philip/MDH-UAV-Control-System
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Merge remote-tracking branch 'refs/remotes/origin/master' into PID-Improved

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johan9107 2016-10-25 09:44:01 +02:00
commit 6994bcaf11
1 changed files with 7 additions and 0 deletions
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7
UAV-ControlSystem/src/drivers/motormix.c
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@ -199,6 +199,10 @@ void mix()
PidProfile[PID_ID_GYRO].PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
}
for (int i = 0; i < MOTOR_COUNT; i++)
// Find the minimum and maximum motor output
if (RPY_Mix[i] < RPY_Mix_Min) RPY_Mix_Min = RPY_Mix[i];
/* Mixer Low Scale - Scaling output around low throttle */
if (flags_IsSet_ID(systemFlags_mixerlowscale_id))
@ -219,6 +223,9 @@ void mix()
}
}
/* Recalculating RPY_Mix_Min */
RPY_Mix_Min = throttleMid;
for (int i = 0; i < MOTOR_COUNT; i++)
{
// Find the minimum and maximum motor output