The buffer was originally a part of motorDmaOutput_s structure which resided in the FAST_RAM_ZERO_INIT(DTCM RAM). The buffer was separated as a part of the motor refactor #8534, and wasn’t properly attributed.
In the future, DMA buffer coherence will be maintained by MPU and the DShot buffer will be moved there to save the scarce DTCM resource.
The current calculation accumulates gyro data between IMU updates based on the actual time delta betwwn samples. The problem with this is that loop time jitter or delays will decrease the accuracy of the gyro rotational input into the attitude calculation. The sensor samples based on a hardware driven clock that matches the `gyro.targetLooptime`. The sensor captures samples at these intervals regardless of when we read them so the calculation should be based on the duration between samples rather then the duration between processing loops.
Will improve the accuracy of the IMU attitude estimate - particularly in cases of higher CPU load and increased looptime jitter. Bench testing shows reduced drift. Also flight tested and behaved as expected.
The buffer was originally a part of motorDmaOutput_s structure which resided in the FAST_RAM_ZERO_INIT(DTCM RAM). The buffer was separated as a part of the motor refactor #8534, and wasn’t properly attributed.
In the future, DMA buffer coherence will be maintained by MPU and the DShot buffer will be moved there to save the scarce DTCM resource.
The formula used to compute VREF from VREFINT and VREFINTCAL was incorrect.
Also, as correct formulae for VREF and TEMPSENSOR incorporate lots of
MCU dependent variables and constants, a new driver level service was
added to convert ADC values to VREF voltage or temperature.
SPRACINGH7EXTREME - Disable requirement for custom gyro alignment and
dual gyro.
Requires custom gyro rotation code to be merged first, see:
https://github.com/betaflight/betaflight/pull/7845https://github.com/betaflight/betaflight/pull/8474
SPRACINGH7EXTREME - Add boards documentation and images.
Add SPRacingH7EXTREME to the list of official targets.
SPRACINGH7EXTREME - Add unified target config.
Note: untested as no unified target exists for STM32H750+EXST yet.
SPRACINGH7EXTREME - Use correct gyro settings now that #8474 is merged.
SPRACINGH7EXTREME - Combine target files.
SPRACINGH7EXTREME - Update unified target config.
