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ArduCopter motors_hexa: rewrite janky loops to use ch_of_mot 

* Previously the loop was written over channels, now it is over motors
* the correct channel for that motor is determined by ch_of_mot.
* ch_of_mot is defined correctly based on the config_channels macros.
This commit is contained in:
Pat Hickey 2012-01-01 15:49:58 -05:00
parent b907c1fd5c
commit f7e14fff37
1 changed files with 11 additions and 13 deletions
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24
ArduCopter/motors_hexa.pde
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@ -67,13 +67,12 @@ static void output_motors_armed()
// Tridge's stability patch // Tridge's stability patch
for (int i = CH_1; i<=CH_8; i++) { for (int m = 0; m <= 6; m++) {
if(i == CH_5 || i == CH_6) int c = ch_of_mot(m);
continue; int c_opp = ch_of_mot(m^1); // m^1 is the opposite motor. c_opp is channel of opposite motor.
if (motor_out[i] > out_max) { if (motor_out[c] > out_max) {
// note that i^1 is the opposite motor motor_out[c_opp] -= motor_out[c] - out_max;
motor_out[i^1] -= motor_out[i] - out_max; motor_out[c] = out_max;
motor_out[i] = out_max;
} }
} }
@ -99,14 +98,13 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration // this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue // Idea by Denny Rowland to help with his Yaw issue
for(int8_t i = CH_1; i <= CH_8; i++ ) { for(int8_t m = 0; m <= 6; m++ ) {
if(i == CH_5 || i == CH_6) int c = ch_of_mot(m);
continue; if(motor_filtered[c] < motor_out[c]){
if(motor_filtered[i] < motor_out[i]){ motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
}else{ }else{
// don't filter // don't filter
motor_filtered[i] = motor_out[i]; motor_filtered[c] = motor_out[c];
} }
} }