"))) {
+		g.frame_type = HEXAP_FRAME;
+
 	}else{
 		Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa, y6]\n"));
 		report_frame();
@@ -845,10 +848,12 @@ void report_frame()
 		Serial.printf_P(PSTR("Plus "));
 	else if(g.frame_type == TRI_FRAME)
 		Serial.printf_P(PSTR("TRI "));
-	else if(g.frame_type == HEXA_FRAME)
-		Serial.printf_P(PSTR("HEXA "));
+	else if(g.frame_type == HEXAX_FRAME)
+		Serial.printf_P(PSTR("HEXA X"));
 	else if(g.frame_type == Y6_FRAME)
 		Serial.printf_P(PSTR("Y6 "));
+	else if(g.frame_type == HEXAP_FRAME)
+		Serial.printf_P(PSTR("HEXA +"));
 
 	Serial.printf_P(PSTR("frame (%d)"), (int)g.frame_type);
 	print_blanks(2);
@@ -1311,4 +1316,4 @@ void write_EE_compressed_float(float value, int address, byte places)
 	int temp 	= value * scale;
 	eeprom_write_word((uint16_t *) 	address, temp);
 }
-*/
\ No newline at end of file
+*/