mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.6 KiB
Plaintext
99 lines
2.6 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == QUADX_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 = g.rc_1.pwm_out * .707;
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int pitch_out = g.rc_2.pwm_out * .707;
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// left
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motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT
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motor_out[CH_2] = g.rc_3.radio_out + roll_out - pitch_out; // BACK
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// right
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motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT
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motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // BACK
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// Yaw input
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motor_out[CH_1] += g.rc_4.pwm_out; // CCW
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motor_out[CH_2] += 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_4] -= g.rc_4.pwm_out; // CW
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// limit output so motors don't stop
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motor_out[CH_1] = max(motor_out[CH_1], out_min);
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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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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// InstantPWM
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APM_RC.Force_Out0_Out1();
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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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}
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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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}
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void output_motor_test()
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{
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
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delay(1000);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
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delay(1000);
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50);
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delay(1000);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
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delay(1000);
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}
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#endif |