From d1e9d6207260a1bdff7c8fac8f26dee37e42d345 Mon Sep 17 00:00:00 2001 From: jasonshort Date: Sun, 6 Feb 2011 07:03:28 +0000 Subject: [PATCH] git-svn-id: https://arducopter.googlecode.com/svn/trunk@1598 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/motors.pde | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde index 1d8e253cc1..bbd672535d 100644 --- a/ArduCopterMega/motors.pde +++ b/ArduCopterMega/motors.pde @@ -166,14 +166,33 @@ set_servos_4() init_pids(); //Serial.print("kP: "); //Serial.println(pid_stabilize_roll.kP(),3); - */ + //*/ /* // YAW // make sure you init_pids() after changing the kP pid_yaw.kP((float)rc_6.control_in / 1000); init_pids(); - */ + //*/ + + /* + write_int(motor_out[CH_1]); + write_int(motor_out[CH_2]); + write_int(motor_out[CH_3]); + write_int(motor_out[CH_4]); + write_int((int)(dcm.roll_sensor / 100)); + write_int((int)(dcm.pitch_sensor / 100)); + write_int((int)(dcm.yaw_sensor / 100)); + write_int((int)(nav_yaw / 100)); + + write_int((int)nav_lat); + write_int((int)nav_lon); + + write_int((int)nav_roll); + write_int((int)nav_pitch); + + flush(10); + //*/ } // Send commands to motors