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Merge pull request #6235 from etracer65/throttle_angle_correction

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Fix throttle angle correction when smoothing throttle; reduce processing overhead
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Michael Keller 2018-06-30 18:46:51 +12:00 • committed by GitHub
commit c6c3d0b5af
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7 changed files with 41 additions and 25 deletions
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9
src/main/flight/mixer.c
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@ -126,6 +126,8 @@ float motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static FAST_RAM_ZERO_INIT int throttleAngleCorrection;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -607,7 +609,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
pidResetITerm();
}
} else {
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck + throttleAngleCorrection;
currentThrottleInputRange = rcCommandThrottleRange;
motorRangeMin = motorOutputLow;
motorRangeMax = motorOutputHigh;
@ -897,3 +899,8 @@ uint16_t convertMotorToExternal(float motorValue)
return externalValue;
}
void mixerSetThrottleAngleCorrection(int correctionValue)
{
throttleAngleCorrection = correctionValue;
}