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.
Mixer/Mixer.cpp
- Committer:
- maetugr
- Date:
- 2012-12-15
- Revision:
- 29:8b7362a2ee14
- Parent:
- 28:ba6ca9f4def4
- Child:
- 30:021e13b62575
File content as of revision 29:8b7362a2ee14:
#include "Mixer.h" Mixer::Mixer() { for(int i=0; i<4; i++) Motor_speed[i]=0; } void Mixer::compute(unsigned long dt, int Throttle, const float * controller_value) { // Calculate new motorspeeds for(int i=0; i<4; i++) Motor_speed[i] = Throttle; Motor_speed[1] -= controller_value[0]; // Roll Motor_speed[3] += controller_value[0]; Motor_speed[0] -= controller_value[1]; // Pitch Motor_speed[2] += controller_value[1]; #if 0 Motor_speed[1] -= controller_value[2]; // Yaw Motor_speed[3] -= controller_value[2]; Motor_speed[0] += controller_value[2]; Motor_speed[2] += 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; }