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Added validation checks for interpolation settings, made throttle boost conditional.

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This commit is contained in:
mikeller 2018-06-04 23:19:05 +12:00
parent 91013da2cc
commit a373204d7a
5 changed files with 29 additions and 2 deletions
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4
src/main/flight/mixer.c
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@ -803,12 +803,14 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
motorMix[i] = mix;
}
motorMixRange = motorMixMax - motorMixMin;
#if defined(USE_THROTTLE_BOOST)
if (throttleBoost > 0.0f) {
float throttlehpf = throttle - pt1FilterApply(&throttleLpf, throttle);
throttle = constrainf(throttle + throttleBoost * throttlehpf, 0.0f, 1.0f);
}
#endif
motorMixRange = motorMixMax - motorMixMin;
if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) {
motorMix[i] /= motorMixRange;