Reduce code by supporting only GCR, fix serial_4way, fix f7 dshot bidir
fix ws and eliminate superfluous buffer
use GCR constant instead of 32
decode optimization
bump 4way prot version mumber
bump if version
When a `vtxDevice` was active (like if `USE_VTX_RTC6705` is defined for the target) then the initialization logic would try to look up the frequency based on the band/channel and update the `vtx_freq` setting. The problem is that initially the `vtxtable` is not defined so the frequency lookup fails and returns 0. This resulted in a defaults difference since the default value was 5740 which would have matched the default band and channel if the "standard" bands/channels were set up with `vtxtable`. So instead set the default value to 0 unless legacy built-in frequencies are used (`USE_VTX_TABLES` not defined).
Prevents clean installs from displaying the sensor alignment as changed values in the `diff`.
Sets the default values for the sensor alignment axes to match the selected sensor alignment. Previously the axis values defaulted to 0 so when the active value was set based on the sensor alignment these values would appear as changes in the `diff` even though they were actually the default values. Corrected the default values to be based on the selected sensor alignment default.
The buffer was originally a part of motorDmaOutput_s structure which resided in the FAST_RAM_ZERO_INIT(DTCM RAM). The buffer was separated as a part of the motor refactor #8534, and wasn’t properly attributed.
In the future, DMA buffer coherence will be maintained by MPU and the DShot buffer will be moved there to save the scarce DTCM resource.
The current calculation accumulates gyro data between IMU updates based on the actual time delta betwwn samples. The problem with this is that loop time jitter or delays will decrease the accuracy of the gyro rotational input into the attitude calculation. The sensor samples based on a hardware driven clock that matches the `gyro.targetLooptime`. The sensor captures samples at these intervals regardless of when we read them so the calculation should be based on the duration between samples rather then the duration between processing loops.
Will improve the accuracy of the IMU attitude estimate - particularly in cases of higher CPU load and increased looptime jitter. Bench testing shows reduced drift. Also flight tested and behaved as expected.
The buffer was originally a part of motorDmaOutput_s structure which resided in the FAST_RAM_ZERO_INIT(DTCM RAM). The buffer was separated as a part of the motor refactor #8534, and wasn’t properly attributed.
In the future, DMA buffer coherence will be maintained by MPU and the DShot buffer will be moved there to save the scarce DTCM resource.
