Ensure that non legacy mixer types also function as expected.
Also lay the groundwork for an airmode strength setting.
Add const before some values
all mixer types working as expected
- 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.
GPS Rescue flight control logic only knows how to fly multirotors and engaging GPS Rescue on a fixed-wing craft would result in an immediate loss of control and crash. For example, when GPS Rescue is engaged it attempts to yaw to the home direction heading and this won't work on fixed wing (particularly the flying wing mixer with no rudder). Next it tries to attain the target altitude exclusively with throttle control - not how altitude is controlled with a fix-wing aircraft.
Also the GPS Rescue no-fix arming prevention logic shouldn't be applied.
The addition of previous checks of bidirectional DSHOT being enabled were not sufficient. Additionally RPM filter must also be active (harmonics > 0) for dynamic idle to determine the minimum motor RPM and function correctly.
Fixes a problem with dynamic idle not checking for bidirectional DSHOT being enabled. So the code would run but have no RPM data available leading to elevated motor idle.
Fixes a problem with dynamic idle not resetting accumulated static variables that continue to be used when dynamic idle is switched off via a PID profile change. Depending on the state of the variables this could cause excessive motor idle speed. In some cases enough to cause the quad to spontaneously take off on arming or be unable to descend in flight.
Fixes a problem with dynamic idle inappropriately modifying the static `motorOutputLow` that is set based on the chosen motor protocol. Downstream code that relies on this value to determine the acutal motor output range was adversely affected.
First draft
Change method to percentage compensation
fast sag filter with fast battery updates
Renaming, moving factors to init where possible
Names changed, display update frequency reverted to 50hz as it was
50Hz ESC Voltage sampling, battery sag lowpass for PID compensation.
increment PG_PID_PROFILE, element added to end of batteryConfig_t
all HZ_TO_INTERVALs set back to 200 to match battery task frequency of 200hz.
Add a flag to control vbat comp
Flag vbat_sag_comp_enabled allows battery compensation to be enabled or
disabled from the CLI. When disabled the battery voltage task is run at
50Hz and the battery compensation code is not run. When enabled the
voltage task is run at 200Hz and the compensation code runs. Constants
for the fast and slow rates are added to tasks.h. The default value for
vbat_sag_compensation is changed to 100 as we no longer need to use it
to disable the feature.
Fixed variable task frequency setting.
Added config validation to disable sag compensation unless ADC is used as the voltage data source.
Added conditionals, fixed naming.
Fixed build.
Use the final calculated throttle value that may be affected by throttle limiting, throttle boost, etc. instead of the rcCommand input when calculating the virtual current meter.
