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PID: Prevent I-term windup on multicopters with MOTOR_STOP in free fall

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-04-03 20:08:54 +10:00
parent b1e81ae48e
commit a86e15a644
1 changed files with 2 additions and 1 deletions
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3
src/main/mw.c
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@ -478,7 +478,8 @@ void processRx(void)
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig);
if (rollPitchStatus == CENTERED) {
// ANTI_WINDUP at centred stick with MOTOR_STOP is needed on MRs and not needed on FWs
if (rollPitchStatus == CENTERED || (feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING))) {
ENABLE_STATE(ANTI_WINDUP);
}
else {