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Y6 Motors now have top bottom ratio

mission-4.1.18
Jason Short 13 years ago
parent
c265555b69
commit
4bb0bf96ae
1 changed files with 3 additions and 3 deletions
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  1. 6
      ArduCopter/motors_y6.pde

6
ArduCopter/motors_y6.pde
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@ -32,13 +32,13 @@ static void output_motors_armed() @@ -32,13 +32,13 @@ static void output_motors_armed()
// Multi-Wii Mix
//left
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
motor_out[CH_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[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
//right
motor_out[CH_7] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
motor_out[CH_7] = (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[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
//back
motor_out[CH_8] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[CH_8] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[CH_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
//left

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