• Dominic Clifton's avatar
    Previously, at minimum throttle, the quad would do absolutely no self-leveling · 1b1163da
    Dominic Clifton authored
    and simply run the motors at constant minthrottle.  This allowed the chance
    for the quad to lose control during flight if the throttle was set to minimum,
    say, to drop from a high altitude to a lower one.
    With this edit, the quad will still self-level at minimum throttle when armed,
    allowing for safe decents from altitude.  To prevent motors spinning when
    arming/disarming, the yaw input is ignored if the throttle is at minimum and
    we're using the sticks to arm/disarm.
    added cli command disable_pid_at_min_throttle
    (same as previous)
config.c 27.8 KB