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Keep I-terms at zero throttle for fixed wings (#13127)

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* Keep Iterms at zero throttle for fixed wing mixer

* Ctz suggestions

* Update src/main/fc/core.c based on ladvinap suggestion

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

---------

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
Ivan Efimov 2023-12-05 04:54:10 -06:00 • committed by GitHub
parent efe1825afa
commit dd198b2cda
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 20 deletions
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27
src/main/fc/core.c
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@ -768,30 +768,17 @@ bool processRx(timeUs_t currentTimeUs)
failsafeStartMonitoring(); failsafeStartMonitoring();
} }
const throttleStatus_e throttleStatus = calculateThrottleStatus(); const bool throttleActive = calculateThrottleStatus() != THROTTLE_LOW;
const uint8_t throttlePercent = calculateThrottlePercentAbs(); const uint8_t throttlePercent = calculateThrottlePercentAbs();
const bool launchControlActive = isLaunchControlActive(); const bool launchControlActive = isLaunchControlActive();
airmodeIsActivated = airmodeIsEnabled() && ARMING_FLAG(ARMED) && throttlePercent >= rxConfig()->airModeActivateThreshold && !launchControlActive;
if (airmodeIsEnabled() && ARMING_FLAG(ARMED) && !launchControlActive) { if (ARMING_FLAG(ARMED) && (airmodeIsActivated || throttleActive || launchControlActive || isFixedWing())) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated && !launchControlActive) {
pidSetItermReset(true);
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidSetItermReset(false); pidSetItermReset(false);
pidStabilisationState(PID_STABILISATION_ON); pidStabilisationState(PID_STABILISATION_ON);
} else {
pidSetItermReset(true);
pidStabilisationState(currentPidProfile->pidAtMinThrottle ? PID_STABILISATION_ON : PID_STABILISATION_OFF);
} }
#ifdef USE_RUNAWAY_TAKEOFF #ifdef USE_RUNAWAY_TAKEOFF
@ -814,7 +801,7 @@ bool processRx(timeUs_t currentTimeUs)
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent // - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit // - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false; bool inStableFlight = false;
if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (throttleStatus != THROTTLE_LOW)) { // are motors running? if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || throttleActive) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle; const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT); const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit)) if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))