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added separate yaw deadband from issue #6 after fixing some stuff. config version bumped again.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@132 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-26 16:53:40 +00:00
parent e0537e5aa0
commit 791d67b4ee
4 changed files with 22 additions and 11 deletions
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26
src/mw.c
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@ -120,19 +120,27 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) {
uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500);
if (cfg.deadband > 0) {
if (tmp > cfg.deadband) {
tmp -= cfg.deadband;
} else {
tmp = 0;
if (axis != 2) { // ROLL & PITCH
uint16_t tmp2;
if (cfg.deadband) {
if (tmp > cfg.deadband) {
tmp -= cfg.deadband;
} else {
tmp = 0;
}
}
}
if (axis != 2) { //ROLL & PITCH
uint16_t tmp2 = tmp / 100;
tmp2 = tmp / 100;
rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100;
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { //YAW
} else { // YAW
if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) {
tmp -= cfg.yawdeadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = tmp;
prop1 = 100 - (uint16_t)cfg.yawRate * tmp / 500;
}