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Support pid_at_min_throttle = 0 for 3D flight

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This commit is contained in:
Nicholas Sherlock 2015-09-01 01:46:44 +12:00
parent 1a15e5aa08
commit be815ec070
1 changed files with 13 additions and 3 deletions
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16
src/main/flight/mixer.c
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@ -783,10 +783,20 @@ void mixTable(void)
motor[i] -= maxThrottleDifference;
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > rxConfig->midrc) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
if (mixerConfig->pid_at_min_throttle
|| rcData[THROTTLE] <= rxConfig->midrc - flight3DConfig->deadband3d_throttle
|| rcData[THROTTLE] >= rxConfig->midrc + flight3DConfig->deadband3d_throttle) {
if (rcData[THROTTLE] > rxConfig->midrc) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
}
} else {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
if (rcData[THROTTLE] > rxConfig->midrc) {
motor[i] = flight3DConfig->deadband3d_high;
} else {
motor[i] = flight3DConfig->deadband3d_low;
}
}
} else {
if (isFailsafeActive) {