Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

3d on a mode switch

Browse source
This commit is contained in:
Bryce Johnson 2017-09-24 19:56:46 -05:00
parent 4e325d9290
commit d1a197f99e
8 changed files with 33 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/flight/mixer.c
View file

@ -559,7 +559,9 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rcCommand3dDeadBandHigh;
currentThrottleInputRange = rcCommandThrottleRange3dHigh;
} else if((rcThrottlePrevious <= rcCommand3dDeadBandLow)) {
} else if((rcThrottlePrevious <= rcCommand3dDeadBandLow &&
!isModeActivationConditionPresent(BOX3DONASWITCH)) ||
isMotorsReversed()) {
// INVERTED_TO_DEADBAND
motorRangeMin = motorOutputLow;
motorRangeMax = deadbandMotor3dLow;
@ -676,11 +678,6 @@ void mixTable(uint8_t vbatPidCompensation)
constrainf(axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidYaw =
constrainf(axisPID_P[FD_YAW] + axisPID_I[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
if (isMotorsReversed()) {
scaledAxisPidRoll = -scaledAxisPidRoll;
scaledAxisPidPitch = -scaledAxisPidPitch;
scaledAxisPidYaw = -scaledAxisPidYaw;
}
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}