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Add Max's changes for new MOT mappings. Defines new FRAME_CONFIG types. 

* HEXA_FRAME has been eliminated and changed to HEXA_X_FRAME and
  HEXA_PLUS_FRAME
* OCTA_FRAME stays the same name for X and +, but the V frame
  configuration requires new OCTA_V_FRAME name.
mission-4.1.18
Pat Hickey 13 years ago
parent
b851d39eaa
commit
0e9294538b
7 changed files with 279 additions and 225 deletions
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  1. 93
      ArduCopter/config_channels.h
  2. 4
      ArduCopter/defines.h
  3. 82
      ArduCopter/motors_hexa.pde
  4. 99
      ArduCopter/motors_octa.pde
  5. 86
      ArduCopter/motors_octa_quad.pde
  6. 34
      ArduCopter/motors_tri.pde
  7. 106
      ArduCopter/motors_y6.pde

93
ArduCopter/config_channels.h
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@ -11,7 +11,7 @@ @@ -11,7 +11,7 @@
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
@ -23,6 +23,8 @@ @@ -23,6 +23,8 @@
// Output CH mapping for ArduCopter motor channels
//
//
#define CH_INVALID (-1)
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define MOT_1 CH_1
# define MOT_2 CH_2
@ -33,6 +35,77 @@ @@ -33,6 +35,77 @@
# define MOT_7 CH_7
# define MOT_8 CH_8
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
#if FRAME_CONFIG == QUAD_FRAME
// X and Plus
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
// Placeholders:
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == TRI_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_4
// Placeholders:
# define MOT_4 CH_INVALID
# define MOT_5 CH_INVALID
# define MOT_6 CH_INVALID
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == HEXA_X_FRAME
// X orientation (what will be the best way to set 'if' 'else'? )
# define MOT_1 CH_7
# define MOT_2 CH_3
# define MOT_3 CH_2
# define MOT_4 CH_8
# define MOT_5 CH_4
# define MOT_6 CH_1
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == HEXA_PLUS_FRAME
# define MOT_1 CH_4
# define MOT_2 CH_1
# define MOT_3 CH_7
# define MOT_4 CH_3
# define MOT_5 CH_2
# define MOT_6 CH_8
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == Y6_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_7
# define MOT_3 CH_3
# define MOT_4 CH_2
# define MOT_5 CH_8
# define MOT_6 CH_4
// Placeholders:
# define MOT_7 CH_INVALID
# define MOT_8 CH_INVALID
#elif FRAME_CONFIG == OCTA_FRAME
# define MOT_1 CH_2
# define MOT_2 CH_1
# define MOT_3 CH_11
# define MOT_4 CH_10
# define MOT_5 CH_8
# define MOT_6 CH_7
# define MOT_7 CH_4
# define MOT_8 CH_3
#elif FRAME_CONFIG == OCTA_V_FRAME
# define MOT_1 CH_4
# define MOT_2 CH_2
# define MOT_3 CH_8
# define MOT_4 CH_10
# define MOT_5 CH_7
# define MOT_6 CH_1
# define MOT_7 CH_3
# define MOT_8 CH_11
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
@ -41,7 +114,17 @@ @@ -41,7 +114,17 @@
# define MOT_6 CH_8
# define MOT_7 CH_10
# define MOT_8 CH_11
#endif
#else // HELI
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
#endif // FRAME_CONFIG
#endif // CONFIG_APM_HARDWARE
//
//
@ -60,10 +143,10 @@ @@ -60,10 +143,10 @@
//
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
/* Camera Pitch and Camera Roll: Not yet defined for APM2
/* Camera Pitch and Camera Roll: Not yet defined for APM2
* They will likely be dependent on the frame config */
# define CH_CAM_PITCH CH_11
# define CH_CAM_ROLL CH_10
# define CH_CAM_PITCH (-1)
# define CH_CAM_ROLL (-1)
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define CH_CAM_PITCH CH_5
# define CH_CAM_ROLL CH_6

4
ArduCopter/defines.h
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@ -46,11 +46,13 @@ @@ -46,11 +46,13 @@
// Frame types
#define QUAD_FRAME 0
#define TRI_FRAME 1
#define HEXA_FRAME 2
#define HEXA_X_FRAME 2
#define Y6_FRAME 3
#define OCTA_FRAME 4
#define HELI_FRAME 5
#define OCTA_QUAD_FRAME 6
#define HEXA_PLUS_FRAME 7
#define OCTA_V_FRAME 8
#define PLUS_FRAME 0
#define X_FRAME 1

82
ArduCopter/motors_hexa.pde
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == HEXA_FRAME
#if (FRAME_CONFIG == HEXA_X_FRAME) || (FRAME_CONFIG == HEXA_PLUS_FRAME)
static void init_motors_out()
{
@ -37,42 +37,41 @@ static void output_motors_armed() @@ -37,42 +37,41 @@ static void output_motors_armed()
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){
#if FRAME_CONFIG == HEXA_X_FRAME
roll_out = g.rc_1.pwm_out / 2;
pitch_out = (float)g.rc_2.pwm_out * .866;
//left side
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW Middle
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW Front
motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CW Back
//right side
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW Middle
motor_out[MOT_5] = g.rc_3.radio_out - roll_out + pitch_out; // CCW Front
motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW Back
//LEFT SIDE
motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out; // MIDDLE CCW
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK CW
}else{
//RIGHT SIDE
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT CCW
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out; // MIDDLE CW
motor_out[MOT_5] = g.rc_3.radio_out - roll_out - pitch_out; // BACK CCW
#elif FRAME_CONFIG == HEXA_PLUS_FRAME
roll_out = (float)g.rc_1.pwm_out * .866;
pitch_out = g.rc_2.pwm_out / 2;
//Front side
motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[MOT_5] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
motor_out[MOT_4] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
//FRONT SIDE
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT RIGHT CCW
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out; // FRONT CW
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT LEFT CCW
//Back side
motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW BACK
motor_out[MOT_3] = g.rc_3.radio_out + roll_out - pitch_out; // CW, BACK LEFT
motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // CW BACK RIGHT
}
//BACK SIDE
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // BACK LEFT CW
motor_out[MOT_5] = g.rc_3.radio_out - g.rc_2.pwm_out; // BACK CCW
motor_out[MOT_6] = g.rc_3.radio_out - roll_out - pitch_out; // BACK RIGHT CW
#endif
// Yaw
motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_4] += g.rc_4.pwm_out; // CCW
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
@ -100,9 +99,9 @@ static void output_motors_armed() @@ -100,9 +99,9 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
}
#endif
@ -167,46 +166,43 @@ static void output_motor_test() @@ -167,46 +166,43 @@ static void output_motor_test()
if(g.frame_orientation == X_FRAME){
// 31
// 24
if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_1] += 100;
motor_out[MOT_6] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_2] += 100;
motor_out[MOT_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_6] += 100;
motor_out[MOT_5] += 100;
motor_out[MOT_4] += 100;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_5] += 100;
motor_out[MOT_3] += 100;
motor_out[MOT_1] += 100;
motor_out[MOT_2] += 100;
}
}else{
// 3
// 2 1
// 4
if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_4] += 100;
motor_out[MOT_1] += 100;
motor_out[MOT_6] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_5] += 100;
motor_out[MOT_3] += 100;
motor_out[MOT_4] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_2] += 100;
motor_out[MOT_5] += 100;
}
if(g.rc_2.control_in < -3000){ // front
motor_out[MOT_1] += 100;
motor_out[MOT_2] += 100;
}
}

99
ArduCopter/motors_octa.pde
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == OCTA_FRAME
#if (FRAME_CONFIG == OCTA_FRAME) || (FRAME_CONFIG == OCTA_V_FRAME)
static void init_motors_out()
{
@ -39,47 +39,48 @@ static void output_motors_armed() @@ -39,47 +39,48 @@ static void output_motors_armed()
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
#if FRAME_TYPE == OCTA_FRAME
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.4;
pitch_out = (float)g.rc_2.pwm_out * 0.4;
//Front side
motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Back side
motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out; // CW BACK LEFT
motor_out[MOT_7] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out; // CCW BACK RIGHT
//Left side
motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT
motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW LEFT FRONT
motor_out[MOT_5] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW LEFT BACK
//Right side
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW RIGHT FRONT
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW RIGHT BACK
}else if(g.frame_orientation == PLUS_FRAME){
roll_out = (float)g.rc_1.pwm_out * 0.71;
pitch_out = (float)g.rc_2.pwm_out * 0.71;
//Front side
motor_out[MOT_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[MOT_3] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
motor_out[MOT_5] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
//Left side
motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_1.pwm_out; // CW LEFT
//Right side
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW RIGHT
//Back side
motor_out[MOT_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}else if(g.frame_orientation == V_FRAME){
motor_out[MOT_7] = g.rc_3.radio_out - roll_out - pitch_out; // CCW BACK RIGHT
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW BACK
motor_out[MOT_5] = g.rc_3.radio_out + roll_out - pitch_out; // CCW BACK LEFT
}
#elif FRAME_TYPE == OCTA_V_FRAME
int roll_out2, pitch_out2;
int roll_out3, pitch_out3;
@ -95,33 +96,33 @@ static void output_motors_armed() @@ -95,33 +96,33 @@ static void output_motors_armed()
pitch_out4 = (float)g.rc_2.pwm_out * 0.98;
//Front side
motor_out[MOT_7] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_4] = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out; // CW FRONT RIGHT
motor_out[MOT_5] = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out; // CCW FRONT LEFT
//Left side
motor_out[MOT_1] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
motor_out[MOT_6] = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; // CW LEFT FRONT
motor_out[MOT_7] = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3; // CCW LEFT BACK
//Right side
motor_out[MOT_2] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3; // CW RIGHT BACK
motor_out[MOT_2] = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2; // CCW RIGHT FRONT
//Back side
motor_out[MOT_8] = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4; // CW BACK LEFT
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4; // CCW BACK RIGHT
}
#endif // FRAME_TYPE
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_4] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_7] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
// TODO add stability patch
@ -129,21 +130,21 @@ static void output_motors_armed() @@ -129,21 +130,21 @@ static void output_motors_armed()
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
// limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
#if CUT_MOTORS == ENABLED
@ -152,11 +153,11 @@ static void output_motors_armed() @@ -152,11 +153,11 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min;
}
#endif
@ -205,13 +206,12 @@ static void output_motors_disarmed() @@ -205,13 +206,12 @@ static void output_motors_disarmed()
// Send commands to motors
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
}
static void output_motor_test()
@ -288,4 +288,3 @@ static void output_motor_test() @@ -288,4 +288,3 @@ static void output_motor_test()
}
#endif

86
ArduCopter/motors_octa_quad.pde
Unescape View File

@ -40,79 +40,63 @@ static void output_motors_armed() @@ -40,79 +40,63 @@ static void output_motors_armed()
g.rc_4.calc_pwm();
if(g.frame_orientation == X_FRAME){
roll_out = (float)g.rc_1.pwm_out * .707;
pitch_out = (float)g.rc_2.pwm_out * .707;
roll_out = g.rc_1.pwm_out * .707;
pitch_out = g.rc_2.pwm_out * .707;
// Front Left
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_6] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // OUT 1 FRONT RIGHT CCW BOTTOM
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // OUT 2 FRONT RIGHT CW TOP
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // OUT 3 FRONT LEFT CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out + roll_out + pitch_out; // OUT 4 FRONT LEFT CW BOTTOM
motor_out[MOT_5] = g.rc_3.radio_out + roll_out - pitch_out; // OUT 5 BACK LEFT CCW BOTTOM
motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // OUT 6 BACK LEFT CW TOP
motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // OUT 7 BACK RIGHT CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out - roll_out - pitch_out; // OUT 8 BACK RIGHT CW BOTTOM
// Front Right
motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out - roll_out + pitch_out; // CW
// Back Left
motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
// Back Right
motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
motor_out[MOT_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
}if(g.frame_orientation == PLUS_FRAME){
}else{
roll_out = g.rc_1.pwm_out;
pitch_out = g.rc_2.pwm_out;
// Left
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
motor_out[MOT_6] = g.rc_3.radio_out - roll_out; // CW
// Right
motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
motor_out[MOT_2] = g.rc_3.radio_out + roll_out; // CW
// Front
motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out + pitch_out; // CW
// Back
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - pitch_out; // CW
motor_out[MOT_1] = g.rc_3.radio_out + pitch_out; //OUT 1 FRONT CCW BOTTOM
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; //OUT 2 FRONT CW TOP
motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; //OUT 3 LEFT CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - roll_out; //OUT 4 LEFT CW BOTTOM
motor_out[MOT_5] = g.rc_3.radio_out - pitch_out; //OUT 5 BACK CCW BOTTOM
motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; //OUT 6 BACK CW TOP
motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; //OUT 7 RIGHT CCW TOP
motor_out[MOT_8] = g.rc_3.radio_out + roll_out; //OUT 8 RIGHT CW BOTTOM
}
// Yaw
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
// TODO add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
// limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors
@ -120,11 +104,11 @@ static void output_motors_armed() @@ -120,11 +104,11 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[MOT_8] = g.rc_3.radio_min;
}
#endif

34
ArduCopter/motors_tri.pde
Unescape View File

@ -4,7 +4,7 @@ @@ -4,7 +4,7 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4) );
APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) );
#endif
}
@ -40,46 +40,46 @@ static void output_motors_armed() @@ -40,46 +40,46 @@ static void output_motors_armed()
//right front
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out;
// rear
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
motor_out[MOT_3] = g.rc_3.radio_out - g.rc_2.pwm_out;
//motor_out[MOT_4] += (float)(abs(g.rc_4.control_in)) * .013;
//motor_out[MOT_3] += (float)(abs(g.rc_4.control_in)) * .013;
// Tridge's stability patch
if (motor_out[MOT_1] > out_max) {
motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[MOT_3] -= (motor_out[MOT_1] - out_max) >> 1;
motor_out[MOT_1] = out_max;
}
if (motor_out[MOT_2] > out_max) {
motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[MOT_3] -= (motor_out[MOT_2] - out_max) >> 1;
motor_out[MOT_2] = out_max;
}
if (motor_out[MOT_4] > out_max) {
motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
motor_out[MOT_4] = out_max;
if (motor_out[MOT_3] > out_max) {
motor_out[MOT_1] -= (motor_out[MOT_3] - out_max) >> 1;
motor_out[MOT_2] -= (motor_out[MOT_3] - out_max) >> 1;
motor_out[MOT_3] = out_max;
}
// limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out == 0){
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
}
#endif
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
#if INSTANT_PWM == 1
// InstantPWM
@ -104,14 +104,14 @@ static void output_motors_disarmed() @@ -104,14 +104,14 @@ static void output_motors_disarmed()
// Send commands to motors
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
}
static void output_motor_test()
{
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
if(g.rc_1.control_in > 3000){ // right
@ -123,12 +123,12 @@ static void output_motor_test() @@ -123,12 +123,12 @@ static void output_motor_test()
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_4] += 100;
motor_out[MOT_3] += 100;
}
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
}
#endif
#endif

106
ArduCopter/motors_y6.pde
Unescape View File

@ -38,71 +38,61 @@ static void output_motors_armed() @@ -38,71 +38,61 @@ static void output_motors_armed()
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
// Multi-Wii Mix
//left
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
//right
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
//back
motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[MOT_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
//left
motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
//right
motor_out[MOT_5] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
//back
motor_out[MOT_6] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
// MULTI-WII MIX
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 1 RIGHT BOTTOM CCW
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 2 RIGHT TOP CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 3 LEFT BOTTOM CCW
motor_out[MOT_4] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // OUT 4 LEFT TOP CW
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // OUT 5 REAR TOP CCW
motor_out[MOT_6] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // OUT 6 REAR BOTTOM CW
// YAW
motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM CCW
motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP CW
motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM CCW
motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP CW
motor_out[MOT_5] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP CCW
motor_out[MOT_6] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM CW
/*
int roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2;
//left
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
//right
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
//back
motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // RIGHT BOTTOM CCW
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // RIGHT TOP CW
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // LEFT BOTTOM CCW
motor_out[MOT_4] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // LEFT TOP CW
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // REAR TOP CCW
motor_out[MOT_6] = g.rc_3.radio_out - g.rc_2.pwm_out; // REAR BOTTOM CW
// Yaw
//top
motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
//bottom
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
*/
// TODO: add stability patch
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
// limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors
@ -110,9 +100,9 @@ static void output_motors_armed() @@ -110,9 +100,9 @@ static void output_motors_armed()
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
}
#endif
@ -177,17 +167,17 @@ static void output_motor_test() @@ -177,17 +167,17 @@ static void output_motor_test()
if(g.rc_1.control_in > 3000){ // right
motor_out[MOT_1] += 100;
motor_out[MOT_5] += 100;
motor_out[MOT_2] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[MOT_2] += 100;
motor_out[MOT_4] += 100;
motor_out[MOT_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[MOT_6] += 100;
motor_out[MOT_4] += 100;
motor_out[MOT_5] += 100;
}
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);

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