Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 22:05:17 +03:00
Code Issues Wiki Activity

Merge pull request #4207 from brycedjohnson/TurtleRemovePidSum

Browse source 
Remove pid sum limit so crashflip gets 100% throttle
This commit is contained in:
Martin Budden 2017-09-21 17:51:50 +01:00 • committed by GitHub
commit d22fb0dde4
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/flight/mixer.c
View file

@ -611,9 +611,9 @@ static void applyFlipOverAfterCrashModeToMotors(void)
for (int i = 0; i < motorCount; i++) {
if (getRcDeflectionAbs(FD_ROLL) > getRcDeflectionAbs(FD_PITCH)) {
motorMix[i] = getRcDeflection(FD_ROLL) * pidSumLimit * currentMixer[i].roll * (-1);
motorMix[i] = getRcDeflection(FD_ROLL) * currentMixer[i].roll * (-1);
} else {
motorMix[i] = getRcDeflection(FD_PITCH) * pidSumLimit * currentMixer[i].pitch * (-1);
motorMix[i] = getRcDeflection(FD_PITCH) * currentMixer[i].pitch * (-1);
}
}
// Apply the mix to motor endpoints