From 16faced65ae786688b425c8635f01f8af79e7643 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 1 May 2015 17:23:29 +0200 Subject: [PATCH] Update mixer.c Make it possible to still be able to disable the jump protection at all by configuring the highest configurable value. --- src/main/flight/mixer.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 1cad7de36..55ae12cab 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -564,8 +564,8 @@ void mixTable(void) { uint32_t i; - if (motorCount >= 4) { - // prevent "yaw jump" during yaw correction + if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) { + // prevent "yaw jump" during yaw correction (500 is disabled jump protection) axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW])); }