Discussions

Hi everybody !

I'm working on a projet of UAV/VTOL where I need to do some little modifications on the arducopter code.

I have been trying to understand the code and libraries, and I have been looking for infomation, but I have still some questions that cannot find answers... Hope you can help me =)

So I have a tricopter where I need to stop the back motor : (simplified example)

if input channel 8 is upper than 1800, then stop the back motor.

Here are the questions :

• If I have well understood the code, the variable I need to test is g.rc_8.radio_in, but what is the difference with g.rc_8.control_in ?
• I haven't been able to find variables which contain the pwm value of each motors ("motor_out[AP_MOTORS_MOT_4]" ?)
• What is the role of g.rc_X.servo_out ?
• Where could I put my code ? I was thinking in fast_loop(), above set_servos_4(), but I realy don't know ... because I need to change the value of the variable which contain the pwm value of the back motor just before it is written.

Thanks for your help !

ps : I'm using arducopter v2.9.1

[Edit] 21/05/2013 Still studying the AP_motors lib...