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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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7
src/main/interface/settings.c
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@ -605,6 +605,13 @@ const clivalue_t valueTable[] = {
// PG_PID_CONFIG
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
#ifdef USE_RUNAWAY_TAKEOFF
{ "runaway_takeoff_prevention", VAR_UINT8 | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_prevention) }, // enables/disables runaway takeoff prevention
{ "runaway_takeoff_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 30, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_threshold) }, // pidSum limit to trigger prevention
{ "runaway_takeoff_activate_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 255 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_activate_delay) }, // time in ms where pidSum is above threshold to trigger prevention
{ "runaway_takeoff_deactivate_delay", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 5000 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_delay) }, // deactivate time in ms
{ "runaway_takeoff_deactivate_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
#endif
// PG_PID_PROFILE
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },