14917 commits

Author	SHA1	Message	Date
ctzsnooze	d62792ad97	dynamically update smoothing at the start	2024-11-27 07:43:50 +11:00
ctzsnooze	376e5201df	allow greater overshoot at the start for high incoming speed ... rename justStarted to isDeceleratingAtStart	2024-11-27 07:43:50 +11:00
ctzsnooze	a56c3e7b29	try to constrain aggressiveness at start, smaller deadband	2024-11-27 07:43:50 +11:00
ctzsnooze	f726151ea1	fix for msp change for posHoldConfig	2024-11-27 07:43:50 +11:00
ctzsnooze	61447d64d4	fix for blackbox breakup of GPS values ... reverts use a function in gps.c to initate the posHold activity on new GPS data	2024-11-27 07:43:50 +11:00
ctzsnooze	d60db13819	comment	2024-11-27 07:43:50 +11:00
ctzsnooze	cbb169ae70	move deadbands for pos and alt hold to their config files.	2024-11-27 07:43:50 +11:00
ctzsnooze	af7e0f36f4	refactoring from reviews, rename posHoldReset	2024-11-27 07:43:50 +11:00
ctzsnooze	8641fcd291	fix failure to initiate position hold from error in ifdef	2024-11-27 07:43:50 +11:00
ctzsnooze	bf7cff3c4c	removed non-required definitions	2024-11-27 07:43:50 +11:00
ctzsnooze	8b24327e58	use FLIGHT_MODE(POS_HOLD_MODE) in place of isPosHoldRequested	2024-11-27 07:43:50 +11:00
ctzsnooze	360a04118c	separate function for gpsHeading truth	2024-11-27 07:43:50 +11:00
ctzsnooze	35d3006ecd	Use autopilotAngle in place of posHoldAngle	2024-11-27 07:43:50 +11:00
ctzsnooze	9a80b75abe	Use a function in gps.c to initate the posHold activity on new GPS data	2024-11-27 07:43:50 +11:00
ctzsnooze	4c9fa613ff	rename showPosHoldWarning to posHoldFailure	2024-11-27 07:43:50 +11:00
ctzsnooze	c39b6ab06e	compact the posHoldUpdate() function - thanks K	2024-11-27 07:43:49 +11:00
ctzsnooze	5b2f209074	A for acceleration element, not J	2024-11-27 07:43:49 +11:00
ctzsnooze	8f0f95cfb7	fix issues when pos hold deadband is set to zero	2024-11-27 07:43:49 +11:00
ctzsnooze	8289aac8ab	licence updates, refactoring from review comments	2024-11-27 07:43:49 +11:00
ctzsnooze	dfac599097	fix small omission when refactoring after throttle raised PR	2024-11-27 07:43:49 +11:00
ctzsnooze	732d7b74de	comments to explain strange rc multiplier	2024-11-27 07:43:49 +11:00
ctzsnooze	50a00842aa	fixe defines and remove const	2024-11-27 07:43:49 +11:00
ctzsnooze	003bbc1511	conditionally only do compass check if Mag is defined	2024-11-27 07:43:49 +11:00
ctzsnooze	8dacb1708f	Use mpif	2024-11-27 07:43:49 +11:00
ctzsnooze	7c85c9a7e7	tidy up after merge	2024-11-27 07:43:49 +11:00
ctzsnooze	ce72f16a62	force unit tests sto work	2024-11-27 07:43:49 +11:00
ctzsnooze	2fc85cdf85	adjust PID gains to 30	2024-11-27 07:43:49 +11:00
ctzsnooze	4962e080e5	resolve bounceback and remove iTerm attenuation	2024-11-27 07:43:49 +11:00
ctzsnooze	48b39c92ae	reset position at start when slowed down, retain rotated iTerm back	2024-11-27 07:43:49 +11:00
ctzsnooze	7cdad7323d	struct for values	2024-11-27 07:43:49 +11:00
ctzsnooze	67f6c6d331	retaisn iTerm just attenuate the output	2024-11-27 07:43:49 +11:00
ctzsnooze	a5baf7f939	try to prevent position hold if no mag without valid IMU ... fixes a bug in the last commit, also	2024-11-27 07:43:49 +11:00
ctzsnooze	4e1d199943	separate alt and pos hold deadbands ... if poshold deadband is zero, sticks are ignored if user tries to enable posHold and it can't work, they get stick with a deadband	2024-11-27 07:43:49 +11:00
ctzsnooze	f09a71a76d	allow user to fly without mag only if they reverse the default	2024-11-27 07:43:49 +11:00
ctzsnooze	5fecff404f	basic sanity check and OSD warning	2024-11-27 07:43:49 +11:00
ctzsnooze	1f130ca3b4	block arming if poshold or althold switches are on	2024-11-27 07:43:49 +11:00
ctzsnooze	7810c6ff84	remove unnecessary debug	2024-11-27 07:43:49 +11:00
ctzsnooze	2d9c9877ff	stop activation until throttle raised, but not require airmode ... use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed	2024-11-27 07:43:49 +11:00
ctzsnooze	5f4027e0c9	allow earth referencing in alt and pos hold	2024-11-27 07:43:49 +11:00
ctzsnooze	64b01e2759	force iTerm to zero when close to target	2024-11-27 07:43:49 +11:00
ctzsnooze	996d6ee379	adjust pids and smoothing; smoothing cutoff to settings	2024-11-27 07:43:48 +11:00
ctzsnooze	9b76715835	calculate PIDs independently for each axis, increas DJ gains	2024-11-27 07:43:48 +11:00
ctzsnooze	c2280b910c	fix pid bug and improve iTerm handling	2024-11-27 07:43:48 +11:00
ctzsnooze	b7d6ca7bec	sanity check notes	2024-11-27 07:43:48 +11:00
ctzsnooze	3837b0526a	PIDJ distance controller, not velocity based. Remove airmode check	2024-11-27 07:43:48 +11:00
ctzsnooze	33f92db305	revise PID gains	2024-11-27 07:43:48 +11:00
ctzsnooze	a853b6ced3	Re-organise included files and functions thanks Karate	2024-11-27 07:43:48 +11:00
ctzsnooze	36f7379d6f	add deadbands	2024-11-27 07:43:48 +11:00
ctzsnooze	897b9a9a61	first working example with smoothed acceleration	2024-11-27 07:43:48 +11:00
ctzsnooze	70b1097f08	add debug values for testing	2024-11-27 07:43:48 +11:00