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HEXA_P frame support

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2243 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-11 06:14:15 +00:00
parent 1b815410c6
commit f0924a9f1b
1 changed files with 23 additions and 0 deletions
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23
ArduCopterMega/motors.pde
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@ -157,6 +157,29 @@ set_servos_4()
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
}else if (g.frame_type == HEXAP_FRAME) {
//Serial.println("HEXAP_FRAME");
int roll_out = g.rc_1.pwm_out;
int pitch_out = (float)g.rc_2.pwm_out * .5;
//Back side
motor_out[CH_8] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW
motor_out[CH_1] = g.rc_3.radio_out + roll_out - pitch_out; // CW
motor_out[CH_3] = g.rc_3.radio_out - roll_out - pitch_out; // CW
//Front side
motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW
motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_8] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_4] += g.rc_4.pwm_out; // CCW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_7] -= g.rc_4.pwm_out; // CW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
}else if (g.frame_type == Y6_FRAME) {
//Serial.println("Y6_FRAME");