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Added switching off of beeper in all cases when crash recovery is disabled.

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This commit is contained in:
mikeller 2017-10-20 11:58:31 +13:00
parent b7fe3e203e
commit 46624d28ca
1 changed files with 9 additions and 10 deletions
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19
src/main/flight/pid.c
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@ -517,22 +517,21 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// if crash recovery is on and accelerometer enabled then check for a crash
if (pidProfile->crash_recovery) {
if (ARMING_FLAG(ARMED)) {
if (motorMixRange >= 1.0f && inCrashRecoveryMode == false
&& ABS(delta) > crashDtermThreshold
&& ABS(errorRate) > crashGyroThreshold
&& ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
if (motorMixRange >= 1.0f && !inCrashRecoveryMode
&& ABS(delta) > crashDtermThreshold
&& ABS(errorRate) > crashGyroThreshold
&& ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold
|| ABS(getSetpointRate(axis)) > crashSetpointThreshold)) {
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold
|| ABS(getSetpointRate(axis)) > crashSetpointThreshold)) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
} else {
if (inCrashRecoveryMode) {
BEEP_OFF;
}
} else if (inCrashRecoveryMode) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
}
axisPID_D[axis] = Kd[axis] * delta * tpaFactor;