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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1715 f9c3cf11-9bcb-44bc-f272-b75c42450872

master
jasonshort 14 years ago
parent
88092463ad
commit
b5aa056cc4
1 changed files with 11 additions and 10 deletions
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  1. 21
      ArduCopterMega/motors.pde

21
ArduCopterMega/motors.pde
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@ -37,10 +37,11 @@ set_servos_4() @@ -37,10 +37,11 @@ set_servos_4()
{
static byte num;
static byte counteri;
int out_min;
// Quadcopter mix
if (motor_armed == true && motor_auto_safe == true) {
int out_min = g.rc_3.radio_min;
out_min = g.rc_3.radio_min;
// Throttle is 0 to 1000 only
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
@ -125,24 +126,24 @@ set_servos_4() @@ -125,24 +126,24 @@ set_servos_4()
int pitch_out = g.rc_2.pwm_out / 2;
//left side
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
//right side
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW
motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += 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_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
motor_out[CH_8] -= g.rc_4.pwm_out; // CW
} else {
}else{
Serial.print("frame error");

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