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Code Issues Wiki Activity

Yaw spin recovery optimize (#3)

Browse source 
* PID controller unittest

* Clean code for yaw spin recovery

* Yaw spin recovery optimizations

* Flash size optimizations, use 50% throttle when airmode is off, and override pidsum_limit_yaw

Also rebasing from betaflight/master
This commit is contained in:
Bruce Luckcuck 2018-04-23 20:04:39 -04:00 • committed by Michael Keller
parent 41fb37a264
commit 0a0add8c56
5 changed files with 28 additions and 13 deletions
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3
src/main/sensors/gyro.c
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@ -1014,8 +1014,7 @@ static void checkForYawSpin(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
} else {
#ifndef SIMULATOR_BUILD
// check for spin on yaw axis only
const float yawSpinTriggerRate = gyroConfig()->yaw_spin_threshold;
if (abs(gyro.gyroADCf[Z]) > yawSpinTriggerRate) {
if (abs(gyro.gyroADCf[Z]) > gyroConfig()->yaw_spin_threshold) {
gyroSensor->yawSpinDetected = true;
gyroSensor->yawSpinTimeUs = currentTimeUs;
}