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Code Issues Releases Activity

Changing stabilization so that the PIDs are zeroed when not armed, but NOT when

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the throttle is < 0.  This will make things like axis-lock work while armed
without throttle.  HOWEVER don't hold your stick in the arming position for a
long time or you can wind up the integrals now.
This commit is contained in:
James Cotton 2011-07-12 14:35:32 -05:00
parent 2c7cfe435f
commit 0aec3b592c
1 changed files with 2 additions and 2 deletions
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4
flight/Modules/Stabilization/stabilization.c
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@ -100,7 +100,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
int32_t StabilizationStart()
{
// Initialize variables
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
@ -329,7 +329,7 @@ static void stabilizationTask(void* parameters)
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
!shouldUpdate || (stabDesired.Throttle < 0))
!shouldUpdate)
{
ZeroPids();
}