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IDLE UP switch // Remove pid_at_min_throttle

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borisbstyle 2015-12-04 16:16:21 +01:00
parent 769ddd39af
commit eafa631a32
7 changed files with 11 additions and 40 deletions
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6
src/main/flight/mixer.c
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@ -783,7 +783,7 @@ void mixTable(void)
motor[i] -= maxThrottleDifference;
if (feature(FEATURE_3D)) {
if (mixerConfig->pid_at_min_throttle
if ((IS_RC_MODE_ACTIVE(BOXIDLE_UP))
|| rcData[THROTTLE] <= rxConfig->midrc - flight3DConfig->deadband3d_throttle
|| rcData[THROTTLE] >= rxConfig->midrc + flight3DConfig->deadband3d_throttle) {
if (rcData[THROTTLE] > rxConfig->midrc) {
@ -805,10 +805,10 @@ void mixTable(void)
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (((rcData[THROTTLE]) < rxConfig->mincheck) && !(IS_RC_MODE_ACTIVE(BOXIDLE_UP))) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (mixerConfig->pid_at_min_throttle == 0) {
} else {
motor[i] = escAndServoConfig->minthrottle;
}
}