438,11 → 438,11 |
for (i = 0; i < MAX_MOTORS; i++) { |
int16_t tmp; |
if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
tmp = throttleTerm * Mixer.Motor[i][MIX_THROTTLE]; |
tmp += term[PITCH] * Mixer.Motor[i][MIX_PITCH]; |
tmp += term[ROLL] * Mixer.Motor[i][MIX_ROLL]; |
tmp += yawTerm * Mixer.Motor[i][MIX_YAW]; |
tmp = tmp >> 6; |
tmp = (int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE] / 64L; |
tmp += (int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH] / 64L; |
tmp += (int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL] / 64L; |
tmp += (int32_t)yawTerm * Mixer.Motor[i][MIX_YAW] / 64L; |
// tmp = tmp >> 6; |
motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
// Now we scale back down to a 0..255 range. |
tmp = motorFilters[i] / MOTOR_SCALING; |