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Squash and rebase

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This commit is contained in:
Blaine 2017-10-18 00:38:13 -07:00
parent 3038eb79ea
commit 9556ea6bf5
4 changed files with 13 additions and 2 deletions
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8
src/main/flight/pid.c
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@ -52,6 +52,8 @@
uint32_t targetPidLooptime;
static bool pidStabilisationEnabled;
static bool inCrashRecoveryMode = false;
float axisPID_P[3], axisPID_I[3], axisPID_D[3];
static float dT;
@ -406,7 +408,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
static float previousRateError[2];
const float tpaFactor = getThrottlePIDAttenuation();
const float motorMixRange = getMotorMixRange();
static bool inCrashRecoveryMode = false;
static timeUs_t crashDetectedAtUs;
// Dynamic ki component to gradually scale back integration when above windup point
@ -539,3 +540,8 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
}
}
}
bool crashRecoveryModeActive(void)
{
return inCrashRecoveryMode;
}