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part 3 of the great sensor axis unfucking. careful flight testing may commence.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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timecop@gmail.com 2013-09-15 01:56:23 +00:00
parent 05ced4c784
commit 71772f137b
5 changed files with 9 additions and 5 deletions
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8
src/mixer.c
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@ -321,17 +321,17 @@ void mixTable(void)
// motors for non-servo mixes
if (numberMotor > 1)
for (i = 0; i < numberMotor; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes
switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI:
servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
servo[4] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (-cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
break;
case MULTITYPE_TRI:
servo[5] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
servo[5] = constrain(cfg.tri_yaw_middle + -cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
break;
case MULTITYPE_GIMBAL: