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bitcraze / crazyflie-android-client

The Crazyflie Nano Quadcopter client for Android OTG or BLE enabled devices
GNU General Public License v2.0
103 stars 118 forks source link

Trim cancelled by deadzone #54

Closed dajinchu closed 9 years ago

dajinchu commented 9 years ago

Line 97 of AbstractController has getDeadzone multiplying the entire return of getRoll.

So if user input is in the deadzone, everything, including trim gets nullified by the zero returned by getDeadzone.

Shouldn't trim be applied at all times?

Trim is supposed to balance the crazyflie if it drifts right?

fredg02 commented 9 years ago

Thanks, good find! Yes, trim should be applied all the time to compensate drift.