add plus configuration mixer
@@ -248,10 +248,18 @@ void motor_mixer_calc(float mix[4]) {
} else {
// normal mode, we set mix according to pidoutput
- mix[MOTOR_FR] = state.throttle - state.pidoutput.axis[ROLL] - state.pidoutput.axis[PITCH] + state.pidoutput.axis[YAW]; // FR
- mix[MOTOR_FL] = state.throttle + state.pidoutput.axis[ROLL] - state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // FL
- mix[MOTOR_BR] = state.throttle - state.pidoutput.axis[ROLL] + state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // BR
- mix[MOTOR_BL] = state.throttle + state.pidoutput.axis[ROLL] + state.pidoutput.axis[PITCH] + state.pidoutput.axis[YAW]; // BL
+ //mix[MOTOR_FR] = state.throttle - state.pidoutput.axis[ROLL] - state.pidoutput.axis[PITCH] + state.pidoutput.axis[YAW]; // FR
+ //mix[MOTOR_FL] = state.throttle + state.pidoutput.axis[ROLL] - state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // FL
+ //mix[MOTOR_BR] = state.throttle - state.pidoutput.axis[ROLL] + state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // BR
+ //mix[MOTOR_BL] = state.throttle + state.pidoutput.axis[ROLL] + state.pidoutput.axis[PITCH] + state.pidoutput.axis[YAW]; // BL
+
+ // plus mode, we set mix according to pidoutput
+ mix[MOTOR_FR] = state.throttle - state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // FRONT
+ mix[MOTOR_FL] = state.throttle - state.pidoutput.axis[ROLL] + state.pidoutput.axis[YAW]; // RIGHT
+ mix[MOTOR_BR] = state.throttle + state.pidoutput.axis[PITCH] - state.pidoutput.axis[YAW]; // BACK
+ mix[MOTOR_BL] = state.throttle + state.pidoutput.axis[ROLL] + state.pidoutput.axis[YAW]; // LEFT
+
+
for (int i = 0; i <= 3; i++) {
#ifdef MOTOR_FILTER2_ALPHA
