Updates for finalize the flight performance.
Disable if GPS Rescue is active
Constrain the max setpoint calculated by the angle correction logic. To catch border cases where the user activates the feature while inverted and has a high gain which could result in excessively high setpoint rates.
Make sure internal states are reset when feature is activated via mode switch.
Adds a new angle limiting mode for pilots who are learning to fly in acro mode. Primarily targeted at new LOS acro pilots, but can be used with FPV as well.
The feature is activated with a new mode named "ACRO TRAINER". When the feature is active, the craft will fly in normal acro mode but will limit roll/pitch axes so that they don't exceed the configured angle limit. New pilots can start with a small angle limit and progressively increase as their skills improve.
The accelerometer must be enabled for the feature to be configured and function.
Also the feature will only be active while in acro flight and will disable if ANGLE or HORIZON modes are selected.
For most users all they need to do is simply configure the new mode to be active as desired on the "Modes" tab in the configurator and configure the desired angle limit in the cli.
Configuration parameters:
acro_trainer_angle_limit: (range 10-80) Angle limit in degrees.
acro_trainer_lookahead_ms: (range 10-200) Time in milliseconds that the logic will "look ahead" to help minimize overshoot and bounce-back if the limit is approached at high gyro rates. The default value of 50 should be good for most users. For low powered or unresponsive craft (micros or brushed) it may be helpful to increase this setting if you're seeing substantial overshoot.
acro_trainer_debug_axis: (ROLL, PITCH) The axis that will log information if debugging is active.
To enable debugging:
set debug_mode = ACRO_TRAINER
debug(0) - Current angle
debug(1) - The internal logic state
debug(2) - Modified setpoint
debug(3) - Projected angle based gyro rate and lookahead period
* through extensive testing prior to the beginning of the RC cycle, we have
discovered that the simplest combination of filters appears to be up to four
PT1 filters: two for gyro, and two for d-term.
* non-cascaded biquad filter plumbing is retained for noisy setups and the
dynamic notch bandpass, although gyro and d-term variants of the filtering may
eventually be removed in favor of pt1
* update all related unit tests
I'm flying race with betaflight and on all my race quads I have setpoint on maximum value 2.54. But I feel, that it's not enough. This calculation of setpoint is almost same as old method up to number 2.0 (previously 2.54) but numbers above 2.0 have more aggresive impact on Dterm RC stick commands. With this calculation i found, that value 2.3 is fine for me. 2.3 is equivalent to 6,35 with old calculation method (which was not possible of course, because there is 8bit limit). With higher values have quad much sharper responses and feel more "locked in".
I think, that most freestyle pilots have setpoint at values around 1, so there is almost no change and race pilots using higher values and for those, who are limited by the value 2.54 (like me and my friends) should be solution new setpoint calculation method.
This is my first pull request to betaflight, so I hope, that I did everything well according your rules
* PID controller unittest
* Clean code for yaw spin recovery
* Yaw spin recovery optimizations
* Flash size optimizations, use 50% throttle when airmode is off, and override pidsum_limit_yaw
Also rebasing from betaflight/master
