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Set mid_rc for throttle checks in 3D

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borisbstyle 2016-02-04 12:01:51 +01:00
parent 212017654b
commit 4b6f276d2b
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/mixer.c
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@ -786,11 +786,11 @@ void mixTable(void)
// Find min and max throttle based on condition // Find min and max throttle based on condition
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
static int16_t throttleMinPrevious, throttleMaxPrevious, throttlePrevious; static int16_t throttleMinPrevious, throttleMaxPrevious, throttlePrevious;
if (rcData[THROTTLE] <= (flight3DConfig->neutral3d - flight3DConfig->deadband3d_throttle)) { if (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) {
throttleMax = flight3DConfig->deadband3d_low; throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle; throttleMin = escAndServoConfig->minthrottle;
flightDirection3dReversed = true; flightDirection3dReversed = true;
} else if (rcData[THROTTLE] >= (flight3DConfig->neutral3d + flight3DConfig->deadband3d_throttle)) { } else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) {
throttleMax = escAndServoConfig->maxthrottle; throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high; throttleMin = flight3DConfig->deadband3d_high;
flightDirection3dReversed = false; flightDirection3dReversed = false;