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Add Timer to pidResetErrorGyro

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init with zero

pid_at_min_throttle as delay for reset Iterm
This commit is contained in:
borisbstyle 2015-10-28 20:55:02 +01:00
parent e7ce0193ce
commit 784c5fdbec
2 changed files with 15 additions and 2 deletions
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15
src/main/mw.c
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@ -539,6 +539,7 @@ void executePeriodicTasks(bool skipBaroUpdate)
void processRx(void)
{
static bool armedBeeperOn = false;
static uint32_t pidResetErrorGyroTimeout = 0;
calculateRxChannelsAndUpdateFailsafe(currentTime);
@ -563,7 +564,19 @@ void processRx(void)
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
/*
* Additional code to prevent Iterm reset below min_check. pid_at_min_throttle higher than 1 will
* activate the feature. Experimental yet. Minimum configuration is 2 sec and maxx is 5seconds.
*/
if (masterConfig.mixerConfig.pid_at_min_throttle > 1) {
if (pidResetErrorGyroTimeout < millis()) {
pidResetErrorGyro();
} else {
pidResetErrorGyroTimeout = millis() + (masterConfig.mixerConfig.pid_at_min_throttle * 1000);
}
} else {
pidResetErrorGyro();
}
}
// When armed and motors aren't spinning, do beeps and then disarm