mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.2 KiB
Plaintext
122 lines
3.2 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == Y6_FRAME
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void output_motors_armed()
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{
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int out_min = g.rc_3.radio_min;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + 90;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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g.rc_4.calc_pwm();
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left
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motor_out[CH_2] = ((g.rc_3.radio_out * Y6_scaling) + roll_out + pitch_out); // CCW TOP
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motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
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//right
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motor_out[CH_7] = ((g.rc_3.radio_out * Y6_scaling) - roll_out + pitch_out); // CCW TOP
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motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
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//back
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motor_out[CH_8] = ((g.rc_3.radio_out * Y6_scaling) - g.rc_2.pwm_out); // CCW TOP
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
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// Yaw
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motor_out[CH_2] += g.rc_4.pwm_out; // CCW
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motor_out[CH_7] += g.rc_4.pwm_out; // CCW
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motor_out[CH_8] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] -= g.rc_4.pwm_out; // CW
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motor_out[CH_1] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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APM_RC.OutputCh(CH_1, motor_out[CH_1]);
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APM_RC.OutputCh(CH_2, motor_out[CH_2]);
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APM_RC.OutputCh(CH_3, motor_out[CH_3]);
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APM_RC.OutputCh(CH_4, motor_out[CH_4]);
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APM_RC.OutputCh(CH_7, motor_out[CH_7]);
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APM_RC.OutputCh(CH_8, motor_out[CH_8]);
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out6_Out7();
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APM_RC.Force_Out2_Out3();
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}else{
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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}
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}
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void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle
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// remove safety
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motor_auto_armed = true;
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}
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// fill the motor_out[] array for HIL use
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for (unsigned char i = 0; i < 8; i++) {
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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}
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void output_motor_test()
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{
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motor_out[CH_1] = g.rc_3.radio_min;
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motor_out[CH_2] = g.rc_3.radio_min;
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motor_out[CH_3] = g.rc_3.radio_min;
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motor_out[CH_4] = g.rc_3.radio_min;
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motor_out[CH_7] = g.rc_3.radio_min;
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motor_out[CH_8] = g.rc_3.radio_min;
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if(g.rc_1.control_in > 3000){ // right
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motor_out[CH_1] += 50;
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motor_out[CH_7] += 50;
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}
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if(g.rc_1.control_in < -3000){ // left
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motor_out[CH_2] += 50;
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motor_out[CH_3] += 50;
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}
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if(g.rc_2.control_in > 3000){ // back
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motor_out[CH_8] += 50;
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motor_out[CH_4] += 50;
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}
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APM_RC.OutputCh(CH_1, motor_out[CH_1]);
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APM_RC.OutputCh(CH_2, motor_out[CH_2]);
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APM_RC.OutputCh(CH_3, motor_out[CH_4]);
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APM_RC.OutputCh(CH_4, motor_out[CH_4]);
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APM_RC.OutputCh(CH_7, motor_out[CH_7]);
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APM_RC.OutputCh(CH_8, motor_out[CH_8]);
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}
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#endif |