From c533990d6ac81be740d37818d080b5910c456075 Mon Sep 17 00:00:00 2001
From: Kevin Plaizier <46289813+Quick-Flash@users.noreply.github.com>
Date: Mon, 26 Sep 2022 23:25:46 -0600
Subject: [PATCH] Fix the normal airmode mixer

https://github.com/betaflight/betaflight/issues/11854 Should fix this. Didn't realize that it was actually possible for it to somewhat act wrong.
---
 src/main/flight/mixer.c | 24 +++++++++++-------------
 1 file changed, 11 insertions(+), 13 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 8d73134fa2..da989dcbf5 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -445,22 +445,20 @@ static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const
     throttle += pidGetAirmodeThrottleOffset();
     float airmodeThrottleChange = 0;
 #endif
+    
+    const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
 
-    if (motorMixRange > 1.0f) {
-        for (int i = 0; i < mixerRuntime.motorCount; i++) {
-            motorMix[i] /= motorMixRange;
-        }
-        // Get the maximum correction by setting offset to center when airmode enabled
-        if (airmodeEnabled) {
-            throttle = 0.5f;
-        }
-    } else {
-        if (airmodeEnabled || throttle > 0.5f) {
-            throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
+    for (int i = 0; i < mixerRuntime.motorCount; i++) {
+        motorMix[i] /= motorMixNormalizationFactor;
+    }
+
+    if (airmodeEnabled || throttle > 0.5f) {
+        float normalizedMotorMixMin = motorMixMin / motorMixNormalizationFactor;
+        float normalizedMotorMixMax = motorMixMax / motorMixNormalizationFactor;
+        throttle = constrainf(throttle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax);
 #ifdef USE_AIRMODE_LPF
-            airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
+        airmodeThrottleChange = constrainf(unadjustedThrottle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax) - unadjustedThrottle;
 #endif
-        }
     }
 
 #ifdef USE_AIRMODE_LPF