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Throttle Jump Limit only applied to accelerating situation

This commit is contained in:
borisbstyle 2016-09-07 15:34:15 +02:00
parent 7df4fbe357
commit 3588623383
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/mixer.c
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@ -864,13 +864,13 @@ void mixTable(void *pidProfilePtr)
// Anti Desync feature for ESC's. Limit rapid throttle changes
if (escAndServoConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 5, 10000);
const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < throttleRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
motorPrevious[i] = motor[i];
}
}