Ensure that non legacy mixer types also function as expected.
Also lay the groundwork for an airmode strength setting.
Add const before some values
all mixer types working as expected
Basic DSHOT telemetry restablished again
Implemented new mechanism to activate EDT. The old mechanism no longer works
Added dshot_edt configuration parameter to enable edt. Parameter is OFF by default
Only send DSHOT edt enable in core.c::tryArm if dshot_edt=ON
Fixed review findings
fixes indefinite climb in max_alt mode
fixes altitude control issues when baro_hardware was disabled
fixes an error causing GPS trust to not calculate the baro factor correctly
attenuates rescue velocity_i correctly when descending
fixes velocity Iterm attenuation when close to home
logs the final GPS trust value
allow a little pitch and roll when landing
improves disarm by detecting ground effect
use floats for smoothness
refactor and simplify yaw
re-name idleTasks to setReturnAltitude
descend in level mode when sanity checks abort, rather than disarming immediately
PT3 filtering on upsampled pitch angle instead of pitch angle rate of change limiter
remove velocity attenuation when not pointing to home
allow some roll and pitch in landing phase to counter drift
include sanity check on altitude gain in climb phase
include check for 3D fix in min sats sanity check
acquire pitch and roll more smoothly when they commence
simple smoothing of baro while disarmed for better zero
re-name fields
The Watt hours used element was added per a feature request to give
another way of interpreting the battery usage. It was also added as a
post flight stat to show consumption similar to the mAh post flight
stat. This once again is just giving pilots another option that some may
find useful.
Fixed some review findings
Unified dshot average rpm calculations into one single function
Renamed calcEscRpm to erpmToRpm, and moved function to dshot.c
Removed unused esc_sensor.h header file from dshot.c
Removed esc_sensor.h header from modules that no longer needs it
Average RPM calculated by demmand only when rpm data is updated
Renamed rpm to averageRpm and fixed a bug
Update average rpm when telemetry data is received
Removed blank line
Fixed review findings
Fixed return values for erpmToRpm and getDshotAverageRpm so rpm value doesn't truncate
Restored osd_esc_rmp_alarm setting. This setting is used to set an alarm to notify when rpm goes down a specified threshold. Rpm can go over 109krpm (1s 26kv motors setup), but a low rpm alarm doesn't have to be set to a so high value so at this time [0-32767] seems an acceptable range
Rebased to master
