| 264,10 → 264,10 |
|---|
| int32_t tmp; |
| uint8_t throttle; |
| |
| tmp = (int32_t) throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
| tmp += (int32_t) term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
| tmp += (int32_t) term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
| tmp += (int32_t) yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
| tmp = (int32_t) throttleTerm * motorMixer.matrix[i][MIX_THROTTLE]; |
| tmp += (int32_t) term[PITCH] * motorMixer.matrix[i][MIX_PITCH]; |
| tmp += (int32_t) term[ROLL] * motorMixer.matrix[i][MIX_ROLL]; |
| tmp += (int32_t) yawTerm * motorMixer.matrix[i][MIX_YAW]; |
| tmp = tmp >> 6; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| // Now we scale back down to a 0..255 range. |
| 288,7 → 288,7 |
|---|
| debugOut.analog[10 + i] = throttle; |
| */ |
| |
| if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
| if ((MKFlags & MKFLAG_MOTOR_RUN) && motorMixer.matrix[i][MIX_THROTTLE] > 0) { |
| motor[i].throttle = throttle; |
| } else if (motorTestActive) { |
| motor[i].throttle = motorTest[i]; |