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Fix 3D Airmode Bugs

This commit is contained in:
borisbstyle 2016-01-18 23:51:35 +01:00
parent f719a0260a
commit 493282a274
1 changed files with 7 additions and 7 deletions
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14
src/main/flight/mixer.c
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@ -804,15 +804,15 @@ void mixTable(void)
// Find min and max throttle based on condition // Find min and max throttle based on condition
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
if (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) { if (rcData[THROTTLE] <= (flight3DConfig->neutral3d - flight3DConfig->deadband3d_throttle)) {
throttleMax = rxConfig->midrc - flight3DConfig->deadband3d_high; throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle; throttleMin = escAndServoConfig->minthrottle;
throttleStatus3d = THROTTLE_NORMAL; throttleStatus3d = THROTTLE_NORMAL;
} else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { } else if (rcData[THROTTLE] >= (flight3DConfig->neutral3d + flight3DConfig->deadband3d_throttle)) {
throttleMin = rxConfig->midrc + flight3DConfig->deadband3d_high;
throttleMax = escAndServoConfig->maxthrottle; throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
throttleStatus3d = THROTTLE_NORMAL; throttleStatus3d = THROTTLE_NORMAL;
} else if ((rcData[THROTTLE] >= rxConfig->midrc) && (rcData[THROTTLE] < flight3DConfig->deadband3d_throttle)) { } else if ((rcData[THROTTLE] >= flight3DConfig->neutral3d) && (rcData[THROTTLE] < (flight3DConfig->neutral3d + flight3DConfig->deadband3d_throttle))) {
throttleStatus3d = THROTTLE_HIGH_NEUTRAL; throttleStatus3d = THROTTLE_HIGH_NEUTRAL;
} else { } else {
throttleStatus3d = THROTTLE_LOW_NEUTRAL; throttleStatus3d = THROTTLE_LOW_NEUTRAL;
@ -844,10 +844,10 @@ void mixTable(void)
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
switch(throttleStatus3d) { switch(throttleStatus3d) {
case(THROTTLE_LOW_NEUTRAL): case(THROTTLE_LOW_NEUTRAL):
motor[i] = rxConfig->midrc - flight3DConfig->deadband3d_throttle; motor[i] = flight3DConfig->deadband3d_low;
break; break;
case(THROTTLE_HIGH_NEUTRAL): case(THROTTLE_HIGH_NEUTRAL):
motor[i] = rxConfig->midrc + flight3DConfig->deadband3d_throttle; motor[i] = flight3DConfig->deadband3d_high;
break; break;
default: default:
break; break;