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Revert "Merge pull request #372 from aughey/betaflight"

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This reverts commit a6a5f50ffb, reversing
changes made to 9cc5503851.
This commit is contained in:
borisbstyle 2016-05-04 00:00:04 +02:00
parent a6a5f50ffb
commit 5ffb3b5068
6 changed files with 30 additions and 58 deletions
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9
src/main/flight/mixer.c
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@ -753,11 +753,6 @@ void mixTable(void)
uint32_t i;
fix12_t vbatCompensationFactor;
static fix12_t mixReduction;
bool use_vbat_compensation = false;
if (batteryConfig && batteryConfig->vbatPidCompensation) {
use_vbat_compensation = true;
vbatCompensationFactor = calculateVbatPidCompensation();
}
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
@ -771,6 +766,8 @@ void mixTable(void)
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
int16_t rollPitchYawMixMin = 0;
if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation
// Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] =
@ -778,7 +775,7 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]); // Add voltage compensation
if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]); // Add voltage compensation
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];