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Code Issues Wiki Activity

Auto-disarm on landing impact (#13803)

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* Disarm on landing

* Changes from review comments, thanks PL

* Sorry missed that one

* calculate Acc magnitude once only, not multiple times

* Include gyro factors as in crashRecovery

* Fix bug in CrashRecovery delta gains

Add temporary debugs to monitor error and delta inputs

* remove 1G subtraction for accMagnitude

thanks Karate

* Use AccDelta or Jerk - thanks Karate

* Revert using Gyro Setpoint and Delta

* Fix typo, thanks Mark

* increment PG version to 9
This commit is contained in:
ctzsnooze 2024-08-10 16:34:51 +10:00 • committed by GitHub
parent 8f10f17245
commit f890287598
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GPG key ID: B5690EEEBB952194
16 changed files with 72 additions and 25 deletions
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5
src/main/cms/cms_menu_imu.c
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@ -266,6 +266,7 @@ static uint16_t cmsx_tpa_breakpoint;
static int8_t cmsx_tpa_low_rate;
static uint16_t cmsx_tpa_low_breakpoint;
static uint8_t cmsx_tpa_low_always;
static uint8_t cmsx_ez_landing_disarm_threshold;
static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
{
@ -610,7 +611,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
cmsx_tpa_low_rate = pidProfile->tpa_low_rate;
cmsx_tpa_low_breakpoint = pidProfile->tpa_low_breakpoint;
cmsx_tpa_low_always = pidProfile->tpa_low_always;
cmsx_ez_landing_disarm_threshold = pidProfile->ez_landing_disarm_threshold;
return NULL;
}
@ -668,6 +669,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->tpa_low_rate = cmsx_tpa_low_rate;
pidProfile->tpa_low_breakpoint = cmsx_tpa_low_breakpoint;
pidProfile->tpa_low_always = cmsx_tpa_low_always;
pidProfile->ez_landing_disarm_threshold = cmsx_ez_landing_disarm_threshold;
initEscEndpoints();
return NULL;
@ -728,6 +730,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "TPA LOW RATE", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_tpa_low_rate, TPA_LOW_RATE_MIN, TPA_MAX , 1} },
{ "TPA LOW BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_low_breakpoint, 1000, 2000, 10} },
{ "TPA LOW ALWYS", OME_Bool, NULL, &cmsx_tpa_low_always },
{ "EZDISARM THR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ez_landing_disarm_threshold, 0, 150, 1} },
{ "BACK", OME_Back, NULL, NULL },
{ NULL, OME_END, NULL, NULL}