444,7 → 444,7 |
tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
// Now we scale back down to a 0..255 range. |
tmp = motorFilters[i] / CONTROL_SCALING; |
tmp = motorFilters[i] / MOTOR_SCALING; |
|
// So this was the THIRD time a throttle was limited. But should the limitation |
// apply to the common throttle signal (the one used for setting the "power" of |
453,7 → 453,6 |
// throttle should be limited. |
// --> WRONG. This caused motors to stall completely in tight maneuvers. |
// Apply to individual signals instead. |
// CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
CHECK_MIN_MAX(tmp, 8, 255); |
motor[i].SetPoint = tmp; |
} |