Keep I-terms at zero throttle for fixed wings (#13127)

* Keep Iterms at zero throttle for fixed wing mixer * Ctz suggestions * Update src/main/fc/core.c based on ladvinap suggestion Co-authored-by: Petr Ledvina <ledvinap@gmail.com> --------- Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
betaflight · Dec 5, 2023 · dd198b2 · dd198b2
1 parent efe1825
commit dd198b2
Showing 1 changed file with 7 additions and 20 deletions.
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
@@ -768,30 +768,17 @@ bool processRx(timeUs_t currentTimeUs)
         failsafeStartMonitoring();
     }
 
-    const throttleStatus_e throttleStatus = calculateThrottleStatus();
+    const bool throttleActive = calculateThrottleStatus() != THROTTLE_LOW;
     const uint8_t throttlePercent = calculateThrottlePercentAbs();
-
     const bool launchControlActive = isLaunchControlActive();
+    airmodeIsActivated = airmodeIsEnabled() && ARMING_FLAG(ARMED) && throttlePercent >= rxConfig()->airModeActivateThreshold && !launchControlActive;
 
-    if (airmodeIsEnabled() && ARMING_FLAG(ARMED) && !launchControlActive) {
-        if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
-            airmodeIsActivated = true; // Prevent iterm from being reset
-        }
-    } else {
-        airmodeIsActivated = false;
-    }
-
-    /* In airmode iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
-     This is needed to prevent iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
-    if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated && !launchControlActive) {
-        pidSetItermReset(true);
-        if (currentPidProfile->pidAtMinThrottle)
-            pidStabilisationState(PID_STABILISATION_ON);
-        else
-            pidStabilisationState(PID_STABILISATION_OFF);
-    } else {
+    if (ARMING_FLAG(ARMED) && (airmodeIsActivated || throttleActive || launchControlActive || isFixedWing())) {
         pidSetItermReset(false);
         pidStabilisationState(PID_STABILISATION_ON);
+    } else {
+        pidSetItermReset(true);
+        pidStabilisationState(currentPidProfile->pidAtMinThrottle ? PID_STABILISATION_ON : PID_STABILISATION_OFF);
     }
 
 #ifdef USE_RUNAWAY_TAKEOFF
@@ -814,7 +801,7 @@ bool processRx(timeUs_t currentTimeUs)
         //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
         //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
         bool inStableFlight = false;
-        if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
+        if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || throttleActive) { // are motors running?
             const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
             const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
             if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))