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Iterm reset rework // Airmode Iterm Protection Configurable // Dynamic Ki

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New defaults
This commit is contained in:
borisbstyle 2016-05-23 23:38:20 +02:00
parent 8149508352
commit ff5c320b4a
12 changed files with 69 additions and 125 deletions
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2
src/main/flight/mixer.c
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@ -822,7 +822,6 @@ void mixTable(void)
throttleRange = throttleMax - throttleMin;
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
mixReduction = qConstruct(throttleRange, rollPitchYawMixRange);
for (i = 0; i < motorCount; i++) {
@ -833,7 +832,6 @@ void mixTable(void)
if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
}