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Remove re-calculations // Increase minimum

This commit is contained in:
borisbstyle 2016-03-03 20:36:05 +01:00
parent ee7e99f2e5
commit 3bd8c467c4
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/mixer.c
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@ -787,8 +787,9 @@ void mixTable(void)
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
if (motorLimitReached) {
for (axis = 0; axis < 3; axis++) axisPID[axis] *= constrain(qPercent(mixReduction), 10, 100) / 100;
if (debugMode == DEBUG_AIRMODE) debug[0] = qPercent(mixReduction);
uint8_t pidAttenuation = constrain(qPercent(mixReduction), 20, 100);
for (axis = 0; axis < 2; axis++) axisPID[axis] *= pidAttenuation / 100;
if (debugMode == DEBUG_AIRMODE) debug[0] = pidAttenuation;
}
if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) {