From d7e24315cf1b7af12a6e2ac98a59de4da87dfd1c Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Mon, 18 Jan 2016 21:39:24 -0800 Subject: [PATCH] Sub: Fixed motor mix factors for vectored ROV --- libraries/AP_Motors/AP_MotorsBlueROV.cpp | 34 ++++++++++++------------ 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsBlueROV.cpp b/libraries/AP_Motors/AP_MotorsBlueROV.cpp index 78e24ced71..18ad13ccf0 100644 --- a/libraries/AP_Motors/AP_MotorsBlueROV.cpp +++ b/libraries/AP_Motors/AP_MotorsBlueROV.cpp @@ -26,7 +26,7 @@ void AP_MotorsBlueROV::setup_motors() // call parent AP_Motors6DOF::setup_motors(); -#define BLUEROV_VERSION 1 +#define BLUEROV_VERSION 2 #if ( BLUEROV_VERSION == 1) // hard coded config for BlueROV @@ -84,50 +84,50 @@ void AP_MotorsBlueROV::setup_motors() //Front left MOT_1_ROLL_FACTOR = 0.0, MOT_1_PITCH_FACTOR = 0.0, - MOT_1_YAW_FACTOR = -0.25, + MOT_1_YAW_FACTOR = -1.0, MOT_1_THROTTLE_FACTOR = 0.0, - MOT_1_FORWARD_FACTOR = -1.0, - MOT_1_STRAFE_FACTOR = -1.0, + MOT_1_FORWARD_FACTOR = -0.5, + MOT_1_STRAFE_FACTOR = -0.5, //Left, facing up - MOT_2_ROLL_FACTOR = 1.0, + MOT_2_ROLL_FACTOR = -1.0, MOT_2_PITCH_FACTOR = 0.0, MOT_2_YAW_FACTOR = 0.0, - MOT_2_THROTTLE_FACTOR = -1.0, + MOT_2_THROTTLE_FACTOR = -0.5, MOT_2_FORWARD_FACTOR = 0.0, MOT_2_STRAFE_FACTOR = 0.0, //Back left MOT_3_ROLL_FACTOR = 0, MOT_3_PITCH_FACTOR = 0, - MOT_3_YAW_FACTOR = 0.25, + MOT_3_YAW_FACTOR = 1.0, MOT_3_THROTTLE_FACTOR = 0.0, - MOT_3_FORWARD_FACTOR = 1.0, - MOT_3_STRAFE_FACTOR = -1.0, + MOT_3_FORWARD_FACTOR = 0.5, + MOT_3_STRAFE_FACTOR = -0.5, //Back right MOT_4_ROLL_FACTOR = 0, MOT_4_PITCH_FACTOR = 0, - MOT_4_YAW_FACTOR = -0.25, + MOT_4_YAW_FACTOR = -1.0, MOT_4_THROTTLE_FACTOR = 0.0, - MOT_4_FORWARD_FACTOR = 1.0, - MOT_4_STRAFE_FACTOR = 1.0, + MOT_4_FORWARD_FACTOR = 0.5, + MOT_4_STRAFE_FACTOR = -0.5, //Right, facing up - MOT_5_ROLL_FACTOR = -1.0, + MOT_5_ROLL_FACTOR = 1.0, MOT_5_PITCH_FACTOR = 0.0, MOT_5_YAW_FACTOR = 0.0, - MOT_5_THROTTLE_FACTOR = -1.0, + MOT_5_THROTTLE_FACTOR = -0.5, MOT_5_FORWARD_FACTOR = 0.0, MOT_5_STRAFE_FACTOR = 0.0, //Front right MOT_6_ROLL_FACTOR = 0.0, MOT_6_PITCH_FACTOR = 0.0, - MOT_6_YAW_FACTOR = 0.25, + MOT_6_YAW_FACTOR = 1.0, MOT_6_THROTTLE_FACTOR = 0.0, - MOT_6_FORWARD_FACTOR = -1.0, - MOT_6_STRAFE_FACTOR = 1.0; + MOT_6_FORWARD_FACTOR = -0.5, + MOT_6_STRAFE_FACTOR = -0.5; #endif