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Move controlManual down
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@ -154,6 +154,27 @@ void controlRate()
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motors[3] = constrain(motors[3], 0, 1);
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motors[3] = constrain(motors[3], 0, 1);
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}
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}
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// passthrough mode
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void controlManual()
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{
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if (controls[RC_CHANNEL_THROTTLE] < 0.1) {
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memset(motors, 0, sizeof(motors));
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return;
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}
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torqueTarget = ratesTarget * 0.01;
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motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.y + torqueTarget.x - torqueTarget.z;
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motors[MOTOR_FRONT_RIGHT] = thrustTarget + torqueTarget.y - torqueTarget.x + torqueTarget.z;
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motors[MOTOR_REAR_LEFT] = thrustTarget - torqueTarget.y + torqueTarget.x + torqueTarget.z;
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motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.y - torqueTarget.x - torqueTarget.z;
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motors[0] = constrain(motors[0], 0, 1);
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motors[1] = constrain(motors[1], 0, 1);
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motors[2] = constrain(motors[2], 0, 1);
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motors[3] = constrain(motors[3], 0, 1);
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}
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bool motorsActive()
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bool motorsActive()
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{
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{
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return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
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return motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
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