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Merge pull request #7924 from mikeller/add_crash_recovery_disarm

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Added 'disarm' option to crash recovery.
This commit is contained in:
Michael Keller 2019-04-14 21:49:05 +12:00 • committed by GitHub
commit b468b94995
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10 changed files with 38 additions and 27 deletions
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9
src/main/flight/pid.c
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@ -877,8 +877,13 @@ static void detectAndSetCrashRecovery(
&& fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
setArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
disarm();
} else {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
}
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {