mirror of https://github.com/ArduPilot/ardupilot
281 lines
8.6 KiB
Plaintext
281 lines
8.6 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == OCTA_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( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4
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| MSK_CH_7 | MSK_CH_8 | MSK_CH_10 | MSK_CH_11 );
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#endif
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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, 1000);
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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 = (float)g.rc_1.pwm_out * 0.4;
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pitch_out = (float)g.rc_2.pwm_out * 0.4;
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//Front side
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motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
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motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
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//Back side
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motor_out[CH_2] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
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//Left side
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motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT
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motor_out[CH_8] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK
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//Right side
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motor_out[CH_11] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK
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motor_out[CH_3] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT
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}else if(g.frame_orientation == PLUS_FRAME){
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roll_out = (float)g.rc_1.pwm_out * 0.71;
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pitch_out = (float)g.rc_2.pwm_out * 0.71;
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//Front side
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motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
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motor_out[CH_3] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
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motor_out[CH_7] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
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//Left side
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motor_out[CH_10] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
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//Right side
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motor_out[CH_11] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
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//Back side
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motor_out[CH_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
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motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
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motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
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}else if(g.frame_orientation == V_FRAME){
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int roll_out2, pitch_out2;
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int roll_out3, pitch_out3;
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int roll_out4, pitch_out4;
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roll_out = g.rc_1.pwm_out;
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pitch_out = g.rc_2.pwm_out;
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roll_out2 = (float)g.rc_1.pwm_out * 0.833;
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pitch_out2 = (float)g.rc_2.pwm_out * 0.34;
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roll_out3 = (float)g.rc_1.pwm_out * 0.666;
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pitch_out3 = (float)g.rc_2.pwm_out * 0.32;
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roll_out4 = g.rc_1.pwm_out / 2;
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pitch_out4 = (float)g.rc_2.pwm_out * 0.98;
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//Front side
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motor_out[CH_10] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
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motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
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//Left side
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motor_out[CH_1] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
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motor_out[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
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//Right side
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motor_out[CH_2] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
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motor_out[CH_8] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
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//Back side
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motor_out[CH_11] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
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}
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// Yaw
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motor_out[CH_3] += g.rc_4.pwm_out; // CCW
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motor_out[CH_4] += 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_1] -= g.rc_4.pwm_out; // CW
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motor_out[CH_2] -= g.rc_4.pwm_out; // CW
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motor_out[CH_10] -= g.rc_4.pwm_out; // CW
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motor_out[CH_11] -= g.rc_4.pwm_out; // CW
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// TODO add stability patch
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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motor_out[CH_10] = min(motor_out[CH_10], out_max);
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motor_out[CH_11] = min(motor_out[CH_11], out_max);
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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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motor_out[CH_7] = max(motor_out[CH_7], out_min);
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motor_out[CH_8] = max(motor_out[CH_8], out_min);
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motor_out[CH_10] = max(motor_out[CH_10], out_min);
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motor_out[CH_11] = max(motor_out[CH_11], 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[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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motor_out[CH_10] = g.rc_3.radio_min;
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motor_out[CH_11] = 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 i = CH_1; i <= CH_11; i++ ) {
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if(i == CH_5 || i == CH_6 || i == CH_9)
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continue;
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if(motor_filtered[i] < motor_out[i]){
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motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
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}else{
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// don't filter
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motor_filtered[i] = motor_out[i];
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}
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}
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APM_RC.OutputCh(CH_1, motor_filtered[CH_1]);
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APM_RC.OutputCh(CH_2, motor_filtered[CH_2]);
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APM_RC.OutputCh(CH_3, motor_filtered[CH_3]);
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APM_RC.OutputCh(CH_4, motor_filtered[CH_4]);
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APM_RC.OutputCh(CH_7, motor_filtered[CH_7]);
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APM_RC.OutputCh(CH_8, motor_filtered[CH_8]);
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APM_RC.OutputCh(CH_10, motor_filtered[CH_10]);
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APM_RC.OutputCh(CH_11, motor_filtered[CH_11]);
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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 < 11; 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_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_11, 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_10, 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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if( g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME )
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{
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
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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_3, g.rc_3.radio_min + 100);
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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_11, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
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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 + 100);
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delay(1000);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
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delay(1000);
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}
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if( g.frame_orientation == V_FRAME )
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{
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
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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_11, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
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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 + 100);
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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_7, 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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