From acc24291f33d7e714f41a6da4cc4e7fc6db737ca Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 4 Apr 2012 22:53:21 +0900
Subject: [PATCH] ArduCopter - Log.pde - changed MOT output to dataflash to
 take values from AP_Motors class's motor_out array instead of the global
 motor_out array.

---
 ArduCopter/Log.pde | 64 +++++++++++++++++++++++-----------------------
 1 file changed, 32 insertions(+), 32 deletions(-)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index a4a3e4a157..0a0b350168 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -357,52 +357,52 @@ static void Log_Write_Motors()
 	DataFlash.WriteByte(LOG_MOTORS_MSG);
 
 	#if FRAME_CONFIG ==	TRI_FRAME
-	DataFlash.WriteInt(motor_out[CH_1]);//1
-	DataFlash.WriteInt(motor_out[CH_2]);//2
-	DataFlash.WriteInt(motor_out[CH_4]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//3
 	DataFlash.WriteInt(g.rc_4.radio_out);//4
 
 	#elif FRAME_CONFIG == HEXA_FRAME
-	DataFlash.WriteInt(motor_out[CH_1]);//1
-	DataFlash.WriteInt(motor_out[CH_2]);//2
-	DataFlash.WriteInt(motor_out[CH_3]);//3
-	DataFlash.WriteInt(motor_out[CH_4]);//4
-	DataFlash.WriteInt(motor_out[CH_7]);//5
-	DataFlash.WriteInt(motor_out[CH_8]);//6
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//6
 
 	#elif FRAME_CONFIG == Y6_FRAME
 	//left
-	DataFlash.WriteInt(motor_out[CH_2]);//1
-	DataFlash.WriteInt(motor_out[CH_3]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//2
 	//right
-	DataFlash.WriteInt(motor_out[CH_7]);//3
-	DataFlash.WriteInt(motor_out[CH_1]);//4
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//4
 	//back
-	DataFlash.WriteInt(motor_out[CH_8]);//5
-	DataFlash.WriteInt(motor_out[CH_4]);//6
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]);//5
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//6
 
 	#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
-	DataFlash.WriteInt(motor_out[CH_1]);//1
-	DataFlash.WriteInt(motor_out[CH_2]);//2
-	DataFlash.WriteInt(motor_out[CH_3]);//3
-	DataFlash.WriteInt(motor_out[CH_4]);//4
-	DataFlash.WriteInt(motor_out[CH_7]);//5
-	DataFlash.WriteInt(motor_out[CH_8]); //6
-	DataFlash.WriteInt(motor_out[CH_10]);//7
-	DataFlash.WriteInt(motor_out[CH_11]);//8
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_5]);//5
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_6]); //6
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_7]);//7
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_8]);//8
 
 	#elif FRAME_CONFIG == HELI_FRAME
-	DataFlash.WriteInt(heli_servo_out[0]);//1
-	DataFlash.WriteInt(heli_servo_out[1]);//2
-	DataFlash.WriteInt(heli_servo_out[2]);//3
-	DataFlash.WriteInt(heli_servo_out[3]);//4
-	DataFlash.WriteInt(g.heli_ext_gyro_gain);//5
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
+	DataFlash.WriteInt(motors.ext_gyro_gain);//5
 
 	#else // quads
-	DataFlash.WriteInt(motor_out[CH_1]);//1
-	DataFlash.WriteInt(motor_out[CH_2]);//2
-	DataFlash.WriteInt(motor_out[CH_3]);//3
-	DataFlash.WriteInt(motor_out[CH_4]);//4
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_1]);//1
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_2]);//2
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_3]);//3
+	DataFlash.WriteInt(motors.motor_out[AP_MOTORS_MOT_4]);//4
 	#endif
 
 	DataFlash.WriteByte(END_BYTE);