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# This is a combination of 2 commits.

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# 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
This commit is contained in:
Dominic Clifton 2015-03-09 23:36:45 +01:00
parent e40a3663d2
commit 5e3734946e
7 changed files with 24 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/io/serial_cli.c
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@ -254,7 +254,7 @@ const clivalue_t valueTable[] = {
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE, &masterConfig.inputFilteringMode, 0, 1 },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
@ -274,6 +274,7 @@ const clivalue_t valueTable[] = {
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 },
{ "disable_pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.disable_pid_at_min_throttle, 0, 1 },
{ "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },