single minimum GPS satellite setting
single required GPS satellite setting
CLI Baro vs GPS trust user interface
GPS trust refactoring
allow arming with GPS_FIX even if not enough sats
required sats must be present to arm
set required sat count to 8
add blackbox headers
convert pressure to altitude early
remove median filter
PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot
baro task synced to position task - thanks Steve
PT2 implementation - thanks KarateBrot
ground altitude from filtered altitude
baro cali by average of calibration samples over cal period
adjust vario and smoothing defaults
don't say haveBaroAlt until cal is complete
reduce PIDs since Baro is faster
add baro smoothing values to blackbox header
Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>
- run Ublox GPS units at 10Hz
- Bugfix for level mode offset after a rescue (force gpsRescueAngle[] to zero while idle)
- Bugfix for entering landing mode too high, (ignore landing distance, enter landing mode only on height criteria)
- Remove landing distance.
- Default GPS mode to UBlox, not NMEA
- refactor idle tasks
- don't keep setting targetVelocityCmS to current velocity since it will be set to zero when rotating anyway
- remove unused velocityToHomeCmS
- remove unused max distance to home value
- log current altitude at 100hz in throttle_pid debug
- share the sanity timer code
- fix bug where yaw error should have been absolute
- remove unused code
- refactor rescue phases so intent values are not repeatedly set
- refactor the rescue modes
- fix bug that could fail to set velocity target on fly_home
- refactor to simplify pitch limits
- refactor to MAX and constrainf
- set 2m descent region to improve landing
- fade roll and pitch to zero at 2m from home
Update to anti-gravity, including removal of the old Step mode, ability to adjust the P contribution (thanks @Limon), PT2 smoothed derivative model, inherent limiting of P boost during extremely fast stick travels to minimise P oscillations, less I during the middle of a throttle up, no I boost on yaw, add hz to cutoff labels
No antigravity on yaw, fix longstanding typo
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