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Fix Motor stop and 3D reverse

This commit is contained in:
borisbstyle 2016-01-18 13:13:30 +01:00
parent 91d12a0b7c
commit 2f6eeed6f5
1 changed files with 23 additions and 27 deletions
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50
src/main/flight/mixer.c
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@ -83,7 +83,6 @@ static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
#endif
typedef enum {
THROTTLE_REVERSED,
THROTTLE_LOW_NEUTRAL,
THROTTLE_HIGH_NEUTRAL,
THROTTLE_NORMAL
@ -808,7 +807,7 @@ void mixTable(void)
if (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) {
throttleMax = rxConfig->midrc - flight3DConfig->deadband3d_high;
throttleMin = escAndServoConfig->minthrottle;
throttleStatus3d = THROTTLE_REVERSED;
throttleStatus3d = THROTTLE_NORMAL;
} else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) {
throttleMin = rxConfig->midrc + flight3DConfig->deadband3d_high;
throttleMax = escAndServoConfig->maxthrottle;
@ -840,37 +839,34 @@ void mixTable(void)
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrainf(rcCommand[THROTTLE] * currentMixer[i].throttle, throttleMin, throttleMax);
}
// Correct motor output for 3D based on the current throttle state
if (feature(FEATURE_3D)) {
switch(throttleStatus3d) {
case(THROTTLE_REVERSED):
motor[i] = rxConfig->midrc - motor[i];
break;
case(THROTTLE_LOW_NEUTRAL):
motor[i] = rxConfig->midrc - flight3DConfig->deadband3d_throttle;
break;
case(THROTTLE_HIGH_NEUTRAL):
motor[i] = rxConfig->midrc + flight3DConfig->deadband3d_throttle;
break;
case(THROTTLE_NORMAL):
break;
// Correct motor output for 3D based on the current throttle state
if (feature(FEATURE_3D)) {
switch(throttleStatus3d) {
case(THROTTLE_LOW_NEUTRAL):
motor[i] = rxConfig->midrc - flight3DConfig->deadband3d_throttle;
break;
case(THROTTLE_HIGH_NEUTRAL):
motor[i] = rxConfig->midrc + flight3DConfig->deadband3d_throttle;
break;
default:
break;
}
}
}
/* Double code. Preparations for full mixer replacement to airMode mixer */
/* Double code. Preparations for full mixer replacement to airMode mixer */
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
}
}
}
// TODO - Should probably not be needed, but keep it till it is investigated.
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
// TODO - Should probably not be needed, but keep it till it is investigated.
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
}
}
}