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Merge pull request #5291 from etracer65/fix_3d_on_switch

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Fix 3D on a switch throttle inversion/scale
This commit is contained in:
Michael Keller 2018-02-24 18:34:54 +13:00 • committed by GitHub
commit e28cf9dbca
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1 changed files with 15 additions and 13 deletions
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16
src/main/fc/fc_rc.c
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@ -324,20 +324,22 @@ void updateRcCommands(void)
rcCommand[THROTTLE] = rcLookupThrottle(tmp); rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3D) && !failsafeIsActive()) { if (feature(FEATURE_3D) && !failsafeIsActive()) {
if (!flight3DConfig()->switched_mode3d) {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000); fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc); rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
} }
if (feature(FEATURE_3D) && flight3DConfig()->switched_mode3d && !failsafeIsActive()) {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
reverseMotors = false;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
} else { } else {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
reverseMotors = true; reverseMotors = true;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000); fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc); rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc);
} else {
reverseMotors = false;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
}
} }
} }
if (FLIGHT_MODE(HEADFREE_MODE)) { if (FLIGHT_MODE(HEADFREE_MODE)) {