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Fix 3D on a switch throttle inversion/scale 

There was a logic inversion when 3d_switched_mode = ON causeing the motor directions to be inverted.  Also the trottle scaling for reverse thrust was being applied twice from both the 3d_switched_mode = ON and 3d_switched_mode = OFF sections.
This commit is contained in:
Bruce Luckcuck 2018-02-23 12:13:17 -05:00
parent a8f28b8973
commit ea3184c265
1 changed files with 15 additions and 13 deletions
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28
src/main/fc/fc_rc.c
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@ -324,20 +324,22 @@ void updateRcCommands(void)
rcCommand[THROTTLE] = rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3D) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
}
if (feature(FEATURE_3D) && flight3DConfig()->switched_mode3d && !failsafeIsActive()) {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
reverseMotors = false;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
if (feature(FEATURE_3D) && !failsafeIsActive()) {
if (!flight3DConfig()->switched_mode3d) {
if (IS_RC_MODE_ACTIVE(BOX3D)) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
}
} else {
reverseMotors = true;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc);
if (IS_RC_MODE_ACTIVE(BOX3D)) {
reverseMotors = true;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MIN - rxConfig()->midrc);
} else {
reverseMotors = false;
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);
rcCommand[THROTTLE] = rxConfig()->midrc + qMultiply(throttleScaler, PWM_RANGE_MAX - rxConfig()->midrc);
}
}
}
if (FLIGHT_MODE(HEADFREE_MODE)) {