Disable runaway takeoff when crash-flip mode is active
Prevents Runaway Takeoff Prevention from auto-disarming during crash-flip (turtle mode). Addresses an edge-case where runaway takeoff prevention might not yet have been deactivated due to a crash immediatly upon takeoff.
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040c46da07
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@ -529,6 +529,7 @@ bool processRx(timeUs_t currentTimeUs)
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if (ARMING_FLAG(ARMED)
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if (ARMING_FLAG(ARMED)
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&& pidConfig()->runaway_takeoff_prevention
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&& pidConfig()->runaway_takeoff_prevention
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&& !runawayTakeoffCheckDisabled
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&& !runawayTakeoffCheckDisabled
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&& !flipOverAfterCrashMode
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&& !STATE(FIXED_WING)) {
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&& !STATE(FIXED_WING)) {
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// Determine if we're in "flight"
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// Determine if we're in "flight"
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@ -765,6 +766,7 @@ static void subTaskPidController(timeUs_t currentTimeUs)
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&& !STATE(FIXED_WING)
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&& !STATE(FIXED_WING)
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&& pidConfig()->runaway_takeoff_prevention
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&& pidConfig()->runaway_takeoff_prevention
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&& !runawayTakeoffCheckDisabled
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&& !runawayTakeoffCheckDisabled
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&& !flipOverAfterCrashMode
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&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
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&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
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const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;
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const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;
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