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Rework Iterm Shrink for AIR Mode

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Rework Iterm Shrink for AIR Mode part 2
This commit is contained in:
borisbstyle 2015-12-09 00:37:42 +01:00
parent 66fb254d62
commit 6a4682908f
4 changed files with 32 additions and 23 deletions
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19
src/main/mw.c
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@ -20,7 +20,6 @@
#include <stdint.h>
#include <math.h>
#include "debug.h"
#include "platform.h"
#include "common/maths.h"
@ -574,27 +573,31 @@ void processRx(void)
if (throttleStatus == THROTTLE_LOW) {
// 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 (isRollPitchCentered()) {
if ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !airModeErrorResetIsEnabled) {
if (calculateRollPitchCenterStatus(&masterConfig.rxConfig) == CENTERED) {
allowITermShrinkOnly = true; // Iterm is now only allowed to shrink
} else {
allowITermShrinkOnly = false; // Iterm should considered safe to increase
}
}
// Conditions to reset Error
if (!IS_RC_MODE_ACTIVE(BOXARM) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled)) {
if (!ARMING_FLAG(ARMED) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled) || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
pidResetErrorGyro();
airModeErrorResetTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
airModeErrorResetIsEnabled = true; // Enable Reset again especially after Disarm
allowITermShrinkOnly = false; // Disable shrink especially after Disarm
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && IS_RC_MODE_ACTIVE(BOXARM) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (!(feature(FEATURE_MOTOR_STOP)) && ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if ((millis() > airModeErrorResetTimeout) && !isRollPitchCentered()) { // Only disable error reset when roll and pitch not centered
if (millis() > airModeErrorResetTimeout && calculateRollPitchCenterStatus(&masterConfig.rxConfig) == NOT_CENTERED) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
allowITermShrinkOnly = false; // Reset shrinking for Iterm
}
} else {
allowITermShrinkOnly = false; // Reset shrinking for Iterm
}
} else {
airModeErrorResetIsEnabled = true; // This is needed to reset procedure when switch is toggled in air
}
}