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Merge remote-tracking branch 'borisbstyle/betaflight' into betaflight

This commit is contained in:
Gary Keeble 2016-06-01 17:38:21 +01:00
parent 7076ef1e10 704c09cced
commit 89d63a9b95
2 changed files with 5 additions and 1 deletions
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2
src/main/flight/mixer.c
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@ -823,7 +823,7 @@ void mixTable(void)
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]); rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
} }
// Get the maximum correction by setting offset to center // Get the maximum correction by setting offset to center
throttleMin = throttleMax = throttleMin + (throttleRange / 2); if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange; if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
} else { } else {

4
src/main/flight/pid.c
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@ -231,6 +231,8 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
} }
DTerm = 0.0f; // needed for blackbox
} else { } else {
delta = -(gyroRate - lastRate[axis]); delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate; lastRate[axis] = gyroRate;
@ -353,6 +355,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
} }
DTerm = 0; // needed for blackbox
} else { } else {
delta = -(gyroRate - lastRate[axis]); delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate; lastRate[axis] = gyroRate;