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Code Issues Wiki Activity

Improved detection of upright / 'SMALL_ANGLE' state.

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This commit is contained in:
mikeller 2019-11-17 13:40:30 +13:00 • committed by Michael Keller
parent 6694d4ebc8
commit cc8b8d3bf6
11 changed files with 108 additions and 95 deletions
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4
src/main/osd/osd_elements.c
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@ -81,6 +81,7 @@
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/display.h"
@ -89,7 +90,6 @@
#include "drivers/time.h"
#include "drivers/vtx_common.h"
#include "config/config.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc_adjustments.h"
@ -622,7 +622,7 @@ static void osdElementCrashFlipArrow(osdElementParms_t *element)
rollAngle = (rollAngle < 0 ? -180 : 180) - rollAngle;
}
if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !STATE(SMALL_ANGLE))) && !((imuConfig()->small_angle < 180) && STATE(SMALL_ANGLE)) && (rollAngle || pitchAngle)) {
if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !isUpright())) && !((imuConfig()->small_angle < 180 && isUpright()) || (rollAngle == 0 && pitchAngle == 0))) {
if (abs(pitchAngle) < 2 * abs(rollAngle) && abs(rollAngle) < 2 * abs(pitchAngle)) {
if (pitchAngle > 0) {
if (rollAngle > 0) {