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Disable saturation limit for non-airmode

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borisbstyle 2016-02-08 01:28:50 +01:00
parent 041571202e
commit beaca5ba36
1 changed files with 3 additions and 1 deletions
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4
src/main/flight/mixer.c
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@ -820,7 +820,9 @@ void mixTable(void)
rollPitchYawMix[i] = lrintf((float) rollPitchYawMix[i] * mixReduction);
}
// Get the maximum correction by setting offset to center. Only active below 50% of saturation levels to reduce spazzing out in crashes
if (mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
if ((mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
}
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);