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atbetaflight
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shows how many people use gimbal outputs. 

regular gimbal rates has been broken since forever, same rate was applied to pitch and roll, instead of separate. thanx nicodh
This commit is contained in:
dongie 2014-02-20 16:21:44 +09:00
parent 96dcfe9174
commit d40e8c0ef4
2 changed files with 3210 additions and 3209 deletions
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6417
obj/baseflight.hex
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2
src/mixer.c
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@ -459,7 +459,7 @@ void mixTable(void)
servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
} else {
servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50;
servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50;
servo[1] += (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
}
}
}