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| Rev 1452 | Rev 1453 | ||
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| Line 1581... | Line 1581... | ||
| 1581 | { |
1581 | { |
| 1582 | int16_t nick, roll, tmp, pitch, throttle; |
1582 | int16_t nick, roll, tmp, pitch, throttle; |
| 1583 | int16_t servo[6]; |
1583 | int16_t servo[6]; |
| Line 1584... | Line 1584... | ||
| 1584 | 1584 | ||
| - | 1585 | // throttle |
|
| - | 1586 | throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + Mixer.Motor[2][0]; |
|
| - | 1587 | if (throttle < 0) throttle = 0; |
|
| 1585 | // throttle |
1588 | |
| 1586 | if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) { |
1589 | if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) { |
| 1587 | tmp = 0; |
1590 | tmp = 0; |
| 1588 | } else { |
- | |
| 1589 | throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + Mixer.Motor[2][0]; |
- | |
| 1590 | if (throttle < 0) throttle = 0; |
1591 | } else { |
| 1591 | tmp = throttle / Mixer.Motor[3][0]; |
1592 | tmp = throttle / Mixer.Motor[3][0]; |
| 1592 | if (tmp > Mixer.Motor[3][1] * 2) tmp = Mixer.Motor[3][1] * 2; |
1593 | if (tmp > Mixer.Motor[3][1] * 2) tmp = Mixer.Motor[3][1] * 2; |
| 1593 | } |
1594 | } |