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Code Issues Wiki Activity

Spool up prevention without airmode

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This commit is contained in:
borisbstyle 2016-02-20 21:25:01 +01:00
parent 390da2371e
commit 67d3d84a95
3 changed files with 34 additions and 7 deletions
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7
src/main/mw.c
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@ -460,10 +460,15 @@ void processRx(void)
antiWindupProtection = false;
}
} else {
pidResetErrorGyro();
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
pidResetErrorGyroState(RESET_ITERM);
} else {
pidResetErrorGyroState(RESET_ITERM_AND_REDUCE_PID);
}
pidResetErrorAngle();
}
} else {
pidResetErrorGyroState(RESET_DISABLE);
antiWindupProtection = false;
}