Merge pull request #6981 from rav-rav/airmode_fix
fix incorrect throttle offset in airmode
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eeeec78c2d
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@ -846,8 +846,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
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}
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} else {
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if (airmodeEnabled || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
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const float throttleLimitOffset = motorMixRange / 2.0f;
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throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset);
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throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
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}
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}
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