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Improve messages + fix pidReset

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This commit is contained in:
breadoven 2022-07-05 13:20:29 +01:00
parent 0c5c78c20d
commit 6097769e67
4 changed files with 10 additions and 5 deletions
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6
src/main/navigation/navigation_fw_launch.c
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@ -271,7 +271,7 @@ static inline bool isProbablyNotFlying(void)
static void resetPidsIfNeeded(void) {
// Don't use PID I-term and reset TPA filter until motors are started or until flight is detected
if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP) {
if (isProbablyNotFlying() || fwLaunch.currentState < FW_LAUNCH_STATE_MOTOR_SPINUP || (navConfig()->fw.launch_manual_throttle && isThrottleLow())) {
pidResetErrorAccumulators();
pidResetTPAFilter();
}
@ -433,7 +433,9 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_IN_PROGRESS(timeUs_t
return FW_LAUNCH_EVENT_ABORT;
}
} else {
if (isProbablyNotFlying()) fwLaunch.currentStateTimeUs = currentTimeUs;
if (isProbablyNotFlying()) {
fwLaunch.currentStateTimeUs = currentTimeUs;
}
fwLaunch.pitchAngle = navConfig()->fw.launch_climb_angle;
}
} else {