If the current sensor wasn't configured (or the mahDrawn was still zero) then there would be a division by zero error in the remaining time OSD element calculation. Rearranged the logic to prevent.
If osd_ah_max_pit was set to zero there would be a divide by zero error in the calculations for the OSD artificial horizon. Using zero for osd_ah_max_pit is a valid use-case to disable the vertical pitch component in the artificial horizon so we can't simply change the parameter range.
Previously the OSD arming disabled warnings were given a low priority so other warnings like "LOW BATTERY" would obscure the arming arming disabled reason(s). Increased the piority so that arming disabled reasons will always be displayed.
Also change the logic to cycle through all arming disable reasons rather than only show the first active flag.
Provide multiple mechanisms to alert the pilot that he is attempting to fly in HEADFREE mode while in FPV - which will likely result in disorientation and loss of control.
OSD and telemetry output of vario data is enabled on F4 and up targets
that have
USE_BARO defined. Settings and telem elements are removed from all
other targets.
F3 targets are not supported to free memory.
Harmonized (and partly corrected) all occurancies of gpsSol.llh.alt and getEstimatedAltitude() to handle altiude sourced in cm resolution.
This was introduced by GSP_RESCUE/RTH.
Introduced a naming convention that include the unit into the variable/function names:
gpsSol.llh.alt -> gpsSol.llh.alt_cm
getEstimatedAltitude() -> getEstimatedAltitude_cm()
Restructures the PID controller to decouple feedforward from D.
Cleaned up the structure of the PID controller; moved some feature-based enhancements out of the main structure.
Feedforward becomes a separate component of the PID controller and there is now:
f_pitch
f_roll
f_yaw
The default values of 60 for pitch and roll matches the default setpoint weight used in BF3.4. Yaw previously had no setpoint weight capability so the default here needs to be discussed. Currently it's also set to 60 and flight testing seems positive. Feedforward on yaw adds a lot of value so I don't think we want to default to 0. Instead we need decide on the default.
All occurences of setpoint weight have been replaced by feedforward. "setpoint_relax_ratio" has been renamed to "feedforward_transition".
The pidSum now consists of P + I + D + F.
D has been added back for yaw (disabled by default with d_yaw = 0). We've found little need for D for normal quads but it may have value for other configurations - particularly tricopters.
Updated CMS menus to support adjusting the feedforward for each axis.
Changed the default for "rc_interp_ch" to be "RPYT". Need yaw to be smoothed to support feedforward.
Open issues:
Needs BFC support
- Need to add support for the axis "F" gains.
- Remove "setpoint weight" slider.
- Rename "D Setpoint transition" to "Feedforward transition"
Needs BBE support
- Header "setpoint_relaxation_ratio" has been renamed "feedforward_transition"
- Header "dterm_setpoint_weight" has been replaced with an array named "feed_forward_weight".
example: H feed_forward_weight:65,60,60 (R,P,Y)
- PID component "AXISF" has been added for all axes. Should be handled like P, I and D values.
- PidSum calculation needs to include F.
Needs LUA script support
- Support the renamed "setpoint_relax_ratio".
- Support for feedforward weight on all 3 axes.
Open code issues:
- rc_adjustments.c - support for adjusting feedforward weight for all axes. Currently only supporting roll - needs coordination with BFC.
When the separate rc rates and rc expos for roll/pitch were added the descriptive names were never added to the OSD display strings array. Then later PID audio was added causing the array to be out of sync with the enumerated adjustment types. This led to a corrupted pointer reference in the OSD display.
Also the adjustment display name used for the OSD display was never initialized so the pointer was pointing to random memory.
Removed the use of globals and changed to use "getter" functions.
In the OSD display the warning "RCSMOOTHING". Also play a beep pattern of 3 short, 1 long that will repeat.
If rx rate filter training completes the warning/beeper will stop. The warnings are only active when armed.
