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2.0.39 

New hex a motors_out with Tridge's stability patch.
Simplified the CUT_MOTORS section of the code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3024 f9c3cf11-9bcb-44bc-f272-b75c42450872
master
jasonshort 14 years ago
parent
04e05604a5
commit
e7a87006b0
1 changed files with 31 additions and 41 deletions
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  1. 72
      ArduCopterMega/motors_hexa.pde

72
ArduCopterMega/motors_hexa.pde
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@ -57,6 +57,18 @@ static void output_motors_armed()
motor_out[CH_1] -= 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
// Tridge's stability patch
for (int i = CH_1; i<=CH_8; i++) {
if(i == CH_5 || i == CH_6)
break;
if (motor_out[i] > out_max) {
// note that i^1 is the opposite motor
motor_out[i^1] -= motor_out[i] - out_max;
motor_out[i] = 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[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min); motor_out[CH_2] = max(motor_out[CH_2], out_min);
@ -65,51 +77,29 @@ static void output_motors_armed()
motor_out[CH_7] = max(motor_out[CH_7], out_min); motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min); motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// Send commands to 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){
APM_RC.OutputCh(CH_1, motor_out[CH_1]); motor_out[CH_1] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_2, motor_out[CH_2]); motor_out[CH_2] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_3, motor_out[CH_3]); motor_out[CH_3] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_4, motor_out[CH_4]); motor_out[CH_4] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_7, motor_out[CH_7]); motor_out[CH_7] = g.rc_3.radio_min;
APM_RC.OutputCh(CH_8, motor_out[CH_8]); motor_out[CH_8] = g.rc_3.radio_min;
// InstantPWM
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3();
}else{
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
} }
#endif
#else APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_1, motor_out[CH_1]); APM_RC.OutputCh(CH_3, motor_out[CH_3]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]); APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_3, motor_out[CH_3]); APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]); APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
// InstantPWM // InstantPWM
APM_RC.Force_Out0_Out1(); APM_RC.Force_Out0_Out1();
APM_RC.Force_Out6_Out7(); APM_RC.Force_Out6_Out7();
APM_RC.Force_Out2_Out3(); APM_RC.Force_Out2_Out3();
#endif
} }
static void output_motors_disarmed() static void output_motors_disarmed()

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