MWC越来越强大了！多旋翼、直升机、固定翼、飞翼通吃！！！

aluken

每次更新都有惊喜！！！
没想到直升机模式已经开发到这种程度了，多种斜盘模式、多种舵机支持，基本上能调的参数都能调！下一步估计要向APM方向发展了。
开源的东西生命力就是如此强大！全世界拥有航模精神和热情的同好共同努力的结果！！
下一次试试V型四旋翼，不知道性能能够提高多少。

1. /***********************          Cam Stabilisation             ***********************/
   
2.     /* The following lines apply only for a pitch/roll tilt stabilization system
   
3.        Uncomment the first line to activate it */
   
4.     //#define SERVO_MIX_TILT              //  Simple CameraGimbal By Bledy http://youtu.be/zKGr6iR54vM
   
5.     //#define SERVO_TILT
   
6.     #define TILT_PITCH_MIN    1020    //servo travel min, don't set it below 1020
   
7.     #define TILT_PITCH_MAX    2000    //servo travel max, max value=2000
   
8.     #define TILT_PITCH_MIDDLE 1500    //servo neutral value
   
9.     #define TILT_PITCH_PROP   10      //servo proportional (tied to angle) ; can be negative to invert movement
   
10.     #define TILT_ROLL_MIN     1020
    
11.     #define TILT_ROLL_MAX     2000
    
12.     #define TILT_ROLL_MIDDLE  1500
    
13.     #define TILT_ROLL_PROP    10
    
14. 
    
15. 
    
16.     /* experimental
    
17.        camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
    
18.     //#define CAMTRIG
    
19.     #define CAM_SERVO_HIGH 2000  // the position of HIGH state servo
    
20.     #define CAM_SERVO_LOW 1020   // the position of LOW state servo
    
21.     #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
    
22.     #define CAM_TIME_LOW 1000    // the duration of LOW state servo expressed in ms
    
23. 
    
24.   /***********************          Flying Wing                   ***********************/
    
25.     /* you can change change servo orientation and servo min/max values here */
    
26.     /* valid for all flight modes, even passThrough mode */
    
27.     /* need to setup servo directions here; no need to swap servos amongst channels at rx */
    
28.     #define PITCH_DIRECTION_L -1 // left servo - pitch orientation
    
29.     #define PITCH_DIRECTION_R 1  // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
    
30.     #define ROLL_DIRECTION_L -1 // left servo - roll orientation
    
31.     #define ROLL_DIRECTION_R -1  // right servo - roll orientation  (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
    
32.     #define WING_LEFT_MID  1500 // left servo center pos. - use this for initial trim; later trim midpoint via LCD
    
33.     #define WING_RIGHT_MID 1500 // right servo center pos. - use this for initial trim; later trim midpoint via LCD
    
34.     #define WING_LEFT_MIN  1220 // limit servo travel range must be inside [1020;2000]
    
35.     #define WING_LEFT_MAX  1800 // limit servo travel range must be inside [1020;2000]
    
36.     #define WING_RIGHT_MIN 1220 // limit servo travel range must be inside [1020;2000]
    
37.     #define WING_RIGHT_MAX 1800 // limit servo travel range must be inside [1020;2000]
    
38. 
    
39.   //******************************* !!!!  Airplane Settings  !!!! *********************************//
    
40.     // Howto setup =>>> http://fotoflygarn.blogspot.com/2012/03/how-to-setup-multiwii-airplane-same.html
    
41. 
    
42.     #define SERVO_RATES      {100, 100, 100, 100, 100, 100, 100, 100} // Rates in 0-100%
    
43.     #define SERVO_DIRECTION  { -1,   1,   1,   -1,  1,   1,   1,   1 } // Invert servos by setting -1
    
44. 
    
45.     //#define FLAP_CHANNEL     AUX4       // Define the Channel to controll Flaps with.If used.
    
46.     #define FLAP_EP      { 1500, 1650 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
    
47.     #define FLAP_INVERT    { 1, -1 }    // Change direction om flaps { Wing1, Wing2 }
    
48. 
    
49.   //*************************** !!!!  Common for Heli & Airplane  !!!! ****************************//
    
50. 
    
51.     //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
    
52.        
    
53.     #define SERVO_OFFSET     {  0,   0,   0,  0,   0,   0,  0,   0 } // Adjust Servo MID Offset & Swash angles
    
54.     // Selectable channels:=    ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4
    
55. 
    
56.   //****************************** !!!!  Hellicopter Settings  !!!! *******************************//
    
57.     // Channel to control CollectivePitch
    
58.     #define COLLECTIVE_PITCH      THROTTLE
    
59.     // Set Maximum available movement for the servos. Depending on modell.
    
60.     #define SERVO_ENDPOINT_HIGH {2000,2000,2000,2000,2000,2000,2000,2000};
    
61.     #define SERVO_ENDPOINT_LOW  {1020,1020,1020,1020,1020,1020,1020,1020};
    
62. 
    
63.     // Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch
    
64.     #define COLLECTIVE_RANGE { 80, 1500, 80 }// {Min%, ZeroPitch, Max%}.
    
65.     #define YAW_CENTER             1500      // Use servo[5] SERVO_ENDPOINT_HIGH/LOW for the endpoits.
    
66.     #define YAWMOTOR                0       // If a motor is useed as YAW Set to 1 else set to 0.
    
67. 
    
68.     // Servo mixing for heli 120 Use 1/10 fractions (ex.5 = 5/10 = 1/2)
    
69.     //                   {Coll,Nick,Roll}
    
70.     #define SERVO_NICK   { +10, -10, -0 }
    
71.     #define SERVO_LEFT   { +10, +5, +10 }
    
72.     #define SERVO_RIGHT  { +10, +5, -10 }
    
73. 
    
74.     // Servo mixing for heli 90
    
75.     //                      {Coll,Nick,Roll}
    
76.     #define SERVO_DIRECTIONS { +1, -1, -1 } // -1 will invert servo
    
77.        
    
78.     // Limit Maximum controll for Roll & Nick  in 0-100%
    
79.     #define CONTROLL_RANGE   { 100, 100 }      //  { ROLL,PITCH }

复制代码

耍流氓的小屁孩

不懂，帮顶！

星际行者

看不懂  帮顶！:em26:

东方弥勒佛

看不懂  帮顶！

快乐精灵

只看懂了都是一些宏定义

陆地巡洋舰

卡吗懂，
但知道写完这些字的人也会玩，

三好学生

这个就和手机里的主题一样，参数变化

yue621

MWC确实很了不起，从开始简陋的硬件一直做到现在，而且很佩服ALEX的心胸~~~~~~~~~力顶MWC!

scmylhw

看不懂:em15:

lll8

但知道写完这些字的人也会玩，

laideng020

顶

北方孤狼

顶！

铜河

二话不说，直接顶~~~~~~

陆地巡洋舰

真强大，鼎

pchxk

期待直接出成品  看不懂

moontack

万金油?直升机也行?

moontack

现在能买到吗?

仇池侠

我等玩MWC的福音:em26:

孙建江

:loveliness: 直升机支持120度和90度的。其他不支持。

aluken

开源的项目，只要有人玩，代码就会源源不断的追加进去。有兴趣的话，哪怕没事看看代码玩也是享受