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2.0.39

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Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3027 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:44:42 +00:00
parent 64932a4e75
commit 3e8ca40d7d
1 changed files with 24 additions and 17 deletions
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41
ArduCopterMega/motors_quad.pde
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@ -73,24 +73,20 @@ static void output_motors_armed()
motor_out[CH_4] = max(motor_out[CH_4], out_min);
#if CUT_MOTORS == ENABLED
// Send commands to motors
if(g.rc_3.servo_out > 0){
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]);
}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);
}
#else
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]);
// 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;
}
#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]);
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
@ -120,6 +116,17 @@ static void output_motors_disarmed()
APM_RC.Force_Out2_Out3();
}
/*
static void debug_motors()
{
Serial.printf("1:%d\t2:%d\t3:%d\t4:%d\n",
motor_out[CH_1],
motor_out[CH_2],
motor_out[CH_3],
motor_out[CH_4]);
}
*/
static void output_motor_test()
{
motor_out[CH_1] = g.rc_3.radio_min;