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Anti Desync feature for ESC's // Experimental

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borisbstyle 2016-05-25 23:51:10 +02:00
parent 935ad7f613
commit fb7cfffdeb
4 changed files with 13 additions and 1 deletions
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9
src/main/flight/mixer.c
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@ -854,6 +854,15 @@ void mixTable(void)
motor[i] = escAndServoConfig->mincommand;
}
}
// Experimental Code. Anti Desync feature for ESC's
if (escAndServoConfig->escDesyncProtection) {
const int16_t maxThrottleStep = escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime);
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motorPrevious[i] = motor[i];
}
}
// Disarmed mode