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Add anti gravity as feature and mode

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3.1.7 mergebacks
This commit is contained in:
borisbstyle 2017-03-31 15:55:31 +02:00
parent d8f03693f7
commit 6899c66a05
10 changed files with 46 additions and 51 deletions
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6
src/main/flight/servos.c
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@ -379,9 +379,9 @@ STATIC_UNIT_TESTED void servoMixer(void)
input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
input[INPUT_STABILIZED_ROLL] = axisPIDf[ROLL] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_PITCH] = axisPIDf[PITCH] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_ROLL] = (axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_PITCH] = (axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_YAW] = (axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {