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Fix late stabilisation with zerothrtottle stabilisation feature

This commit is contained in:
borisbstyle 2016-07-18 17:27:50 +02:00 committed by GitHub
parent 474fb0aaa3
commit 58d310b208
1 changed files with 5 additions and 5 deletions
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10
src/main/mw.c
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@ -485,7 +485,7 @@ void updateMagHold(void)
void processRx(void)
{
static bool armedBeeperOn = false;
static bool wasAirmodeIsActivated;
static bool airmodeIsActivated;
calculateRxChannelsAndUpdateFailsafe(currentTime);
@ -509,21 +509,21 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) wasAirmodeIsActivated = true; // Prevent Iterm from being reset
if (rcCommand[THROTTLE] >= masterConfig.rxConfig.airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
} else {
wasAirmodeIsActivated = false;
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !wasAirmodeIsActivated) {
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetErrorGyroState();
if (currentProfile->pidProfile.zeroThrottleStabilisation)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
if (currentProfile->pidProfile.zeroThrottleStabilisation || wasAirmodeIsActivated) pidStabilisationState(PID_STABILISATION_ON);
pidStabilisationState(PID_STABILISATION_ON);
}
// When armed and motors aren't spinning, do beeps and then disarm