Since we currently don't have per gyro configuration, trying to use two different gyro types simultaneously may not provide good results or lead to other unforeseen situations like attempting to initialize with settings not applicable to both hardware types.
This logic looks at the detected gyro types and resets to use only the first one if the user selected "BOTH" and they're different hardware types.
* Revert "Revert "Rewritten F7 dshot to LL (draft)" (#5430)"
This reverts commit aa42a69d2f.
* Reworked F7 linker scripts to maximize performance of both F74x and F72x
* Some comments and changes from original F7 HAL DSHOT
* Prohibit inlining of some functions to place them in ITCM-RAM
* Fixed usartTargetConfigure implicit declaration
* Moved back to SRAM1 as main RAM
* Added SRAM2 attribute
* Fixed LL DSHOT FOR SPRF7DUAL and probably other adv TIM users
* Fixed SPRF7DUAL rev. A motor order
* Enabled CCM for data on F40x
* Fixed F7 startup assembly symbols
* Fixed KISSFCV2F7 linker script
* Added a quick way of building F7 targets only
* Got rid of the useless F7 target script
* Added NOINLINE and got rid of useless __APPLE__ define
* Added some important functions to ITCM
* Added NOINLINE macro for tests
* Copy to ITCM before passing execution into it
* Minimized cache footprint of motor output code
* Evicted low-impact functions from ITCM
* Switched MATEKF722 and SPRACINGF7DUAL to burst DSHOT
* Switched CLRACINGF7 to burst DSHOT
* Moved UART RX&TX buffers to DTCM-RAM to avoid cache incoherency
* Marked taskMainPidLoop for ITCM-RAM, disallowed inlining per-function
* Revert "Added a quick way of building F7 targets only"
This reverts commit 2294518998.
The old gyro_lpf setting was based on the DLPF_CFG values for the MPU6050 gyro and the enumeration was inaccurate and misleading. For example, the default "OFF" setting did not disable the DLPF, but actually set it to around 250hz. The actual cutoff frequency for each setting varies by gyro hardware so the literal frequencies in the enumeration were also incorrect.
Removed gyro_lpf and replaced it with gyro_hardware_lpf (8KHz) and gyro_32khz_hardware_lpf (32KHz). The parameters were renamed to indicate that they are hardware filtering options to differentiate from the many software lowpass filtering options.
gyro_hardware_lpf - This parameter sets the filtering and sample rate options for 8KHz gyros (or 32KHz capable gyros running in 8KHz mode).
- NORMAL - default setting that is equivalent to the previous "OFF" setting. Configures 8KHz sampling with ~250Hz filter cutoff.
- EXPERIMENTAL - 8KHz sampling with a higher frequency filter cutoff (around 3000hz). Considerably more noisy and requires additional software filtering. Note that for the MPU6000 Invensense doesn't officially document the filter cutoff frequency for this selection and simply lists it as "reserved". In testing it's clear that a higher frequency filter cutoff is being selected due to the increased noise, but the actual cutoff frequency is unknown.
- 1KHZ_SAMPLING - 1KHz sample rate with and approximate 188Hz filter cutoff.
Note that the following additional 1KHz sample rate options with lower filter cutoffs have been eliminated - "98HZ", "42HZ", "20HZ", "10HZ", "5HZ". It seems unlikely that these are still needed are probably no longer viable and flight performance would be very poor.
gyro_32khz_hardware_lpf - This parameter sets the filtering options while running in 32KHz mode on capable gyros. It also exposes a new high frequency filter cutoff mode.
- NORMAL - The default and matches the current settings used for 32KHz mode. Provides a filter cutoff around 3000Hz.
- EXPERIMENTAL - Selects a filter cutoff around 8000Hz. This is a very noisy setting and will require substantial software filtering.
The default values for both 8KHz and 32KHz sample rates were chosen to match the previous defaults and users should not experience any performance differences.
Normalized the gyro initialization. Previously there was little consistency on how the initialization was performed and the settings interpreted. For example, MPU9250 used a completely different logic tree when configuring the registers.
Disconnected the literal parameter value from the gyro initialization. The gyro_lpf parameter contained a number from 0-7 that was literally applied to the configuration register during the gyro initialization. This caused some older gyro initializations to be incorrect as they used a different register layout (MPU3050 and L3G4200D). By transitioning to a logical selection the actual value applied to the hardware register is abstracted. This will better future-proof the design as new gyros may have a different register structure that may be incompatible with the old method.
Added a gyroregisters command to the CLI that is used to read the current register settings from the gyro and dump them to the CLI. This is used to verify the configuration in comparison to the datasheets for the various gyros. Testing empirically by looking at the relative noise from the gyros can give a rough estimate whether the different options are selecting correctly, but it's not very precise. The code for the gyroregisters CLI command is wrapped inside #ifdef USE_GYRO_REGISTER_DUMP blocks to allow easy disabling. It's currently enabled for all targets but we may decide to disable before release or only limit to targets with more available space (>=F4).
* Support DTR in serial passthrough mode to enable programming of Arduino
based devices such as MinimOSD.
Use 'serialpassthrough 5 57600 rxtx 56' and then use Ardino to program MinimOSD
Use 'serialpassthrough 5 115200' and then use MWOSD configurator to setup
* Fix comment for CDC_SetCtrlLineStateCb routine
* Handle F7 CDC interface
* Use strToPin() to allow easy port/pin specification
* Fix use of CDC_SetCtrlLineStateCb for all processor types
* Only set baud when specified
* Fix unit tests for cli
* Only register callback if needed
* Fix white space
* Provide implementation of IOConfigGPIO in SITL
* Update serialpassthrough help text
* DTR handling through serial drivers
* Fix F3, F7 and SITL builds
* If serialpassthrough command specifies baud rate of 0, set baud rate over USB. MWOSD configurator can now access config and reflash MinimOSD without rebooting and changing baud rate.
* Fix F3 build
* Fix failing unit tests
* Use resources to declare DTR pin assignment
* Don't assert DTR during normal operation as MW_OSD doesn't like it
* MW_OSD must be built with MAX_SOFTRESET defined in order to support DTR resets
* Minimise changes after dropping DTR pin param from serialpassthrough cmd
* Remove DTR pin param from serialpassthrough cmd
* Treat ioDtrTag as boolean in conditional statements
* Tidy buffer check
* Check buffer size in CDC_Itf_Control
* Fix unit test
* Add documentation for DTR
* Add note on MAX_SOFTRESET to documentation
* Remove superfluous function definitions
* Fix tabs
* Fix tabs
* Removed superfluous entried from vtable
* Backout whitespace changes unrelated to this PR
* Pass true/false to IOWrite()
* Fix line coding packing
* Add LINE_CODING structure defintion
* Revise serial documentation
* Prevent tx buffer overflow in serialPassthrough()
* Revert change unrelated to PR
* Review feedback from ledvinap
* Fix unit test
* Use PINIO to drive DTR
* Fix unit test
* Remove change unrelated to PR
* Fix SITL build
* Use shifted bits for mask definition
* Fix serialpassthrough documentation
* Only compile PINIO functionality if USE_PINIO defined
* IOConfigGPIO not needed
* Move cbCtrlLine callback to cli.c
* serialPassthrough params changed
* Check packed structure size
* Fix unit test
* Tidy up baud rate handling
* Dual-stage Gyro Filtering: PT1, FKF, and Biquad RC+FIR2
* Builds on the previous work of apocolipse.
* Fixes 'stage2'/'stage1' mis-naming to reflect where it is applied in the loop.
That is, the older Biquad, PT1, Denoise (FIR) filters are 'stage2' - applied
after dynamic and static notches (if enabled), and the controversial PT1,
'fast Kalman' filter, and Biquad RC+FIR2 filters, are 'stage1'. e.g. before
dynamic notch.
* FKF bruteforce Kalman gain removed. Calculate from half of PT1 RC constant,
automatically taking loop-time into account.
* New union type definition for stage1 filtering.
* New gyro sensor members for stage1 filter application function and states for
all three supported filter types
* New enum types for stage1 v. stage2. dterm lowpass type references 'stage2'.
* updates to CMS/MSP/FC to allow compilation (untested, probably breaks
MSP, Lua, and ~comms with BFC~).
* Refactors FKF initialization, update and associated structures to be faster by
not continuously calculating 'k'. Filter gain is calculated once during
initialization from RC constant as per PT1 and Biquad RC+FIR2. It was
discovered this converges to static value within 100 samples at 32kHz, so can
be removed. Remove related interface (CLI) settings.
* update dterm_lowpass_type to use new 'TABLE_LOWPASS2_TYPE' (biquad/pt1/FIR)
* Stage 1 defaults to PT1, 763Hz (equivalent to Q400 / R88 from quasi-kalman
filter) - suitable for 32kHz sampling modes. Can be switched to Biquad
RC+FIR2, and FKF.
* Update `#if defined(USE_GYRO_SLEW_LIMITER) to `#ifdef`.
* Includes optional Lagged Moving Average 'smoothing' pipeline step, applied (in
code) after the output of stage1.
* (diehertz): Removed redundant pointers from gyro filtering
* blackbox: fix indentation
* cms IMU menu: fix indentation
* filters: remove USE_GYRO_FIR_FILTER_DENOISE in filter type enum
* gyro sensors: go back to `if defined()` form. for slew limiter
* gyro sensors: increment parameter group version
* due to non-appending changes, the version must be bumped.
* Add ledstrip_grb_rgb setting (GRB or RGB) to handle WS2811 or WS2812 LED drivers
* Rename setting lookup table to lookupLedStripPackingOrder
* Fix call to ws2811UpdateStrip
* Fix unit test
* Use ledStripFormatRGB_e enumeration for RGB packing format
* Fix unit test
* Whoops. Make ledStripFormatRGB_e match lookupLedStripFormatRGB
* Applied review feedback
* Add documentation of ledstrip_grb_rgb
Addresses the rare possibility that if runway takeoff triggers and disarms while the pilot has the sticks in some valid stick command configuration. Prevents the stick command from processing until the craft is disarmed and the ARMING_DISABLED_RUNAWAY_TAKEOFF condition is cleared.
For example, if the pilot was mid throttle and went full yaw right and runway takeoff triggered, then camera control would have be entered.
Previously the OSD crash-flip warning would only track the state of the activation switch. So if the switch was disabled but still armed the message would go away, but the quad was still in active crash-flip mode until it was disarmed. This change makes the OSD message follow the actual internal state for crash-flip.
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
