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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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12
src/main/flight/pid.c
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@ -69,9 +69,21 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 1);
#else
#define PID_PROCESS_DENOM_DEFAULT 2
#endif
#ifdef USE_RUNAWAY_TAKEOFF
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.runaway_takeoff_prevention = true,
.runaway_takeoff_threshold = 60, // corresponds to a pidSum value of 60% (raw 600) in the blackbox viewer
.runaway_takeoff_activate_delay = 75, // 75ms delay before activation (pidSum above threshold time)
.runaway_takeoff_deactivate_throttle = 25, // throttle level % needed to accumulate deactivation time
.runaway_takeoff_deactivate_delay = 500 // Accumulated time (in milliseconds) before deactivation in successful takeoff
);
#else
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
#endif
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);