mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 00:05:33 +03:00
part 3 of the great sensor axis unfucking. careful flight testing may commence.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
parent
05ced4c784
commit
71772f137b
5 changed files with 9 additions and 5 deletions
1
src/mw.c
1
src/mw.c
|
@ -125,6 +125,7 @@ void annexCode(void)
|
|||
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
|
||||
prop1 = (uint16_t) prop1 *prop2 / 100;
|
||||
} else { // YAW
|
||||
tmp *= -mcfg.yaw_control_direction; //change control direction for yaw needed with new gyro orientation
|
||||
if (cfg.yawdeadband) {
|
||||
if (tmp > cfg.yawdeadband) {
|
||||
tmp -= cfg.yawdeadband;
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue