Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity

Update mixer.c

Browse source 
Make it possible to still be able to disable the jump protection at all by configuring the highest configurable value.
This commit is contained in:
borisbstyle 2015-05-01 17:23:29 +02:00
parent ea7157dadd
commit 16faced65a
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/flight/mixer.c
View file

@ -564,8 +564,8 @@ void mixTable(void)
{ {
uint32_t i; uint32_t i;
if (motorCount >= 4) { if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) {
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction (500 is disabled jump protection)
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
} }