DSHOT timing improvements:
If DSHOT telemetry is still being received, wait (12612)
Optimise DSHOT cache management loops (12672)
Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT (12685)
* simple failsafe debug
* simplify areSticksActive
use getRcDeflectionAbs and fix unitTest
* bugfix to require stick input to re-take control
* small refactor
Add ability for pilots to log CRC errors, unknown frames, LQ, and RSSI.
Added macro to debug.h to simplify incrementing debug values without the need for local statics in client code.
Optimizes the display to use available space by calculating the label length vs. the screen size instead of a fixed 12 character limit.
For lookup table strings that are still too long the value is displayed as a scrolling ticker so the user can see the entire name.
Make as many variables as possible private.
Re-work settings application into state machine.
Remove legacy interfaces.
Update OSD interface following implementation rework.
Review updates.
Refactor the gyro filtering to move the filters from the individual gyro sensor and make them part of the logical gyro object. For dual-gyro mode the sensors are averaged BEFORE and then filtering is applied. This differs from the current structure where filtering is applied individually to each sensor and the results were averaged at the end.
Significantly reduces filtering processing load and enables RPM Filtering for dual-gyro mode.
* Add BARO debug mode.
* BMP085 - Fix EOC and XCLR initialisation.
* BMP085 - update previously dead code.
* BMP280 - Move t_fine out of the calibration data, since their usage is mixed.
* BMP280 - Move static_assert closer to definition.
Captures packet quality statistics per motor to provide a platform for troubleshooting and in-flight alarms or warnings.
Continuously monitors and captures packet stats over the past second to be used to determine DSHOT telemetry link quality.
Update the CLI to move the DSHOT telemetry data/stats out of the `status` command and into a dedicated `dshot_telemetry_info` command. Reformatted the motor data to include the invalid packet percentages. Will aid in debugging by identifying ESC's that may be misconfigured (not supplying data), or those with problems generating high invalid packet percentages.
Data can later be used to generate OSD and beeper-based warnings if invalid packet percentages exceed thresholds.
Included a blackbox logging debug mode (`set debug_mode = DSHOT_RPM_ERRORS`) to record the per-motor invalid packet percentages in hundredths of a percent (so 123 is 1.23%).
Directly and easily set the minimum value for D on pitch and roll.
- Boost back to the primary D setting is generated from gyro or setpoint inputs.
- Setpoint input is stick derived, faster by 10ms approx, and does not respond to propwash.
- Gyro input is motor derived and slower, but responds to propwash
- timing value sets balance between gyro (100) and setpoint (0) boost factors
- gain value sets overall sensitivity
- default D mins are 20 roll 22 pitch
- default D is 35, 38; if undefined then normal 30, 32 values
TUNING
- D value to flip overshoot control
- D_min to noise, lower values mean cooler motors but perhaps more propwash.
- Advance, higher values bring the boost in earlier, and stronger overall, useful for very high flip rates, but dampen stick responsiveness slightly.
- Gain value adjust against logs, checking maximal boost with flips and some rise with propwash, should be edging to get up from the min value in normal flight.
This code cuts D by a specified percentage durning normal flight.
It lets D smoothly rise up to normal during rapid gyro moves like flips and rolls, and increase during prop wash events.
D should now be tuned to values the 'normal' 30-45 range.
If D is 40, a dterm_cut_percentage of 65 will cut D to 14 in normal flight, but the quad will still get full 40 of D to control bounce-back after flips and about 25 of D during strong prop wash.
The dterm_cut_percentage can be adjusted via the OSD, from the D filtering page.
Adding d_cut results in cooler motors, lower amounts of noise in motor traces and faster reactions to quick stick inputs.
Too high a dterm_cut_percentage may bring out P oscillation from lack of D. Values of 70% are generally OK.
Input is gyro differential (delta). Frequencies above 40hz (above propwash) are attenuated with a configurable (dterm_cut_range_hz) biquad filter. Lower values for range can be used if the quad is very noisy or gets low frequency D resonant oscillation. Up to 50 or 60hz may suit clean quads where prop wash control is the main priority. Too high a range value results in D being boosted from noise in normal flight.
The boost signal is 'integrated, smoothed and delayed' with a 7hz PT1 'dterm_cut_lowpass_hz' filter. The default of 7Hz gives about the right amount of smoothing and delay. Higher numbers cause the boost to come on faster, with less delay. Lower values delay the boost effect and cause it to last longer.
The dterm_cut_gain amount controls the strength of the boost effect by amplifying the input to the boosting effect. If the quad is flow gently, a higher gain value may be needed to gain full boost.
Logging with set debug_mode = D_CUT allows recording of realtime D values on roll and pitch into debug 2 and 3. The reatime D value should reach its set maximum during rapid turns, ideally at about the time D itself peaks. If it fails to reach the maximum, gain should be increased.
The D_Cut feature is not enabled on LUXV2RACE, OMNIBUS, SPRACINGF3NEO because there isn't enough flash space.
Adds in flight monitoring of the rx frame rate and adapts the filters if the frame rate changes. Primarily to add support for Crossfire with its ability to switch from 150hz to 50hz (and back) under some circumstances. Will work with any protocol - not CRSF specific. So if future receivers add the ability to switch frame rates dynamically the logic should support them.
If the current rx frame rate is more than +-20% from the previously detected rate, then the process will retrain for the next 50 samples as long as the rate continues to be outside the 20% tolerance. Once 50 samples are collected the new frame rate is updated and the filter cutoffs are adjusted. Only filters set with their cutoffs = 0 (auto) will be adjusted. There is a 2 second guard time after a successful update before retraining can start again to prevent rapid switching back and forth.
The logic is optimized to not perform any training if the filters are set to manual cutoffs. So there is an opportunity for advanced users to choose specific cutoffs and reduce the PID loop load slightly. However this is not recommended for Crossfire or other protocols that might change their rx frame rate.
Updated the output of the `rc_smoothing_info` cli command to match the revised logic.
Adds an additional rc channel smoothing algorithm that can be used in place of the default rc interpolation. Utilizing a filter-based approach the smoothing has lower latency and is immune to loop time jitter that can introduce artifacts. Additionally a smoothing filter is added to the setpoint derivative used to produce D-term setpoint weight resulting in a smoother effect on D.
The default setting is to use the previous interpolation logic and there are no changes unless the optional method is selected.
Configuration:
rc_smoothing_type: (INTERPOLATION | FILTER) - defaults to INTERPOLATION
rc_smoothing_input_hz: (0-255) - sets the rc channel input filter cutoff in Hz. Default value of 0 will enable auto calculation based on received RX frame rate.
rc_smoothing_derivative_hz: (0-255) - sets the setpoint weight derivative filter cutoff in Hz. Default value of 0 will enable auto calculation based on received RX frame rate.
rc_smoothing_debug_axis: (ROLL | PITCH | YAW | THROTTLE) - determines which axis is logged in the debug fields
Debug logging:
set debug_mode = RC_SMOOTHING
debug(0) = raw un-smoothed rc channel data
debug(1) = raw un-smoothed setpoint derivative
debug(2) = filtered setpoint derivative before applied to setpoint weight
debug(3) = auto-calculated filter cutoff frequency base after sampling the rx frame rate
Notes:
Currently only enabled for F4/F7 due to flash size limitations
Uses the rc_inter_ch parameter to determine which channels are smoothed (same as default interpolation logic)
The auto filter cutoff calculation will set a cutoff frequency of 30Hz for typical SBUS frames (9ms). 11ms Spektrum will calculate to approximately 25Hz. The user can manually enter the filter cutoffs to be used instead of the auto calculation. The current default calculation was chosen as a good starting point but may be adjusted in the future.
Setting a lower cutoff frequency will result in more smoothing, but also more delay.
There currently isn't any support for receivers that change their rx frame rate dynamically. So for CRSF users wishing to use this alternate smoothing method should change their settings to lock the rx frame rate for now. Support for auto-adjusting to new frame rates in flight will likely be added.
