* TPA optimisations
* improvement, thanks @ledvinap
* update following review comments, thanks karatebrot and ledvinap
* include rx.h in pid_init.c to get PWM_RANGE_MIN
* review suggestion
* Minor pid.c refactoring
* Only calculate unfiltered gyro delta for that debug
Remove unnecessary comment
Change multiplier to factor of 10
* remove some archaic comments
* clarify name of D_LPF_PRE_TPA_SCALE, use inverse in define
* Remove some blank lines
* undo conversion to division thanks -ffast-math
* dynamic dcm_kp depending on groundspeed vs velocity to home
* reduce max pitch angle default to 40
* Only 10% of set velocity to home is enough, angle to 45
to reduce chance of sanity check against headwind
* fixes, thanks @KarateBrot
* Feedback from Ledvinap, ensure full pitch and yaw authority in descend
* pitch limit max of 1/3 and dcm_kp gain to 6x max
* apply IMU kP factor to yaw only via ez_ef
* More from @Ledvinap, constrain pitch in descent also
* Fix the velocity error gain, refactoring thanks to Ledvinap
* thanks, Mark!
* fixes, must be fabsf
* make IMU gain twice as sensitive to groundspeed error
* useCOG as float
* Fix unit test
* ensure cogYawGain is zero, except during gps rescue
* update comment after suggestion from ledvinap
* keep roll angle limit consistently at 50% of pitch limit when active
* changes to comments, thanks petr
* If CS is asserted between transfers then consider bus to be busy for all but owning device
* Track if MAX7456 is mid DMA transfer, not simply that the SPI bus is busy
* Enable SPI DMA TX/RX together
* Add GPS status line to cli status output: connected status, UART + serial port baud + configured baud, configured status.
* Fixed unit test link fail.
* Really fixed unit test link fail (I hope).
* Really fixed unit test link fail (no really this time).
* Updated to address code reviews.
* Updated to address code reviews.
* Updated to address code reviews.
* Modification to allow src/config to be a repo within a repo.
* Moving config files to own repository, and including using make.
* Removing all old config files.
* Correct CI errors.
* Playing with pulling the configuration files from the API
* Attempt to get past github actions issue
* Adding additional assistance when configs not hydrated
* Move the workflow to support hydration before outputing target list.
* Correction for revision targets
* Requires additional config hydration
* Better messaging on what to do:
- when you have a local config.h for a new target, ignore hydration of target list if you are building the target config in question.
- when you are doing any activity that does not require hydration, e.g. printing out help or installing arm_sdk etc.
* Anything suffixed with clean should be allowed through
* Adjusting to simply use a copy of the repository. Noting we will need to decide whether or not to include MFTR name in the config directory or not.
* Refactor Feedforward Angle and RC Smoothing
* update rc_smoothing at regular intervals
* add Earth Ref to OSD, update pid and rate PG
* Initialise filters correctly
* refactoring to improve performance
* Save 24 cycles in Horizon calculations, other optimisations
At a cost of 40 bytes
* save 25 cycles and 330 bytes in rc_smoothing
* feedforward max rate improvements
* typo fix
* Karatebrot's review suggestions part one
* Karatebrot's excellent suggestions part 2
* more efficient if we calculate inverse at init time
Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
* Horizon delay, to ease it in when returning sticks to centre
* fix unit tests after horizon changes
Co-Authored-By: 4712 <4712@users.noreply.github.com>
* horizon_delay_ms, default 500
* fix unit test for feedforward from setpointDelta
* Final optimisations - thanks @Karatebrot for your advice
* increase horizon level strength default to 75 now we have the delay
* restore Makefile value which allowed local make test on mac
---------
Co-authored-by: Jan Post <post@stud.tu-darmstadt.de>
Co-authored-by: 4712 <4712@users.noreply.github.com>
* Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT
F4 can't handle 8K PID loop
* Fix missing cfg_pms.version
* Limit G4 to 4K PID rate as per F4
* Add SPRO-SPRACINGH7NANO.config
* Remove dupicate #define and add line return at end of file
* Add #pragma once
* Remove extra SDCARD pins
* Remove unnecessary SPI and I2C #defines
* Add USE_FIRMWARE_PARTITION_FLAG
* Remove SDCARD flag
* Add timer pin map
* Add ADC voltage and current
* Fix ADC_RSSI
* Add DMA TIMUP
* Enable serial on UART1
* Add TIMUP_DMA_OPT
