Extends the possible OSD warnings elements from 16 to 32.
Adds a warnings count to MSP data to enable improved handling of warnings added to the firmware but not in the Configurator. Incremental Configurator development required.
Adds support to persist the RTC (if set) across the reboot if entering mass storage mode for on-board flash. The value is then used as the timestamp for the files exposed in the virtual FAT32 filesystem. The files will then have reasonable creation dates when copied to the host computer.
If the RTC is not set (or supported), then the default timestamp of 2018-01-01 will be used (unchanged from previous).
Included some improvements to the RTC functions and exposed the `tz_offsetMinutes` in the `timeConfig` PG. Support already existed for timezone offsets but the parameter wasn't exposed to the user and couldn't be set.
Move timezone offset up a layer as a parameter to systemResetToMsc()
Adds support for specifying a custom timezone offset from both the CLI and MSP calls to enter mass storage mode.
Added an option timezone offset minutes to the CLI `msc` command. If no parameter is specified then the default as specified by `timezone_offset_minutes` will be used. So to reboot into mass storage mode and force the file timestamps to be in UTC, use `msc 0`.
Added reboot message `MSP_REBOOT_MSC_UTC` to support rebooting into mass storage mode and forcing the timestamps to use UTC time (0 offset). The Configurator will need to be modified to use this message for operating systems that expect UTC times for FAT file systems (like Linux).
Previously the logic would process all possible ranges defined by MAX_ADJUSTMENT_RANGE_COUNT even if some (or even all) ranges were not configured. This change first builds a list of configured ranges and only processes thos entries.
Reduces CPU load by skipping unnecessary processing and minimizes the impact of increasing the number of available ranges.
Workaround to make the firmware tolerant of missing Configurator support in versions 10.4.1 or less. Will still work properly when Configurator support is added.
OSD and telemetry output of vario data is enabled on F4 and up targets
that have
USE_BARO defined. Settings and telem elements are removed from all
other targets.
F3 targets are not supported to free memory.
Harmonized (and partly corrected) all occurancies of gpsSol.llh.alt and getEstimatedAltitude() to handle altiude sourced in cm resolution.
This was introduced by GSP_RESCUE/RTH.
Introduced a naming convention that include the unit into the variable/function names:
gpsSol.llh.alt -> gpsSol.llh.alt_cm
getEstimatedAltitude() -> getEstimatedAltitude_cm()
Restructures the PID controller to decouple feedforward from D.
Cleaned up the structure of the PID controller; moved some feature-based enhancements out of the main structure.
Feedforward becomes a separate component of the PID controller and there is now:
f_pitch
f_roll
f_yaw
The default values of 60 for pitch and roll matches the default setpoint weight used in BF3.4. Yaw previously had no setpoint weight capability so the default here needs to be discussed. Currently it's also set to 60 and flight testing seems positive. Feedforward on yaw adds a lot of value so I don't think we want to default to 0. Instead we need decide on the default.
All occurences of setpoint weight have been replaced by feedforward. "setpoint_relax_ratio" has been renamed to "feedforward_transition".
The pidSum now consists of P + I + D + F.
D has been added back for yaw (disabled by default with d_yaw = 0). We've found little need for D for normal quads but it may have value for other configurations - particularly tricopters.
Updated CMS menus to support adjusting the feedforward for each axis.
Changed the default for "rc_interp_ch" to be "RPYT". Need yaw to be smoothed to support feedforward.
Open issues:
Needs BFC support
- Need to add support for the axis "F" gains.
- Remove "setpoint weight" slider.
- Rename "D Setpoint transition" to "Feedforward transition"
Needs BBE support
- Header "setpoint_relaxation_ratio" has been renamed "feedforward_transition"
- Header "dterm_setpoint_weight" has been replaced with an array named "feed_forward_weight".
example: H feed_forward_weight:65,60,60 (R,P,Y)
- PID component "AXISF" has been added for all axes. Should be handled like P, I and D values.
- PidSum calculation needs to include F.
Needs LUA script support
- Support the renamed "setpoint_relax_ratio".
- Support for feedforward weight on all 3 axes.
Open code issues:
- rc_adjustments.c - support for adjusting feedforward weight for all axes. Currently only supporting roll - needs coordination with BFC.
