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Changed direction parameters into boolean to ensure a direction is defined.

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This commit is contained in:
mikeller 2017-03-27 21:21:01 +13:00
parent 380fa0e90e
commit bed980bb27
10 changed files with 14 additions and 13 deletions
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4
src/main/flight/mixer.c
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@ -67,7 +67,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
#endif
PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = TARGET_DEFAULT_MIXER,
.yaw_motor_direction = 1,
.yaw_motors_reversed = false,
);
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
@ -530,7 +530,7 @@ void mixTable(pidProfile_t *pidProfile)
motorMix[i] =
scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
scaledAxisPIDf[ROLL] * currentMixer[i].roll +
scaledAxisPIDf[YAW] * currentMixer[i].yaw * (-mixerConfig()->yaw_motor_direction);
scaledAxisPIDf[YAW] * currentMixer[i].yaw * -GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
if (vbatCompensationFactor > 1.0f) {
motorMix[i] *= vbatCompensationFactor; // Add voltage compensation