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Code Issues Wiki Activity

IDLE UP switch // Remove pid_at_min_throttle

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borisbstyle 2015-12-04 16:16:21 +01:00
parent 769ddd39af
commit eafa631a32
7 changed files with 11 additions and 40 deletions
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18
src/main/mw.c
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@ -100,7 +100,6 @@ enum {
#define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger
#define PREVENT_BARO_READ_PRE_LOOP_TRIGGER 150 // Prevent BARO processing before expected loop trigger
#define GYRO_RATE 0.001f // Gyro refresh rate 1khz
#define PID_AT_MIN_THROTTLE_ITERM_DELAY (3 * 1000)
uint32_t currentTime = 0;
uint32_t previousTime = 0;
@ -542,7 +541,6 @@ void executePeriodicTasks(bool skipBaroUpdate)
void processRx(void)
{
static bool armedBeeperOn = false;
static uint32_t pidResetErrorGyroTimeout = 0;
calculateRxChannelsAndUpdateFailsafe(currentTime);
@ -565,21 +563,9 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
if (throttleStatus == THROTTLE_LOW && !(IS_RC_MODE_ACTIVE(BOXIDLE_UP))) {
pidResetErrorAngle();
/*
* Additional code to prevent Iterm reset below min_check. pid_at_min_throttle higher than 1 will
* activate the feature. Experimental yet. Minimum configuration is 2 sec and maxx is 5seconds.
*/
if (masterConfig.mixerConfig.pid_at_min_throttle > 1 && ARMING_FLAG(ARMED)) {
if (pidResetErrorGyroTimeout < millis()) {
pidResetErrorGyro();
}
} else {
pidResetErrorGyro();
}
} else {
pidResetErrorGyroTimeout = millis() + PID_AT_MIN_THROTTLE_ITERM_DELAY;
pidResetErrorGyro();
}
// When armed and motors aren't spinning, do beeps and then disarm