Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

outputs_conventional.h@2:90292f8bd179, 2011-04-26 (annotated)

Committer:
gke
Date:
Tue Apr 26 12:12:29 2011 +0000
Revision:
2:90292f8bd179
Parent:
0:62a1c91a859a 
Not flightworthy. Posted for others to make use of the I2C SW code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 2:90292f8bd179 5 // = http://code.google.com/p/uavp-mods/ =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21
gke 0:62a1c91a859a 22 void OutSignals(void) {
gke 0:62a1c91a859a 23 static int8 m;
gke 0:62a1c91a859a 24 static uint8 r;
gke 0:62a1c91a859a 25
gke 0:62a1c91a859a 26 for ( m = 0; m < (uint8)6; m++ )
gke 0:62a1c91a859a 27 PWM[m] = Limit(PWM[m], ESCMin, ESCMax);
gke 0:62a1c91a859a 28
gke 0:62a1c91a859a 29 #if !( defined SIMULATE | defined TESTING )
gke 0:62a1c91a859a 30
gke 0:62a1c91a859a 31 if ( !F.MotorsArmed )
gke 0:62a1c91a859a 32 StopMotors();
gke 0:62a1c91a859a 33
gke 0:62a1c91a859a 34 #ifdef ELEVON
gke 0:62a1c91a859a 35 Out0.pulsewidth_us(1000 + (int16)( PWM[ThrottleC] * PWMScale ) );
gke 0:62a1c91a859a 36 Out1.pulsewidth_us(1000 + (int16)( PWM[RightElevonC] * PWMScale ) );
gke 0:62a1c91a859a 37 Out2.pulsewidth_us(1000 + (int16)( PWM[LeftElevonC] * PWMScale ) );
gke 0:62a1c91a859a 38 Out3.pulsewidth_us(1000 + (int16)( PWM[RudderC] * PWMScale ) );
gke 0:62a1c91a859a 39 #else
gke 0:62a1c91a859a 40 Out0.pulsewidth_us(1000 + (int16)( PWM[ThrottleC] * PWMScale ) );
gke 0:62a1c91a859a 41 Out1.pulsewidth_us(1000 + (int16)( PWM[AileronC] * PWMScale ) );
gke 0:62a1c91a859a 42 Out2.pulsewidth_us(1000 + (int16)( PWM[ElevatorC] * PWMScale ) );
gke 0:62a1c91a859a 43 Out3.pulsewidth_us(1000 + (int16)( PWM[RudderC] * PWMScale ) );
gke 0:62a1c91a859a 44 #endif
gke 0:62a1c91a859a 45
gke 0:62a1c91a859a 46 } // OutSignals
gke 0:62a1c91a859a 47
gke 0:62a1c91a859a 48
gke 0:62a1c91a859a 49
gke 0:62a1c91a859a 50
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gke 0:62a1c91a859a 54