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Updated crash recovery params

This commit is contained in:
Martin Budden 2017-07-22 08:26:39 +01:00
parent 9ee4ba45f4
commit 8deca6870c
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -109,7 +109,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.crash_recovery_angle = 10, // 10 degrees .crash_recovery_angle = 10, // 10 degrees
.crash_recovery_rate = 100, // 100 degrees/second .crash_recovery_rate = 100, // 100 degrees/second
.crash_dthreshold = 50, // 50 degrees/second/second .crash_dthreshold = 50, // 50 degrees/second/second
.crash_gthreshold = 200, // 200 degrees/second .crash_gthreshold = 500, // 500 degrees/second
.crash_recovery = PID_CRASH_RECOVERY_OFF, // off by default .crash_recovery = PID_CRASH_RECOVERY_OFF, // off by default
.horizon_tilt_effect = 75, .horizon_tilt_effect = 75,
.horizon_tilt_expert_mode = false .horizon_tilt_expert_mode = false
@ -446,8 +446,8 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
previousRateError[axis] = rD; previousRateError[axis] = rD;
// if crash recovery is on check for a crash // if crash recovery is on and accelerometer enabled then check for a crash
if (pidProfile->crash_recovery) { if (pidProfile->crash_recovery && sensors(SENSOR_ACC)) {
if (motorMixRange >= 1.0f && ABS(delta) > crashDtermThreshold && ABS(errorRate) > crashGyroThreshold) { if (motorMixRange >= 1.0f && ABS(delta) > crashDtermThreshold && ABS(errorRate) > crashGyroThreshold) {
inCrashRecoveryMode = true; inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs; crashDetectedAtUs = currentTimeUs;