Simplify and improve control code

Add lower bound desaturation. Remove constrain calls as they are performed in motors subsystem.
2026-09-06 00:10:58 +00:00 · 2026-08-18 11:00:59 +03:00
parent 4625ee8a87
commit e315e6f0ae
2 changed files with 22 additions and 21 deletions
@@ -36,7 +36,7 @@ void interpretControls();
 void controlAttitude();
 void controlRates();
 void controlTorque();
-void desaturate(float& a, float& b, float& c, float& d);
+void desaturate();
 const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);