Gryo calibration period can be configured in 1/100 second intervals using `gyro_calib_duration` (default is 125 or 1.25 seconds).
Renamed the `moron_threshold` parameter to `gyro_calib_noise_limit`. Functionally it is unchanged.
Board - FOXEERF405
This board use the STM32F405RGT6 microcontroller and have the following features:
* 1024K bytes of flash memory,192K bytes RAM,168 MHz CPU/210 DMIPS
* The 16M byte SPI flash for data logging
* USB VCP and boot select button on board(for DFU)
* Stable voltage regulation,9V/2A DCDC BEC for VTX/camera etc.And could select 5v/9v with pad
* Serial LED interface(LED_STRIP)
* VBAT/CURR/RSSI sensors input
* Suppose IRC Tramp/smart audio/FPV Camera Control/FPORT/telemetry
* Supports SBus, Spektrum1024/2048, PPM. No external inverters required (built-in).
* Supports I2C device extend(baro/compass/OLED etc)
* Supports GPS
* Supports MPU6000 or ICM20689
I'm flying race with betaflight and on all my race quads I have setpoint on maximum value 2.54. But I feel, that it's not enough. This calculation of setpoint is almost same as old method up to number 2.0 (previously 2.54) but numbers above 2.0 have more aggresive impact on Dterm RC stick commands. With this calculation i found, that value 2.3 is fine for me. 2.3 is equivalent to 6,35 with old calculation method (which was not possible of course, because there is 8bit limit). With higher values have quad much sharper responses and feel more "locked in".
I think, that most freestyle pilots have setpoint at values around 1, so there is almost no change and race pilots using higher values and for those, who are limited by the value 2.54 (like me and my friends) should be solution new setpoint calculation method.
This is my first pull request to betaflight, so I hope, that I did everything well according your rules
Presents the user with the default value for reference when displaying a parameter with the "get" command - but only if the current value differs from the default.
Most cli commands give some feedback if the command was successful. However a few did not return a response to provide an indication that the command was successful. This change adds feedback responses for the following commands:
adjrange
color
led
rxrange
serial
servo
vtx
Data type and variable name cleanup.
Calculate the calibration sum using floats to prevent possibilities of future overflows.
Rename the calibratingG element to cyclesRemaining to be more representative of its purpose. Change its data type to int32_t to avoid calculations with signed and unsigned variables.
Fix the zero offset calculation from the calibration results to return a floating point result rather than using integer math. This may result in slight improvements in reduced gyro drift.
It seems like the gyro calibration sample count overflow fix (#5898) caused a downstream problem with the math to calculate the zero offset. Casting the components of the formula to (float) solves the problem.
Fixes an issue with motor "spikes" when rc interpolation was enabled for throttle. The problem was that the smoothing was happening too late in the sequence and the earlier process subTaskMotorUpdate() would use the unsmoothed throttle value in the mixer if new rx data had come in between the last and current PID loop. Also because the setPointRate was calculated at the end of the smoothing, the PID controller would always be using the value from the previous loop iteration.
