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Added 'disarm' option to crash recovery.

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This commit is contained in:
mikeller 2019-04-04 22:40:00 +13:00
parent 22b9f34532
commit 247f759652
3 changed files with 9 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -886,8 +886,12 @@ static void detectAndSetCrashRecovery(
&& fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
disarm();
} else {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
}
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {