search

tdot00c / ardupirates

Automatically exported from code.google.com/p/ardupirates
0 stars 0 forks source link

rev254 motors.pde xmode #12

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
hi hein,

please check motors.pde in rev254.
there is no divide by 2 in x mode for control_roll and control_pitch as in 
rev220. but it should be to get the quad stable.

rev220:

#ifdef FLIGHT_MODE_X      
          // For X mode - APM front between front and right motor 
          rightMotor = constrain(throttle - (control_roll/2) + (control_pitch/2) + control_yaw, minThrottle, 2000); // Right motor
          leftMotor = constrain(throttle + (control_roll/2) - (control_pitch/2) + control_yaw, minThrottle, 2000);  // Left motor
          frontMotor = constrain(throttle + (control_roll/2) + (control_pitch/2) - control_yaw, minThrottle, 2000); // Front motor
          backMotor = constrain(throttle - (control_roll/2) - (control_pitch/2) - control_yaw, minThrottle, 2000);  // Back motor

rev254:

#ifdef FLIGHT_MODE_X      
          // For X mode - APM front between front and right motor 
          rightMotor = constrain(throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // Right motor
          leftMotor = constrain(throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000);  // Left motor
          frontMotor = constrain(throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // Front motor
          backMotor = constrain(throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000);  // Back motor

Original issue reported on code.google.com by wart...@googlemail.com on 21 Jan 2011 at 10:10

GoogleCodeExporter commented 9 years ago 
Was this indeed a valid issue, has it been handled ?

Original comment by kidogof...@gmail.com on 24 Jan 2011 at 10:40

GoogleCodeExporter commented 9 years ago 
I did test rev220 but did only experienced bad control and my Quad was very
loose.  When I went back to rev254 my quad was solid and stable again, using
Xmode.

My quad also use the default PID settings.  So I don't see other people
complaining about not having this division / 2.

Therefore I think rev254 fits more peoples quads.  That is just my opinion.

Greetings,
Hein

Original comment by lohnieh@gmail.com on 26 Jan 2011 at 7:15

GoogleCodeExporter commented 9 years ago 
Ok, I haven't heard this issue either, so I suggest we close this one. When it 
turns up again, we'll re-open.

Original comment by kidogof...@gmail.com on 26 Jan 2011 at 8:56

GoogleCodeExporter commented 9 years ago

Original comment by kidogof...@gmail.com on 26 Jan 2011 at 8:56