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Airmode rework // Fix 3D from negative to positive // cleanup

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This commit is contained in:
borisbstyle 2016-02-05 21:38:02 +01:00
parent 18da3d08f8
commit fda0794441
7 changed files with 49 additions and 30 deletions
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16
src/main/mw.c
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@ -117,7 +117,7 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint32_t currentTime;
extern uint8_t PIDweight[3];
extern bool lowThrottleWindupProtection;
extern bool antiWindupProtection;
static bool isRXDataNew;
@ -478,16 +478,22 @@ void processRx(void)
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig);
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig);
/* 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) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && rollPitchStatus == CENTERED) { /* Anti Windup when roll / pitch stick centered */
lowThrottleWindupProtection = true;
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (rollPitchStatus == CENTERED) {
antiWindupProtection = true;
} else {
antiWindupProtection = false;
}
} else {
pidResetErrorGyro();
}
} else {
lowThrottleWindupProtection = false;
antiWindupProtection = false;
}
// When armed and motors aren't spinning, do beeps and then disarm