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Added setpoint check to crash detection

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This commit is contained in:
Martin Budden 2017-07-23 07:10:14 +01:00
parent 3fc3de9ebd
commit 1ee034c38a
3 changed files with 11 additions and 3 deletions
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3
src/main/flight/pid.h
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@ -95,11 +95,12 @@ typedef struct pidProfile_s {
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
uint16_t crash_dthreshold; // dterm crash value
uint16_t crash_gthreshold; // gyro crash value
uint16_t crash_setpoint_threshold; // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
uint16_t crash_time; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second