* use idleOffset, simplify idle : check PWM idle
* remove get for dshot idle and calculate it once only
* fixes from reviews, thanks
* use motor_idle for CLI name
* use motorConfig->motorIdle not idleOffset
* rename dshotmotorIdle variable to motorIdlePercent
* small comment improvement
* stop motors after 90 degrees of rotation and with max rate
* handle no accelerometer data
* improve check for acc, although seems to be OK without it
* disable all attenuation if rate is set to zero
* refactoring thanks Karate
* use sensors.h
* remove unnecessary arming check
* exit crashFlip immediately switch is reverted if throttle is zero
* add Crashflip Rate to OSD
* Revert unnecessary changes in crashflip core.c code
and clarify comments about crashflip switch
* update / minimise comments, thanks Karate
* ensure all names say `crashflip` consistently
* Undo quick re-arm because motrors were not reversed
* fix issue with reversed motors, we must disarm
* ignore yaw rotation and set gyro limit to 1900 deg/s
* default attenuation to off (crashflip_rate = 0)
* refactoring, increase rate limit to allow stronger inhibition
* enable in race_pro mode
* don't attenuate on attitude until a significant change occurs
* no attenuation for small changes
* Updates from review by PL
* remove whitespace
* refactor motorOutput, update comments, renaming variables
thanks PL
* changes from review PL
* only permit fast re-arm if crashflip rate set and crashflip was successful
* properly exit turtle mode
* add crashFlipSuccessful to unit test extern c
* small updates from review
* improved crashflip switch handling
* remove unnecessary motors normal check
* RX task update rate to 22Hz, to improve 25Hz link stability
* modified Rx code
* add LQ to debug
* use max of frameAge or FrameDelta
* Require a dropouit of 200ms, not 100ms, before RXLOSS
* remove FrameAge, use 150ms timeout 50ms checks
* fix tests and tidy up the comments
* Handle NULL input as before, log frame time
* possible solutions to review comment about names
* Remove rxFrameTimeUs
- prepare for direct use of lastRcFrameTimeUs
- refactor rx_spi callback
* remove global currentRxRateHz
* simplify updateRcRefreshRate
* re-name to recheck interval, return frame time debug
* Calculate RxRate only once
* use rxReceivingSignal for consistency
* use signalReceived not rxDataReceived for consistency
* suggestions from review PL
* move defines, thanks K
* fixes from review, thanks MH
* review changes, undo task interval change
rename bool rxIsReceivingSignal to isRxReceivingSignal
thanks Steve for resolving that tasks changes are not needed
thanks PL for your feedback also
---------
Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
* Give a -n option to exit CLI
- means you can set any serial port to MSP, and then activate CLI on it using #, with an "exit -n" to return to MSP mode without a reboot required.
- https://webserial.io is a great utility for using CLI outside the configurator.
- future changes will include possible multiple CLIs being active at the same time, along with debug printf from anywhere in the code to an active debug cli.
* Altered to strcasecmp, and changed param required to noreboot
* Adding additional details to the commands
* rename dMin, remove D_MIN_GAIN_MAX
* rename vars
* fix logic
* fix logic
* Revert "fix tests"
This reverts commit c518c9c444.
* Revert "add yaw and other adjustment cases"
This reverts commit 2cacd4b360.
* Revert "fix unit test"
This reverts commit 3d88f4158a.
* Revert "fix D adjustments change dmax instead of D"
This reverts commit 7ee4e7f8af.
* Revert "Fix telemetry for Spektrum/SRXL (#13814)"
This reverts commit 04fe4b4461.
* review adjustments and test fixes
* Reapply "Fix telemetry for Spektrum/SRXL (#13814)"
This reverts commit eb7f8ee0fd.
* fix logic
* Apply suggestions from code review
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* fix d_max slider
---------
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* added turn on 'storage device mode' action in OSD Blackbox menu
* Code style improvement
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Code style improvement
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* text messages are edited in the usb mass storage osd menu
* The NO menu action is default by selecting ERASE or USB MASS STORAGE items in OSD menu
* improved cmsx_StorageDevice function code
* added check of define USE_USB_MSC for storage mass mode code
* USB mass storage OSD menu text messages placement improvement
* added return NULL after systemResetToMsc
* Code improvement
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Code style improvement src/main/cms/cms_menu_blackbox.c
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
---------
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Makefile - don't override user-supplied --jobs argument
Some targets will default to parallel build, but only when no
-j / --jobs argument is specified on make command line
* TPA_CURVE_HYPERBOLIC (for wings)
* typo fix: tpa_rate_stall_throttle
* ledvinap's review
* fix tpa_curve_expo divider (10 instead of 100)
* Define fixes
* whoops, 16 instead of 1600 for PWL points
* if case for when dividing by zero for hyperbolic expo
* More ledvinap's review
* pow instead of pow_approx + unit tests for hyperbolic TPA
* basic unit tests for classic TPA
* pow was for double. pow_approx for floats is enough
* remove #else from comments
* pow_approx -> powf for hyperbolic TPA
* PWL: brigning back static assert after #13818 PR
* removed extra line per haslinghuis's review
* GPS GPS_home refactor
- use `gpsLocation_t` for GPS_home, rename it to GPS_home_llh
- cleanup `GPS_distance_cm_bearing`
- add optiopnal 3D distance calculation in `GPS_distance_cm_bearing`
- rename some bogus defines
* GPS - finish upstream merge
- add const
- adapt src/main/fc/gps_lap_timer
* GPS - use gpsLocation_t in blackbox logging
Height member is ignored now
* GPS - remove unused declarations
---------
Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
* feedforward update for 4.6
improve jitter reduction method
don't interpolate CRSF protocol
replace 'boost' with highpass element for yaw FF
make yaw highpass element CLI adjustable
add yaw feedforward sustain params to CLI and BBE
refactoring and unit test fix
* implement review suggestions, start on the filter struct
* Attempt PT1 filter init method
* fix silly error, scale time constant correctly
improve gain linearisation at shorter time constants
* fix averaging init
* Review suggestions from PL
* Improve filter initialisation
much better :-)
* re-name prevPacketDuplicate to prevPacketWasADuplicate
* Add review comments - thanks Jan and Mark!
* cast gyro.gyroDebugAxis to int
* A better fix than int cast
* implement review comments from PL
also hopefully improved some comments.
* increase PG to 10, expecting the Disarm PR to use 9
* two always win against one ;-)
* remove inappropriate comment, remove space
* update comments and review suggestions from PL
