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Apply PID reduction to only Iterm. (RC1 behaviour)

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borisbstyle 2016-06-19 15:21:26 +02:00
parent 8353659c73
commit 9782fb1555
2 changed files with 9 additions and 7 deletions
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2
src/main/flight/mixer.c
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@ -825,7 +825,7 @@ void mixTable(void)
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
}
// Get the maximum correction by setting offset to center
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);