Add hexacopter type to groundstation

[MatzElectronics]

This is paired with issue #18. Groundstation needs to adapt to hex configuration. It may be possible for the GS to auto-detect this, either through a modified heartbeat, or by detecting that the motor speeds packet is longer.

[JasonDorie]

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden currently
  at startup)
• GroundStation and the FC now use different commands for motor, LED, &
  buzzer test, and throttle calibrate (this was necessary to allow for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD or HEX
• I'm currently updating GroundStation to detect the motor count and adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz notifications@github.com
wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be possible for
the GS to auto-detect this, either through a modified heartbeat, or by
detecting that the motor speeds packet is longer.

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[MatzElectronics]

@JasonDorie I'm flying a hex currently - I have it in a feature branch of
my local repo - I'll move it into a feature branch of the main repo, and we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie notifications@github.com
wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden currently
  at startup)
• GroundStation and the FC now use different commands for motor, LED, &
  buzzer test, and throttle calibrate (this was necessary to allow for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD or HEX
• I'm currently updating GroundStation to detect the motor count and adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz notifications@github.com
wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be possible for
the GS to auto-detect this, either through a modified heartbeat, or by
detecting that the motor speeds packet is longer.

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[JasonDorie]

Don't put it in main - I'll be checking this all in to the ActiveDev branch
in a few minutes. Then you can compare mine with yours and fix whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz notifications@github.com
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature branch of
my local repo - I'll move it into a feature branch of the main repo, and we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie notifications@github.com
wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden currently
  at startup)
• GroundStation and the FC now use different commands for motor, LED, &
  buzzer test, and throttle calibrate (this was necessary to allow for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD or HEX
• I'm currently updating GroundStation to detect the motor count and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <notifications@github.com

wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be possible
for
the GS to auto-detect this, either through a modified heartbeat, or by
detecting that the motor speeds packet is longer.

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[MatzElectronics]

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie notifications@github.com
wrote:

Don't put it in main - I'll be checking this all in to the ActiveDev branch
in a few minutes. Then you can compare mine with yours and fix whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz notifications@github.com
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature branch of
my local repo - I'll move it into a feature branch of the main repo, and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie notifications@github.com
wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for motor, LED, &
  buzzer test, and throttle calibrate (this was necessary to allow for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD or
  HEX
• I'm currently updating GroundStation to detect the motor count and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com

wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be possible
for
the GS to auto-detect this, either through a modified heartbeat, or
by
detecting that the motor speeds packet is longer.

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[JasonDorie]

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz notifications@github.com
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie notifications@github.com

wrote:

Don't put it in main - I'll be checking this all in to the ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz notifications@github.com
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature branch
of
my local repo - I'll move it into a feature branch of the main repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <notifications@github.com

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to allow for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD or
  HEX
• I'm currently updating GroundStation to detect the motor count and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com

wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be
possible
for
the GS to auto-detect this, either through a modified heartbeat, or
by
detecting that the motor speeds packet is longer.

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[MatzElectronics]

For some reason I can't brain that :) If you aren't too far in - Motor 1
is front left/CW (same as Quad), and then they increase CW around the hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie notifications@github.com
wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz notifications@github.com
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie notifications@github.com

wrote:

Don't put it in main - I'll be checking this all in to the ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature
branch
of
my local repo - I'll move it into a feature branch of the main repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor nudge
  commands, but they'll be ignored by the FC unless you have 6 motors
  connected
• I've added defines in the header to set the flight mode to QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the motor count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com

wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be
possible
for
the GS to auto-detect this, either through a modified heartbeat,
or
by
detecting that the motor speeds packet is longer.

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[JasonDorie]

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz notifications@github.com
wrote:

For some reason I can't brain that :) If you aren't too far in - Motor 1
is front left/CW (same as Quad), and then they increase CW around the hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie notifications@github.com

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz notifications@github.com
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <notifications@github.com

wrote:

Don't put it in main - I'll be checking this all in to the ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature
branch
of
my local repo - I'll move it into a feature branch of the main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor
  nudge
  commands, but they'll be ignored by the FC unless you have 6
  motors
  connected
• I've added defines in the header to set the flight mode to QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the motor count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com

wrote:

This is paired with issue #18
#18.
Groundstation needs to adapt to hex configuration. It may be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

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[MatzElectronics]

Ok - Kyle and I may change the motor order - but I'll take it for a drive
hopefully tomorrow but for sure in the next day or two.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:29 PM, Jason Dorie notifications@github.com
wrote:

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz notifications@github.com
wrote:

For some reason I can't brain that :) If you aren't too far in - Motor 1
is front left/CW (same as Quad), and then they increase CW around the
hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie notifications@github.com

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz <
notifications@github.com>
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <
notifications@github.com

wrote:

Don't put it in main - I'll be checking this all in to the
ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature
branch
of
my local repo - I'll move it into a feature branch of the main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for
  motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to
  allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor
  nudge
  commands, but they'll be ignored by the FC unless you have 6
  motors
  connected
• I've added defines in the header to set the flight mode to
  QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the motor
  count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com

wrote:

This is paired with issue #18
<#18
.
Groundstation needs to adapt to hex configuration. It may be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

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[JasonDorie]

The reason I didn't do them sequentially is because it means more buttons
in UI that have to be reconfigured / relabeled when it changes.

The way I have it, motors 1 to 4 are always the same index / port. Front
left / front right always spin the same way, and only the other change.

On a hex, the front left / back left spin the same direction, on a quad
they don't, so I have to rearrange the icons on the buttons when the UI
changes modes.

Does that make more sense?

On Saturday, September 17, 2016, Matthew Matz notifications@github.com
wrote:

Ok - Kyle and I may change the motor order - but I'll take it for a drive
hopefully tomorrow but for sure in the next day or two.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:29 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

For some reason I can't brain that :) If you aren't too far in - Motor
1
is front left/CW (same as Quad), and then they increase CW around the
hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in
the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

Don't put it in main - I'll be checking this all in to the
ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a feature
branch
of
my local repo - I'll move it into a feature branch of the main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are
  hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for
  motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to
  allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct motor
  nudge
  commands, but they'll be ignored by the FC unless you have 6
  motors
  connected
• I've added defines in the header to set the flight mode to
  QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the motor
  count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

This is paired with issue #18
<https://github.com/parallaxinc/Flight-Controller/
issues/18
.
Groundstation needs to adapt to hex configuration. It may
be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

—
You are receiving this because you are subscribed to this
thread.
Reply to this email directly, view it on GitHub
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[MatzElectronics]

Yes - sorry, long day! I'm game for leaving it - but I'm mildly concerned
about the rotation direction of pairs of motors being the same that way.
Not sure that it matters, but, still, my inner neat freak is cringing
slightly :)

Also, I did see that you have Roll? at 3/4 - divide by 2 works really well,
and I think I did the trig on that a while back...

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:40 PM, Jason Dorie notifications@github.com
wrote:

The reason I didn't do them sequentially is because it means more buttons
in UI that have to be reconfigured / relabeled when it changes.

The way I have it, motors 1 to 4 are always the same index / port. Front
left / front right always spin the same way, and only the other change.

On a hex, the front left / back left spin the same direction, on a quad
they don't, so I have to rearrange the icons on the buttons when the UI
changes modes.

Does that make more sense?

On Saturday, September 17, 2016, Matthew Matz notifications@github.com
wrote:

Ok - Kyle and I may change the motor order - but I'll take it for a drive
hopefully tomorrow but for sure in the next day or two.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:29 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the
code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

For some reason I can't brain that :) If you aren't too far in -
Motor
1
is front left/CW (same as Quad), and then they increase CW around the
hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor in
the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

Don't put it in main - I'll be checking this all in to the
ActiveDev
branch
in a few minutes. Then you can compare mine with yours and fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a
feature
branch
of
my local repo - I'll move it into a feature branch of the
main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are
  hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for
  motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary to
  allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct
  motor
  nudge
  commands, but they'll be ignored by the FC unless you have
  6
  motors
  connected
• I've added defines in the header to set the flight mode
  to
  QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the motor
  count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');

wrote:

This is paired with issue #18
<https://github.com/parallaxinc/Flight-Controller/
issues/18
.
Groundstation needs to adapt to hex configuration. It may
be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

—
You are receiving this because you are subscribed to this
thread.
Reply to this email directly, view it on GitHub
<https://github.com/parallaxinc/Flight-Controller/
issues/19
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[JasonDorie]

Uh, yeah, I was thinking 45 degrees, not 30 - the divide by two is very
probably correct.

J

On Saturday, September 17, 2016, Matthew Matz notifications@github.com
wrote:

Yes - sorry, long day! I'm game for leaving it - but I'm mildly concerned
about the rotation direction of pairs of motors being the same that way.
Not sure that it matters, but, still, my inner neat freak is cringing
slightly :)

Also, I did see that you have Roll? at 3/4 - divide by 2 works really well,
and I think I did the trig on that a while back...

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:40 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

The reason I didn't do them sequentially is because it means more buttons
in UI that have to be reconfigured / relabeled when it changes.

The way I have it, motors 1 to 4 are always the same index / port. Front
left / front right always spin the same way, and only the other change.

On a hex, the front left / back left spin the same direction, on a quad
they don't, so I have to rearrange the icons on the buttons when the UI
changes modes.

Does that make more sense?

On Saturday, September 17, 2016, Matthew Matz <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Ok - Kyle and I may change the motor order - but I'll take it for a
drive
hopefully tomorrow but for sure in the next day or two.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:29 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the
code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

For some reason I can't brain that :) If you aren't too far in -
Motor
1
is front left/CW (same as Quad), and then they increase CW around
the
hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor
in
the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

Don't put it in main - I'll be checking this all in to the
ActiveDev
branch
in a few minutes. Then you can compare mine with yours and
fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a
feature
branch
of
my local repo - I'll move it into a feature branch of the
main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com |
@m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they are
  hidden
  currently
  at startup)
• GroundStation and the FC now use different commands for
  motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary
  to
  allow
  for
  nudging two more motors, and is just cleaner is general)
• The two additional motor buttons DO send the correct
  motor
  nudge
  commands, but they'll be ignored by the FC unless you
  have
  6
  motors
  connected
• I've added defines in the header to set the flight mode
  to
  QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the
  motor
  count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

This is paired with issue #18
<https://github.com/parallaxinc/Flight-Controller/
issues/18
.
Groundstation needs to adapt to hex configuration. It
may
be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

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[MatzElectronics]

Yeah, my napkin doodle says so.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:56 PM, Jason Dorie notifications@github.com
wrote:

Uh, yeah, I was thinking 45 degrees, not 30 - the divide by two is very
probably correct.

J

On Saturday, September 17, 2016, Matthew Matz notifications@github.com
wrote:

Yes - sorry, long day! I'm game for leaving it - but I'm mildly concerned
about the rotation direction of pairs of motors being the same that way.
Not sure that it matters, but, still, my inner neat freak is cringing
slightly :)

Also, I did see that you have Roll? at 3/4 - divide by 2 works really
well,
and I think I did the trig on that a while back...

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:40 PM, Jason Dorie <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

The reason I didn't do them sequentially is because it means more
buttons
in UI that have to be reconfigured / relabeled when it changes.

The way I have it, motors 1 to 4 are always the same index / port.
Front
left / front right always spin the same way, and only the other change.

On a hex, the front left / back left spin the same direction, on a quad
they don't, so I have to rearrange the icons on the buttons when the UI
changes modes.

Does that make more sense?

On Saturday, September 17, 2016, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Ok - Kyle and I may change the motor order - but I'll take it for a
drive
hopefully tomorrow but for sure in the next day or two.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 7:29 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

Too late - submitted. Pull the ActiveDevelopment branch, set the
FLIGHT_MODE_HEX define in the header, flash your quad, build
groundstation. You'll see the numbers for the motor outputs in the
code,
and all the buttons work.

J

On Sat, Sep 17, 2016 at 7:18 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

For some reason I can't brain that :) If you aren't too far in -
Motor
1
is front left/CW (same as Quad), and then they increase CW around
the
hex,
alternating in spin.

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:49 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>

wrote:

FYI - My motor outputs are:

AUX1 - Hex-right
AUX2 - Hex-left

I'm assuming a config that's basically an X with an extra motor
in
the
middle of each side, and those motors are HR and HL.

J

On Sat, Sep 17, 2016 at 6:46 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

Sounds good!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com | @m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:45 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

Don't put it in main - I'll be checking this all in to the
ActiveDev
branch
in a few minutes. Then you can compare mine with yours and
fix
whatever I
broke. :)

J

On Sat, Sep 17, 2016 at 6:41 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>
wrote:

@JasonDorie I'm flying a hex currently - I have it in a
feature
branch
of
my local repo - I'll move it into a feature branch of the
main
repo,
and
we
can figure out how to merge what's all there.
Thanks!

Matthew Matz | STEM/Robotics Educator
Parallax Inc. | Direct: 916-625-3019 | www.parallax.com
|
@m
atzElectronics http://twitter.com/MatzElectronics

On Sat, Sep 17, 2016 at 6:29 PM, Jason Dorie <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

I have done some of the work toward this:

• GroundStation now has two more motor buttons (they
  are
  hidden
  currently
  at startup)
• GroundStation and the FC now use different commands
  for
  motor,
  LED, &
  buzzer test, and throttle calibrate (this was necessary
  to
  allow
  for
  nudging two more motors, and is just cleaner is
  general)
• The two additional motor buttons DO send the correct
  motor
  nudge
  commands, but they'll be ignored by the FC unless you
  have
  6
  motors
  connected
• I've added defines in the header to set the flight
  mode
  to
  QUAD
  or
  HEX
• I'm currently updating GroundStation to detect the
  motor
  count
  and
  adjust
  accordingly

On Fri, Sep 16, 2016 at 10:10 PM, Matthew Matz <
notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>

wrote:

This is paired with issue #18
<https://github.com/parallaxinc/Flight-Controller/
issues/18
.
Groundstation needs to adapt to hex configuration. It
may
be
possible
for
the GS to auto-detect this, either through a modified
heartbeat,
or
by
detecting that the motor speeds packet is longer.

—
You are receiving this because you are subscribed to
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