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15 commits

Author SHA1 Message Date
Hans Christian Olaussen
06bf20e79a Make negotiated baud configurable for CRSF 2022-03-20 15:32:07 +01:00
ctzsnooze
c26428232a msp and other small fixes 2021-05-25 08:29:32 +10:00
ctzsnooze
636d563abe major rc changes ctzsnooze 2021 2021-05-07 14:40:43 +10:00
Birk Tjelmeland
aa5066e443 Add MSP override mode
The MSP override mode allows for use of MSP togehter with
another RX feature like SBUS. When enabling the MSP override
mode all channels from the `msp_override_channels` bitmask
will be overwritten by data comming from MSP instead of the
main RX.
2020-07-27 13:01:38 +02:00
mikeller
d0cf12a52b Added option to display RX SNR dB for CRSF instead of RSSI dBm. 2020-03-07 17:29:21 +13:00
mikeller
c31c8f9fbb Simplified configuration of fast SBus. 2019-08-13 22:17:33 +12:00
Andrey Mironov
8a279e688e Added Spektrum SRXL2 serial protocol for new receivers (Currently only SPM4650 released) 2019-08-07 14:02:33 -05:00
SteveCEvans
91b6f420fc Use PT1 filter for frame based RSSI using rssi_src_frame_lpf_period when rssi_src_frame_errors = ON 2019-04-28 16:00:18 +01:00
Bruce Luckcuck
47b29a4d45 RC Smoothing: added parameter to allow user to adjust the smoothness of the auto cutoff calc
Adds `rc_smoothing_auto_smoothness` parameter that allows the user to tune the filter auto cutoff calculation. Increasing the value makes the resulting rcCommand traces smoother.

Allows the user to retain the "auto" calculation which is important for protocols that can change rate (like CRSF), but still tune the resulting "smoothness" to their preference.
2018-11-13 08:42:09 -05:00
Bruce Luckcuck
2359449b2a Add delay before training, update defaults, add fields to blackbox header
Also added support for split input and derivative defaults
2018-06-03 21:53:56 -04:00
Bruce Luckcuck
7e18d7c1b9 Make filter type selectable and add BIQUAD
Adds options to select the filter type for both input and derivative.
rc_smoothing_input_type = PT1 | BIQUAD (default is BIQUAD)
rc_smoothing_derivative_type = OFF | PT1 | BIQUAD (default is OFF)
2018-06-03 21:52:15 -04:00
Bruce Luckcuck
826609e703 Experimental filter-based rc channel smoothing
Adds an additional rc channel smoothing algorithm that can be used in place of the default rc interpolation. Utilizing a filter-based approach the smoothing has lower latency and is immune to loop time jitter that can introduce artifacts.  Additionally a smoothing filter is added to the setpoint derivative used to produce D-term setpoint weight resulting in a smoother effect on D.

The default setting is to use the previous interpolation logic and there are no changes unless the optional method is selected.

Configuration:

rc_smoothing_type: (INTERPOLATION | FILTER) - defaults to INTERPOLATION

rc_smoothing_input_hz: (0-255) - sets the rc channel input filter cutoff in Hz. Default value of 0 will enable auto calculation based on received RX frame rate.

rc_smoothing_derivative_hz: (0-255) - sets the setpoint weight derivative filter cutoff in Hz. Default value of 0 will enable auto calculation based on received RX frame rate.

rc_smoothing_debug_axis: (ROLL | PITCH | YAW | THROTTLE) - determines which axis is logged in the debug fields

Debug logging:

set debug_mode = RC_SMOOTHING

debug(0) = raw un-smoothed rc channel data
debug(1) = raw un-smoothed setpoint derivative
debug(2) = filtered setpoint derivative before applied to setpoint weight
debug(3) = auto-calculated filter cutoff frequency base after sampling the rx frame rate

Notes:

Currently only enabled for F4/F7 due to flash size limitations

Uses the rc_inter_ch parameter to determine which channels are smoothed (same as default interpolation logic)

The auto filter cutoff calculation will set a cutoff frequency of 30Hz for typical SBUS frames (9ms).  11ms Spektrum will calculate to approximately 25Hz. The user can manually enter the filter cutoffs to be used instead of the auto calculation.  The current default calculation was chosen as a good starting point but may be adjusted in the future.

Setting a lower cutoff frequency will result in more smoothing, but also more delay.

There currently isn't any support for receivers that change their rx frame rate dynamically.  So for CRSF users wishing to use this alternate smoothing method should change their settings to lock the rx frame rate for now. Support for auto-adjusting to new frame rates in flight will likely be added.
2018-06-03 21:52:01 -04:00
mikeller
a9c1f02afb Added RSSI offset to complement RSSI scaling. 2018-06-03 21:45:55 +12:00
jflyper
1a035aa0f3 Create a pg for rxSpiConfig 2018-05-27 13:13:20 +09:00
jflyper
041bfb22c6 Create a pg for rxConfig 2018-05-27 09:13:04 +09:00