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Initial implementation of Runaway Takeoff Prevention (anti-taz)

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Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc.  After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
This commit is contained in:
Bruce Luckcuck 2018-01-10 21:08:24 -05:00
parent 52c629751c
commit a32b05c284
12 changed files with 222 additions and 3 deletions
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src/main/build/debug.c
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@ -56,4 +56,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"RANGEFINDER_QUALITY",
"LIDAR_TF",
"CORE_TEMP",
"RUNAWAY_TAKEOFF",
};