rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Restore rcCommand based cam angle mix as per 2.9

This commit is contained in:
borisbstyle 2016-08-15 21:57:31 +02:00
parent c75201614d
commit d5251b868a
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/main/mw.c
View File

@ -203,10 +203,10 @@ void scaleRcCommandToFpvCamAngle(void) {
sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
}
int16_t roll = setpointRate[ROLL];
int16_t yaw = setpointRate[YAW];
setpointRate[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
setpointRate[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
}
void processRcCommand(void)
@ -263,13 +263,13 @@ void processRcCommand(void)
}
if (readyToCalculateRate || isRXDataNew) {
for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
isRXDataNew = false;
// Scaling of AngleRate to camera angle (Mixing Roll and Yaw)
if (masterConfig.rxConfig.fpvCamAngleDegrees && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && !FLIGHT_MODE(HEADFREE_MODE))
scaleRcCommandToFpvCamAngle();
for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
isRXDataNew = false;
}
}