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ArduCopter motors_octa_quad: rewrite remainder from CH_ macros to MOT_ macros

master
Pat Hickey 13 years ago
parent
7f4c994346
commit
73610ddb6c
1 changed files with 83 additions and 83 deletions
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  1. 166
      ArduCopter/motors_octa_quad.pde

166
ArduCopter/motors_octa_quad.pde
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@ -5,8 +5,8 @@
static void init_motors_out() static void init_motors_out()
{ {
#if INSTANT_PWM == 0 #if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4) APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(CH_7) | _BV(CH_8) | _BV(CH_10) | _BV(CH_11) ); | _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8) );
#endif #endif
} }
@ -32,20 +32,20 @@ static void output_motors_armed()
pitch_out = (float)g.rc_2.pwm_out * .707; pitch_out = (float)g.rc_2.pwm_out * .707;
// Front Left // Front Left
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[CH_8] = g.rc_3.radio_out + roll_out + pitch_out; // CW motor_out[MOT_6] = g.rc_3.radio_out + roll_out + pitch_out; // CW
// Front Right // Front Right
motor_out[CH_10] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[CH_11] = g.rc_3.radio_out - roll_out + pitch_out; // CW motor_out[MOT_8] = g.rc_3.radio_out - roll_out + pitch_out; // CW
// Back Left // Back Left
motor_out[CH_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
// Back Right // Back Right
motor_out[CH_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
motor_out[CH_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW motor_out[MOT_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
@ -54,71 +54,71 @@ static void output_motors_armed()
pitch_out = g.rc_2.pwm_out; pitch_out = g.rc_2.pwm_out;
// Left // Left
motor_out[CH_7] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
motor_out[CH_8] = g.rc_3.radio_out - roll_out; // CW motor_out[MOT_6] = g.rc_3.radio_out - roll_out; // CW
// Right // Right
motor_out[CH_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
motor_out[CH_2] = g.rc_3.radio_out + roll_out; // CW motor_out[MOT_2] = g.rc_3.radio_out + roll_out; // CW
// Front // Front
motor_out[CH_10] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
motor_out[CH_11] = g.rc_3.radio_out + pitch_out; // CW motor_out[MOT_8] = g.rc_3.radio_out + pitch_out; // CW
// Back // Back
motor_out[CH_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out - pitch_out; // CW motor_out[MOT_4] = g.rc_3.radio_out - pitch_out; // CW
} }
// Yaw // Yaw
motor_out[CH_1] += g.rc_4.pwm_out; // CCW motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
motor_out[CH_3] += g.rc_4.pwm_out; // CCW motor_out[MOT_3] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[CH_10] += g.rc_4.pwm_out; // CCW motor_out[MOT_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_2] -= g.rc_4.pwm_out; // CW motor_out[MOT_2] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[CH_11] -= g.rc_4.pwm_out; // CW motor_out[MOT_8] -= g.rc_4.pwm_out; // CW
// TODO add stability patch // TODO add stability patch
motor_out[CH_1] = min(motor_out[CH_1], out_max); motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max); motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max); motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max); motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max); motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max); motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
motor_out[CH_10] = min(motor_out[CH_10], out_max); motor_out[MOT_7] = min(motor_out[MOT_7], out_max);
motor_out[CH_11] = min(motor_out[CH_11], out_max); motor_out[MOT_8] = min(motor_out[MOT_8], out_max);
// limit output so motors don't stop // limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min); motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min); motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min); motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min); motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min); motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min); motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[CH_10] = max(motor_out[CH_10], out_min); motor_out[MOT_7] = max(motor_out[MOT_7], out_min);
motor_out[CH_11] = max(motor_out[CH_11], out_min); motor_out[MOT_8] = max(motor_out[MOT_8], out_min);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors // if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out == 0){ if(g.rc_3.servo_out == 0){
motor_out[CH_1] = g.rc_3.radio_min; motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min; motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[CH_3] = g.rc_3.radio_min; motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min; motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[CH_7] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[CH_8] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
motor_out[CH_10] = g.rc_3.radio_min; motor_out[MOT_7] = g.rc_3.radio_min;
motor_out[CH_11] = g.rc_3.radio_min; motor_out[MOT_8] = g.rc_3.radio_min;
} }
#endif #endif
// 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 m = 0; i <= 8; m++ ) { for(int8_t m = 0; m <= 8; m++ ) {
int i = ch_of_mot(m); int i = ch_of_mot(m);
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;
@ -128,14 +128,14 @@ static void output_motors_armed()
} }
} }
APM_RC.OutputCh(CH_1, motor_filtered[CH_1]); APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
APM_RC.OutputCh(CH_2, motor_filtered[CH_2]); APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
APM_RC.OutputCh(CH_3, motor_filtered[CH_3]); APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
APM_RC.OutputCh(CH_4, motor_filtered[CH_4]); APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
APM_RC.OutputCh(CH_7, motor_filtered[CH_7]); APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
APM_RC.OutputCh(CH_8, motor_filtered[CH_8]); APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
APM_RC.OutputCh(CH_10, motor_filtered[CH_10]); APM_RC.OutputCh(MOT_7, motor_filtered[MOT_7]);
APM_RC.OutputCh(CH_11, motor_filtered[CH_11]); APM_RC.OutputCh(MOT_8, motor_filtered[MOT_8]);
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
// InstantPWM // InstantPWM
@ -159,48 +159,48 @@ static void output_motors_disarmed()
} }
// Send commands to motors // Send commands to motors
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
} }
static void output_motor_test() static void output_motor_test()
{ {
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(1000); delay(1000);
} }

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