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Angle and Horizon Mode improvements (#12231)

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* Angle and Horizon Update for 4.5

* BugFix FF noise Angle Mode on yaw and in level _race mode

* use time constant in ms for angle feedforward smoothing

* refactor to remove unnecessary definition

---------

Co-authored-by: ChrisRosser <chrisrosser91@gmail.com>
This commit is contained in:
ctzsnooze 2023-03-15 09:46:24 +11:00 • committed by GitHub
parent d6ed53ecdf
commit 241e9a9b94
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16 changed files with 482 additions and 271 deletions
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4
src/main/msp/msp.c
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@ -1943,7 +1943,7 @@ case MSP_NAME:
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->angle_limit);
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, 0); // was currentPidProfile->itermThrottleThreshold
sbufWriteU16(dst, currentPidProfile->anti_gravity_gain);
@ -3074,7 +3074,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentPidProfile->rateAccelLimit = sbufReadU16(src);
currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->angle_limit = sbufReadU8(src);
sbufReadU8(src); // was pidProfile.levelSensitivity
}
if (sbufBytesRemaining(src) >= 4) {