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.
Previously only a single bitmapped parameter was available in the cli but this wasn't very useful as the users would have to understand the bit positions to enable/disable warning options. This change exposes each warning item as a separate parameter.
Reorder the stats field enumeration to match the actual on-screen display order. Needed to support changes in the configurator so that it will also disply the selections in the same order.
Going forward if there are any changes to the on-screen display order of the post-flight statistics then the enumeration must be updated to match.
Previously the flags controlling the enabled OSD stats were stored as an array of boolean. This change reduces config storage by storing the flags as bits inside a single uint32.
The telemetry data provides eRPM/100. Added a `motor_poles` parameter (defaulting to 14) that is used to calculate the physical RPM.
RPM = (telemetry_rpm * 100) / (motor_poles / 2)
Most motors we commonly use are 14 poles, but the user can adjust if needed for their setup.
Also calculate actual RPM for DEBUG_ESC_SENSOR_RPM, but to fit with in int16 the log value will be RPM/10.
* PID controller unittest
* Clean code for yaw spin recovery
* Yaw spin recovery optimizations
* Flash size optimizations, use 50% throttle when airmode is off, and override pidsum_limit_yaw
Also rebasing from betaflight/master
Previously only vbat_scale was exposed. Adds vbat_divider and vbat_multiplier parameters.
Note that all of these parameters only apply to the first voltage sensor (VOLTAGE_SENSOR_ADC_VBAT). There is the capability to have multiple sensors and those will not have their parameters exposed. Currently there are no target definitions that use multiple sensors.
Adds new throttle_limit_type and throttle_limit_percent parameters that allow the pilot to limit the maximum commanded throttle seen by the flight controller by either scaling or clipping the maximum throttle. The default is 100 representing no limiting. So as an example, if a pilot was to set throttle_limit_type = SCALE and throttle_limit_percent = 80 the throttle input would scale from 0 to 80% based on full stick deflection from the radio.
This capability replaces the method of limiting throttle in the radio which some pilots are using to manage throttle on tight courses or reduce overall battery consumption when the extra power isn't needed.
There is no effect on the maximum throttle seen by the motors so the mixer still has full authority.
