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Author	SHA1	Message	Date
ctzsnooze	43c38b26bd	update PID gains, stronger tilt angle correction	2024-11-27 07:43:51 +11:00
ctzsnooze	dc540ce098	Remove unnecessary CLI testing params	2024-11-27 07:43:51 +11:00
ctzsnooze	c52534d170	avoid unnecessary float conversions	2024-11-27 07:43:51 +11:00
ctzsnooze	7f9e69420a	add note about PT1 gain on PT2 filters	2024-11-27 07:43:51 +11:00
ctzsnooze	42597c8339	no need to duplicate wrapping done in sin_approx	2024-11-27 07:43:51 +11:00
ctzsnooze	7e25949465	clean up a bit	2024-11-27 07:43:51 +11:00
ctzsnooze	5b7dff57e3	Proper earth referencing, at last	2024-11-27 07:43:51 +11:00
ctzsnooze	d275388742	shoehorn the unit tests	2024-11-27 07:43:51 +11:00
ctzsnooze	63c93b2652	adjust debug	2024-11-27 07:43:51 +11:00
ctzsnooze	445a69451a	stronger PIDs	2024-11-27 07:43:51 +11:00
ctzsnooze	55814b3bac	earth ref Dterm, not from GPS Speed ... smoother than using GPS Speed and heading	2024-11-27 07:43:51 +11:00
ctzsnooze	c1f79e7d73	lower PID gains, slowly leak iTerm while sticks move	2024-11-27 07:43:51 +11:00
ctzsnooze	76adbc41de	fix unit test	2024-11-27 07:43:50 +11:00
ctzsnooze	249c647e4d	Earth Frame iTerm vector ... appears to work :-)	2024-11-27 07:43:50 +11:00
ctzsnooze	95afb2fa12	add back some target based D	2024-11-27 07:43:50 +11:00
ctzsnooze	dab5242a78	calc D from groundspeed and drift angle	2024-11-27 07:43:50 +11:00
ctzsnooze	94c1f950da	restore debug	2024-11-27 07:43:50 +11:00
ctzsnooze	c856485727	Block yaw, allow in CLI, option to apply yaw correction code	2024-11-27 07:43:50 +11:00
ctzsnooze	5e81ff6977	don't rotate D or A, it reverses their sign inappropriately	2024-11-27 07:43:50 +11:00
ctzsnooze	1a81b3cdf3	absolute rotation vs incremental rotation, fix spike after resetting target location	2024-11-27 07:43:50 +11:00
ctzsnooze	39391acea4	Fix iTerm reset and parameter rotation	2024-11-27 07:43:50 +11:00
ctzsnooze	dc77f67c8e	finally retain iTerm correctly while moving sticks, but reset at start	2024-11-27 07:43:50 +11:00
ctzsnooze	0459a4f082	fix unit tests	2024-11-27 07:43:50 +11:00
ctzsnooze	a8c3278a53	retain iTerm when moving sticks, to keep attitude in the wind	2024-11-27 07:43:50 +11:00
ctzsnooze	d62792ad97	dynamically update smoothing at the start	2024-11-27 07:43:50 +11:00
ctzsnooze	376e5201df	allow greater overshoot at the start for high incoming speed ... rename justStarted to isDeceleratingAtStart	2024-11-27 07:43:50 +11:00
ctzsnooze	a56c3e7b29	try to constrain aggressiveness at start, smaller deadband	2024-11-27 07:43:50 +11:00
ctzsnooze	f726151ea1	fix for msp change for posHoldConfig	2024-11-27 07:43:50 +11:00
ctzsnooze	61447d64d4	fix for blackbox breakup of GPS values ... reverts use a function in gps.c to initate the posHold activity on new GPS data	2024-11-27 07:43:50 +11:00
ctzsnooze	d60db13819	comment	2024-11-27 07:43:50 +11:00
ctzsnooze	cbb169ae70	move deadbands for pos and alt hold to their config files.	2024-11-27 07:43:50 +11:00
ctzsnooze	af7e0f36f4	refactoring from reviews, rename posHoldReset	2024-11-27 07:43:50 +11:00
ctzsnooze	8641fcd291	fix failure to initiate position hold from error in ifdef	2024-11-27 07:43:50 +11:00
ctzsnooze	bf7cff3c4c	removed non-required definitions	2024-11-27 07:43:50 +11:00
ctzsnooze	8b24327e58	use FLIGHT_MODE(POS_HOLD_MODE) in place of isPosHoldRequested	2024-11-27 07:43:50 +11:00
ctzsnooze	360a04118c	separate function for gpsHeading truth	2024-11-27 07:43:50 +11:00
ctzsnooze	35d3006ecd	Use autopilotAngle in place of posHoldAngle	2024-11-27 07:43:50 +11:00
ctzsnooze	9a80b75abe	Use a function in gps.c to initate the posHold activity on new GPS data	2024-11-27 07:43:50 +11:00
ctzsnooze	4c9fa613ff	rename showPosHoldWarning to posHoldFailure	2024-11-27 07:43:50 +11:00
ctzsnooze	c39b6ab06e	compact the posHoldUpdate() function - thanks K	2024-11-27 07:43:49 +11:00
ctzsnooze	5b2f209074	A for acceleration element, not J	2024-11-27 07:43:49 +11:00
ctzsnooze	8f0f95cfb7	fix issues when pos hold deadband is set to zero	2024-11-27 07:43:49 +11:00
ctzsnooze	8289aac8ab	licence updates, refactoring from review comments	2024-11-27 07:43:49 +11:00
ctzsnooze	dfac599097	fix small omission when refactoring after throttle raised PR	2024-11-27 07:43:49 +11:00
ctzsnooze	732d7b74de	comments to explain strange rc multiplier	2024-11-27 07:43:49 +11:00
ctzsnooze	50a00842aa	fixe defines and remove const	2024-11-27 07:43:49 +11:00
ctzsnooze	003bbc1511	conditionally only do compass check if Mag is defined	2024-11-27 07:43:49 +11:00
ctzsnooze	8dacb1708f	Use mpif	2024-11-27 07:43:49 +11:00
ctzsnooze	7c85c9a7e7	tidy up after merge	2024-11-27 07:43:49 +11:00
ctzsnooze	ce72f16a62	force unit tests sto work	2024-11-27 07:43:49 +11:00