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Guido68 / megapirateng

Automatically exported from code.google.com/p/megapirateng
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Wrong motor order for X OCTA FRAME #5

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
File motors_octa.pde is not correct for X_FRAME, according to this description :
http://arducopter.googlecode.com/svn/images/ACM_prop_derections.jpg

What is the expected output? What do you see instead?
Octocopter should be stabilized and in fact is not stabilized

What version of the product are you using? On what operating system?
MegaPirateNG_2.0.49_BV_GPS_OK_Beta

Please provide any additional information below.
Instead of :
//Front side
        motor_out[CH_1]     = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;  // CW   FRONT RIGHT
        motor_out[CH_7]     = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;  // CCW  FRONT LEFT

        //Back side
        motor_out[CH_2]     = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out;  // CW   BACK LEFT
        motor_out[CH_4]     = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out;  // CCW  BACK RIGHT

        //Left side
        motor_out[CH_10]    = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW   LEFT FRONT
        motor_out[CH_8]     = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW  LEFT BACK

        //Right side
        motor_out[CH_11]    = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW   RIGHT BACK
        motor_out[CH_3]     = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW  RIGHT FRONT

Code should be :
//Front side
        motor_out[CH_1]     = g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;  // CW   FRONT RIGHT
        motor_out[CH_11]    = g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;  // CCW  FRONT LEFT

        //Back side
        motor_out[CH_7]     = g.rc_3.radio_out - g.rc_2.pwm_out + roll_out;  // CW   BACK LEFT
        motor_out[CH_4]     = g.rc_3.radio_out - g.rc_2.pwm_out - roll_out;  // CCW  BACK RIGHT

        //Left side
        motor_out[CH_10]    = g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW   LEFT FRONT
        motor_out[CH_8]     = g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW  LEFT BACK

        //Right side
        motor_out[CH_3]     = g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW   RIGHT BACK
        motor_out[CH_2]     = g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW  RIGHT FRONT

Original issue reported on code.google.com by airma...@gmail.com on 16 Jan 2012 at 1:39

GoogleCodeExporter commented 9 years ago 
they changed motor mapping a while ago, I think this image is old

Original comment by zviratko...@gmail.com on 18 Jan 2012 at 3:59

GoogleCodeExporter commented 9 years ago 
MegaPirateNG_2.0.49_BV_GPS_OK_Beta is normally for BlackVortex board, so if you 
look at "Black Vortex Board v0.02.pdf" document 
(http://www.rcgroups.com/forums/showatt.php?s=7b9880d13400408c337bfaf534ecdd03&a
ttachmentid=4464752&d=1323074421), problem is the same (idem for revision 0.06 
of this document).

Original comment by airma...@gmail.com on 18 Jan 2012 at 6:07

GoogleCodeExporter commented 9 years ago 
It seems, BlackVortex documentation doesnt reflect actual motor mappings.

Original comment by Alexey.K...@gmail.com on 2 Feb 2012 at 4:53