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Decouple roll and pitch rates. MSP clients take note of updated

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MSP_RC_TUNING/MSP_SET_RC_TUNING commands.
This commit is contained in:
Dominic Clifton 2015-03-07 15:09:42 +00:00
parent 26bb86898e
commit b595b49ca8
9 changed files with 70 additions and 51 deletions
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13
src/main/flight/mixer.c
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@ -546,12 +546,6 @@ static void airplaneMixer(void)
void mixTable(void)
{
uint32_t i;
int8_t yawDirection3D = 1;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
yawDirection3D = -1;
}
if (motorCount > 3) {
// prevent "yaw jump" during yaw correction
@ -570,6 +564,13 @@ void mixTable(void)
}
#if !defined(USE_QUAD_MIXER_ONLY) || defined(USE_SERVOS)
int8_t yawDirection3D = 1;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
yawDirection3D = -1;
}
// airplane / servo mixes
switch (currentMixerMode) {
case MIXER_BI: