mirror of https://github.com/ArduPilot/ardupilot
170 lines
5.1 KiB
Plaintext
170 lines
5.1 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#if FRAME_CONFIG == Y6_FRAME
|
|
|
|
#define YAW_DIRECTION 1
|
|
|
|
static void output_motors_armed()
|
|
{
|
|
int out_min = g.rc_3.radio_min;
|
|
int out_max = g.rc_3.radio_max;
|
|
|
|
// 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();
|
|
|
|
// Multi-Wii Mix
|
|
//left
|
|
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
|
|
motor_out[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
|
|
//right
|
|
motor_out[CH_7] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
|
|
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
|
|
//back
|
|
motor_out[CH_8] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
|
|
motor_out[CH_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
|
|
|
|
//left
|
|
motor_out[CH_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
|
|
motor_out[CH_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
|
|
//right
|
|
motor_out[CH_7] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
|
|
motor_out[CH_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
|
|
//back
|
|
motor_out[CH_8] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
|
|
motor_out[CH_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
|
|
|
|
|
|
/*
|
|
int roll_out = (float)g.rc_1.pwm_out * .866;
|
|
int pitch_out = g.rc_2.pwm_out / 2;
|
|
|
|
//left
|
|
motor_out[CH_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
|
|
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
|
|
|
|
//right
|
|
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
|
|
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
|
|
|
|
//back
|
|
motor_out[CH_8] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
|
|
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
|
|
|
|
// Yaw
|
|
//top
|
|
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
|
|
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
|
|
motor_out[CH_8] += g.rc_4.pwm_out; // CCW
|
|
|
|
//bottom
|
|
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
|
|
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
|
|
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
|
|
*/
|
|
|
|
// TODO: add stability patch
|
|
motor_out[CH_1] = min(motor_out[CH_1], out_max);
|
|
motor_out[CH_2] = min(motor_out[CH_2], out_max);
|
|
motor_out[CH_3] = min(motor_out[CH_3], out_max);
|
|
motor_out[CH_4] = min(motor_out[CH_4], out_max);
|
|
motor_out[CH_7] = min(motor_out[CH_7], out_max);
|
|
motor_out[CH_8] = min(motor_out[CH_8], out_max);
|
|
|
|
// 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);
|
|
|
|
#if CUT_MOTORS == ENABLED
|
|
// if we are not sending a throttle output, we cut the motors
|
|
if(g.rc_3.servo_out == 0){
|
|
motor_out[CH_1] = g.rc_3.radio_min;
|
|
motor_out[CH_2] = g.rc_3.radio_min;
|
|
motor_out[CH_3] = g.rc_3.radio_min;
|
|
motor_out[CH_4] = g.rc_3.radio_min;
|
|
motor_out[CH_7] = g.rc_3.radio_min;
|
|
motor_out[CH_8] = g.rc_3.radio_min;
|
|
}
|
|
#endif
|
|
|
|
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]);
|
|
|
|
// InstantPWM
|
|
APM_RC.Force_Out0_Out1();
|
|
APM_RC.Force_Out6_Out7();
|
|
APM_RC.Force_Out2_Out3();
|
|
}
|
|
|
|
static 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 < 8; 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);
|
|
}
|
|
|
|
static void output_motor_test()
|
|
{
|
|
motor_out[CH_1] = g.rc_3.radio_min;
|
|
motor_out[CH_2] = g.rc_3.radio_min;
|
|
motor_out[CH_3] = g.rc_3.radio_min;
|
|
motor_out[CH_4] = g.rc_3.radio_min;
|
|
motor_out[CH_7] = g.rc_3.radio_min;
|
|
motor_out[CH_8] = g.rc_3.radio_min;
|
|
|
|
|
|
if(g.rc_1.control_in > 3000){ // right
|
|
motor_out[CH_1] += 100;
|
|
motor_out[CH_7] += 100;
|
|
}
|
|
|
|
if(g.rc_1.control_in < -3000){ // left
|
|
motor_out[CH_2] += 100;
|
|
motor_out[CH_3] += 100;
|
|
}
|
|
|
|
if(g.rc_2.control_in > 3000){ // back
|
|
motor_out[CH_8] += 100;
|
|
motor_out[CH_4] += 100;
|
|
}
|
|
|
|
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_4]);
|
|
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]);
|
|
}
|
|
|
|
#endif
|