From 2694f68b876606f50cff6f935e51af41053e84f8 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 31 Jan 2024 12:05:49 +0300
Subject: [PATCH] Add yaw dead zone in mavlink control

---
 flix/mavlink.ino | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 758c90f..64bcd07 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -11,6 +11,7 @@
 #define PERIOD_SLOW 1.0
 #define PERIOD_FAST 0.1
 #define MAVLINK_CONTROL_SCALE 0.7f
+#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
 void processMavlink() {
 	sendMavlink();
@@ -91,6 +92,8 @@ void handleMavlink(const void *_msg) {
 		controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
 		controls[RC_CHANNEL_MODE] = 1; // STAB mode
 		controls[RC_CHANNEL_ARMED] = 1; // armed
+
+		if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
 	}
 }