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# This is a combination of 2 commits.
# The first commit's message is: Previously, at minimum throttle, the quad would do absolutely no self-leveling and simply run the motors at constant minthrottle. This allowed the chance for the quad to lose control during flight if the throttle was set to minimum, say, to drop from a high altitude to a lower one. With this edit, the quad will still self-level at minimum throttle when armed, allowing for safe decents from altitude. To prevent motors spinning when arming/disarming, the yaw input is ignored if the throttle is at minimum and we're using the sticks to arm/disarm. Conflicts: src/main/flight/mixer.c # This is the 2nd commit message: added cli command disable_pid_at_min_throttle
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7 changed files with 24 additions and 7 deletions
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@ -136,6 +136,8 @@ typedef struct rcControlsConfig_s {
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uint8_t alt_hold_fast_change; // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
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} rcControlsConfig_t;
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bool areUsingSticksToArm(void);
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bool areSticksInApModePosition(uint16_t ap_mode);
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throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
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void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
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