Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Merge pull request #917 from MJ666/yaw_jump_updates

Browse source 
Flight - Yaw jump updates
This commit is contained in:
Dominic Clifton 2015-05-19 21:20:48 +01:00
commit 43a74f0d46
7 changed files with 18 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/mixer.c
View file

@ -565,7 +565,7 @@ void mixTable(void)
{
uint32_t i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) {
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// 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]));
}