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Add min_check deadband for stick armers

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borisbstyle 2016-03-01 11:30:32 +01:00
parent a2a58d8ccb
commit 94e5472817
1 changed files with 7 additions and 0 deletions
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7
src/main/mw.c
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@ -238,6 +238,13 @@ void annexCode(void)
}
tmp2 = tmp / 100;
if (isUsingSticksForArming()) {
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
} else {
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN) * PWM_RANGE_MIN / (PWM_RANGE_MAX - PWM_RANGE_MIN);
}
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;