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Disable stick mixing if in failsafe 

If trim values differ from failsafe channel values then stick mixing will adversely affect performance while in failsafe
This commit is contained in:
Doug Weibel 2011-09-11 21:50:32 -06:00
parent 36c982d84c
commit 1a8b74063a
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Attitude.pde
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@ -61,7 +61,7 @@ static void stabilize()
// Mix Stick input to allow users to override control surfaces // Mix Stick input to allow users to override control surfaces
// ----------------------------------------------------------- // -----------------------------------------------------------
if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B)) { if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B && failsafe == FAILSAFE_NONE)) {
// TODO: use RC_Channel control_mix function? // TODO: use RC_Channel control_mix function?
@ -92,7 +92,7 @@ static void stabilize()
// stick mixing performed for rudder for all cases including FBW unless disabled for higher modes // stick mixing performed for rudder for all cases including FBW unless disabled for higher modes
// important for steering on the ground during landing // important for steering on the ground during landing
// ----------------------------------------------- // -----------------------------------------------
if (control_mode <= FLY_BY_WIRE_B || ENABLE_STICK_MIXING == 1) { if (control_mode <= FLY_BY_WIRE_B || (ENABLE_STICK_MIXING == 1 && failsafe == FAILSAFE_NONE)) {
ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim; ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim;
ch4_inf = fabs(ch4_inf); ch4_inf = fabs(ch4_inf);
ch4_inf = min(ch4_inf, 400.0); ch4_inf = min(ch4_inf, 400.0);