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Better Clearing when toggling inbetween modes

This commit is contained in:
borisbstyle 2015-12-09 23:16:22 +01:00
parent 0a2444fe39
commit 6d51ab6e53
2 changed files with 3 additions and 1 deletions

View file

@ -751,6 +751,7 @@ void mixTable(void)
} }
if (!(IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !(feature(FEATURE_3D))) { if (!(IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !(feature(FEATURE_3D))) {
totalErrorRatioLimit = 1.0f; // It always needs to be full ratio so it can't get stuck when flipping back and fourth
// motors for non-servo mixes // motors for non-servo mixes
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {
motor[i] = motor[i] =
@ -794,7 +795,6 @@ void mixTable(void)
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips. // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
// //
// TODO: handle the case when motors don't all get the same throttle factor... // TODO: handle the case when motors don't all get the same throttle factor...
// too lazy to sort out the math right now.
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrainf(rcCommand[THROTTLE] * currentMixer[i].throttle, throttleMin, throttleMax); motor[i] = rollPitchYawMix[i] + constrainf(rcCommand[THROTTLE] * currentMixer[i].throttle, throttleMin, throttleMax);
} }

View file

@ -598,6 +598,8 @@ void processRx(void)
} else { } else {
allowITermShrinkOnly = false; // Reset shrinking for Iterm allowITermShrinkOnly = false; // Reset shrinking for Iterm
} }
} else {
allowITermShrinkOnly = false; // Reset shrinking. Usefull when flipping between normal and AIR mode
} }
} }