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Code Issues Wiki Activity

Fix non Working Anti Windup

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This commit is contained in:
borisbstyle 2016-02-04 01:55:44 +01:00
parent 5174e96549
commit c55d0baf31
4 changed files with 21 additions and 21 deletions
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11
src/main/mw.c
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@ -117,6 +117,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint32_t currentTime;
extern uint8_t PIDweight[3];
extern bool lowThrottleWindupProtection;
static bool isRXDataNew;
@ -476,9 +478,16 @@ void processRx(void)
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorGyro(&masterConfig.rxConfig);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && rollPitchStatus == CENTERED) { /* Anti Windup when roll / pitch stick centered */
lowThrottleWindupProtection = true;
} else {
pidResetErrorGyro();
}
} else {
lowThrottleWindupProtection = false;
}
// When armed and motors aren't spinning, do beeps and then disarm