diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 5338ce47924..9fdfd8956f6 100644 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -606,7 +606,7 @@ void FAST_CODE mixTable(void) throttleMin = MIN(throttleMin + (rpyMixRange / 2), throttleMin + (throttleRange / 2) - (throttleRange * THROTTLE_CLIPPING_FACTOR / 2)); throttleMax = MAX(throttleMax - (rpyMixRange / 2), throttleMin + (throttleRange / 2) + (throttleRange * THROTTLE_CLIPPING_FACTOR / 2)); } - // CR106 + // Now add in the desired throttle, but keep in a range that doesn't clip adjusted // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips. for (int i = 0; i < motorCount; i++) { @@ -618,10 +618,9 @@ void FAST_CODE mixTable(void) motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax); } } - // CR106 } -int16_t getThrottlePercent(bool useScaled) // CR106 should use actual throttle sent to motors not throttle stick position +int16_t getThrottlePercent(bool useScaled) { int16_t thr = constrain(mixerThrottleCommand, PWM_RANGE_MIN, PWM_RANGE_MAX); diff --git a/src/main/io/osd.c b/src/main/io/osd.c index 5d5e040573d..adca5f970f0 100644 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -830,7 +830,7 @@ static const char * osdArmingDisabledReasonMessage(void) switch (isArmingDisabledReason()) { case ARMING_DISABLED_FAILSAFE_SYSTEM: // See handling of FAILSAFE_RX_LOSS_MONITORING in failsafe.c - if (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) { // CR109 + if (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) { if (failsafeIsReceivingRxData()) { // reminder to disarm to exit FAILSAFE_RX_LOSS_MONITORING once timeout period ends if (IS_RC_MODE_ACTIVE(BOXARM)) {