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ArduCopter - fix for yaw control on Octa Quad Plus frame.

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This commit is contained in:
Randy Mackay 2012-02-18 22:04:09 +09:00
parent b55db247ca
commit e3c24fbce8
1 changed files with 11 additions and 12 deletions
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23
ArduCopter/motors_octa_quad.pde
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@ -51,7 +51,6 @@ static void output_motors_armed()
motor_out[MOT_6] = g.rc_3.radio_out - roll_out + pitch_out; // APM2 OUT6 APM1 OUT8 FRONT RIGHT CW BOTTOM
motor_out[MOT_7] = g.rc_3.radio_out - roll_out - pitch_out; // APM2 OUT7 APM1 OUT10 BACK RIGHT CCW BOTTOM
motor_out[MOT_8] = g.rc_3.radio_out + roll_out - pitch_out; // APM2 OUT8 APM1 OUT11 BACK LEFT CW BOTTOM
}else{
roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out;
@ -64,19 +63,19 @@ static void output_motors_armed()
motor_out[MOT_6] = g.rc_3.radio_out + pitch_out; // APM2 OUT6 APM1 OUT8 FRONT CW BOTTOM
motor_out[MOT_7] = g.rc_3.radio_out - roll_out; // APM2 OUT7 APM1 OUT10 RIGHT CCW BOTTOM
motor_out[MOT_8] = g.rc_3.radio_out - pitch_out; // APM2 OUT8 APM1 OUT11 BACK CW BOTTOM
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
}
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
// TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);