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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1607 f9c3cf11-9bcb-44bc-f272-b75c42450872

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This commit is contained in:
jasonshort 2011-02-07 06:18:18 +00:00
parent 7c15a4dc04
commit dcccaf4ca7
1 changed files with 5 additions and 0 deletions
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5
ArduCopterMega/motors.pde
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@ -158,6 +158,7 @@ set_servos_4()
//debugging with Channel 6 //debugging with Channel 6
//pid_baro_throttle.kD((float)rc_6.control_in / 1000); // 0 to 1 //pid_baro_throttle.kD((float)rc_6.control_in / 1000); // 0 to 1
//pid_baro_throttle.kP((float)rc_6.control_in / 4000); // 0 to .25
/* /*
// ROLL and PITCH // ROLL and PITCH
@ -180,6 +181,7 @@ set_servos_4()
write_int(motor_out[CH_2]); write_int(motor_out[CH_2]);
write_int(motor_out[CH_3]); write_int(motor_out[CH_3]);
write_int(motor_out[CH_4]); write_int(motor_out[CH_4]);
write_int((int)(dcm.roll_sensor / 100)); write_int((int)(dcm.roll_sensor / 100));
write_int((int)(dcm.pitch_sensor / 100)); write_int((int)(dcm.pitch_sensor / 100));
write_int((int)(dcm.yaw_sensor / 100)); write_int((int)(dcm.yaw_sensor / 100));
@ -190,6 +192,9 @@ set_servos_4()
write_int((int)nav_roll); write_int((int)nav_roll);
write_int((int)nav_pitch); write_int((int)nav_pitch);
write_int((int)current_loc.alt);
write_int((int)altitude_error);
flush(10); flush(10);
//*/ //*/