Montvydas Klumbys / Quadcopter

A library used for controlling a quadcopter. It provides an easy to use interface, which allows to mount, calibrate and run motors. It is also able to calibrate the actual speed according to calculated PID roll & pitch difference. I used the original Servo library as ESC modules use the same PWM signal as Servo motors.

Dependents:   QuadcopterProgram

Diff: Quadcopter.cpp

Revision:
2:62e387f1d095
Parent:
1:cadf589cab2f
Child:
3:84d246dccb8d
diff -r cadf589cab2f -r 62e387f1d095 Quadcopter.cpp
--- a/Quadcopter.cpp	Thu Feb 19 00:15:36 2015 +0000
+++ b/Quadcopter.cpp	Thu Feb 19 12:19:17 2015 +0000
@@ -30,6 +30,11 @@
     actSpeed[1] = speed[1] - (rollDiff / 2) + (pitchDiff / 2);
     actSpeed[2] = speed[2] + (rollDiff / 2) - (pitchDiff / 2);
     actSpeed[3] = speed[3] - (rollDiff / 2) - (pitchDiff / 2);
+    
+//    actSpeed[0] = speed[0] + (rollDiff / 2) + (pitchDiff / 2);
+//    actSpeed[1] = speed[1] - (rollDiff / 2) + (pitchDiff / 2);
+//    actSpeed[2] = speed[2] + (rollDiff / 2) - (pitchDiff / 2);
+//    actSpeed[3] = speed[3] - (rollDiff / 2) - (pitchDiff / 2);
 }
 //-----------------------Function for producing thrust in Z direction --------
 void Quadcopter::run (float* speed){