From 1551d096fc1a8a54ec20a6657f8decbe498f4bb4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 14 Nov 2025 20:27:02 +0300
Subject: [PATCH] Merge changes from master

---
 flix/control.ino | 12 +++++-------
 flix/pid.h       |  8 ++++----
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index 719ffb3..4de742c 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -9,7 +9,6 @@
 #include "lpf.h"
 #include "util.h"
 
-#define ARMED_THRUST 0.1 // thrust to indicate armed state
 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2
 #define PITCHRATE_D 0.001
@@ -135,12 +134,11 @@ void controlTorque() {
 		return;
 	}
 
-	if (thrustTarget < ARMED_THRUST) {
-		// minimal thrust to indicate armed state
-		motors[0] = ARMED_THRUST;
-		motors[1] = ARMED_THRUST;
-		motors[2] = ARMED_THRUST;
-		motors[3] = ARMED_THRUST;
+	if (thrustTarget < 0.1) {
+		motors[0] = 0.1; // idle thrust
+		motors[1] = 0.1;
+		motors[2] = 0.1;
+		motors[3] = 0.1;
 		return;
 	}
 
diff --git a/flix/pid.h b/flix/pid.h
index 0e1525a..ac7a66b 100644
--- a/flix/pid.h
+++ b/flix/pid.h
@@ -11,20 +11,20 @@ class PID {
 public:
 	float p, i, d;
 	float windup;
-	float maxdt;
+	float dtMax;
 
 	float derivative = 0;
 	float integral = 0;
 
 	LowPassFilter<float> lpf; // low pass filter for derivative term
 
-	PID(float p, float i, float d, float windup = 0, float dAlpha = 1, float maxdt = 0.1) :
-		p(p), i(i), d(d), windup(windup), lpf(dAlpha), maxdt(maxdt) {}
+	PID(float p, float i, float d, float windup = 0, float dAlpha = 1, float dtMax = 0.1) :
+		p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {}
 
 	float update(float error) {
 		float dt = t - prevTime;
 
-		if (dt > 0 && dt < maxdt) {
+		if (dt > 0 && dt < dtMax) {
 			integral += error * dt;
 			derivative = lpf.update((error - prevError) / dt); // compute derivative and apply low-pass filter
 		} else {