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Code Issues Wiki Activity

Correctly handle reversible motors in mixer

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-02-23 19:31:16 +01:00
parent 9b146470a9
commit 0ffcac2974
11 changed files with 105 additions and 33 deletions
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13
src/main/fc/rc_controls.c
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@ -99,12 +99,19 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
return (ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband);
}
throttleStatus_e calculateThrottleStatus(void)
throttleStatus_e calculateThrottleStatus(throttleStatusType_e type)
{
int value;
if (type == THROTTLE_STATUS_TYPE_RC) {
value = rxGetChannelValue(THROTTLE);
} else {
value = rcCommand[THROTTLE];
}
const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + mid_throttle_deadband)))
if (feature(FEATURE_REVERSIBLE_MOTORS) && (value > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && value < (PWM_RANGE_MIDDLE + mid_throttle_deadband)))
return THROTTLE_LOW;
else if (!feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
else if (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;