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Code Issues Releases Activity

OP-138 Yaw mixing was inverted in the config gadget! This update works for me, with the quad layout in the gadget's picture.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1827 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-01 16:25:21 +00:00 committed by edouard
parent b80d2ae4c5
commit 8161d25774
2 changed files with 23 additions and 20 deletions
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7
ground/src/plugins/config/airframe.ui
View File

@ -522,6 +522,9 @@
</item>
<item row="2" column="1">
<widget class="QSlider" name="feedForwardSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximum">
<number>100</number>
</property>
@ -546,7 +549,7 @@
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="accelTime">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
@ -563,7 +566,7 @@
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="decelTime">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="maximum">
<double>1000.000000000000000</double>

36
ground/src/plugins/config/configairframewidget.cpp
View File

@ -967,30 +967,30 @@ bool ConfigAirframeWidget::setupQuad(bool pLayout)
// and set only the relevant channels:
// Motor 1 to 4, X Layout:
// pitch roll yaw throttle offset
// {0.5 ,0.5 ,0.5 ,1.8 ,-1 }, //Front left motor (CW)
// {0.5 ,-0.5 ,-0.5 ,1.8 ,-1 }, //Front right motor(CCW)
// {-0.5 ,-0.5 ,0.5 ,1.8 ,-1 }, //rear right motor (CW)
// {-0.5 ,0.5 ,-0.5 ,1.8 ,-1 }, //Rear left motor (CCW)
// pitch roll yaw
// {0.5 ,0.5 ,-0.5 //Front left motor (CW)
// {0.5 ,-0.5 ,0.5 //Front right motor(CCW)
// {-0.5 ,-0.5 ,-0.5 //rear right motor (CW)
// {-0.5 ,0.5 ,0.5 //Rear left motor (CCW)
//
// Motor 1 to 4, P Layout:
// pitch roll yaw throttle offset
// {1 ,0 ,0.5 ,1.8 ,-1 }, //Front motor (CW)
// {0 ,-1 ,-0.5 ,1.8 ,-1 }, //Right motor(CCW)
// {-1 ,0 ,0.5 ,1.8 ,-1 }, //Rear motor (CW)
// {0 ,1 ,-0.5 ,1.8 ,-1 }, //Left motor (CCW)
// pitch roll yaw
// {1 ,0 ,-0.5 //Front motor (CW)
// {0 ,-1 ,0.5 //Right motor(CCW)
// {-1 ,0 ,-0.5 //Rear motor (CW)
// {0 ,1 ,0.5 //Left motor (CCW)
int channel = m_aircraft->multiMotor1->currentIndex()-1;
pLayout ? setupQuadMotor(channel, 1, 0, 0.5)
: setupQuadMotor(channel, 0.5, 0.5, 0.5);
pLayout ? setupQuadMotor(channel, 1, 0, -0.5)
: setupQuadMotor(channel, 0.5, 0.5, -0.5);
channel = m_aircraft->multiMotor2->currentIndex()-1;
pLayout ? setupQuadMotor(channel, 0, -1, -0.5)
: setupQuadMotor(channel, 0.5, -0.5, -0.5);
pLayout ? setupQuadMotor(channel, 0, -1, 0.5)
: setupQuadMotor(channel, 0.5, -0.5, 0.5);
channel = m_aircraft->multiMotor3->currentIndex()-1;
pLayout ? setupQuadMotor(channel, -1, 0, 0.5)
: setupQuadMotor(channel, -0.5, -0.5, 0.5);
pLayout ? setupQuadMotor(channel, -1, 0, -0.5)
: setupQuadMotor(channel, -0.5, -0.5, -0.5);
channel = m_aircraft->multiMotor4->currentIndex()-1;
pLayout ? setupQuadMotor(channel, 0, 1, -0.5)
: setupQuadMotor(channel, -0.5, 0.5, -0.5);
pLayout ? setupQuadMotor(channel, 0, 1, 0.5)
: setupQuadMotor(channel, -0.5, 0.5, 0.5);
obj->updated();
m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");