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Merge pull request #1030 from MasterZap/masterzap/fix-3d-throttle 

Fix deadband behaviour for 3D Throttle
This commit is contained in:
borisbstyle 2016-08-18 01:50:07 +02:00 committed by GitHub
parent 6f06561782 f936b92c64
commit 1a82b1c9f7
1 changed files with 4 additions and 2 deletions
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6
src/main/flight/mixer.c
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@ -802,11 +802,13 @@ void mixTable(void *pidProfilePtr)
if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
throttlePrevious = throttle = rcCommand[THROTTLE];
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
} else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
throttlePrevious = throttle = rcCommand[THROTTLE];
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;