Subversion Repositories FlightCtrl

 int motor;

 if(neu > alt)

        motor = (1*(int)alt + neu) / 2;

 }

 else

 {

// Arthur P: the original code allowed the motor value to drop to 0 or negative values

// straight off, i.e. could amplify an intended decrease excessively while upregulation

// is dampened. The modification would still allow immediate drop below intended value 

// but would dampen this. This would still allow for airbraking of the prop to have effect

// but it might lead to less sudden excessive drops in rpm with only gradual recovery.

// 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and 

// possible timing issues with the shutter interval load, removed the shutter interval functions

// and switched to use of userparam6 for the motor smoothing.

// 091114 Inserted modification into 0.76g source code.

        if(Parameter_UserParam6 < 1)

                motor = neu - (alt - neu)*1;

        }

        else

        {

                if(Parameter_UserParam6 == 1)  // If userpara1 = 1 then 150% down on the first step followed by upsmoothing.

                        motor = neu - (1*(alt - neu)/2);

                }

                else // If userpara5 > 1 then allow >= 50% of the intended step down to rapidly reach the intended value.

                {

                        motor = neu + ((alt - neu)/Parameter_UserParam6);

                }

        }

 }