Bugfix potential sanity check failure on negative ascent or slow descent
Bugfix sanity failure on low climb authority builds
Update GPS Rescue OSD, CLI, Blackbox names and sequence
Allow zero climb altitude and return speed
Change some GPS Rescue altitude names
max rescue yaw rate = 180 deg/s
check yaw error angle faster update rate
Yaw faster
Initate yaw smoothly.
Increase throttle D during faster descents
climb without rotating
smoother transition to fly home
fix maxAlt bug by using float
update heading debug to include groundSpeed etc
altitude lowpass default 3Hz not 4Hz
increase disarm threshold from 1.0g to 1.5g
PT3 on pitch at 4Hz.
Disarm on crash flip recovery or impact while in do nothing mode
add blackbox headers for new fields
rearrange altitude factors
fix ibus uint16 for estimatedVario
update GPS altitude at 120hz
get GPS derivative from error
PT2 filter on GPS derivative
remove acceleration element
move altitude filtering to position.c
calculate altitude derivative in position.c for vario
filter vario with PT1
update pg in position and baro
field and test tuning from field tests
land 3x faster from higher altitude
PT2 vario for checking GPS
single minimum GPS satellite setting
single required GPS satellite setting
CLI Baro vs GPS trust user interface
GPS trust refactoring
allow arming with GPS_FIX even if not enough sats
required sats must be present to arm
set required sat count to 8
add blackbox headers
convert pressure to altitude early
remove median filter
PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot
baro task synced to position task - thanks Steve
PT2 implementation - thanks KarateBrot
ground altitude from filtered altitude
baro cali by average of calibration samples over cal period
adjust vario and smoothing defaults
don't say haveBaroAlt until cal is complete
reduce PIDs since Baro is faster
add baro smoothing values to blackbox header
Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>
- run Ublox GPS units at 10Hz
- Bugfix for level mode offset after a rescue (force gpsRescueAngle[] to zero while idle)
- Bugfix for entering landing mode too high, (ignore landing distance, enter landing mode only on height criteria)
- Remove landing distance.
- Default GPS mode to UBlox, not NMEA
- refactor idle tasks
- don't keep setting targetVelocityCmS to current velocity since it will be set to zero when rotating anyway
- remove unused velocityToHomeCmS
- remove unused max distance to home value
- log current altitude at 100hz in throttle_pid debug
- share the sanity timer code
- fix bug where yaw error should have been absolute
- remove unused code
- refactor rescue phases so intent values are not repeatedly set
- refactor the rescue modes
- fix bug that could fail to set velocity target on fly_home
- refactor to simplify pitch limits
- refactor to MAX and constrainf
- set 2m descent region to improve landing
- fade roll and pitch to zero at 2m from home
