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Runaway Takeoff remove unneeded parameters and enhance deactivate logic

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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
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src/main/flight/pid.h
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@ -114,8 +114,6 @@ PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
uint8_t runaway_takeoff_prevention; // off, on - enables pidsum runaway disarm logic
uint8_t runaway_takeoff_threshold; // runaway pidsum trigger threshold
uint8_t runaway_takeoff_activate_delay; // delay in ms where pidSum is above threshold before activation
uint16_t runaway_takeoff_deactivate_delay; // delay in ms for "in-flight" conditions before deactivation (successful flight)
uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
} pidConfig_t;