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Disable runaway takeoff when crash-flip mode is active

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Prevents Runaway Takeoff Prevention from auto-disarming during crash-flip (turtle mode).  Addresses an edge-case where runaway takeoff prevention might not yet have been deactivated due to a crash immediatly upon takeoff.
This commit is contained in:
Bruce Luckcuck 2018-02-12 19:29:39 -05:00
parent 040c46da07
commit 84cb0b865d
1 changed files with 2 additions and 0 deletions
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2
src/main/fc/fc_core.c
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@ -529,6 +529,7 @@ bool processRx(timeUs_t currentTimeUs)
if (ARMING_FLAG(ARMED) if (ARMING_FLAG(ARMED)
&& pidConfig()->runaway_takeoff_prevention && pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled && !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !STATE(FIXED_WING)) { && !STATE(FIXED_WING)) {
// Determine if we're in "flight" // Determine if we're in "flight"
@ -765,6 +766,7 @@ static void subTaskPidController(timeUs_t currentTimeUs)
&& !STATE(FIXED_WING) && !STATE(FIXED_WING)
&& pidConfig()->runaway_takeoff_prevention && pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled && !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) { && (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f; const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;