mirror of https://github.com/ArduPilot/ardupilot
246 lines
6.7 KiB
Plaintext
246 lines
6.7 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if (FRAME_CONFIG == HEXA_X_FRAME) || (FRAME_CONFIG == HEXA_PLUS_FRAME)
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
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| _BV(MOT_5) | _BV(MOT_6) );
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#endif
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}
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static void motors_output_enable()
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{
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APM_RC.enable_out(MOT_1);
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APM_RC.enable_out(MOT_2);
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APM_RC.enable_out(MOT_3);
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APM_RC.enable_out(MOT_4);
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APM_RC.enable_out(MOT_5);
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APM_RC.enable_out(MOT_6);
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}
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static void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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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, MAXIMUM_THROTTLE);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
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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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if(g.frame_orientation == X_FRAME){
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roll_out = g.rc_1.pwm_out / 2;
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pitch_out = (float)g.rc_2.pwm_out * .866;
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//LEFT SIDE
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motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT CW
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motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out; // MIDDLE CCW
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motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK CW
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//RIGHT SIDE
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT CCW
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motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out; // MIDDLE CW
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motor_out[MOT_5] = g.rc_3.radio_out - roll_out - pitch_out; // BACK CCW
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} else {
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roll_out = (float)g.rc_1.pwm_out * .866;
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pitch_out = g.rc_2.pwm_out / 2;
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//FRONT SIDE
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT RIGHT CCW
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motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out; // FRONT CW
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motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT LEFT CCW
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//BACK SIDE
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motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK LEFT CW
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motor_out[MOT_5] = g.rc_3.radio_out - g.rc_2.pwm_out; // BACK CCW
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motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // BACK RIGHT CW
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}
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// Yaw
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motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
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// Tridge's stability patch
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for (int m = 0; m <= 6; m++) {
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int c = ch_of_mot(m);
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int c_opp = ch_of_mot(m^1); // m^1 is the opposite motor. c_opp is channel of opposite motor.
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if (motor_out[c] > out_max) {
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motor_out[c_opp] -= motor_out[c] - out_max;
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motor_out[c] = out_max;
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}
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}
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// limit output so motors don't stop
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motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
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motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
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motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
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motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
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motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
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motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
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#if CUT_MOTORS == ENABLED
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// if we are not sending a throttle output, we cut the motors
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if(g.rc_3.servo_out == 0){
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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motor_out[MOT_5] = g.rc_3.radio_min;
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motor_out[MOT_6] = g.rc_3.radio_min;
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}
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#endif
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// this filter slows the acceleration of motors vs the deceleration
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// Idea by Denny Rowland to help with his Yaw issue
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for(int8_t m = 0; m <= 6; m++ ) {
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int c = ch_of_mot(m);
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if(motor_filtered[c] < motor_out[c]){
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motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
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}else{
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// don't filter
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motor_filtered[c] = motor_out[c];
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}
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}
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APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
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APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
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APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
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APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
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#if INSTANT_PWM == 1
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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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APM_RC.Force_Out6_Out7();
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#endif
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}
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static 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(MOT_1, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
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}
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static void output_motor_test()
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{
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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motor_out[MOT_5] = g.rc_3.radio_min;
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motor_out[MOT_6] = g.rc_3.radio_min;
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if(g.frame_orientation == X_FRAME){
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if(g.rc_1.control_in > 3000){ // right
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motor_out[MOT_6] += 100;
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}
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if(g.rc_1.control_in < -3000){ // left
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motor_out[MOT_3] += 100;
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}
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if(g.rc_2.control_in > 3000){ // back
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motor_out[MOT_5] += 100;
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motor_out[MOT_4] += 100;
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}
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if(g.rc_2.control_in < -3000){ // front
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motor_out[MOT_1] += 100;
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motor_out[MOT_2] += 100;
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}
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}else{
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if(g.rc_1.control_in > 3000){ // right
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motor_out[MOT_1] += 100;
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motor_out[MOT_6] += 100;
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}
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if(g.rc_1.control_in < -3000){ // left
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motor_out[MOT_3] += 100;
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motor_out[MOT_4] += 100;
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}
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if(g.rc_2.control_in > 3000){ // back
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motor_out[MOT_5] += 100;
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}
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if(g.rc_2.control_in < -3000){ // front
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motor_out[MOT_2] += 100;
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}
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}
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
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APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
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}
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/*
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
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delay(1000);
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}
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*/
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#endif
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