Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

3D Airmode enhancements // Iterm Shrinking replaced to limiting

Browse source
This commit is contained in:
borisbstyle 2016-01-25 12:05:30 +01:00
parent b86f304dec
commit 55cf3913a0
3 changed files with 15 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/mw.c
View file

@ -102,7 +102,7 @@ enum {
// AIR MODE Reset timers
#define ERROR_RESET_DEACTIVATE_DELAY (1 * 1000) // 1 sec delay to disable AIR MODE Iterm resetting
bool allowITermShrinkOnly = false;
bool preventItermWindup = false;
static bool ResetErrorActivated = true;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -486,9 +486,9 @@ void processRx(void)
// When in AIR Mode LOW Throttle and reset was already disabled we will only prevent further growing
if ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !airModeErrorResetIsEnabled) {
if (calculateRollPitchCenterStatus(&masterConfig.rxConfig) == CENTERED) {
allowITermShrinkOnly = true; // Iterm is now only allowed to shrink
preventItermWindup = true; // Iterm is now limited to the last value
} else {
allowITermShrinkOnly = false; // Iterm should considered safe to increase
preventItermWindup = false; // Iterm should considered safe to increase
}
}
@ -497,22 +497,22 @@ void processRx(void)
ResetErrorActivated = true; // As RX code is not executed each loop a flag has to be set for fast looptimes
airModeErrorResetTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
airModeErrorResetIsEnabled = true; // Enable Reset again especially after Disarm
allowITermShrinkOnly = false; // Reset shrinking
preventItermWindup = false; // Reset limiting
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if (millis() > airModeErrorResetTimeout && calculateRollPitchCenterStatus(&masterConfig.rxConfig) == NOT_CENTERED) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
allowITermShrinkOnly = false; // Reset shrinking for Iterm
preventItermWindup = false; // Reset limiting for Iterm
}
} else {
allowITermShrinkOnly = false; // Reset shrinking for Iterm
preventItermWindup = false; // Reset limiting for Iterm
}
} else {
allowITermShrinkOnly = false; // Reset shrinking. Usefull when flipping between normal and AIR mode
preventItermWindup = false; // Reset limiting. Usefull when flipping between normal and AIR mode
}
ResetErrorActivated = false; // Disable resetting of error
ResetErrorActivated = false; // Disable resetting of error
}
// When armed and motors aren't spinning, do beeps and then disarm