Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 06:45:16 +03:00
Code Issues Wiki Activity

fixed cli version from pre-3 stuff

Browse source 
increased gyro complementary filter factor to 500 to reduce acc influence (should hopefully fix random walk stuff?)
fixed a bug in servotilt stuff (maybe?)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@150 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-01 00:07:22 +00:00
parent f3a4e9f731
commit 26b2031e24
6 changed files with 4992 additions and 5015 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/mixer.c
View file

@ -235,12 +235,12 @@ void mixTable(void)
uint16_t aux[2] = { 0, 0 };
if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
aux[0] = rcData[AUX3];
aux[0] = rcData[AUX3] - cfg.midrc;
if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
aux[1] = rcData[AUX4];
aux[1] = rcData[AUX4] - cfg.midrc;
servo[0] = cfg.gimbal_pitch_mid + aux[0] - cfg.midrc;
servo[1] = cfg.gimbal_roll_mid + aux[1] - cfg.midrc;
servo[0] = cfg.gimbal_pitch_mid + aux[0];
servo[1] = cfg.gimbal_roll_mid + aux[1];
if (rcOptions[BOXCAMSTAB]) {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;