Diff: outputs_conventional.h

Revision:

0:62a1c91a859a

Child:

2:90292f8bd179

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/outputs_conventional.h	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,54 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
+//    General Public License as published by the Free Software Foundation, either version 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
+//    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+//    See the GNU General Public License for more details.
+
+//    You should have received a copy of the GNU General Public License along with this program.
+//    If not, see http://www.gnu.org/licenses/
+
+
+void OutSignals(void) {
+    static int8 m;
+    static uint8 r;
+
+    for ( m = 0; m < (uint8)6; m++ )
+        PWM[m] = Limit(PWM[m], ESCMin, ESCMax);
+
+#if !( defined SIMULATE | defined TESTING )
+
+    if ( !F.MotorsArmed )
+        StopMotors();
+
+#ifdef ELEVON
+    Out0.pulsewidth_us(1000 + (int16)( PWM[ThrottleC] * PWMScale ) );
+    Out1.pulsewidth_us(1000 + (int16)( PWM[RightElevonC] * PWMScale ) );
+    Out2.pulsewidth_us(1000 + (int16)( PWM[LeftElevonC] * PWMScale ) );
+    Out3.pulsewidth_us(1000 + (int16)( PWM[RudderC] * PWMScale ) );
+#else
+    Out0.pulsewidth_us(1000 + (int16)( PWM[ThrottleC] * PWMScale ) );
+    Out1.pulsewidth_us(1000 + (int16)( PWM[AileronC] * PWMScale ) );
+    Out2.pulsewidth_us(1000 + (int16)( PWM[ElevatorC] * PWMScale ) );
+    Out3.pulsewidth_us(1000 + (int16)( PWM[RudderC] * PWMScale ) );
+#endif
+
+} // OutSignals
+
+
+
+
+
+
+
+