GPS_RESCUE and subsequent changes increased gpsSol.llh.alt from 0.1m per lsb UNIT16 to 0.01m per lsb INT32.
The transfer of altitude data via MSP had to be corrected by factor 10 rescalings to be backwards compatible.
Fixes underflows at negative altitude (below MSL) and overflows at altitude higher than 655.35m
Corrected parenthesis in maths.h avoid incorrect equations if arguments contain expressions.
The `failsafe_kill_switch` parameter has been renamed to
`failsafe_switch_mode` and it determines what happens
when the Failsafe mode is activated with an AUX switch.
It takes one of three values:
0 - simulates RC signal loss - thus activates Stage1 failsafe
(former behavior when kill switch option was OFF)
1 - disarms immediately
(former behavior when kill switch option was ON)
2 - activates the failsafe procedure (Stage2) immediately (new)
Previously the flags controlling the enabled OSD stats were stored as an array of boolean. This change reduces config storage by storing the flags as bits inside a single uint32.
* Dual-stage Gyro Filtering: PT1, FKF, and Biquad RC+FIR2
* Builds on the previous work of apocolipse.
* Fixes 'stage2'/'stage1' mis-naming to reflect where it is applied in the loop.
That is, the older Biquad, PT1, Denoise (FIR) filters are 'stage2' - applied
after dynamic and static notches (if enabled), and the controversial PT1,
'fast Kalman' filter, and Biquad RC+FIR2 filters, are 'stage1'. e.g. before
dynamic notch.
* FKF bruteforce Kalman gain removed. Calculate from half of PT1 RC constant,
automatically taking loop-time into account.
* New union type definition for stage1 filtering.
* New gyro sensor members for stage1 filter application function and states for
all three supported filter types
* New enum types for stage1 v. stage2. dterm lowpass type references 'stage2'.
* updates to CMS/MSP/FC to allow compilation (untested, probably breaks
MSP, Lua, and ~comms with BFC~).
* Refactors FKF initialization, update and associated structures to be faster by
not continuously calculating 'k'. Filter gain is calculated once during
initialization from RC constant as per PT1 and Biquad RC+FIR2. It was
discovered this converges to static value within 100 samples at 32kHz, so can
be removed. Remove related interface (CLI) settings.
* update dterm_lowpass_type to use new 'TABLE_LOWPASS2_TYPE' (biquad/pt1/FIR)
* Stage 1 defaults to PT1, 763Hz (equivalent to Q400 / R88 from quasi-kalman
filter) - suitable for 32kHz sampling modes. Can be switched to Biquad
RC+FIR2, and FKF.
* Update `#if defined(USE_GYRO_SLEW_LIMITER) to `#ifdef`.
* Includes optional Lagged Moving Average 'smoothing' pipeline step, applied (in
code) after the output of stage1.
* (diehertz): Removed redundant pointers from gyro filtering
* blackbox: fix indentation
* cms IMU menu: fix indentation
* filters: remove USE_GYRO_FIR_FILTER_DENOISE in filter type enum
* gyro sensors: go back to `if defined()` form. for slew limiter
* gyro sensors: increment parameter group version
* due to non-appending changes, the version must be bumped.
* Second PT1 on DTerm
This PR replaces the default biquad filter with a second PT1 set to
200Hz.
Basically allows the user to enable a second, set point configurable,
PT1 type first order low-pass filter on DTerm.
This is useful because most noise in most logs arises from D, not P.
The default is set to on, at twice the normal Dterm setpoint. This
provides greater Dterm cut than a single PT1, and twice the steepness
of cut above the second setpoint. Modelling shows significant
reductions in higher frequency Dterm noise with only minor additional
delay.
The improvement in noise performance will be less than for biquad, but
the delay is considerably less.
If with the default settings the overall noise improves a lot, it may
be possible bring D both filtering set points to higher numbers (e.g.
140/280), or alternatively remove other filters such as the notch
filters, while maintaining an adequate level of control over noise.
* Update names, old defaults, fix whitespace
Defaults restored to biquad with second PT1 off. ‘lpf’ retained as
abbreviation for values, otherwise generally remove ‘Filter’ where
redundant, replace ‘FilterLpf’ with ‘Lowpass’, etc, thanks Fujin and
DieHertz
* Remove underscore in lowpass_2, add hz to setpoint for lowpass
Thanks DieHertz
* completed replacing lpf with lowpass, added _hz to all lowpass set points in profile
Thanks DieHertz
* fix whitespace
fixed whitespace in settings.c
* whitespace attempt #57
* change lpf to lowpass where appropriate elsewhere
Note did not change OSD abbreviations, they are still LPF, and did not
change gyro_lpf anywhere.
* second attempt at a simple PT1 implementation
Basically copied from the DtermNotch implementation
* Second PT1 on DTerm
This PR replaces the default biquad filter with a second PT1 set to
200Hz.
Basically allows the user to enable a second, set point configurable,
PT1 type first order low-pass filter on DTerm.
This is useful because most noise in most logs arises from D, not P.
The default is set to on, at twice the normal Dterm setpoint. This
provides greater Dterm cut than a single PT1, and twice the steepness
of cut above the second setpoint. Modelling shows significant
reductions in higher frequency Dterm noise with only minor additional
delay.
The improvement in noise performance will be less than for biquad, but
the delay is considerably less.
If with the default settings the overall noise improves a lot, it may
be possible bring D both filtering set points to higher numbers (e.g.
140/280), or alternatively remove other filters such as the notch
filters, while maintaining an adequate level of control over noise.
* Rebase
* Remove underscore in lowpass_2, add hz to setpoint for lowpass
Thanks DieHertz
* completed replacing lpf with lowpass, added _hz to all lowpass set points in profile
Thanks DieHertz
* fix whitespace
fixed whitespace in settings.c
* whitespace attempt #57
* change lpf to lowpass where appropriate elsewhere
Note did not change OSD abbreviations, they are still LPF, and did not
change gyro_lpf anywhere.
* second attempt at a simple PT1 implementation
Basically copied from the DtermNotch implementation
* Whitespace fix - thanks, Ledvinap
* Fix PG issue
by moving added dterm_lowpass2_hz to bottom of struct
* Got rid of redundant indirection
* Fixed indentantion shifts
* Append the target name to the response of MSP_BOARD_INFO
This allows MSP clients to retrieve the actual target name, which
is useful for e.g. automatically upgrading the firmware on a board
without asking the user to select the target manually or to present
a warning dialog if we detect the user has chosen the wrong target.
* Output wether a board uses VCP in MSP_BOARD_INFO
This allows the configurator to detect if the board uses VCP
without using an external list of boards.
* Use a single bit to output wether the board uses VCP
This lets us use the remaining 7 bits for other flags.
Also, output if the board has softserial support using the next
bit.
