dyn_notch_min_hz provides a lower frequency limit below which the dynamic notch cannot go.
The current minimum is 100hz.
For low rpm quads (>7" to X class), when the dynamic notch mode is 'LOW', we should allow the user to enter the lowest possible value that can be detected by the FFT.
That is theoretically the centre of the second bin. In low mode that is half-way between 31 and 63hz. In practice, that value will be biased upwards a little bit by the uppers shoulder. In practice the lowest value returned by the FFT is likely to not be less than 60hz.
This PR lowers the limit from 100hz to 60hz, allowing access to the full range of possible FFT tracking frequencies in LOW mode for low rpm quads.
Remove the giant `select` block that contained all the code to generate the elements and transition them to individual functions called only when the element is active. Simplifies the code and results in a performance improvement as it's not necessary to fall through the large `select` statement for every element that will be drawn. The individual functions and the element to function mapping are moved to a new `osd_elements.c` file.
Moved the OSD related code files to a new `osd/` directory.
Also pre-analyze the active elements and only process those that are active. This also saves processing as it's not necessary to loop through all 50 or so elements when only a couple are active.
Various other cleanup and removal of stale or unnecessary code.
In the default configuration the element drawing phase of the OSD task is reduced from ~51us to ~35us - resulting in about a 30% decrease in processing time.
raise dc offset immediately
Add airmode noise fix
no filter when inactive and slightly more throttle
hpf throttle to avoid large moves increasing throttle persistently
fix ws
fix ununsed variable and default to off
include airmode throttle offset in loggingThrottle
Change to using an array of `uint8_t` for the `d_min_` axis parameters. Simplifies the code.
The CMS menu entries were incorrectly placed under the `FILTER PP` submenu. Moved to the `MISC PP` submenu.
Directly and easily set the minimum value for D on pitch and roll.
- Boost back to the primary D setting is generated from gyro or setpoint inputs.
- Setpoint input is stick derived, faster by 10ms approx, and does not respond to propwash.
- Gyro input is motor derived and slower, but responds to propwash
- timing value sets balance between gyro (100) and setpoint (0) boost factors
- gain value sets overall sensitivity
- default D mins are 20 roll 22 pitch
- default D is 35, 38; if undefined then normal 30, 32 values
TUNING
- D value to flip overshoot control
- D_min to noise, lower values mean cooler motors but perhaps more propwash.
- Advance, higher values bring the boost in earlier, and stronger overall, useful for very high flip rates, but dampen stick responsiveness slightly.
- Gain value adjust against logs, checking maximal boost with flips and some rise with propwash, should be edging to get up from the min value in normal flight.
Added features to the BEACON ledstrip profile:
Added a `ledstrip_beacon_color` to allow color selection rather than forcing to white.
Added `ledstrip_beacon_period_ms` to configure the blink period in milliseconds. Smaller time periods mean faster blinking.
Added `ledstrip_beacon_percent` to configure the "ON" time duty cycle. User can set to 100% to have the beacon display a solid color. 0% can be used to turn the becaon completely off.
Added `ledstrip_beacon_armed_only` to allow the user to configure whether the beacon is only on when armed.
Added `ledstrip_visual_beeper_color` to allow configuration of the visual beeper color.
Added the new parameters to the CMS menu.
Simplified the code and combined the RACE and BEACON profile processing.
Added support for auutomatically displaying a beacon that indicates RX_SET or failsafe regardless of the other RACE or BEACON settings.
