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Cleanup 3D code

This commit is contained in:
borisbstyle 2016-02-09 01:26:40 +01:00
parent 5fd2d1d2d6
commit f5375291ca
1 changed files with 11 additions and 15 deletions
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26
src/main/flight/mixer.c
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@ -783,26 +783,22 @@ void mixTable(void)
int16_t throttleMin, throttleMax;
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
// Find min and max throttle based on condition
// 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 (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) { // Out of deadband handling
if ((rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
throttlePrevious = throttle = rcCommand[THROTTLE];
} else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) {
throttlePrevious = throttle = rcData[THROTTLE];
} else if (rcData[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
throttlePrevious = throttle = rcCommand[THROTTLE];
} else { // Deadband handling
// Always start positive. When coming from positive keep positive throttle within deadband
if ((throttlePrevious >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) || !throttlePrevious) {
throttleMax = escAndServoConfig->maxthrottle;
throttle = throttleMin = flight3DConfig->deadband3d_high;
// When coming from negative. Keep negative throttle within deadband
} else {
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
}
throttlePrevious = throttle = rcData[THROTTLE];
} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
} else { // Deadband handling from positive to negative
throttleMax = escAndServoConfig->maxthrottle;
throttle = throttleMin = flight3DConfig->deadband3d_high;
}
} else {
throttle = rcCommand[THROTTLE];