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third time's the charm (fixed + confirmed tiltmix gimbal) 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@251 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-01-16 11:11:13 +00:00
parent fc4693af3a
commit 785443789c
2 changed files with 2864 additions and 2863 deletions
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5723
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

4
src/mixer.c
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@ -347,8 +347,8 @@ void mixTable(void)
if (rcOptions[BOXCAMSTAB]) {
if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
servo[0] -= (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
servo[1] += (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
servo[0] -= (-cfg.gimbal_pitch_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
servo[1] += (-cfg.gimbal_pitch_gain) * angle[PITCH] / 16 + cfg.gimbal_roll_gain * angle[ROLL] / 16;
} else {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16;