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Airmode Saturation fix // Needed for some setups

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borisbstyle 2016-02-02 22:48:52 +01:00
parent 17f214d2ab
commit 06b3f625d1
1 changed files with 2 additions and 3 deletions
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5
src/main/flight/mixer.c
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@ -789,10 +789,10 @@ void mixTable(void)
// Scale roll/pitch/yaw uniformly to fit within throttle range // Scale roll/pitch/yaw uniformly to fit within throttle range
int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin; int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin;
int16_t throttleRange, throttle; int16_t throttleRange, throttle;
int16_t throttleMin, throttleMax; int16_t throttleMin, throttleMax = 0;
static bool flightDirection3dReversed; static bool flightDirection3dReversed;
throttle = rcData[THROTTLE]; throttle = rcCommand[THROTTLE];
// Find min and max throttle based on condition // Find min and max throttle based on condition
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
@ -831,7 +831,6 @@ void mixTable(void)
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = (rollPitchYawMix[i] * throttleRange) / rollPitchYawMixRange; rollPitchYawMix[i] = (rollPitchYawMix[i] * throttleRange) / rollPitchYawMixRange;
} }
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else { } else {
motorLimitReached = false; motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2); throttleMin = throttleMin + (rollPitchYawMixRange / 2);