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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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2
src/main/fc/runtime_config.c
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@ -32,7 +32,7 @@ static uint32_t enabledSensors = 0;
const char *armingDisableFlagNames[]= {
"NOGYRO", "FAILSAFE", "RXLOSS", "BADRX", "BOXFAILSAFE",
"THROTTLE", "ANGLE", "BOOTGRACE", "NOPREARM", "LOAD",
"CALIB", "CLI", "CMS", "OSD", "BST", "MSP", "ARMSWITCH"
"CALIB", "CLI", "CMS", "OSD", "BST", "MSP", "RUNAWAY", "ARMSWITCH"
};
static armingDisableFlags_e armingDisableFlags = 0;