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Cleanup code // add unittestst for iterm windup

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borisbstyle 2018-09-10 12:27:53 +02:00
parent 261f8d679a
commit 00dbaf9fa7
5 changed files with 32 additions and 21 deletions
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9
src/main/flight/mixer.c
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@ -361,15 +361,6 @@ bool mixerIsTricopter(void)
#endif
}
bool mixerIsOutputSaturated(int axis, float errorRate)
{
if (axis == FD_YAW && mixerIsTricopter()) {
return mixerTricopterIsServoSaturated(errorRate);
}
return motorMixRange >= 1.0f;
}
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)