From 791d67b4ee785b644578044ff8395ef966029f91 Mon Sep 17 00:00:00 2001
From: timecop <timecop@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Mon, 26 Mar 2012 16:53:40 +0000
Subject: [PATCH] added separate yaw deadband from issue #6 after fixing some
 stuff. config version bumped again.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@132 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 src/cli.c    |  1 +
 src/config.c |  3 ++-
 src/mw.c     | 26 +++++++++++++++++---------
 src/mw.h     |  3 ++-
 4 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/src/cli.c b/src/cli.c
index 31a4703d7..05cba35e9 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -83,6 +83,7 @@ typedef struct {
 
 const clivalue_t valueTable[] = {
     { "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
+    { "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
     { "midrc", VAR_UINT16, &cfg.midrc, 1200, 1700 },
     { "minthrottle", VAR_UINT16, &cfg.minthrottle, 0, 2000 },
     { "maxthrottle", VAR_UINT16, &cfg.maxthrottle, 0, 2000 },
diff --git a/src/config.c b/src/config.c
index b9f2c14e2..64720afc3 100755
--- a/src/config.c
+++ b/src/config.c
@@ -9,7 +9,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 7;
+static uint8_t checkNewConf = 8;
 
 void parseRcChannels(const char *input)
 {
@@ -123,6 +123,7 @@ void checkFirstTime(bool reset)
     // Radio/ESC
     parseRcChannels("AETR1234");
     cfg.deadband = 0;
+    cfg.yawdeadband = 0;
     cfg.spektrum_hires = 0;
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
diff --git a/src/mw.c b/src/mw.c
index e54f8e63d..d1103ef3f 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -120,19 +120,27 @@ void annexCode(void)
 
     for (axis = 0; axis < 3; axis++) {
         uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500);
-        if (cfg.deadband > 0) {
-            if (tmp > cfg.deadband) {
-                tmp -= cfg.deadband;
-            } else {
-                tmp = 0;
+        if (axis != 2) {        // ROLL & PITCH
+            uint16_t tmp2;
+            if (cfg.deadband) {
+                if (tmp > cfg.deadband) {
+                    tmp -= cfg.deadband;
+                } else {
+                    tmp = 0;
+                }
             }
-        }
-        if (axis != 2) {        //ROLL & PITCH
-            uint16_t tmp2 = tmp / 100;
+            tmp2 = tmp / 100;
             rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100;
             prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
-        } else {                //YAW
+        } else {                // YAW
+            if (cfg.yawdeadband) {
+                if (tmp > cfg.yawdeadband) {
+                    tmp -= cfg.yawdeadband;
+                } else {
+                    tmp = 0;
+                }
+            }
             rcCommand[axis] = tmp;
             prop1 = 100 - (uint16_t)cfg.yawRate * tmp / 500;
         }
diff --git a/src/mw.h b/src/mw.h
index 5b2cb132b..d753c48c5 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -157,7 +157,8 @@ typedef struct config_t {
     
     // Radio/ESC-related configuration
     uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
-    uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
+    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
+    uint8_t yawdeadband;                    // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
     uint8_t spektrum_hires;                 // spektrum high-resolution y/n (1024/2048bit)
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end