Bruce Luckcuck
a32b05c284
Initial implementation of Runaway Takeoff Prevention (anti-taz)
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Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
2018-01-31 07:36:16 -05:00
Bruce Luckcuck
fba0b2cea3
Optimze pidSum calculation by storing the value rather than recalculating in multiple places.
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Saves 72 bytes. Will save at least that additionally when incorporated into Runaway Takeoff Prevention (which also calculates the pidSum in two places).
Additionally adds a slight performance improvement by not repeating the floating point additions to calculate the pidSum in multiple places. Effectively replaces 2 calculations with 1 (4 with 1 with Runaway Takeoff Prevention).
2018-01-30 09:58:41 -05:00
mikeller
b489d0ba9d
Renamed 'parameter_group' to 'pg'.
2017-12-19 23:36:31 +13:00
Martin Budden
9060ecb302
Reset ITerm on motor reversal
2017-12-01 07:06:20 +00:00
Blaine
9556ea6bf5
Squash and rebase
2017-10-18 00:38:13 -07:00
Martin Budden
a983f4b325
Tidy use of USE_OSD_SLAVE
2017-10-09 13:30:26 +01:00
Martin Budden
c1a99817f4
Minor tidy of PID code
2017-09-09 07:03:15 +01:00
Martin Budden
0485d5ece7
Merge pull request #4013 from martinbudden/bf_anglelimit
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Fix to angle mode limit
2017-09-03 20:02:55 +01:00
Martin Budden
e3a921b762
Merge pull request #3636 from basdelfos/copy-profile
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Copy profile to another profile (MSP and OSD)
2017-08-31 19:59:08 +01:00
Martin Budden
877c82bc3f
Fix to angle mode limit
2017-08-30 09:52:07 +01:00
Martin Budden
f8faf242fa
Added ITerm limit
2017-08-23 15:16:14 +01:00
Martin Budden
cd757c8a89
Use crash detection to limit yaw
2017-08-23 07:12:33 +01:00
Martin Budden
be8391e3db
Add gyro yaw limit
2017-08-23 07:12:33 +01:00
Bas Delfos
d32abc69f8
Copy profile to another profile (CLI, MSP and CMS)
2017-07-29 22:10:14 +02:00
Martin Budden
d180266f7d
Improved rx, failsafe and pid structure alignments
2017-07-29 17:35:43 +01:00
Vidalcris
69f4008944
Crash Recovery Delay - Against false positive. ( #3640 )
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Delay detection setting - crash_delay added.
2017-07-29 06:37:02 +01:00
Martin Budden
1ee034c38a
Added setpoint check to crash detection
2017-07-23 07:10:14 +01:00
Martin Budden
6869d78941
Better structure alignment to avoid padding
2017-07-18 11:32:05 +01:00
Martin Budden
71546410de
Rearrange PID array to be array of PIDs
2017-05-06 11:06:47 +01:00
ethomas999
8167892604
Added horizon_tilt_effect command
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and horizon_tilt_expert_mode command.
Modified 'calcHorizonLevelStrength()' function.
Changed 'd_level' (D8[PIDLEVEL]) default from 100 to 75
Added horizon static float vars
2017-04-12 10:41:54 -04:00
Martin Budden
a9bb3fb8f6
Merge pull request #2783 from martinbudden/mb_crash_recovery
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Added experimental crash detection and recovery
2017-04-12 07:57:52 +01:00
Hydra
be063ebbbf
CF/BF - Remove usage of USE_FC based on PR discussion decisions. Add
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USE_VIRTUAL_CURRENT_METER.
2017-04-12 00:39:27 +01:00
Hydra
2b1dac4c6d
CF/BF - First cut of allow building of the OSD SLAVE board without all
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the flight controller code.
Likely the dependencies can be further improved. This is a
minimal-impact solution while there are a lot of other Betaflight PR's
still pending.
2017-04-12 00:39:27 +01:00
Martin Budden
1dc5f88820
Added crash detection and recovery
2017-04-11 22:58:18 +01:00
Michael Keller
9c29475ba4
Changed float parameters to int16 in 'cli.c'.
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Fixed buffer length used for 'ftoa'.
Got rid of magic numbers, replaced 'digitalIdlePercent' with 'digitalIdleValue'.
2017-04-10 13:11:01 +12:00
borisbstyle
6899c66a05
Add anti gravity as feature and mode
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3.1.7 mergebacks
2017-04-05 15:27:52 +02:00
Martin Budden
f1ce19167f
Converted target config.c files to PG - PG CLI 6 ( #2578 )
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Converted CLI and target config.c files to PGs
2017-03-08 23:26:37 +00:00
Martin Budden
9e4de2ea3b
Added separate yaw pidsum limit
2017-03-07 11:25:21 +00:00
Martin Budden
aa561d542b
Updates to support parameter groups
2017-03-06 13:48:14 +00:00
Martin Budden
5e5fc09b1d
Added PG config definitions 9
2017-02-27 08:43:17 +00:00
Martin Budden
7ae57eb8cf
Added PG config definitions 8
2017-02-27 07:25:48 +00:00
Martin Budden
051c9cca48
Moved rate profiles out of pid profiles
2017-02-24 23:25:43 +00:00
Martin Budden
4c435fccae
Preparation for conversion to parameter groups 6
2017-02-15 08:05:37 +00:00
borisbstyle
ecb104b1f1
Merge branch 'master' into patch_v3.1.4
2017-02-07 13:47:12 +01:00
borisbstyle
89527df273
Simplify anti gravity
2017-02-07 10:26:21 +01:00
blckmn
9f17bae3e4
Fixed possible pid process denom exceeding allowed values
2017-02-06 16:06:49 +01:00
Martin Budden
f6c8319361
Removed a number of static config pointers
2017-02-02 10:41:19 +00:00
Martin Budden
79d4b2146d
Preparation for conversion to parameter groups
2017-02-01 08:46:19 +00:00
borisbstyle
a112c1d7d0
Separate fc_core.c from RC processing
2017-01-30 23:46:04 +01:00
borisbstyle
cf04294f70
Prevent ItermAccel and windup to clash with each other
2017-01-30 15:02:10 +01:00
borisbstyle
ad892400e5
Cleanup and optimize new anti windup // Simplify relaxFactor to Dterm
2017-01-29 02:35:11 +01:00
Martin Budden
9dfb3e45ee
Add ITerm anti-windup based on motor output saturation
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Added noise threshold for PID ITerm accumulation
Removed ITerm setpoint scaler. Added CLI and MSP settings
Made default ITerm noise threshold zero. Added CLI setting.
Removed itermWindupPointPercent from MSP
2017-01-29 01:30:35 +01:00
borisbstyle
38abced6a9
Fix truncated blackbox logging by restoring PID scale
2017-01-24 22:33:18 +01:00
borisbstyle
093115a2a0
Add anti_gravity_gain // new defaults
2017-01-19 00:00:33 +01:00
mikeller
005731cfe5
Adjusted PID scaling for the servo mixer.
2017-01-14 01:23:55 +13:00
Martin Budden
d8faab6539
Minor optimisations to PIDLOOP
2017-01-08 11:50:43 +00:00
borisbstyle
bdc4483151
Change Actuator scaling to percentage
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just makes it easier to understand
2017-01-06 11:21:16 +01:00
borisbstyle
8ea3997989
Add 3.1 MSP parameters
2017-01-04 00:28:56 +01:00
borisbstyle
6114e4a42d
Fix Level mode angle calculation // refactor cli angle parameters
2016-12-31 01:40:48 +01:00
borisbstyle
1030df294d
PID code cleanup // refactoring
2016-12-30 14:00:10 +01:00
