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Replace yaw_jump_prevention_limit by D gain for yaw // new defaults based on flight tests

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borisbstyle 2016-05-24 21:47:57 +02:00
parent df6d564a9d
commit aa61bd4fb4
6 changed files with 34 additions and 26 deletions
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5
src/main/flight/mixer.c
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@ -761,11 +761,6 @@ void mixTable(void)
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
int16_t rollPitchYawMix[MAX_SUPPORTED_MOTORS];
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.