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- Index: src/mixer.c
- ===================================================================
- --- src/mixer.c (revision 286)
- +++ src/mixer.c (working copy)
- @@ -22,10 +22,10 @@
- };
- static const motorMixer_t mixerQuadX[] = {
- - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
- - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
- - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
- - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
- + { 1.0f, -0.5f, 0.5f, -0.5f }, // REAR_R
- + { 1.0f, -0.5f, -0.5f, 0.5f }, // FRONT_R
- + { 1.0f, 0.5f, 0.5f, 0.5f }, // REAR_L
- + { 1.0f, 0.5f, -0.5f, -0.5f }, // FRONT_L
- };
- static const motorMixer_t mixerBi[] = {
- @@ -374,14 +374,22 @@
- for (i = 0; i < numberMotor; i++) {
- if (maxMotor > cfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
- motor[i] -= maxMotor - cfg.maxthrottle;
- - motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
- - if ((rcData[THROTTLE]) < cfg.mincheck) {
- +
- + //motor[i] = constrain(motor[i], cfg.minthrottle, cfg.maxthrottle);
- + if ((rcData[THROTTLE]) > 1500){
- + motor[i] = constrain(motor[i], 1530, cfg.maxthrottle);
- + }else{
- + motor[i] = constrain(motor[i], cfg.mincommand, 1470);
- + }
- +
- + if ((rcData[THROTTLE]) < cfg.mincheck) {
- if (!feature(FEATURE_MOTOR_STOP))
- motor[i] = cfg.minthrottle;
- else
- motor[i] = cfg.mincommand;
- }
- +
- if (!f.ARMED)
- - motor[i] = cfg.mincommand;
- - }
- + //motor[i] = cfg.mincommand;
- + motor[i] = 1500;}
- }
- Index: src/mw.c
- ===================================================================
- --- src/mw.c (revision 286)
- +++ src/mw.c (working copy)
- @@ -268,7 +268,10 @@
- // TODO clean this up. computeRC should handle this check
- if (!feature(FEATURE_SPEKTRUM))
- computeRC();
- -
- +
- + if (!rcOptions[BOXARM]) ///////////////////// important to be always able to disarm
- + f.ARMED = 0;
- +
- // Failsafe routine
- if (feature(FEATURE_FAILSAFE)) {
- if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level
- @@ -288,7 +291,7 @@
- failsafeCnt++;
- }
- - if (rcData[THROTTLE] < cfg.mincheck) {
- + if (rcData[THROTTLE] > 1450 && rcData[THROTTLE] <1550) {
- errorGyroI[ROLL] = 0;
- errorGyroI[PITCH] = 0;
- errorGyroI[YAW] = 0;
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