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Fix failsafe_throttle being ignored if it was less than min_check

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when MOTOR_STOP was enabled.
This commit is contained in:
Dominic Clifton 2015-05-19 21:16:24 +01:00
parent 53eec05809
commit cc5c736362
1 changed files with 4 additions and 1 deletions
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5
src/main/flight/mixer.c
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@ -44,6 +44,7 @@
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/failsafe.h"
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/lowpass.h" #include "flight/lowpass.h"
@ -677,6 +678,8 @@ void mixTable(void)
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
bool isFailsafeActive = failsafeIsActive();
// Find the maximum motor output. // Find the maximum motor output.
int16_t maxMotor = motor[0]; int16_t maxMotor = motor[0];
for (i = 1; i < motorCount; i++) { for (i = 1; i < motorCount; i++) {
@ -704,7 +707,7 @@ void mixTable(void)
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled, // If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors. // do not spin the motors.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle); motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) { if ((rcData[THROTTLE]) < rxConfig->mincheck && !isFailsafeActive) {
if (feature(FEATURE_MOTOR_STOP)) { if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand; motor[i] = escAndServoConfig->mincommand;
} else if (mixerConfig->pid_at_min_throttle == 0) { } else if (mixerConfig->pid_at_min_throttle == 0) {