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3D prevent negative arming // Reverse logic

This commit is contained in:
borisbstyle 2016-02-09 09:39:22 +01:00
parent 801a385b6a
commit a88fb685fa
1 changed files with 6 additions and 3 deletions
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9
src/main/flight/mixer.c
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@ -785,6 +785,8 @@ void mixTable(void)
// Find min and max throttle based on condition. Use rcData for 3D to prevent loss of power due to min_check
if (feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
@ -818,6 +820,7 @@ void mixTable(void)
if ((mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
}
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
@ -832,10 +835,10 @@ void mixTable(void)
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
} else if (feature(FEATURE_3D)) {
if (throttlePrevious >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else {
if (throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low);
} else {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
}
} else {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);