no PID when idle

Author: qqqlab

examples/01.Quadcopter/01.Quadcopter.ino

@@ -339,12 +339,20 @@ Yaw right               (CCW+ CW-)       -++-
 */
 
   // IMPORTANT: This is a safety feature to remind the pilot to disarm.
-  // Set throttle to at least armed_min_throttle, to keep at least one prop spinning when armed. The [out] module will disable motors when out.armed == false
-  float thr = armed_min_throttle + (1 - armed_min_throttle) * rcl.throttle; //shift throttle range from [0.0 .. 1.0] to [armed_min_throttle .. 1.0]
-
-  //Quad mixing
-  out.set(0, thr - PIDpitch.PID - PIDroll.PID - PIDyaw.PID); //M1 Back Right CW
-  out.set(1, thr + PIDpitch.PID - PIDroll.PID + PIDyaw.PID); //M2 Front Right CCW
-  out.set(2, thr - PIDpitch.PID + PIDroll.PID + PIDyaw.PID); //M3 Back Left CCW
-  out.set(3, thr + PIDpitch.PID + PIDroll.PID - PIDyaw.PID); //M4 Front Left CW
-}
+  // Set motor outputs to at least armed_min_throttle, to keep at least one prop spinning when armed. The [out] module will disable motors when out.armed == false
+  float thr = armed_min_throttle + (1 - armed_min_throttle) * rcl.throttle; //shift motor throttle range from [0.0 .. 1.0] to [armed_min_throttle .. 1.0]
+
+  if(rcl.throttle == 0) {
+    //if throttle idle, then run props at low speed without applying PID. This allows for stick commands for arm/disarm.
+    out.set(0, thr);
+    out.set(1, thr);
+    out.set(2, thr);
+    out.set(3, thr);
+  }else{
+    // Quad mixing
+    out.set(0, thr - PIDpitch.PID - PIDroll.PID - PIDyaw.PID); //M1 Back Right CW
+    out.set(1, thr + PIDpitch.PID - PIDroll.PID + PIDyaw.PID); //M2 Front Right CCW
+    out.set(2, thr - PIDpitch.PID + PIDroll.PID + PIDyaw.PID); //M3 Back Left CCW
+    out.set(3, thr + PIDpitch.PID + PIDroll.PID - PIDyaw.PID); //M4 Front Left CW
+  }
+}

examples/02.QuadcopterAdvanced/02.QuadcopterAdvanced.ino

@@ -385,12 +385,20 @@ Yaw right               (CCW+ CW-)       -++-
 */
 
   // IMPORTANT: This is a safety feature to remind the pilot to disarm.
-  // Set throttle to at least armed_min_throttle, to keep at least one prop spinning when armed. The [out] module will disable motors when out.armed == false
-  float thr = armed_min_throttle + (1 - armed_min_throttle) * rcl.throttle; //shift throttle range from [0.0 .. 1.0] to [armed_min_throttle .. 1.0]
-
-  // Quad mixing
-  out.set(0, thr - PIDpitch.PID - PIDroll.PID - PIDyaw.PID); //M1 Back Right CW
-  out.set(1, thr + PIDpitch.PID - PIDroll.PID + PIDyaw.PID); //M2 Front Right CCW
-  out.set(2, thr - PIDpitch.PID + PIDroll.PID + PIDyaw.PID); //M3 Back Left CCW
-  out.set(3, thr + PIDpitch.PID + PIDroll.PID - PIDyaw.PID); //M4 Front Left CW 
+  // Set motor outputs to at least armed_min_throttle, to keep at least one prop spinning when armed. The [out] module will disable motors when out.armed == false
+  float thr = armed_min_throttle + (1 - armed_min_throttle) * rcl.throttle; //shift motor throttle range from [0.0 .. 1.0] to [armed_min_throttle .. 1.0]
+
+  if(rcl.throttle == 0) {
+    //if throttle idle, then run props at low speed without applying PID. This allows for stick commands for arm/disarm.
+    out.set(0, thr);
+    out.set(1, thr);
+    out.set(2, thr);
+    out.set(3, thr);
+  }else{
+    // Quad mixing
+    out.set(0, thr - PIDpitch.PID - PIDroll.PID - PIDyaw.PID); //M1 Back Right CW
+    out.set(1, thr + PIDpitch.PID - PIDroll.PID + PIDyaw.PID); //M2 Front Right CCW
+    out.set(2, thr - PIDpitch.PID + PIDroll.PID + PIDyaw.PID); //M3 Back Left CCW
+    out.set(3, thr + PIDpitch.PID + PIDroll.PID - PIDyaw.PID); //M4 Front Left CW
+  }
 }

src/madflight/cfg/cfg.cpp

@@ -468,7 +468,7 @@ void CfgClass::load_madflight(const char *board, const char *config) {
   }else{
     Serial.println("madflight_config is empty");
   }
-  hdr.madflight_param_crc = crc; //save crc (and write it to eeprom with next CLI cwrite)
+  hdr.madflight_param_crc = crc; //save crc (and save it to eeprom with next CLI 'save')
 }
 
 //returns true on success