Less Anti Winduo in Air mode

src/main/flight/pid.c

@@ -75,14 +75,17 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
 
 pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
 
-void pidResetErrorGyro(void)
+void pidResetErrorGyro(rxConfig_t *rxConfig)
 {
     int axis;
 
     for (axis = 0; axis < 3; axis++) {
         if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
-            PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
+            int rollPitchStatus = calculateRollPitchCenterStatus(rxConfig);
+            if (rollPitchStatus == CENTERED) {
+                PREVENT_WINDUP(errorGyroI[axis], previousErrorGyroI[axis]);
+                PREVENT_WINDUP(errorGyroIf[axis], previousErrorGyroIf[axis]);
+            }
         } else {
             errorGyroI[axis] = 0;
             errorGyroIf[axis] = 0.0f;

src/main/flight/pid.h

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include "rx/rx.h"
 
 #pragma once
 
@@ -81,5 +82,5 @@ extern int16_t axisPID[XYZ_AXIS_COUNT];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
 void pidSetController(pidControllerType_e type);
-void pidResetErrorGyro(void);
+void pidResetErrorGyro(rxConfig_t *rxConfig);
 

src/main/io/rc_controls.c

@@ -120,7 +120,6 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
     return THROTTLE_HIGH;
 }
 
-/* TODO - Cleanup
 rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
 {
     if (((rcData[PITCH] < (rxConfig->midrc + AIRMODEDEADBAND)) && (rcData[PITCH] > (rxConfig->midrc -AIRMODEDEADBAND)))
@@ -129,7 +128,6 @@ rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
 
     return NOT_CENTERED;
 }
-*/
 
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
 {

src/main/io/rc_controls.h

@@ -78,7 +78,7 @@ typedef enum {
     THROTTLE_HIGH
 } throttleStatus_e;
 
-#define AIRMODEDEADBAND 10
+#define AIRMODEDEADBAND 12
 
 typedef enum {
     NOT_CENTERED = 0,

src/main/mw.c

@@ -478,7 +478,7 @@ void processRx(void)
     throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
 
     if (throttleStatus == THROTTLE_LOW) {
-        pidResetErrorGyro();
+        pidResetErrorGyro(&masterConfig.rxConfig);
     }
 
     // When armed and motors aren't spinning, do beeps and then disarm