From 80993acc47a357f5fbd96f9189d011e6232f4ede Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Wed, 11 May 2011 06:14:15 +0000
Subject: [PATCH] HEXA_P frame support

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2243 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/motors.pde | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index 38b8e1bbdc..0b1ab67d5a 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -157,6 +157,29 @@ set_servos_4()
 			motor_out[CH_1]		-= g.rc_4.pwm_out;	// CW
 			motor_out[CH_8]		-= g.rc_4.pwm_out;  // CW
 
+		}else if (g.frame_type == HEXAP_FRAME) {
+			//Serial.println("HEXAP_FRAME");
+			int roll_out 		= g.rc_1.pwm_out;
+			int pitch_out 		= (float)g.rc_2.pwm_out * .5;
+
+			//Back side
+			motor_out[CH_8]		= g.rc_3.radio_out - g.rc_2.pwm_out;		// CCW
+			motor_out[CH_1]		= g.rc_3.radio_out + roll_out - pitch_out;	// CW
+			motor_out[CH_3]          = g.rc_3.radio_out - roll_out - pitch_out;	// CW
+
+			//Front side
+			motor_out[CH_7]		= g.rc_3.radio_out + g.rc_2.pwm_out;		// CW
+                        motor_out[CH_2] 	= g.rc_3.radio_out + roll_out + pitch_out;	// CCW
+			motor_out[CH_4] 	= g.rc_3.radio_out - roll_out + pitch_out;	// CCW
+
+			motor_out[CH_8]		+= g.rc_4.pwm_out;	// CCW
+			motor_out[CH_2]		+= g.rc_4.pwm_out;	// CCW
+			motor_out[CH_4] 	+= g.rc_4.pwm_out;	// CCW
+
+			motor_out[CH_1]		-= g.rc_4.pwm_out;	// CW
+			motor_out[CH_7]		-= g.rc_4.pwm_out;	// CW
+			motor_out[CH_3]		-= g.rc_4.pwm_out;      // CW
+
 		}else if (g.frame_type == Y6_FRAME) {
 			//Serial.println("Y6_FRAME");