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Spool up prevention without airmode
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390da2371e
commit
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3 changed files with 34 additions and 7 deletions
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@ -460,10 +460,15 @@ void processRx(void)
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antiWindupProtection = false;
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}
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} else {
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pidResetErrorGyro();
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if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
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pidResetErrorGyroState(RESET_ITERM);
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} else {
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pidResetErrorGyroState(RESET_ITERM_AND_REDUCE_PID);
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}
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pidResetErrorAngle();
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}
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} else {
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pidResetErrorGyroState(RESET_DISABLE);
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antiWindupProtection = false;
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}
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