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rebase and recheck

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This commit is contained in:
ctzsnooze 2018-09-15 12:19:53 +10:00
parent 80608f5f1c
commit 37da70c555
5 changed files with 39 additions and 40 deletions
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8
src/main/fc/core.c
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@ -577,16 +577,16 @@ bool processRx(timeUs_t currentTimeUs)
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
airmodeIsActivated = true; // Prevent iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
/* In airmode iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetITerm();
pidResetIterm();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else