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Merge remote-tracking branch 'upstream/master' into lowpass

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This commit is contained in:
Joel Fuster 2015-01-31 10:47:39 -05:00
commit 4f0af41e79
122 changed files with 5252 additions and 1649 deletions
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6
src/main/flight/mixer.c
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@ -490,14 +490,14 @@ static void airplaneMixer(void)
int16_t lFlap = determineServoMiddleOrForwardFromChannel(2);
lFlap = constrain(lFlap, servoConf[2].min, servoConf[2].max);
lFlap = rxConfig->midrc - lFlap;
lFlap = escAndServoConfig->servoCenterPulse - lFlap;
if (slow_LFlaps < lFlap)
slow_LFlaps += airplaneConfig->flaps_speed;
else if (slow_LFlaps > lFlap)
slow_LFlaps -= airplaneConfig->flaps_speed;
servo[2] = ((int32_t)servoConf[2].rate * slow_LFlaps) / 100L;
servo[2] += rxConfig->midrc;
servo[2] += escAndServoConfig->servoCenterPulse;
}
if (FLIGHT_MODE(PASSTHRU_MODE)) { // Direct passthru from RX
@ -531,7 +531,7 @@ void mixTable(void)
if (motorCount > 3) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
axisPID[YAW] = constrain(axisPID[YAW], -100 - ABS(rcCommand[YAW]), +100 + ABS(rcCommand[YAW]));
}
// motors for non-servo mixes