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temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.

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This commit is contained in:
Jason Short 2012-03-06 22:23:06 -08:00
parent 43b3e1ccd1
commit df812dd78a
1 changed files with 29 additions and 2 deletions
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31
ArduCopter/motors_quad.pde
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@ -102,7 +102,7 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration // this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue // Idea by Denny Rowland to help with his Yaw issue
for(int8_t i = MOT_1; i <= MOT_4; i++){ /*for(int8_t i = MOT_1; i <= MOT_4; i++){
if(motor_filtered[i] < motor_out[i]){ if(motor_filtered[i] < motor_out[i]){
motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2; motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
}else{ }else{
@ -110,11 +110,38 @@ static void output_motors_armed()
motor_filtered[i] = motor_out[i]; motor_filtered[i] = motor_out[i];
} }
} }
APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]); APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]); APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]); APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]); APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
*/
/*
if(g.rc_7.radio_in > 1700){
for(int8_t i = MOT_1; i <= MOT_4; i++){
motor_out[i] = (motor_previous[i] * 3 + motor_out[i]) / 4;
motor_previous[i] = motor_out[i];
}
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
}else{
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
}
//*/
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
// InstantPWM // InstantPWM