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Plane: use deadzone in stick mixing 

this prevents small RC input deviations from impacting non-pilot
controlled modes via stick mixing
This commit is contained in:
Andrew Tridgell 2023-09-05 07:30:27 +10:00 committed by Randy Mackay
parent 39f83c91b3
commit 5602fcba66
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Attitude.cpp
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@ -259,7 +259,7 @@ void Plane::stabilize_stick_mixing_fbw()
// non-linear and ends up as 2x the maximum, to ensure that // non-linear and ends up as 2x the maximum, to ensure that
// the user can direct the plane in any direction with stick // the user can direct the plane in any direction with stick
// mixing. // mixing.
float roll_input = channel_roll->norm_input(); float roll_input = channel_roll->norm_input_dz();
if (roll_input > 0.5f) { if (roll_input > 0.5f) {
roll_input = (3*roll_input - 1); roll_input = (3*roll_input - 1);
} else if (roll_input < -0.5f) { } else if (roll_input < -0.5f) {
@ -273,7 +273,7 @@ void Plane::stabilize_stick_mixing_fbw()
return; return;
} }
float pitch_input = channel_pitch->norm_input(); float pitch_input = channel_pitch->norm_input_dz();
if (pitch_input > 0.5f) { if (pitch_input > 0.5f) {
pitch_input = (3*pitch_input - 1); pitch_input = (3*pitch_input - 1);
} else if (pitch_input < -0.5f) { } else if (pitch_input < -0.5f) {