aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

2.0.39

Browse Source 
New hex a motors_out with Tridge's stability patch.
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3024 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:43:16 +00:00
parent 1316b58ef0
commit 254674aedd
1 changed files with 32 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
ArduCopterMega/motors_hexa.pde
View File

@ -57,6 +57,18 @@ static void output_motors_armed()
motor_out[CH_1] -= g.rc_4.pwm_out; // CW motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW motor_out[CH_8] -= g.rc_4.pwm_out; // CW
// Tridge's stability patch
for (int i = CH_1; i<=CH_8; i++) {
if(i == CH_5 || i == CH_6)
break;
if (motor_out[i] > out_max) {
// note that i^1 is the opposite motor
motor_out[i^1] -= motor_out[i] - out_max;
motor_out[i] = out_max;
}
}
// limit output so motors don't stop // limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min); 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_2] = max(motor_out[CH_2], out_min);
@ -65,38 +77,17 @@ static void output_motors_armed()
motor_out[CH_7] = max(motor_out[CH_7], 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_8] = max(motor_out[CH_8], out_min);
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);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// Send commands to motors // if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out > 0){ if(g.rc_3.servo_out == 0){
APM_RC.OutputCh(CH_1, motor_out[CH_1]); motor_out[CH_1] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_2, motor_out[CH_2]); motor_out[CH_2] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_3, motor_out[CH_3]); motor_out[CH_3] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_4, motor_out[CH_4]); motor_out[CH_4] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_7, motor_out[CH_7]); motor_out[CH_7] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_8, motor_out[CH_8]); motor_out[CH_8] = g.rc_3.radio_min;
// 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);
} }
#endif
#else
APM_RC.OutputCh(CH_1, motor_out[CH_1]); APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]); APM_RC.OutputCh(CH_2, motor_out[CH_2]);
@ -109,7 +100,6 @@ static void output_motors_armed()
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
#endif
} }
static void output_motors_disarmed() static void output_motors_disarmed()