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synced serial protocol to multiwii-dev 20120622
changed booleans to bitfield struct to match with 0622 no other functional changes, and not all enhancements (like boxlight) from 0622 are implemented yet NOT flight tested, use at your own risk. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@172 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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11 changed files with 5584 additions and 5472 deletions
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@ -218,7 +218,7 @@ void mixTable(void)
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case MULTITYPE_FLYING_WING:
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motor[0] = rcCommand[THROTTLE];
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if (passThruMode) { // do not use sensors for correction, simple 2 channel mixing
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if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
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servo[0] = PITCH_DIRECTION_L * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_L * (rcData[ROLL] - cfg.midrc);
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servo[1] = PITCH_DIRECTION_R * (rcData[PITCH] - cfg.midrc) + ROLL_DIRECTION_R * (rcData[ROLL] - cfg.midrc);
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} else { // use sensors to correct (gyro only or gyro+acc according to aux1/aux2 configuration
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@ -289,7 +289,7 @@ void mixTable(void)
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else
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motor[i] = cfg.mincommand;
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}
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if (armed == 0)
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if (!f.ARMED)
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motor[i] = cfg.mincommand;
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}
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}
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