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Iterm Shrink Only Option for AIR Mode

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Fix previous Iterm
This commit is contained in:
borisbstyle 2015-12-08 15:50:02 +01:00
parent b84e9f4676
commit 66fb254d62
2 changed files with 35 additions and 12 deletions
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21
src/main/mw.c
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@ -103,7 +103,7 @@ enum {
// AIR MODE Reset timers
#define ERROR_RESET_DEACTIVATE_DELAY (1 * 1000) // 1 sec delay to disable AIR MODE Iterm resetting
#define ERROR_RESET_ACTIVATE_DELAY (5 * 1000) // 5 sec delay to enable AIR MODE Iterm resetting
bool allowITermShrinkOnly = false;
uint32_t currentTime = 0;
uint32_t previousTime = 0;
@ -569,32 +569,29 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
static bool airModeErrorResetIsEnabled = true; // Should always initialize with reset enabled
static uint32_t airModeErrorResetToggleTimeout = 0; // Timeout for both activate and deactivate mode
static bool airModeErrorResetIsEnabled = true; // Should always initialize with reset enabled
static uint32_t airModeErrorResetTimeout = 0; // Timeout for both activate and deactivate mode
if (throttleStatus == THROTTLE_LOW) {
// Evaluate if the error needs resetting again. Should be entered when in air mode during landings etc...
// 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 ((millis() > airModeErrorResetToggleTimeout) && isRollPitchCentered()) {
airModeErrorResetIsEnabled = true;
if (isRollPitchCentered()) {
allowITermShrinkOnly = true; // Iterm is now only allowed to shrink
}
}
// Conditions to reset Error
if (!IS_RC_MODE_ACTIVE(BOXARM) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled)) {
pidResetErrorGyro();
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
airModeErrorResetTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && IS_RC_MODE_ACTIVE(BOXARM) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if ((millis() > airModeErrorResetToggleTimeout) && !isRollPitchCentered()) { // Only disable error reset when roll and pitch not centered
if ((millis() > airModeErrorResetTimeout) && !isRollPitchCentered()) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_ACTIVATE_DELAY; // Start reset activate timer
allowITermShrinkOnly = false; // Reset shrinking for Iterm
}
} else if (!airModeErrorResetIsEnabled) {
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_ACTIVATE_DELAY; // Reset activate timer
}
} else {
airModeErrorResetIsEnabled = true; // This is needed to reset procedure when switch is toggled in air