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Old May 24, 2011, 03:59 PM
helicoblast is offline
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Geneva, Switzerland
Joined Jan 2009
818 Posts
Hi M4d_D,

Thanks for your work, I'm really interested by your octo code!

Just a question:
The motors definition at the end of the code lines don't really help to figure out where is which motor...

Quote:
#ifdef OCTO-flat-8
motor[0] = rcCommand[THROTTLE] + axisPID[ROLL]/2 - axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //left-front
motor[1] = rcCommand[THROTTLE] + axisPID[ROLL] - axisPID[PITCH]/2 + YAW_DIRECTION * axisPID[YAW]; //FRONT_L
motor[2] = rcCommand[THROTTLE] - axisPID[ROLL] - axisPID[PITCH]/2 - YAW_DIRECTION * axisPID[YAW]; //FRONT_R
motor[3] = rcCommand[THROTTLE] - axisPID[ROLL]/2 - axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //right-front
motor[4] = rcCommand[THROTTLE] - axisPID[ROLL]/2 + axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //right-rear
motor[5] = rcCommand[THROTTLE] - axisPID[ROLL] + axisPID[PITCH]/2 + YAW_DIRECTION * axisPID[YAW]; //REAR_R
motor[6] = rcCommand[THROTTLE] + axisPID[ROLL] + axisPID[PITCH]/2 - YAW_DIRECTION * axisPID[YAW]; //REAR_L
motor[7] = rcCommand[THROTTLE] + axisPID[ROLL]/2 + axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //left-rear
#endif
Could you change them to more "n00b-friendly" definitions, or draw a wiring diagram?

Thanks a lot!

Bastien
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