From 8d37a11ab2ac5ea82e969623c6c601019791a68f Mon Sep 17 00:00:00 2001
From: Shengwen Cheng <shengwen1997.tw@gmail.com>
Date: Sat, 25 May 2024 18:52:48 +0800
Subject: [PATCH] Add 5% throttle deadzone for quadrotor task

---
 user/quadrotor/quadrotor.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/user/quadrotor/quadrotor.c b/user/quadrotor/quadrotor.c
index b0a9b6f..2f22aa8 100644
--- a/user/quadrotor/quadrotor.c
+++ b/user/quadrotor/quadrotor.c
@@ -361,8 +361,9 @@ void flight_control_task(void)
         quadrotor_thrust_allocation(throttle, pid_roll.output, pid_pitch.output,
                                     pid_yaw_rate.output, motors);
 
-        /* Check safety switch */
-        if (rc.dual_switch1) {
+        /* Enable motor outputs only if the safety switch is off and
+         * the throttle is greater than 5% */
+        if (rc.dual_switch1 || rc.throttle <= 5) {
             /* Motor disarmed */
             ioctl(led_fd, LED_R, LED_DISABLE);
             ioctl(led_fd, LED_G, LED_DISABLE);