From 87479778d7c3e414ea64fba5dcde2afb74c630b9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 7 Mar 2013 09:47:48 +0100 Subject: [PATCH] Fixed calibration --- src/ui/QGCVehicleConfig.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc index c446594..2c88ede 100644 --- a/src/ui/QGCVehicleConfig.cc +++ b/src/ui/QGCVehicleConfig.cc @@ -113,7 +113,16 @@ void QGCVehicleConfig::setTrimPositions() rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw - rcTrim[rcMapping[3]] = rcMin[rcMapping[3]]; // throttle + // Set trim to min if stick is close to min + if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100) + { + rcTrim[rcMapping[3]] = rcMin[rcMapping[3]]; // throttle + } + // Set trim to max if stick is close to max + if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100) + { + rcTrim[rcMapping[3]] = rcMax[rcMapping[3]]; // throttle + } rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]]; // mode sw rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]]; // aux 1 rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]]; // aux 2