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Use crash detection to limit yaw

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This commit is contained in:
Martin Budden 2017-08-22 08:41:32 +01:00
parent be8391e3db
commit cd757c8a89
3 changed files with 24 additions and 21 deletions
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2
src/main/flight/pid.h
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@ -105,7 +105,7 @@ typedef struct pidProfile_s {
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
pidCrashRecovery_e crash_recovery; // off, on, on and beeps when it is in crash recovery mode
uint16_t gyroRateLimitYaw; // limits yaw gyroRate, so crashes don't cause huge throttle increase
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);