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preparing for hexa-x and hexa-+ frames, code updates 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1875 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2011-04-12 01:58:46 +00:00
parent 478af67099
commit dd16a000cb
3 changed files with 17 additions and 11 deletions
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3
ArduCopterMega/defines.h
View File

@ -20,8 +20,9 @@
#define PLUS_FRAME 0 #define PLUS_FRAME 0
#define X_FRAME 1 #define X_FRAME 1
#define TRI_FRAME 2 #define TRI_FRAME 2
#define HEXA_FRAME 3 #define HEXAX_FRAME 3
#define Y6_FRAME 4 #define Y6_FRAME 4
#define HEXAP_FRAME 5
// Internal defines, don't edit and expect things to work // Internal defines, don't edit and expect things to work
// ------------------------------------------------------- // -------------------------------------------------------

10
ArduCopterMega/motors.pde
View File

@ -116,7 +116,7 @@ set_servos_4()
APM_RC.OutputCh(CH_7, g.rc_4.radio_out); 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"); //Serial.println("6_FRAME");
int roll_out = (float)g.rc_1.pwm_out * .866; 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_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()); 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_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()); 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_Out0_Out1();
APM_RC.Force_Out2_Out3(); 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_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -289,7 +289,7 @@ set_servos_4()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3(); 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_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
@ -318,7 +318,7 @@ set_servos_4()
APM_RC.OutputCh(CH_4, motor_out[CH_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_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
} }

13
ArduCopterMega/setup.pde
View File

@ -474,12 +474,15 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
} else if (!strcmp_P(argv[1].str, PSTR("tri"))) { } else if (!strcmp_P(argv[1].str, PSTR("tri"))) {
g.frame_type = TRI_FRAME; g.frame_type = TRI_FRAME;
} else if (!strcmp_P(argv[1].str, PSTR("hexa"))) { } else if (!strcmp_P(argv[1].str, PSTR("hexax"))) {
g.frame_type = HEXA_FRAME; g.frame_type = HEXAX_FRAME;
} else if (!strcmp_P(argv[1].str, PSTR("y6"))) { } else if (!strcmp_P(argv[1].str, PSTR("y6"))) {
g.frame_type = Y6_FRAME; g.frame_type = Y6_FRAME;
} else if (!strcmp_P(argv[1].str, PSTR("hexa+"))) {
g.frame_type = HEXAP_FRAME;
}else{ }else{
Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa, y6]\n")); Serial.printf_P(PSTR("\nOptions:[+, x, tri, hexa, y6]\n"));
report_frame(); report_frame();
@ -845,10 +848,12 @@ void report_frame()
Serial.printf_P(PSTR("Plus ")); Serial.printf_P(PSTR("Plus "));
else if(g.frame_type == TRI_FRAME) else if(g.frame_type == TRI_FRAME)
Serial.printf_P(PSTR("TRI ")); Serial.printf_P(PSTR("TRI "));
else if(g.frame_type == HEXA_FRAME) else if(g.frame_type == HEXAX_FRAME)
Serial.printf_P(PSTR("HEXA ")); Serial.printf_P(PSTR("HEXA X"));
else if(g.frame_type == Y6_FRAME) else if(g.frame_type == Y6_FRAME)
Serial.printf_P(PSTR("Y6 ")); 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); Serial.printf_P(PSTR("frame (%d)"), (int)g.frame_type);
print_blanks(2); print_blanks(2);