| commit | 9ea965c54907cd7ab79e9c3cab870c737bfe0954 | |
| author | Bruce Luckcuck <github@etracer.net> | |
| Sat, 17 Feb 2018 19:18:21 +0000 (17 14:18 -0500) | ||
| committer | Bruce Luckcuck <github@etracer.net> | |
| Mon, 19 Feb 2018 22:22:04 +0000 (19 17:22 -0500) | ||
| tree | 47d6c1552353101efc49b993a8d0533993defbce | treesnapshot (tar.gz zip) |
| parent | 7c3bb497598c0d5e592f5589ef26d7e93b559ff6 | commitdiff |
Add gyro rate checking to runaway takeoff activation to improve bench testing
Changed the triggering phase so that in addition to the pidSum needing to exceed runaway_takeoff_threshold, the gyro rate on any axis must exceed a threshold value to indicate the quad is actually moving. The threshold for the yaw axis is much higher since the torque of the motors can still yaw the craft without props.
Changed the triggering phase so that in addition to the pidSum needing to exceed runaway_takeoff_threshold, the gyro rate on any axis must exceed a threshold value to indicate the quad is actually moving. The threshold for the yaw axis is much higher since the torque of the motors can still yaw the craft without props.
| src/main/fc/fc_core.c | diffblobblamehistory | |
| src/main/sensors/gyro.c | diffblobblamehistory | |
| src/main/sensors/gyro.h | diffblobblamehistory |