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Remove limit on throttle (min_check)

This commit is contained in:
borisbstyle 2016-02-24 23:48:15 +01:00
parent 127251cc99
commit 3f09e5a114
1 changed files with 1 additions and 1 deletions
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2
src/main/mw.c
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@ -272,7 +272,7 @@ void annexCode(void)
rcCommand[axis] = -rcCommand[axis]; rcCommand[axis] = -rcCommand[axis];
} }
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX); tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000] tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100; tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE] rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]