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Code Issues Wiki Activity

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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2
src/main/cli/settings.c
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@ -150,7 +150,7 @@ static const char * const lookupTableOffOn[] = {
}; };
static const char * const lookupTableCrashRecovery[] = { static const char * const lookupTableCrashRecovery[] = {
"OFF", "ON" ,"BEEP" "OFF", "ON" ,"BEEP", "DISARM"
}; };
static const char * const lookupTableUnit[] = { static const char * const lookupTableUnit[] = {

8
src/main/flight/pid.c
View file

@ -886,8 +886,12 @@ static void detectAndSetCrashRecovery(
&& fabsf(delta) > crashDtermThreshold && fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold && fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) { && fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true; if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
crashDetectedAtUs = currentTimeUs; disarm();
} else {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
} }
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) { || fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {

3
src/main/flight/pid.h
View file

@ -71,7 +71,8 @@ typedef enum {
typedef enum { typedef enum {
PID_CRASH_RECOVERY_OFF = 0, PID_CRASH_RECOVERY_OFF = 0,
PID_CRASH_RECOVERY_ON, PID_CRASH_RECOVERY_ON,
PID_CRASH_RECOVERY_BEEP PID_CRASH_RECOVERY_BEEP,
PID_CRASH_RECOVERY_DISARM,
} pidCrashRecovery_e; } pidCrashRecovery_e;
typedef struct pidf_s { typedef struct pidf_s {