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Add back ESC jump limit // revert p weight limit

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This commit is contained in:
borisbstyle 2016-09-06 22:02:55 +02:00
parent d0ceb1167a
commit 9dd135ec80
4 changed files with 19 additions and 3 deletions
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13
src/main/flight/mixer.c
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@ -862,6 +862,19 @@ void mixTable(void *pidProfilePtr)
}
}
// Anti Desync feature for ESC's. Limit rapid throttle changes
if (escAndServoConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 5, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < throttleRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motorPrevious[i] = motor[i];
}
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {