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ardupilot/ArduCopterMega/motors_octa_quad.pde
jasonshort 35bf288abd New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition! 
Before: ->  After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
 
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control. 
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-11 00:47:08 +00:00

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == OCTA_QUAD_FRAME
void output_motors_armed()
{
int roll_out, pitch_out;
int out_min = g.rc_3.radio_min;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
if(g.rc_3.servo_out > 0)
out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
g.rc_1.calc_pwm();
g.rc_2.calc_pwm();
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * .707;
pitch_out = (float)g.rc_2.pwm_out * .707;
// Front Left
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[CH_8] = g.rc_3.radio_out + roll_out + pitch_out; // CW
// Front Right
motor_out[CH_10] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[CH_11] = g.rc_3.radio_out - roll_out + pitch_out; // CW
// Back Left
motor_out[CH_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
// Back Right
motor_out[CH_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
motor_out[CH_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
}if(g.frame_orientation == PLUS_FRAME){
roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out;
// Left
motor_out[CH_7] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
motor_out[CH_8] = g.rc_3.radio_out - roll_out; // CW
// Right
motor_out[CH_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
motor_out[CH_2] = g.rc_3.radio_out + roll_out; // CW
// Front
motor_out[CH_10] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
motor_out[CH_11] = g.rc_3.radio_out + pitch_out; // CW
// Back
motor_out[CH_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out - pitch_out; // CW
}
// Yaw
motor_out[CH_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_10] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
motor_out[CH_11] -= g.rc_4.pwm_out; // CW
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[CH_10] = max(motor_out[CH_10], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
}else{
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
}
#else
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_10, motor_out[CH_10]);
APM_RC.OutputCh(CH_11, motor_out[CH_11]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
#endif
}
void output_motors_disarmed()
{
if(g.rc_3.control_in > 0){
// we have pushed up the throttle
// remove safety
motor_auto_armed = true;
}
// fill the motor_out[] array for HIL use
for (unsigned char i = 0; i < 11; i++) {
motor_out[i] = g.rc_3.radio_min;
}
// Send commands to motors
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
}
void output_motor_test()
{
}
#endif
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