From 704c09ccedaf5e644b8c1ca83ee9cc42c6730130 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 1 Jun 2016 18:29:17 +0200
Subject: [PATCH] Add Additional Anti desync option (Airmode saturation limit)

---
 src/main/flight/mixer.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index f305ded593..e6d6b00118 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -823,7 +823,7 @@ void mixTable(void)
             rollPitchYawMix[i] =  qMultiply(mixReduction,rollPitchYawMix[i]);
         }
         // Get the maximum correction by setting offset to center
-        throttleMin = throttleMax = throttleMin + (throttleRange / 2);
+        if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
 
         if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
     } else {