Some users have reported flyaways on arming/throttling up with betaflight 4.0, in quads that fiy alright on 3.5.
This PR changes the default filtering so that D transmission more closely approximates that of 3.5.
With these defaults, quads that fly OK on 3.5 should not take-off vertically due to uncontrolled D oscillation.
Captures packet quality statistics per motor to provide a platform for troubleshooting and in-flight alarms or warnings.
Continuously monitors and captures packet stats over the past second to be used to determine DSHOT telemetry link quality.
Update the CLI to move the DSHOT telemetry data/stats out of the `status` command and into a dedicated `dshot_telemetry_info` command. Reformatted the motor data to include the invalid packet percentages. Will aid in debugging by identifying ESC's that may be misconfigured (not supplying data), or those with problems generating high invalid packet percentages.
Data can later be used to generate OSD and beeper-based warnings if invalid packet percentages exceed thresholds.
Included a blackbox logging debug mode (`set debug_mode = DSHOT_RPM_ERRORS`) to record the per-motor invalid packet percentages in hundredths of a percent (so 123 is 1.23%).
fix some comments
some requested fixes
initialLandingAltitude converted in meters
removed landing altitude setting from msp, added missing comma
re-added gps_rescue_landing_alt in settings.c
made target landing distance configurable, renamed descentDistance
added slow down distance and improved return speed
changed newSpeed formula
moved newSpeed variable in gps rescue inizialization phase
newSpeed declared as int32_t
modified slow down distance to constant
added some comments
fix type-casting bug
removed extra space
changed slow down distance for better landing
changed default targetLandingAltitudeM to 5 meters
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.
