Rev 2098 | Rev 2160 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2098 | Rev 2158 | ||
|---|---|---|---|
| Line 262... | Line 262... | ||
| 262 | 262 | ||
| 263 | for (i = 0; i < MAX_MOTORS; i++) { |
263 | for (i = 0; i < MAX_MOTORS; i++) { |
| 264 | int32_t tmp; |
264 | int32_t tmp; |
| Line 265... | Line 265... | ||
| 265 | uint8_t throttle; |
265 | uint8_t throttle; |
| 266 | 266 | ||
| 267 | tmp = (int32_t) throttleTerm * mixerMatrix.motor[i][MIX_THROTTLE]; |
267 | tmp = (int32_t) throttleTerm * motorMixer.matrix[i][MIX_THROTTLE]; |
| 268 | tmp += (int32_t) term[PITCH] * mixerMatrix.motor[i][MIX_PITCH]; |
268 | tmp += (int32_t) term[PITCH] * motorMixer.matrix[i][MIX_PITCH]; |
| 269 | tmp += (int32_t) term[ROLL] * mixerMatrix.motor[i][MIX_ROLL]; |
269 | tmp += (int32_t) term[ROLL] * motorMixer.matrix[i][MIX_ROLL]; |
| 270 | tmp += (int32_t) yawTerm * mixerMatrix.motor[i][MIX_YAW]; |
270 | tmp += (int32_t) yawTerm * motorMixer.matrix[i][MIX_YAW]; |
| 271 | tmp = tmp >> 6; |
271 | tmp = tmp >> 6; |
| 272 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
272 | motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| Line 286... | Line 286... | ||
| 286 | /* |
286 | /* |
| 287 | if (i < 4) |
287 | if (i < 4) |
| 288 | debugOut.analog[10 + i] = throttle; |
288 | debugOut.analog[10 + i] = throttle; |
| 289 | */ |
289 | */ |
| Line 290... | Line 290... | ||
| 290 | 290 | ||
| 291 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
291 | if ((MKFlags & MKFLAG_MOTOR_RUN) && motorMixer.matrix[i][MIX_THROTTLE] > 0) { |
| 292 | motor[i].throttle = throttle; |
292 | motor[i].throttle = throttle; |
| 293 | } else if (motorTestActive) { |
293 | } else if (motorTestActive) { |
| 294 | motor[i].throttle = motorTest[i]; |
294 | motor[i].throttle = motorTest[i]; |
| 295 | } else { |
295 | } else { |