Merge pull request #1136 from flapper-drones/bugfix_flapper_platform

Bugfix flapper power distribution
bitcraze · Oct 13, 2022 · 0281706 · 0281706
2 parents a90aa33 + fb3bf91
commit 0281706
Showing 1 changed file with 18 additions and 7 deletions.
diff --git a/src/modules/src/power_distribution_flapper.c b/src/modules/src/power_distribution_flapper.c
@@ -66,10 +66,10 @@ static float pitch_ampl = 0.4f; // 1 = full servo stroke
 
 #if CONFIG_POWER_DISTRIBUTION_FLAPPER_REVB
   uint32_t idPitch = 1;
-  uint32_t idYaw = 4;
+  uint32_t idYaw = 2;
 #else
-  uint32_t idPitch = 2;
-  uint32_t idYaw = 4;
+  uint32_t idPitch = 0;
+  uint32_t idYaw = 2;
 #endif
 
 static uint8_t limitServoNeutral(uint8_t value)
@@ -102,16 +102,27 @@ static int8_t limitRollBias(uint8_t value)
 
 int powerDistributionMotorType(uint32_t id)
 {
-  int type = 0;
-  if (id == (idPitch || idYaw)) type = 1;
+  int type = 1;
+  if (id == idPitch || id == idYaw)
+  { 
+    type = 0;
+  }
+
   return type;
 }
 
 uint16_t powerDistributionStopRatio(uint32_t id)
 {
   uint16_t stopRatio = 0;
-  if (id==idPitch) stopRatio = flapperConfig.pitchServoNeutral*act_max/100.0f;
-  else if (id==idYaw) stopRatio = flapperConfig.yawServoNeutral*act_max/100.0f;
+  if (id == idPitch) 
+  {
+    stopRatio = flapperConfig.pitchServoNeutral*act_max/100.0f;
+  }
+  else if (id == idYaw) 
+  {
+    stopRatio = flapperConfig.yawServoNeutral*act_max/100.0f;
+  }
+
   return stopRatio;
 }