ArduCopter motor init

[GoogleCodeExporter]

ArduCopter motor initialization to 1.5ms (50% pulsewidth) should be 1ms, 0%, 
equals 2000 to the OCRxn, or commandAllMotors(1000);

Along with that and a time delay between motor initialization and BMP085 
initialization, ArduCopter define and AltitudeHold define causes a big motor 
output bug, fix: initialize motors with correct number and after the BMP085 
initialization. 

More here: 
http://aeroquad.com/showthread.php?1836-Altitude-Hold-a-new-approach/page7

Original issue reported on code.google.com by k.henrik...@gmail.com on 30 Jan 2011 at 10:28

[GoogleCodeExporter]

Made fixes per this reported issue: 
http://code.google.com/p/aeroquad/issues/detail?id=91&can=1

Read through the link but didn't see any other fixes.  Is there more mods or 
did I capture it already?  This has been updated to master branch for your 
review:
https://github.com/AeroQuad/AeroQuad/blob/master/Motors.h

If more fixes, please point them out, or let me know if we are OK and I can 
close this issue out.

Original comment by CaranchoEngineering@gmail.com on 31 Jan 2011 at 7:47

• Changed state: Started
• Added labels: Milestone-FlightSoftware_v2.2

[GoogleCodeExporter]

Just re-read this.  Got the fixes in for the ArduCopter motors.  Just so I make 
sure I understand this, if the motors are now properly initialized, we now need 
to move the motor init after the altitude hold init?  Thanks!

Original comment by CaranchoEngineering@gmail.com on 2 Feb 2011 at 8:55

[GoogleCodeExporter]

Yep, that's exactly it. The altitude.init delay was enough for at least my
ESC's (pretty standard) to do strange things and not obeying.

Thanks for fixing!

Original comment by k.henrik...@gmail.com on 2 Feb 2011 at 3:30

[GoogleCodeExporter]

Fixed!  Will flight test tonight to make sure nothing happens on my side!  

Original comment by CaranchoEngineering@gmail.com on 4 Feb 2011 at 7:12

• Changed state: Fixed