Allows the accelerometer calibration to be exported in a dump or diff and restored after upgrading.
The accelerometer calibration is specific to the frame and orientation in which the flight controller is installed. The users should have a way to restore a correct setting during upgrades without having to recalibrate after every flash. Replicates the way the magnetometer calibration is exported.
Added acc_calibration as an array type to the CLI. For consistency changed magnetometer representation from magzero_X, magzero_Y, magzero_Z to be a single array mag_calibration.
* CF/BF - Set STM32F7 SPI FAST clock to 13.5Mhz - Gyros not stable at
27mhz.
* CF/BF - Initial SPRacingF7DUAL commit.
Support two simultaneous gyro support (code by Dominic Clifton and Martin Budden)
There are new debug modes so you can see the difference between each gyro.
Notes:
* spi bus instance caching broke spi mpu detection because the detection
tries I2C first which overwrites the selected bus instance when using
dual gyro.
* ALL other dual-gyro boards have one sensor per bus. SPRacingF7DUAL is has two per bus and thus commit has a lot of changes to fix SPI/BUS/GYRO initialisation issues.
* CF/BF - Add SPRacingF4EVODG target.
This target adds a second gyro to the board using the SPI pads on the back of the board.
* CF/BF - Temporarily disable Gyro EXTI pin to allow NEO target to build.
Removed parameters runaway_takeoff_threshold (hardcode to 60) and runaway_takeoff_activate_delay (hardcode to 75). The previous default values worked well and required no tuning.
Enhance the deactivate logic to remove the R/P/Y stick activity condition once throttle reaches 2X runaway_takeoff_deactivate_throttle_percent. Additionally reduce the runaway_takeoff_deactivate_delay by 50% when throttle exceeds 75%.
* Previously we allowed the user to override from the Biquad RC+FIR2 to the FKF
impl. at compile time via `make OPTIONS=USE_GYRO_FAST_KALMAN`.
* This was regressed in PR #5144 / commit: 4dd65a2. Restores previous behavior.
* Generate 'k' per the code for the PT1
* Adjust function prototypes/functions to accept f_cut/dT where applicable
* Adjust gyro configuration, parameter group, interface settings to suit
Menu including:
- Voltage meter selection
- Current meter selection
- Max cell voltage (moved from MISC menu)
- Voltage scale adjust (moved from MISC menu)
- ADC current scale and offset adjust
- Virtual current scale and offset adjust
The previous logic used an absolute throttle value of 1350us which won't work in 3D mode and resulted in airmode being activated on arming. Renamed the parameter to airmode_start_throttle_percent and set the default to 32 (equivalent to what the previous setting of 1350 when min_check is taken into account).
To preserve MSP functionality the value is transformed to/from microsecond values (32 becomes 1320) when interfaced.
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
