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Keep the servo speed carry over when switching mixer profiles back #11917

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Keep the servo speed carry over when switching mixer profiles back #11917

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8 changes: 5 additions & 3 deletions src/main/flight/servos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -231,10 +231,12 @@ void loadCustomServoMixer(void)
// target-profile response.
if (carryOverServoSpeedLimitsOnNextLoad) {
for (int i = 0; i < servoRuleCount; i++) {
if(currentServoMixer[i].inputSource == INPUT_MIXER_SWITCH_HELPER || movefilterCount >= MAX_SERVO_RULES_SWITCH_CARRY) {
//will not carry over INPUT_MIXER_SWITCH_HELPER rules
break;
if (movefilterCount >= MAX_SERVO_RULES_SWITCH_CARRY) {
break; // no room left to carry more filter states
}
// INPUT_MIXER_SWITCH_HELPER rules are carried over as well. They hold the
// still decaying output of an earlier switch, so dropping them would make
// the servo jump when switching back before that decay has finished.
if(currentServoMixer[i].speed != 0 && fabsf(servoSpeedLimitFilter[i].state) > 0.01f) {
servoMixerSwitchHelper[movefilterCount].targetChannel = currentServoMixer[i].targetChannel;
servoMixerSwitchHelper[movefilterCount].speed = currentServoMixer[i].speed;
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