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Merge pull request #5092 from etracer65/airmode_activate_3d_fix

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Change airmode activation to be throttle percent based to fix 3D mode
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Michael Keller 2018-02-02 02:59:14 +13:00 • committed by GitHub
commit 8738e7d623
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5 changed files with 11 additions and 11 deletions
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10
src/main/fc/fc_core.c
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@ -97,8 +97,6 @@ enum {
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
#define AIRMODE_THOTTLE_THRESHOLD 1350 // Make configurable in the future. ~35% throttle should be fine
#ifdef USE_RUNAWAY_TAKEOFF
#define RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT 15 // 15% - minimum stick deflection during deactivation phase
#define RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT 100 // 10.0% - pidSum limit during deactivation phase
@ -446,6 +444,7 @@ bool areSticksActive(uint8_t stickPercentLimit)
}
return false;
}
#endif
// calculate the throttle stick percent - integer math is good enough here.
@ -470,7 +469,7 @@ uint8_t calculateThrottlePercent(void)
}
return ret;
}
#endif
/*
* processRx called from taskUpdateRxMain
@ -498,9 +497,10 @@ bool processRx(timeUs_t currentTimeUs)
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
const uint8_t throttlePercent = calculateThrottlePercent();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcData[THROTTLE] >= rxConfig()->airModeActivateThreshold) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
}
} else {
@ -538,7 +538,7 @@ bool processRx(timeUs_t currentTimeUs)
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
if ((calculateThrottlePercent() >= pidConfig()->runaway_takeoff_deactivate_throttle)
if ((throttlePercent >= pidConfig()->runaway_takeoff_deactivate_throttle)
&& areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)
&& (fabsf(axisPIDSum[FD_PITCH]) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(axisPIDSum[FD_ROLL]) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)