Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
Diff: outputs_copter.h
- Revision:
- 1:1e3318a30ddd
- Parent:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
--- a/outputs_copter.h Fri Feb 18 22:28:05 2011 +0000 +++ b/outputs_copter.h Fri Feb 25 01:35:24 2011 +0000 @@ -38,9 +38,9 @@ #endif Out0.pulsewidth_us(1000 + (int16)( PWM[FrontC] * PWMScale ) ); - Out1.pulsewidth_us(1000 + (int16)( PWM[LeftC] * PWMScale ) ); - Out2.pulsewidth_us(1000 + (int16)( PWM[RightC] * PWMScale ) ); - Out3.pulsewidth_us(1000 + (int16)( PWM[BackC] * PWMScale ) ); + Out1.pulsewidth_us(1000 + (int16)( PWM[RightC] * PWMScale ) ); + Out2.pulsewidth_us(1000 + (int16)( PWM[BackC] * PWMScale ) ); + Out3.pulsewidth_us(1000 + (int16)( PWM[LeftC] * PWMScale ) ); #ifdef MULTICOPTER // in X3D and Holger-Mode, K2 (left motor) is SDA, K3 (right) is SCL. @@ -66,13 +66,13 @@ I2CESC.stop(); } else - if ( P[ESCType] == ESCX3D ) { + if ( P[ESCType] == ESCX3D ) { I2CESC.start(); r = I2CESC.write(0x10); // one command, 4 data bytes r += I2CESC.write( PWM[FrontC] ); + r += I2CESC.write( PWM[RightC] ); r += I2CESC.write( PWM[BackC] ); r += I2CESC.write( PWM[LeftC] ); - r += I2CESC.write( PWM[RightC] ); ESCI2CFail[0] += r; // other ESCs if a Hexacopter I2CESC.stop();