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Temporary remove controlManual to paste it bellow
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@ -127,27 +127,6 @@ void controlAttitude()
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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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void controlRate()
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{
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if (!armed) {
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