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Previously, at minimum throttle, the quad would do absolutely no self-leveling

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and simply run the motors at constant minthrottle.  This allowed the chance
for the quad to lose control during flight if the throttle was set to minimum,
say, to drop from a high altitude to a lower one.

With this edit, the quad will still self-level at minimum throttle when armed,
allowing for safe decents from altitude.  To prevent motors spinning when
arming/disarming, the yaw input is ignored if the throttle is at minimum and
we're using the sticks to arm/disarm.

Conflicts:
	src/main/flight/mixer.c
This commit is contained in:
Dominic Clifton 2015-03-09 23:44:03 +01:00
parent 1b1163da10
commit acabbf41db
4 changed files with 30 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/mw.c
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@ -525,12 +525,10 @@ void processRx(void)
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (
ARMING_FLAG(ARMED)
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& areUsingSticksToArm()
) {
&& isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
@ -705,11 +703,12 @@ void loop(void)
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
if (areUsingSticksToArm() &&
if (isUsingSticksForArming() &&
rcData[THROTTLE] <= masterConfig.rxConfig.mincheck) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}