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Simplified code path in fc_rc. (#5536)

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Michael Keller 2018-03-25 22:35:30 +13:00 committed by GitHub
parent 9edce2359a
commit 71cd500b99
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1 changed files with 4 additions and 6 deletions
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6
src/main/fc/fc_rc.c
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@ -311,16 +311,14 @@ void updateRcCommands(void)
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX); tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN); tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
if (getLowVoltageCutoff()->enabled) {
tmp = tmp * getLowVoltageCutoff()->percentage / 100;
}
} else { } else {
tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX); tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck); tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
}
if (getLowVoltageCutoff()->enabled) { if (getLowVoltageCutoff()->enabled) {
tmp = tmp * getLowVoltageCutoff()->percentage / 100; tmp = tmp * getLowVoltageCutoff()->percentage / 100;
} }
}
rcCommand[THROTTLE] = rcLookupThrottle(tmp); rcCommand[THROTTLE] = rcLookupThrottle(tmp);