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updated to new orientation from Jani 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2282 f9c3cf11-9bcb-44bc-f272-b75c42450872
master
jasonshort 14 years ago
parent
93b5e984b1
commit
0554c42c08
1 changed files with 21 additions and 21 deletions
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  1. 42
      ArduCopterMega/motors_hexa_p.pde

42
ArduCopterMega/motors_hexa_p.pde
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@ -21,23 +21,23 @@ void output_motors_armed() @@ -21,23 +21,23 @@ void output_motors_armed()
int pitch_out = (float)g.rc_2.pwm_out * .5;
//Back side
motor_out[CH_8] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW BACK
motor_out[CH_1] = g.rc_3.radio_out + roll_out - pitch_out; // CW, BACK LEFT
motor_out[CH_3] = g.rc_3.radio_out - roll_out - pitch_out; // CW BACK RIGHT
motor_out[CH_2] = g.rc_3.radio_out - g.rc_2.pwm_out; // CCW BACK
motor_out[CH_3] = g.rc_3.radio_out + roll_out - pitch_out; // CW, BACK LEFT
motor_out[CH_8] = g.rc_3.radio_out - roll_out - pitch_out; // CW BACK RIGHT
//Front side
motor_out[CH_7] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
motor_out[CH_1] = g.rc_3.radio_out + g.rc_2.pwm_out; // CW FRONT
motor_out[CH_7] = g.rc_3.radio_out + roll_out + pitch_out; // CCW FRONT LEFT
motor_out[CH_4] = g.rc_3.radio_out - roll_out + pitch_out; // CCW FRONT RIGHT
// Yaw
motor_out[CH_8] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_4] += g.rc_4.pwm_out; // CCW
motor_out[CH_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] += g.rc_4.pwm_out; // CCW
motor_out[CH_8] += g.rc_4.pwm_out; // CCW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_7] -= g.rc_4.pwm_out; // CW
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_2] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
motor_out[CH_7] -= g.rc_4.pwm_out; // CW
// Send commands to motors
if(g.rc_3.servo_out > 0){
@ -87,28 +87,28 @@ void output_motors_disarmed() @@ -87,28 +87,28 @@ void output_motors_disarmed()
void output_motor_test()
{
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 50);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 50);
delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 50);
delay(1000);
}

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