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Use a positive named setting and variable instead of a negative one to

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simplify the logic and aid understanding.
This commit is contained in:
Dominic Clifton 2015-03-09 22:50:27 +00:00
parent acabbf41db
commit ed434fe47b
5 changed files with 5 additions and 7 deletions
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4
src/main/flight/mixer.c
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@ -714,13 +714,11 @@ void mixTable(void)
} else {
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
// If we're at minimum throttle and disable_pid_at_min_throttle
// is enabled, spin motors at minimum throttle.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (masterConfig.disable_pid_at_min_throttle != 0) {
} else if (masterConfig.pid_at_min_throttle == 0) {
motor[i] = escAndServoConfig->minthrottle;
}
}