Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Runaway Takeoff remove unneeded parameters and enhance deactivate logic

Browse source 
Removed parameters runaway_takeoff_threshold (hardcode to 60) and runaway_takeoff_activate_delay (hardcode to 75).  The previous default values worked well and required no tuning.

Enhance the deactivate logic to remove the R/P/Y stick activity condition once throttle reaches 2X runaway_takeoff_deactivate_throttle_percent.  Additionally reduce the runaway_takeoff_deactivate_delay by 50% when throttle exceeds 75%.
This commit is contained in:
Bruce Luckcuck 2018-02-27 10:05:04 -05:00
parent b0ff928afd
commit 449f5f2f5c
4 changed files with 22 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

34
src/main/fc/fc_core.c
View file

@ -98,10 +98,13 @@ enum {
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
#ifdef USE_RUNAWAY_TAKEOFF
#define RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT 15 // 15% - minimum stick deflection during deactivation phase
#define RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT 100 // 10.0% - pidSum limit during deactivation phase
#define RUNAWAY_TAKEOFF_GYRO_LIMIT_RP 15 // Roll/pitch 15 deg/sec threshold to prevent triggering during bench testing without props
#define RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW 50 // Yaw 50 deg/sec threshold to prevent triggering during bench testing without props
#define RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD 600 // The pidSum threshold required to trigger - corresponds to a pidSum value of 60% (raw 600) in the blackbox viewer
#define RUNAWAY_TAKEOFF_ACTIVATE_DELAY 75000 // (75ms) Time in microseconds where pidSum is above threshold to trigger
#define RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT 15 // 15% - minimum stick deflection during deactivation phase
#define RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT 100 // 10.0% - pidSum limit during deactivation phase
#define RUNAWAY_TAKEOFF_GYRO_LIMIT_RP 15 // Roll/pitch 15 deg/sec threshold to prevent triggering during bench testing without props
#define RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW 50 // Yaw 50 deg/sec threshold to prevent triggering during bench testing without props
#define RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT 75 // High throttle limit to accelerate deactivation (halves the deactivation delay)
#define DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE 0
#define DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY 1
@ -557,8 +560,9 @@ bool processRx(timeUs_t currentTimeUs)
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
if ((throttlePercent >= pidConfig()->runaway_takeoff_deactivate_throttle)
&& areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
&& (fabsf(axisPIDSum[FD_PITCH]) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(axisPIDSum[FD_ROLL]) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(axisPIDSum[FD_YAW]) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
@ -575,7 +579,12 @@ bool processRx(timeUs_t currentTimeUs)
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > (pidConfig()->runaway_takeoff_deactivate_delay * 1000)) {
uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
// at high throttle levels reduce deactivation delay by 50%
if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
deactivateDelay = deactivateDelay / 2;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
runawayTakeoffCheckDisabled = true;
}
@ -789,19 +798,16 @@ static void subTaskPidController(timeUs_t currentTimeUs)
&& !runawayTakeoffTemporarilyDisabled
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;
if (((fabsf(axisPIDSum[FD_PITCH]) >= runawayTakeoffThreshold)
|| (fabsf(axisPIDSum[FD_ROLL]) >= runawayTakeoffThreshold)
|| (fabsf(axisPIDSum[FD_YAW]) >= runawayTakeoffThreshold))
if (((fabsf(axisPIDSum[FD_PITCH]) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(axisPIDSum[FD_ROLL]) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(axisPIDSum[FD_YAW]) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD))
&& ((ABS(gyroAbsRateDps(FD_PITCH)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_ROLL)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_YAW)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) {
if (runawayTakeoffTriggerUs == 0) {
runawayTakeoffTriggerUs = currentTimeUs + (pidConfig()->runaway_takeoff_activate_delay * 1000);
runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;
} else if (currentTimeUs > runawayTakeoffTriggerUs) {
setArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
disarm();
}