From beaca5ba3620afa2e78c72a42f91fd97357fd752 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Mon, 8 Feb 2016 01:28:50 +0100 Subject: [PATCH] Disable saturation limit for non-airmode --- src/main/flight/mixer.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 6c64f28f6..c8851f400 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -820,7 +820,9 @@ void mixTable(void) rollPitchYawMix[i] = lrintf((float) rollPitchYawMix[i] * mixReduction); } // Get the maximum correction by setting offset to center. Only active below 50% of saturation levels to reduce spazzing out in crashes - if (mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) throttleMin = throttleMax = throttleMin + (throttleRange / 2); + if ((mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) { + throttleMin = throttleMax = throttleMin + (throttleRange / 2); + } } else { motorLimitReached = false; throttleMin = throttleMin + (rollPitchYawMixRange / 2); -- 2.11.4.GIT