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Code Issues Wiki Activity

Prevent unnecessary Iterm windup during failsafe and when not armed

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borisbstyle 2016-02-09 12:10:47 +01:00
parent 99d9d7483f
commit dd2478f582
1 changed files with 1 additions and 1 deletions
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src/main/mw.c
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@ -483,7 +483,7 @@ void processRx(void)
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered. /* 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 */ This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW) { if (throttleStatus == THROTTLE_LOW) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
if (rollPitchStatus == CENTERED) { if (rollPitchStatus == CENTERED) {
antiWindupProtection = true; antiWindupProtection = true;
} else { } else {