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Code Issues Wiki Activity

Better Iterm resetting

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This commit is contained in:
borisbstyle 2015-12-24 00:47:08 +01:00
parent 5804843a38
commit 27c6db51fb
1 changed files with 11 additions and 5 deletions
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16
src/main/mw.c
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@ -103,6 +103,7 @@ enum {
// AIR MODE Reset timers
#define ERROR_RESET_DEACTIVATE_DELAY (1 * 1000) // 1 sec delay to disable AIR MODE Iterm resetting
bool allowITermShrinkOnly = false;
static bool ResetErrorActivated = true;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -476,24 +477,25 @@ void processRx(void)
// Conditions to reset Error
if (!ARMING_FLAG(ARMED) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled) || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
pidResetErrorGyro();
ResetErrorActivated = true; // As RX code is not executed each loop a flag has to be set for fast looptimes
airModeErrorResetTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
airModeErrorResetIsEnabled = true; // Enable Reset again especially after Disarm
allowITermShrinkOnly = false; // Disable shrink especially after Disarm
allowITermShrinkOnly = false; // Reset shrinking
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if (millis() > airModeErrorResetTimeout && calculateRollPitchCenterStatus(&masterConfig.rxConfig) == NOT_CENTERED) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
allowITermShrinkOnly = false; // Reset shrinking for Iterm
allowITermShrinkOnly = false; // Reset shrinking for Iterm
}
} else {
allowITermShrinkOnly = false; // Reset shrinking for Iterm
allowITermShrinkOnly = false; // Reset shrinking for Iterm
}
} else {
allowITermShrinkOnly = false; // Reset shrinking. Usefull when flipping between normal and AIR mode
allowITermShrinkOnly = false; // Reset shrinking. Usefull when flipping between normal and AIR mode
}
ResetErrorActivated = false; // Disable resetting of error
}
// When armed and motors aren't spinning, do beeps and then disarm
@ -715,6 +717,10 @@ void taskMainPidLoop(void)
}
#endif
if (ResetErrorActivated) {
pidResetErrorGyro();
}
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile->pidProfile,