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Shared altitude control parameters (#13884)

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ctzsnooze 2024-10-05 16:32:50 +10:00 • committed by GitHub
parent 7156dc84a3
commit 16c157e840
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28 changed files with 383 additions and 273 deletions
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4
src/main/flight/pid.c
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@ -50,7 +50,7 @@
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/position.h"
#include "flight/position_control.h"
#include "flight/rpm_filter.h"
#include "io/gps.h"
@ -815,7 +815,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
// for more reliable disarm with gentle controlled landings
float lowAltitudeSensitivity = 1.0f;
#ifdef USE_ALT_HOLD_MODE
lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isAltitudeLow()) ? 1.5f : 1.0f;
lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f;
#endif
// and disarm if accelerometer jerk exceeds threshold...
if ((fabsf(acc.accDelta) * lowAltitudeSensitivity) > pidRuntime.landingDisarmThreshold) {