The vtx code doesn't have a lot of test coverage, so this adds a basic unit test that asserts vtx pit mode behavior
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On bootup aux channels start out at default and allow sticky modes right away,
although they should only be allowed once they are actually not active.
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This allows modes to be linked, for example to link vtx pit mode to paralyze. Whenever paralyze is activated, vtx pit mode is activated as well. Also the logic to prevent mode changes when enabling paralyze can be removed in favor of making paralyze sticky.
Modes can be linked in CLI by providing the mode id as the last parameter of the aux command. For example in order to link vtx pit mode to paralyze, replace the last 0 of the pit mode aux (39) with the mode id of paralyze (45):
```
aux 2 39 2 1700 2100 0 0
```
becomes
```
aux 2 39 2 1700 2100 0 45
```
_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
Change the logic to not modify rcCommand directly and instead apply the additional throttle directly in the mixer.
Also move the logic to the attitude task instead of having it calculate in the PID loop. The logic relies on an angle that's only updated in the attitude task so there was no point in running the calculation every PID loop.
Provides a clear indication that arming is delayed for cases where DSHOT beacon is active.
Clears the OSD and displays "DISABLING BEACON" and "ARMING IN X.Y" with an active countdown in tenths of a second while arming is delayed due to DSHOT beacon. Once delay period is over the normal "ARMING" message appears.
If the DSHOT beacon is not active then this delay screen is not displayed.
Tries to prevent DSHOT beacon commands from interfering with commands to set the motor direction.
Adds a 2 second delay after disarming before DSHOT beacon commands will be sent. This attempts to prevent the beacon commands from interfering with the motor direction reset that happens after using crash flip mode.
During arming if a DSHOT beacon command has been sent within 2 seconds the arming will be delayed until the 2 seconds have passed. This attempts to prevent interference with the motor direction commands sent at arming.
The `failsafe_kill_switch` parameter has been renamed to
`failsafe_switch_mode` and it determines what happens
when the Failsafe mode is activated with an AUX switch.
It takes one of three values:
0 - simulates RC signal loss - thus activates Stage1 failsafe
(former behavior when kill switch option was OFF)
1 - disarms immediately
(former behavior when kill switch option was ON)
2 - activates the failsafe procedure (Stage2) immediately (new)
* through extensive testing prior to the beginning of the RC cycle, we have
discovered that the simplest combination of filters appears to be up to four
PT1 filters: two for gyro, and two for d-term.
* non-cascaded biquad filter plumbing is retained for noisy setups and the
dynamic notch bandpass, although gyro and d-term variants of the filtering may
eventually be removed in favor of pt1
* update all related unit tests
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.
During team relay races it's unsafe to retrieve crashed quads because the course is continuously hot. In order to safely fly a backup quad with the primary quad crashed in the field (but powered up) it's necessary to:
* Disable arming, so that the crashed quad doesn't unintentionally arm as well. This is specifically a problem when a transmitter can send signals to all powered up receivers (like FrSky and others).
* Change VTX to an unused channel with low power output
* Turn off telemetry
This change introduces a new mode called paralyze which disables arming and prevents mode changes (except beeper). It can only be invoked while the quad isn't armed. Once it's invoked, the FC has to be power cycled. In order to invoke it, the mode needs to be in a disengaged state at least once, so that forgetting to flip the switch back after crashing doesn't immediately invoke graveyard on the backup quad.
_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
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.
