From d757ffa8530b631fa3a625bfe4d61be4e48155e1 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 22 Nov 2025 05:11:46 +0300
Subject: [PATCH] Move yaw dead zone handling from mavlink to control subsystem
 So yaw dead zone works the same for rc and mavlink.

---
 flix/control.ino | 2 ++
 flix/mavlink.ino | 3 ---
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index 4de742c..9e047d8 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -75,6 +75,8 @@ void interpretControls() {
 	if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
 	if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
 
+	if (abs(controlYaw) < 0.1) controlYaw = 0; // yaw dead zone
+
 	thrustTarget = controlThrottle;
 
 	if (mode == STAB) {
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index cf69de3..4436c92 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -11,7 +11,6 @@
 #define SYSTEM_ID 1
 #define MAVLINK_RATE_SLOW 1
 #define MAVLINK_RATE_FAST 10
-#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
 bool mavlinkConnected = false;
 String mavlinkPrintBuffer;
@@ -105,8 +104,6 @@ void handleMavlink(const void *_msg) {
 		controlYaw = m.r / 1000.0f;
 		controlMode = NAN;
 		controlTime = t;
-
-		if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
 	}
 
 	if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {