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Use wasThrottleRaised in place of isAirmodeActivated where appropriate (#13968)

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* use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed

* fix unit test

* fix typo

* remove unnecessary check

* final changes and clarificartions

* Update src/main/flight/mixer.c

Co-authored-by: Ivan Efimov <gendalf44@yandex.ru>

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Ivan Efimov <gendalf44@yandex.ru>
This commit is contained in:
ctzsnooze 2024-10-17 19:46:54 +11:00 • committed by GitHub
parent 58fc8bbbb8
commit fc52b6b4ff
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13 changed files with 42 additions and 37 deletions
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6
src/main/flight/pid.c
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@ -758,7 +758,7 @@ STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRat
acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate;
}
if (isAirmodeActivated()) {
if (wasThrottleRaised()) {
axisError[axis] = constrainf(axisError[axis] + acErrorRate * pidRuntime.dT,
-pidRuntime.acErrorLimit, pidRuntime.acErrorLimit);
const float acCorrection = constrainf(axisError[axis] * pidRuntime.acGain, -pidRuntime.acLimit, pidRuntime.acLimit);
@ -840,8 +840,8 @@ float pidGetAirmodeThrottleOffset(void)
static FAST_CODE_NOINLINE void disarmOnImpact(void)
{
// if, after takeoff...
if (isAirmodeActivated()
// if, being armed, and after takeoff...
if (wasThrottleRaised()
// and, either sticks are centred and throttle zeroed,
&& ((getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f)
// we could test here for stage 2 failsafe (including both landing or GPS Rescue)