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Added float for CH6_Y6_SCALING value.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1903 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-17 23:12:27 +00:00
parent 0063c8e60d
commit f652c5ae91
2 changed files with 6 additions and 4 deletions
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4
ArduCopterMega/ArduCopterMega.pde
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@ -269,6 +269,8 @@ float sin_nav_y, cos_nav_x; // used in calc_waypoint_nav
bool simple_bearing_is_set = false; bool simple_bearing_is_set = false;
long initial_simple_bearing; // used for Simple mode long initial_simple_bearing; // used for Simple mode
float Y6_scaling = Y6_MOTOR_SCALER;
// Airspeed // Airspeed
// -------- // --------
int airspeed; // m/s * 100 int airspeed; // m/s * 100
@ -1198,6 +1200,6 @@ void tuning(){
g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1 g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
#elif CHANNEL_6_TUNING == CH6_Y6_SCALING #elif CHANNEL_6_TUNING == CH6_Y6_SCALING
g.Y6_scaling.set((float)g.rc_6.control_in / 1000.0) Y6_scaling = (float)g.rc_6.control_in / 1000.0;
#endif #endif
} }

6
ArduCopterMega/motors.pde
View File

@ -164,15 +164,15 @@ set_servos_4()
int pitch_out = g.rc_2.pwm_out / 2; int pitch_out = g.rc_2.pwm_out / 2;
//left //left
motor_out[CH_2] = ((g.rc_3.radio_out * Y6_MOTOR_SCALER) + roll_out + pitch_out); // CCW TOP motor_out[CH_2] = ((g.rc_3.radio_out * Y6_scaling) + roll_out + pitch_out); // CCW TOP
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
//right //right
motor_out[CH_7] = ((g.rc_3.radio_out * Y6_MOTOR_SCALER) - roll_out + pitch_out); // CCW TOP motor_out[CH_7] = ((g.rc_3.radio_out * Y6_scaling) - roll_out + pitch_out); // CCW TOP
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
//back //back
motor_out[CH_8] = ((g.rc_3.radio_out * Y6_MOTOR_SCALER) - g.rc_2.pwm_out); // CCW TOP motor_out[CH_8] = ((g.rc_3.radio_out * Y6_scaling) - g.rc_2.pwm_out); // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
//yaw //yaw