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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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src/mw.c
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@ -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;