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make flipping the quad safe with althold engaged

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this should stop the copter from accelerating downwards, when upside
down with althold enabled.
This commit is contained in:
luggi 2014-05-03 02:25:29 +02:00
parent c1fcdabdc1
commit 495c6b8f73
2 changed files with 23 additions and 18 deletions
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5
src/mw.c
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@ -854,7 +854,7 @@ void loop(void)
AltHold = EstAlt;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, mcfg.minthrottle + 100, mcfg.maxthrottle);
}
} else {
// slow alt changes for apfags
@ -869,8 +869,7 @@ void loop(void)
AltHoldCorr = 0;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, mcfg.minthrottle + 100, mcfg.maxthrottle);
}
} else {
// handle fixedwing-related althold. UNTESTED! and probably wrong