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Code Issues Wiki Activity

Cleanup unused maxEscThrottleJumpMs

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borisbstyle 2016-12-30 12:50:28 +01:00
parent 1030df294d
commit a142a80b1f
3 changed files with 0 additions and 16 deletions
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13
src/main/flight/mixer.c
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@ -534,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
}
}
// Anti Desync feature for ESC's. Limit rapid throttle changes
if (motorConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < motorOutputRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
motorPrevious[i] = motor[i];
}
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {