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Code Issues Releases Activity

OP-1835 - Motor Constraints for 15.02.02 - Quick fix to disable clipping. Bit of code not in the original fix I had to deal with.

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RS2K 2015-05-02 13:11:40 -05:00
parent 57d062ff67
commit 2fca0b1d9b
1 changed files with 3 additions and 1 deletions
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4
flight/modules/Actuator/actuator.c
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@ -402,7 +402,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
nonreversible_curve1 = 0.0f;
}
if (nonreversible_curve2 < 0.0f) {
nonreversible_curve2 = 0.0f;
if (!multirotor) { //allow negative throttle if multirotor. function scaleMotors handles the sanity checks.
nonreversible_curve2 = 0.0f;
}
}
status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, dTSeconds, multirotor);
// If not armed or motors aren't meant to spin all the time