Exposes each telemetry sensor disable flag as a separate OFF/ON parameter. Makes the settings more accessible without the user having to calculate the binary bitmask directly.
Only added for F4+ due to flash usage. F3 will continue to present the `telemetry_disabled_sensors` 32bit bitmask setting.
Would almost like to reverse the logic to make them enabling flags. Having a "disabled = ON" is a little counterintuitive.
Since we really can't conditionally build the list of options, it's possible to select an invalid blackbox device type using CLI `set blackbox_device =`. This change validates that the selected device is included in the code and if not resets to "no logging".
Replaced the existing `PERSISTENT_OBJECT_BOOTLOADER_REQUEST` that was bootloader specific, with `PERSISTENT_OBJECT_BOOTMODE_REQUEST` that can be shared by any required boot mode based on it's contents. Currently supports bootloader and MSC, but is extensible for additional future needs. The previous hardcoded memory address usage for MSC boot was removed.
This code cuts D by a specified percentage durning normal flight.
It lets D smoothly rise up to normal during rapid gyro moves like flips and rolls, and increase during prop wash events.
D should now be tuned to values the 'normal' 30-45 range.
If D is 40, a dterm_cut_percentage of 65 will cut D to 14 in normal flight, but the quad will still get full 40 of D to control bounce-back after flips and about 25 of D during strong prop wash.
The dterm_cut_percentage can be adjusted via the OSD, from the D filtering page.
Adding d_cut results in cooler motors, lower amounts of noise in motor traces and faster reactions to quick stick inputs.
Too high a dterm_cut_percentage may bring out P oscillation from lack of D. Values of 70% are generally OK.
Input is gyro differential (delta). Frequencies above 40hz (above propwash) are attenuated with a configurable (dterm_cut_range_hz) biquad filter. Lower values for range can be used if the quad is very noisy or gets low frequency D resonant oscillation. Up to 50 or 60hz may suit clean quads where prop wash control is the main priority. Too high a range value results in D being boosted from noise in normal flight.
The boost signal is 'integrated, smoothed and delayed' with a 7hz PT1 'dterm_cut_lowpass_hz' filter. The default of 7Hz gives about the right amount of smoothing and delay. Higher numbers cause the boost to come on faster, with less delay. Lower values delay the boost effect and cause it to last longer.
The dterm_cut_gain amount controls the strength of the boost effect by amplifying the input to the boosting effect. If the quad is flow gently, a higher gain value may be needed to gain full boost.
Logging with set debug_mode = D_CUT allows recording of realtime D values on roll and pitch into debug 2 and 3. The reatime D value should reach its set maximum during rapid turns, ideally at about the time D itself peaks. If it fails to reach the maximum, gain should be increased.
The D_Cut feature is not enabled on LUXV2RACE, OMNIBUS, SPRACINGF3NEO because there isn't enough flash space.
The logic already performed a reboot if mass storage init failed, but it never reset the boot vector value so it continued to contain the `MSC_MAGIC` value leading to a boot loop.
Also fixed fixed the F7 version of `mscWaitForButton()` as it was using the F4 vector.
