Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Detach midrc (input) from servo center (output).

Browse source 
This fixes incorrect servo center position when midrc was not 1500.
Most likely only experienced by futaba plane or servo/tilt users.
This commit is contained in:
Dominic Clifton 2015-01-27 22:55:41 +01:00
parent f4ec9a2c65
commit a2b232e805
6 changed files with 10 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/flight/mixer.c
View file

@ -473,14 +473,14 @@ static void airplaneMixer(void)
int16_t lFlap = determineServoMiddleOrForwardFromChannel(2);
lFlap = constrain(lFlap, servoConf[2].min, servoConf[2].max);
lFlap = rxConfig->midrc - lFlap;
lFlap = escAndServoConfig->servoCenterPulse - lFlap;
if (slow_LFlaps < lFlap)
slow_LFlaps += airplaneConfig->flaps_speed;
else if (slow_LFlaps > lFlap)
slow_LFlaps -= airplaneConfig->flaps_speed;
servo[2] = ((int32_t)servoConf[2].rate * slow_LFlaps) / 100L;
servo[2] += rxConfig->midrc;
servo[2] += escAndServoConfig->servoCenterPulse;
}
if (FLIGHT_MODE(PASSTHRU_MODE)) { // Direct passthru from RX