Merge branch 'master' into development

.travis.yml

@@ -2,51 +2,51 @@ env:
 #  - RUNTESTS=True
 #  - PUBLISHMETA=True
 #  - PUBLISHDOCS=True
-  - TARGET=AFROMINI
+#  - TARGET=AFROMINI
-  - TARGET=AIORACERF3
+#  - TARGET=AIORACERF3
-  - TARGET=AIR32
+#  - TARGET=AIR32
-  - TARGET=ALIENFLIGHTF1
+#  - TARGET=ALIENFLIGHTF1
   - TARGET=ALIENFLIGHTF3
   - TARGET=ALIENFLIGHTF4
   - TARGET=BLUEJAYF4
   - TARGET=CC3D
   - TARGET=CC3D_OPBL
-  - TARGET=CHEBUZZF3
+#  - TARGET=CHEBUZZF3
-  - TARGET=CJMCU
+#  - TARGET=CJMCU
-  - TARGET=COLIBRI
+#  - TARGET=COLIBRI
-  - TARGET=COLIBRI_RACE
+#  - TARGET=COLIBRI_RACE
-  - TARGET=DOGE
+#  - TARGET=DOGE
-  - TARGET=EUSTM32F103RC
+#  - TARGET=EUSTM32F103RC
-  - TARGET=F4BY
+#  - TARGET=F4BY
-  - TARGET=FURYF3
+#  - TARGET=FURYF3
   - TARGET=FURYF4
-  - TARGET=IRCFUSIONF3
+#  - TARGET=IRCFUSIONF3
-  - TARGET=KISSFC
+#  - TARGET=KISSFC
-  - TARGET=LUX_RACE
+#  - TARGET=LUX_RACE
-  - TARGET=MICROSCISKY
+#  - TARGET=MICROSCISKY
-  - TARGET=MOTOLAB
+#  - TARGET=MOTOLAB
   - TARGET=NAZE
-  - TARGET=OLIMEXINO
+#  - TARGET=OLIMEXINO
-  - TARGET=OMNIBUS
+#  - TARGET=OMNIBUS
-  - TARGET=OMNIBUSF4
+#  - TARGET=OMNIBUSF4
-  - TARGET=PIKOBLX
+#  - TARGET=PIKOBLX
-  - TARGET=PORT103R
+#  - TARGET=PORT103R
   - TARGET=REVO
-  - TARGET=REVONANO
+#  - TARGET=REVONANO
-  - TARGET=REVO_OPBL
+#  - TARGET=REVO_OPBL
-  - TARGET=RMDO
+#  - TARGET=RMDO
-  - TARGET=SINGULARITY
+#  - TARGET=SINGULARITY
-  - TARGET=SIRINFPV
+#  - TARGET=SIRINFPV
   - TARGET=SPARKY
-  - TARGET=SPARKY2
+#  - TARGET=SPARKY2
-  - TARGET=SPARKY_OPBL
+#  - TARGET=SPARKY_OPBL
   - TARGET=SPRACINGF3
   - TARGET=SPRACINGF3EVO
-  - TARGET=SPRACINGF3MINI
+#  - TARGET=SPRACINGF3MINI
   - TARGET=STM32F3DISCOVERY
-  - TARGET=VRRACE
+#  - TARGET=VRRACE
-  - TARGET=X_RACERSPI
+#  - TARGET=X_RACERSPI
-  - TARGET=ZCOREF3
+#  - TARGET=ZCOREF3
 # use new docker environment
 sudo: false
 

src/main/config/config.c

@@ -208,7 +208,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[ROLL] = 20;
     pidProfile->P8[PITCH] = 60;
     pidProfile->I8[PITCH] = 60;
-    pidProfile->D8[PITCH] = 25;
+    pidProfile->D8[PITCH] = 22;
     pidProfile->P8[YAW] = 80;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
@@ -234,15 +234,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->yaw_lpf_hz = 80;
-    pidProfile->rollPitchItermIgnoreRate = 200;
+    pidProfile->rollPitchItermIgnoreRate = 130;
-    pidProfile->yawItermIgnoreRate = 50;
+    pidProfile->yawItermIgnoreRate = 32;
     pidProfile->dterm_filter_type = FILTER_BIQUAD;
     pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
     pidProfile->dterm_notch_hz = 0;
     pidProfile->dterm_notch_cutoff = 150;
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
     pidProfile->vbatPidCompensation = 0;
-    pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
+    pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
 
     // Betaflight PID controller parameters
     pidProfile->ptermSetpointWeight = 75;
@@ -312,10 +312,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
 {
 #ifdef BRUSHED_MOTORS
     escAndServoConfig->minthrottle = 1000;
-    escAndServoConfig->maxthrottle = 2000;
 #else
-    escAndServoConfig->minthrottle = 1150;
+    escAndServoConfig->maxthrottle = 2000;
-    escAndServoConfig->maxthrottle = 1850;
+    escAndServoConfig->minthrottle = 1070;
 #endif
     escAndServoConfig->mincommand = 1000;
     escAndServoConfig->servoCenterPulse = 1500;

src/main/fc/mw.c

@@ -537,7 +537,7 @@ void processRx(void)
      This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
     if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
         pidResetErrorGyroState();
-        if (currentProfile->pidProfile.zeroThrottleStabilisation)
+        if (currentProfile->pidProfile.pidAtMinThrottle)
             pidStabilisationState(PID_STABILISATION_ON);
         else
             pidStabilisationState(PID_STABILISATION_OFF);

src/main/flight/pid.h

@@ -90,7 +90,7 @@ typedef struct pidProfile_s {
     uint16_t yaw_p_limit;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
-    uint8_t zeroThrottleStabilisation;      // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
+    uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
 
     // Betaflight PID controller parameters
     uint8_t toleranceBand;                  // Error tolerance area where toleranceBandReduction is applied under certain circumstances

src/main/flight/pid_betaflight.c

@@ -211,7 +211,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         // -----calculate I component.
         // Reduce strong Iterm accumulation during higher stick inputs
         float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-        float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
+        float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
 
         // Handle All windup Scenarios
         // limit maximum integrator value to prevent WindUp

src/main/io/serial_cli.c

@@ -451,6 +451,7 @@ static const char * const lookupTableAccHardware[] = {
     "LSM303DLHC",
     "MPU6000",
     "MPU6500",
+    "MPU9250",
     "FAKE"
 };
 
@@ -790,8 +791,8 @@ const clivalue_t valueTable[] = {
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
 #endif
 
-    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  300 } },
+    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  255 } },
-    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  300 } },
+    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  255 } },
     { "rc_expo",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0,  100 } },
     { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
     { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
@@ -842,7 +843,7 @@ const clivalue_t valueTable[] = {
     { "dterm_notch_hz",             VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0,  500 } },
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
     { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
-    { "zero_throttle_stabilisation",VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
+    { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
     { "pid_tolerance_band",         VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
     { "tolerance_band_reduction",   VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },
     { "zero_cross_allowance",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
@@ -927,7 +928,6 @@ const clivalue_t valueTable[] = {
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
 
-
 typedef union {
     int32_t int_value;
     float float_value;
@@ -940,8 +940,6 @@ static void cliPrint(const char *str);
 static void cliPrintf(const char *fmt, ...);
 static void cliWrite(uint8_t ch);
 
-#define printSectionBreak() cliPrintf((char *)sectionBreak)
-
 #define COMPARE_CONFIG(value) (masterConfig.value == defaultConfig.value)
 static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
 
@@ -1731,8 +1729,6 @@ static void printServo(uint8_t dumpMask, master_t *defaultConfig)
         );
     }
 
-    printSectionBreak();
-
     // print servo directions
     unsigned int channel;
     for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
@@ -2022,10 +2018,9 @@ static void cliSdInfo(char *cmdline) {
                     ; // Nothing more detailed to print
                 break;
             }
-
-            cliPrint("\r\n");
         break;
     }
+    cliPrint("\r\n");
 }
 
 #endif
@@ -2326,14 +2321,12 @@ static void printConfig(char *cmdline, bool doDiff)
     if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
         cliPrint("\r\n# version\r\n");
         cliVersion(NULL);
-        cliPrint("\r\n");
 
         if ((dumpMask & (DUMP_ALL | DO_DIFF)) == (DUMP_ALL | DO_DIFF)) {
             cliPrint("\r\n# reset configuration to default settings\r\ndefaults\r\n");
         }
 
-        printSectionBreak();
+        cliPrint("\r\n# name\r\n");
-        cliPrint("# name\r\n");
         printName(dumpMask);
 
         cliPrint("\r\n# mixer\r\n");
@@ -2460,7 +2453,7 @@ static void printConfig(char *cmdline, bool doDiff)
         cliPrint("\r\n# adjrange\r\n");
         printAdjustmentRange(dumpMask, &defaultConfig);
 
-        cliPrintf("\r\n# rxrange\r\n");
+        cliPrint("\r\n# rxrange\r\n");
         printRxRange(dumpMask, &defaultConfig);
 
 #ifdef USE_SERVOS
@@ -2519,15 +2512,10 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *def
 {
     if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
         return;
-
     changeProfile(profileIndex);
     cliPrint("\r\n# profile\r\n");
     cliProfile("");
-
-    printSectionBreak();
     dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
-
-    cliRateProfile("");
 }
 
 static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig)
@@ -2537,8 +2525,6 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, maste
     changeControlRateProfile(rateProfileIndex);
     cliPrint("\r\n# rateprofile\r\n");
     cliRateProfile("");
-    printSectionBreak();
-
     dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
 }
 
@@ -3338,7 +3324,7 @@ static void cliVersion(char *cmdline)
 {
     UNUSED(cmdline);
 
-    cliPrintf("# BetaFlight/%s %s %s / %s (%s)",
+    cliPrintf("# BetaFlight/%s %s %s / %s (%s)\r\n",
         targetName,
         FC_VERSION_STRING,
         buildDate,