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120hz altitude data used in GPS Rescue

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Disarm on crash flip recovery or impact while in do nothing mode
add blackbox headers for new fields
rearrange altitude factors
fix ibus uint16 for estimatedVario
update GPS altitude at 120hz
get GPS derivative from error
PT2 filter on GPS derivative
remove acceleration element
move altitude filtering to position.c
calculate altitude derivative in position.c for vario
filter vario with PT1
update pg in position and baro
field and test tuning from field tests
land 3x faster from higher altitude
PT2 vario for checking GPS
This commit is contained in:
ctzsnooze 2022-08-29 20:30:49 +10:00
parent e1cafc0434
commit b88e73d137
12 changed files with 261 additions and 251 deletions
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13
src/main/cli/settings.c
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@ -467,7 +467,7 @@ static const char * const lookupTableGyroFilterDebug[] = {
"ROLL", "PITCH", "YAW"
};
static const char * const lookupTablePositionAltSource[] = {
static const char * const lookupTablePositionAltitudeSource[] = {
"DEFAULT", "BARO_ONLY", "GPS_ONLY"
};
@ -630,7 +630,7 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableGyroFilterDebug),
LOOKUP_TABLE_ENTRY(lookupTablePositionAltSource),
LOOKUP_TABLE_ENTRY(lookupTablePositionAltitudeSource),
LOOKUP_TABLE_ENTRY(lookupTableOffOnAuto),
LOOKUP_TABLE_ENTRY(lookupTableFeedforwardAveraging),
LOOKUP_TABLE_ENTRY(lookupTableDshotBitbangedTimer),
@ -733,8 +733,6 @@ const clivalue_t valueTable[] = {
{ "baro_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_device) },
{ "baro_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_address) },
{ PARAM_NAME_BARO_HARDWARE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_noise_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) },
{ "baro_vario_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_vario_lpf) },
#endif
// PG_RX_CONFIG
@ -1669,8 +1667,11 @@ const clivalue_t valueTable[] = {
#endif
// PG_POSITION
{ "position_alt_source", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_POSITION_ALT_SOURCE }, PG_POSITION, offsetof(positionConfig_t, altSource) },
{ "position_alt_prefer_baro", VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_POSITION, offsetof(positionConfig_t, altPreferBaro) },
{ "altitude_source", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_POSITION_ALT_SOURCE }, PG_POSITION, offsetof(positionConfig_t, altitude_source) },
{ "altitude_prefer_baro", VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_POSITION, offsetof(positionConfig_t, altitude_prefer_baro) },
{ "altitude_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 1000 }, PG_POSITION, offsetof(positionConfig_t, altitude_lpf) },
{ "altitude_d_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 1000 }, PG_POSITION, offsetof(positionConfig_t, altitude_d_lpf) },
// PG_MODE_ACTIVATION_CONFIG
#if defined(USE_CUSTOM_BOX_NAMES)
{ "box_user_1_name", VAR_UINT8 | HARDWARE_VALUE | MODE_STRING, .config.string = { 1, MAX_BOX_USER_NAME_LENGTH, STRING_FLAGS_NONE }, PG_MODE_ACTIVATION_CONFIG, offsetof(modeActivationConfig_t, box_user_1_name) },