If the quad is in an extreme orientation (like upside down) the transition to self-level modes can cause enough motion to trigger crash recovery. Added a 1 second delay during which crash recovery detection is blocked immediately after entering a self-level mode.
This also addresses an issue with GPS Rescue as when it activates it enables self-level. If in the above scenario this triggered a crash recovery detection then GPS Rescue would interpret this as a crash and immediately disarm.
Adds a race start assistance system that allows the pilot to pitch forward and then release the sticks with the quad holding position for the race start.
Refactor iterm_relax to iterm_relax_axis
Isolate pidLevel test
Isolate pidHorizon tests
remove if UNIT_TEST
revert to iterm_relax from iterm_relax_axis
Refactor PID code Iterm Relax and Absolute control
Move defines for unittest to Makefile
Fix unittest isAirmodeActivated()
Absolute control unittests + optimizations
Fix dead code absolute control // unittests
Further optimizations to absolute control switch logic
Restructures the PID controller to decouple feedforward from D.
Cleaned up the structure of the PID controller; moved some feature-based enhancements out of the main structure.
Feedforward becomes a separate component of the PID controller and there is now:
f_pitch
f_roll
f_yaw
The default values of 60 for pitch and roll matches the default setpoint weight used in BF3.4. Yaw previously had no setpoint weight capability so the default here needs to be discussed. Currently it's also set to 60 and flight testing seems positive. Feedforward on yaw adds a lot of value so I don't think we want to default to 0. Instead we need decide on the default.
All occurences of setpoint weight have been replaced by feedforward. "setpoint_relax_ratio" has been renamed to "feedforward_transition".
The pidSum now consists of P + I + D + F.
D has been added back for yaw (disabled by default with d_yaw = 0). We've found little need for D for normal quads but it may have value for other configurations - particularly tricopters.
Updated CMS menus to support adjusting the feedforward for each axis.
Changed the default for "rc_interp_ch" to be "RPYT". Need yaw to be smoothed to support feedforward.
Open issues:
Needs BFC support
- Need to add support for the axis "F" gains.
- Remove "setpoint weight" slider.
- Rename "D Setpoint transition" to "Feedforward transition"
Needs BBE support
- Header "setpoint_relaxation_ratio" has been renamed "feedforward_transition"
- Header "dterm_setpoint_weight" has been replaced with an array named "feed_forward_weight".
example: H feed_forward_weight:65,60,60 (R,P,Y)
- PID component "AXISF" has been added for all axes. Should be handled like P, I and D values.
- PidSum calculation needs to include F.
Needs LUA script support
- Support the renamed "setpoint_relax_ratio".
- Support for feedforward weight on all 3 axes.
Open code issues:
- rc_adjustments.c - support for adjusting feedforward weight for all axes. Currently only supporting roll - needs coordination with BFC.
