* Removed white spaces and everything that is not new
Rebase on master and update comment
Make TPA lower independent from air mode
Included tpa_breakpoint_lower_vanish option
Changes according to PR comments
Corrected comment for API version
Bugfix in msp.c
Additional TPA breakpoint for low throttle
* Changes according to PR comments
* Update src/main/cms/cms_menu_imu.c
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
* Update src/main/flight/pid_init.c
* TPA optimisations
* improvement, thanks @ledvinap
* update following review comments, thanks karatebrot and ledvinap
* include rx.h in pid_init.c to get PWM_RANGE_MIN
* review suggestion
* Minor pid.c refactoring
* Only calculate unfiltered gyro delta for that debug
Remove unnecessary comment
Change multiplier to factor of 10
* remove some archaic comments
* clarify name of D_LPF_PRE_TPA_SCALE, use inverse in define
* Remove some blank lines
* undo conversion to division thanks -ffast-math
* Refactor Feedforward Angle and RC Smoothing
* update rc_smoothing at regular intervals
* add Earth Ref to OSD, update pid and rate PG
* Initialise filters correctly
* refactoring to improve performance
* Save 24 cycles in Horizon calculations, other optimisations
At a cost of 40 bytes
* save 25 cycles and 330 bytes in rc_smoothing
* feedforward max rate improvements
* typo fix
* Karatebrot's review suggestions part one
* Karatebrot's excellent suggestions part 2
* more efficient if we calculate inverse at init time
Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
* Horizon delay, to ease it in when returning sticks to centre
* fix unit tests after horizon changes
Co-Authored-By: 4712 <4712@users.noreply.github.com>
* horizon_delay_ms, default 500
* fix unit test for feedforward from setpointDelta
* Final optimisations - thanks @Karatebrot for your advice
* increase horizon level strength default to 75 now we have the delay
* restore Makefile value which allowed local make test on mac
---------
Co-authored-by: Jan Post <post@stud.tu-darmstadt.de>
Co-authored-by: 4712 <4712@users.noreply.github.com>
* Angle and Horizon Update for 4.5
* BugFix FF noise Angle Mode on yaw and in level _race mode
* use time constant in ms for angle feedforward smoothing
* refactor to remove unnecessary definition
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Co-authored-by: ChrisRosser <chrisrosser91@gmail.com>
Update to anti-gravity, including removal of the old Step mode, ability to adjust the P contribution (thanks @Limon), PT2 smoothed derivative model, inherent limiting of P boost during extremely fast stick travels to minimise P oscillations, less I during the middle of a throttle up, no I boost on yaw, add hz to cutoff labels
No antigravity on yaw, fix longstanding typo
h
- all CLI parameters related to dynamic idle alone re-named with the `dyn_idle_` prefix
- when linear throttle scaling is active, the user's set idle value is now correct whether dynamic idle is on or off. Previously, the idle value fell when dynamic idle was activated at the same time as linear throttle scaling.
- enabling dynamic idle no longer causes a deadband at full throttle
- the setpoint throttle value sent to Blackbox does not include the dynamic idle offset
- the throttle value sent to the antigravity and dynamic lowpass code includes throttle scaling, but no other modifiers, to avoid false elevation of the apparent throttle position from dynamic idle and unnecessary transient changes in their filter cutoffs
- Dynamic Idle now uses a modified PI controller during active rpm control phase
- the D factor provides early detection of rapid falls in rpm, e.g. in hard chops. It is filtered heavily. Inadequate `dyn_idle_d_gain` may lead to a transient drop in rpm immediately after cutting throttle. Default is 50.
- the P factor provides fast control over rpm during the active control phase. Too much `dyn_idle_p_gain` may cause oscillation in that phase. Note enough and a slow drop in rpm will be inadequately corrected. Default is 50. Needs to be higher with heavier larger props.
- An integral element does most of the work. It prevents enduring offsets from the set rpm. The I gain is high when increasing responding to low rpm, and slow to release. The slow release makes a huge difference and avoids I oscillation. Not enough `dyn_idle_i_gain` and there may be wobble in rpm during the control phase, or the idle value may rise too slowly; too much may cause wobble. Default is 50. Needs to be higher with heavier larger props.
- The DYN_IDLE debug shows idle P, I and D in debugs 0, 1 and 2. minRps stays in debug 3.
- Interactions between throttle and thrust linear, dynamic idle, throttle scaling and throttle boost have been checked and work as they should.
