Merge with latest 2.3

2020-06-18 11:14:07 +02:00
parent 396ebf27b5 fca11fc6b6
commit 71ec1db9f6
121 changed files with 3269 additions and 1775 deletions
@@ -939,7 +939,7 @@ void evalMixes(uint8_t tick10ms)
        mixerCurrentFlightMode = p;
        evalFlightModeMixes(p==fm ? e_perout_mode_normal : e_perout_mode_inactive_flight_mode, p==fm ? tick10ms : 0);
        for (uint8_t i=0; i<MAX_OUTPUT_CHANNELS; i++)
-          sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
+          sum_chans512[i] += limit<int32_t>(-0x6fff, chans[i] >> 4, 0x6fff) * fp_act[p];
        weight += fp_act[p];
      }
    }
@@ -1003,5 +1003,4 @@ void evalMixes(uint8_t tick10ms)
      }
    }
  }
-
 }