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JanWielgus / STM_FlightController

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Solve issue with zero action throttle #51

Closed JanWielgus closed 4 years ago

JanWielgus commented 4 years ago

Previously in program there were certain value (zero action throttle) below which PID controllers of stabilize part were disabled. This cause a serious problem, because in altHold mode throttle can be in zero position (maximum descending velocity) but then, drone will stop to keep level.

JanWielgus commented 4 years ago

I have a solution. I will add to the motors class feature to get average motors speed in %. Stabilize PID controllers will be suspended when average motors load will be below a certain value. Delete zero action throttle from config.