NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: Mixer/Mixer.cpp
- Revision:
- 26:96a072233d7a
- Child:
- 28:ba6ca9f4def4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Mixer/Mixer.cpp Tue Nov 27 19:49:38 2012 +0000
@@ -0,0 +1,31 @@
+#include "Mixer.h"
+
+Mixer::Mixer()
+{
+ for(int i=0; i<4; i++)
+ Motor_speed[i]=0;
+}
+
+void Mixer::compute(unsigned long dt, const float * angle, int Throttle, const float * controller_value)
+{
+ // Calculate new motorspeeds
+ // Pitch
+ Motor_speed[0] = Throttle +controller_value[1];
+ Motor_speed[2] = Throttle -controller_value[1];
+
+ #if 1
+ // Roll
+ Motor_speed[1] = Throttle +controller_value[0];
+ Motor_speed[3] = Throttle -controller_value[0];
+
+ /*// Yaw
+ Motor_speed[0] -= controller_value[2];
+ Motor_speed[2] -= controller_value[2];
+
+ Motor_speed[1] += controller_value[2];
+ Motor_speed[3] += controller_value[2];*/
+ #endif
+
+ for(int i = 0; i < 4; i++) // make shure no motor stands still
+ Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50;
+}
\ No newline at end of file
Matthias Grob
