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AP_Motors: fixed scaling of servo outputs 

thanks to bnsgeyer for noicing this in issue #6977

this will break existing dual-heli setups, but there are so few people
flying them so far that I think it is a worthwhile change
master
Andrew Tridgell 7 years ago
parent
39dc608bea
commit
c8b6be6736
1 changed files with 6 additions and 6 deletions
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  1. 12
      libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

12
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -529,12 +529,12 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c @@ -529,12 +529,12 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
_rotor.set_motor_load(fabsf(collective_out - _collective_mid_pct));
// swashplate servos
float servo1_out = (_rollFactor[CH_1] * roll_out + _pitchFactor[CH_1] * pitch_out + _yawFactor[CH_1] * yaw_out)/0.45f + _collectiveFactor[CH_1] * collective_out_scaled;
float servo2_out = (_rollFactor[CH_2] * roll_out + _pitchFactor[CH_2] * pitch_out + _yawFactor[CH_2] * yaw_out)/0.45f + _collectiveFactor[CH_2] * collective_out_scaled;
float servo3_out = (_rollFactor[CH_3] * roll_out + _pitchFactor[CH_3] * pitch_out + _yawFactor[CH_3] * yaw_out)/0.45f + _collectiveFactor[CH_3] * collective_out_scaled;
float servo4_out = (_rollFactor[CH_4] * roll_out + _pitchFactor[CH_4] * pitch_out + _yawFactor[CH_4] * yaw_out)/0.45f + _collectiveFactor[CH_4] * collective2_out_scaled;
float servo5_out = (_rollFactor[CH_5] * roll_out + _pitchFactor[CH_5] * pitch_out + _yawFactor[CH_5] * yaw_out)/0.45f + _collectiveFactor[CH_5] * collective2_out_scaled;
float servo6_out = (_rollFactor[CH_6] * roll_out + _pitchFactor[CH_6] * pitch_out + _yawFactor[CH_6] * yaw_out)/0.45f + _collectiveFactor[CH_6] * collective2_out_scaled;
float servo1_out = (_rollFactor[CH_1] * roll_out + _pitchFactor[CH_1] * pitch_out + _yawFactor[CH_1] * yaw_out)*0.45f + _collectiveFactor[CH_1] * collective_out_scaled;
float servo2_out = (_rollFactor[CH_2] * roll_out + _pitchFactor[CH_2] * pitch_out + _yawFactor[CH_2] * yaw_out)*0.45f + _collectiveFactor[CH_2] * collective_out_scaled;
float servo3_out = (_rollFactor[CH_3] * roll_out + _pitchFactor[CH_3] * pitch_out + _yawFactor[CH_3] * yaw_out)*0.45f + _collectiveFactor[CH_3] * collective_out_scaled;
float servo4_out = (_rollFactor[CH_4] * roll_out + _pitchFactor[CH_4] * pitch_out + _yawFactor[CH_4] * yaw_out)*0.45f + _collectiveFactor[CH_4] * collective2_out_scaled;
float servo5_out = (_rollFactor[CH_5] * roll_out + _pitchFactor[CH_5] * pitch_out + _yawFactor[CH_5] * yaw_out)*0.45f + _collectiveFactor[CH_5] * collective2_out_scaled;
float servo6_out = (_rollFactor[CH_6] * roll_out + _pitchFactor[CH_6] * pitch_out + _yawFactor[CH_6] * yaw_out)*0.45f + _collectiveFactor[CH_6] * collective2_out_scaled;
// rescale from -1..1, so we can use the pwm calc that includes trim
servo1_out = 2*servo1_out - 1;

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