Merge pull request #279 from readerror67/fw_throttle_fix

Prevent motor constraints on fixed wing aircraft.
multiwii · Jun 24, 2015 · 74ebc46 · 74ebc46
2 parents 8c1dc36 + 7835e13
commit 74ebc46
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/mixer.c b/src/mixer.c
@@ -607,7 +607,7 @@ void mixTable(void)
         if (motor[i] > maxMotor)
             maxMotor = motor[i];
     for (i = 0; i < numberMotor; i++) {
-        if (maxMotor > mcfg.maxthrottle)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
+        if (maxMotor > mcfg.maxthrottle && !f.FIXED_WING)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
             motor[i] -= maxMotor - mcfg.maxthrottle;
 
         if (feature(FEATURE_3D)) {