* Enable retrieval of the BUILD_KEY using MSP2 (#12264)
* Enable retrieval of the BUILD_KEY using MSP2
* Repositioning
* Add releaseName
---------
Co-authored-by: J Blackman <blckmn@users.noreply.github.com>
GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground (#12789)
Restore previous IMU yaw heading behaviour when not in a rescue
Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
fixes not working Ghost on F4xx (#12809)
* fixes not working Ghost on F4xx
* minor fix
In the original line that was replaced, this was IOCFG_AF_PP_UP.
Co-authored-by: Homer <theisotopes@byom.de>
If CS is asserted between transfers then consider bus to be busy for all but owning device (#12604)
* If CS is asserted between transfers then consider bus to be busy for all but owning device
* Track if MAX7456 is mid DMA transfer, not simply that the SPI bus is busy
* Enable SPI DMA TX/RX together
Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com>
Converge IMU faster at higher groundspeed during GPS Rescue (#12738)
* dynamic dcm_kp depending on groundspeed vs velocity to home
* reduce max pitch angle default to 40
* Only 10% of set velocity to home is enough, angle to 45
to reduce chance of sanity check against headwind
* fixes, thanks @KarateBrot
* Feedback from Ledvinap, ensure full pitch and yaw authority in descend
* pitch limit max of 1/3 and dcm_kp gain to 6x max
* apply IMU kP factor to yaw only via ez_ef
* More from @Ledvinap, constrain pitch in descent also
* Fix the velocity error gain, refactoring thanks to Ledvinap
* thanks, Mark!
* fixes, must be fabsf
* make IMU gain twice as sensitive to groundspeed error
* useCOG as float
* Fix unit test
* ensure cogYawGain is zero, except during gps rescue
* update comment after suggestion from ledvinap
* keep roll angle limit consistently at 50% of pitch limit when active
* changes to comments, thanks petr
Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Tri-state USART TX output if load due to powered down peripheral is detected (#12760)
Tri-state USART TX output if loaded due to powered down peripheral being detected
Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com>
DSHOT timing improvements:
If DSHOT telemetry is still being received, wait (12612)
Optimise DSHOT cache management loops (12672)
Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT (12685)
DShot zero between beacon commands from 12544
Make beacon command timing independent of audio beeper
Send DShot zero between beacon commands.
Use cmpTimeUs for time comparisons
Fix ICM426XX AA filter (#12444)
* Change ICM426XX gyro initialization
- Shut down Acc and Gyro before setting non-GYRO_ODR, ACCEL_ODR, GYRO_FS_SEL, ACCEL_FS_SEL, GYRO_MODE, ACCEL_MODE registers
- Set correct User Bank before writing to registers
* Change ICM426XX GYRO_ACCEL_CONFIG0 to 15 from 14
* Remove unneeded delay commands
Co-authored-by: tbolin <tobias_bolin@hotmail.com>
