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stop activation until throttle raised, but not require airmode

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use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed
This commit is contained in:
ctzsnooze 2024-10-12 21:51:40 +11:00
parent 5f4027e0c9
commit 2d9c9877ff
3 changed files with 5 additions and 6 deletions
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5
src/main/fc/core.c
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@ -770,7 +770,6 @@ uint8_t calculateThrottlePercentAbs(void)
} }
static bool throttleRaised = false; static bool throttleRaised = false;
bool wasThrottleRaised(void) bool wasThrottleRaised(void)
{ {
return throttleRaised; return throttleRaised;
@ -1053,7 +1052,9 @@ void processRxModes(timeUs_t currentTimeUs)
// and we have Acc for self-levelling // and we have Acc for self-levelling
&& sensors(SENSOR_ACC) && sensors(SENSOR_ACC)
// and we have altitude data // and we have altitude data
&& isAltitudeAvailable()){ && isAltitudeAvailable()
// prevent activation until after takeoff
&& wasThrottleRaised()) {
if (!FLIGHT_MODE(POS_HOLD_MODE)) { if (!FLIGHT_MODE(POS_HOLD_MODE)) {
ENABLE_FLIGHT_MODE(POS_HOLD_MODE); ENABLE_FLIGHT_MODE(POS_HOLD_MODE);
} }

4
src/main/flight/pid.c
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@ -930,10 +930,8 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
if (wasThrottleRaised() if (wasThrottleRaised()
// and, either sticks are centred and throttle zeroed, // and, either sticks are centred and throttle zeroed,
&& ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f) && ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f)
// we could test here for stage 2 failsafe (including both landing or GPS Rescue)
// this may permit removing the GPS Rescue disarm method altogether
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALT_HOLD_MODE
// or in altitude hold mode, including failsafe landing mode, indirectly // or, in altitude hold mode, where throttle can be non-zero
|| FLIGHT_MODE(ALT_HOLD_MODE) || FLIGHT_MODE(ALT_HOLD_MODE)
#endif #endif
)) { )) {

2
src/test/unit/pid_unittest.cc
View file

@ -93,7 +93,7 @@ extern "C" {
float getMotorMixRange(void) { return simulatedMotorMixRange; } float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; } float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool wasThrottleRaised(void) { return simulatedThrottleRaised; } bool wasThrottleRaised(void) { return simulatedAirmodeEnabled; }
float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); } float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); }
// used by auto-disarm code // used by auto-disarm code