Implement motors output desaturation

So the drone continues stabilization on max thrust.
2026-06-27 21:46:38 +00:00 · 2026-04-28 13:23:42 +03:00
parent 485a39e740
commit 2ccda03573
3 changed files with 16 additions and 0 deletions
@@ -32,6 +32,7 @@ void interpretControls();
 void controlAttitude();
 void controlRates();
 void controlTorque();
+void desaturate(float& a, float& b, float& c, float& d);
 const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);