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Merge pull request #9461 from iNavFlight/mmosca-3d-esc-arm-safety

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Unable fo arm 3d esc rover
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Paweł Spychalski 2023-11-09 08:04:24 +01:00 • committed by GitHub
commit 35bccf8ce9
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1 changed files with 1 additions and 2 deletions
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src/main/fc/rc_controls.c
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@ -119,8 +119,7 @@ throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e
value = rcCommand[THROTTLE]; value = rcCommand[THROTTLE];
} }
const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband; bool midThrottle = value > (reversibleMotorsConfig()->deadband_low) && value < (reversibleMotorsConfig()->deadband_high);
bool midThrottle = value > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && value < (PWM_RANGE_MIDDLE + mid_throttle_deadband);
if ((feature(FEATURE_REVERSIBLE_MOTORS) && midThrottle) || (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))) { if ((feature(FEATURE_REVERSIBLE_MOTORS) && midThrottle) || (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))) {
return THROTTLE_LOW; return THROTTLE_LOW;
} }