ab231b7c84
* Second PT1 on DTerm This PR replaces the default biquad filter with a second PT1 set to 200Hz. Basically allows the user to enable a second, set point configurable, PT1 type first order low-pass filter on DTerm. This is useful because most noise in most logs arises from D, not P. The default is set to on, at twice the normal Dterm setpoint. This provides greater Dterm cut than a single PT1, and twice the steepness of cut above the second setpoint. Modelling shows significant reductions in higher frequency Dterm noise with only minor additional delay. The improvement in noise performance will be less than for biquad, but the delay is considerably less. If with the default settings the overall noise improves a lot, it may be possible bring D both filtering set points to higher numbers (e.g. 140/280), or alternatively remove other filters such as the notch filters, while maintaining an adequate level of control over noise. * Update names, old defaults, fix whitespace Defaults restored to biquad with second PT1 off. ‘lpf’ retained as abbreviation for values, otherwise generally remove ‘Filter’ where redundant, replace ‘FilterLpf’ with ‘Lowpass’, etc, thanks Fujin and DieHertz * Remove underscore in lowpass_2, add hz to setpoint for lowpass Thanks DieHertz * completed replacing lpf with lowpass, added _hz to all lowpass set points in profile Thanks DieHertz * fix whitespace fixed whitespace in settings.c * whitespace attempt #57 * change lpf to lowpass where appropriate elsewhere Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere. * second attempt at a simple PT1 implementation Basically copied from the DtermNotch implementation * Second PT1 on DTerm This PR replaces the default biquad filter with a second PT1 set to 200Hz. Basically allows the user to enable a second, set point configurable, PT1 type first order low-pass filter on DTerm. This is useful because most noise in most logs arises from D, not P. The default is set to on, at twice the normal Dterm setpoint. This provides greater Dterm cut than a single PT1, and twice the steepness of cut above the second setpoint. Modelling shows significant reductions in higher frequency Dterm noise with only minor additional delay. The improvement in noise performance will be less than for biquad, but the delay is considerably less. If with the default settings the overall noise improves a lot, it may be possible bring D both filtering set points to higher numbers (e.g. 140/280), or alternatively remove other filters such as the notch filters, while maintaining an adequate level of control over noise. * Rebase * Remove underscore in lowpass_2, add hz to setpoint for lowpass Thanks DieHertz * completed replacing lpf with lowpass, added _hz to all lowpass set points in profile Thanks DieHertz * fix whitespace fixed whitespace in settings.c * whitespace attempt #57 * change lpf to lowpass where appropriate elsewhere Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere. * second attempt at a simple PT1 implementation Basically copied from the DtermNotch implementation * Whitespace fix - thanks, Ledvinap * Fix PG issue by moving added dterm_lowpass2_hz to bottom of struct * Got rid of redundant indirection * Fixed indentantion shifts |
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| lib | ||
| make | ||
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| support | ||
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| .gitignore | ||
| .travis.sh | ||
| .travis.yml | ||
| build_docs.sh | ||
| CONTRIBUTING.md | ||
| fake_travis_build.sh | ||
| JLinkSettings.ini | ||
| LICENSE | ||
| Makefile | ||
| Notes.md | ||
| README.md | ||
| Vagrantfile | ||
Betaflight is flight controller software (firmware) used to fly multi-rotor craft and fixed wing craft.
This fork differs from Baseflight and Cleanflight in that it focuses on flight performance, leading-edge feature additions, and wide target support.
Events
| Date | Event |
|---|---|
| 01 July 2018 | Planned release date for Betaflight 3.4 |
Features
Betaflight has the following features:
- Multi-color RGB LED strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, Initialization Troubleshooting, etc)
- DShot (150, 300, 600 and 1200), Multishot, and Oneshot (125 and 42) motor protocol support
- Blackbox flight recorder logging (to onboard flash or external microSD card where equipped)
- Support for targets that use the STM32 F7, F4, F3 and F1 processors
- PWM, PPM, and Serial (SBus, SumH, SumD, Spektrum 1024/2048, XBus, etc) RX connection with failsafe detection
- Multiple telemetry protocols (CSRF, FrSky, HoTT smart-port, MSP, etc)
- RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II, X8R, X4R-SB, & XSR
- OSD support & configuration without needing third-party OSD software/firmware/comm devices
- OLED Displays - Display information on: Battery voltage/current/mAh, profile, rate profile, mode, version, sensors, etc
- In-flight manual PID tuning and rate adjustment
- Rate profiles and in-flight selection of them
- Configurable serial ports for Serial RX, Telemetry, ESC telemetry, MSP, GPS, OSD, Sonar, etc - Use most devices on any port, softserial included
- VTX support for Unify Pro and IRC Tramp
- and MUCH, MUCH more.
Installation & Documentation
See: https://github.com/betaflight/betaflight/wiki
IRC Support and Developers Channel
There's a dedicated Slack chat channel here:
Etiquette: Don't ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can't answer immediately.
Configuration Tool
To configure Betaflight you should use the Betaflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao
The source for it is here:
https://github.com/betaflight/betaflight-configurator
Contributing
Contributions are welcome and encouraged. You can contribute in many ways:
- Documentation updates and corrections.
- How-To guides - received help? Help others!
- Bug reporting & fixes.
- New feature ideas & suggestions.
The best place to start is the IRC channel on gitter (see above), drop in, say hi. Next place is the github issue tracker:
https://github.com/betaflight/betaflight/issues https://github.com/betaflight/betaflight-configurator/issues
Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!
Developers
Please refer to the development section in the docs/development folder.
TravisCI is used to run automatic builds
https://travis-ci.org/betaflight/betaflight
Betaflight Releases
https://github.com/betaflight/betaflight/releases
Open Source / Contributors
Betaflight is software that is open source and is available free of charge without warranty to all users.
Betaflight is forked from Cleanflight, so thanks goes to all those whom have contributed to Cleanflight and its origins.
Origins for this fork (Thanks!):
- Alexinparis (for MultiWii),
- timecop (for Baseflight),
- Dominic Clifton (for Cleanflight), and
- Sambas (for the original STM32F4 port).
The Betaflight Configurator is forked from Cleanflight Configurator and its origins.
Origins for Betaflight Configurator:
- Dominic Clifton (for Cleanflight configurator), and
- ctn (for the original Configurator).
Big thanks to current and past contributors:
- Budden, Martin (martinbudden)
- Bardwell, Joshua (joshuabardwell)
- Blackman, Jason (blckmn)
- ctzsnooze
- Höglund, Anders (andershoglund)
- Ledvina, Petr (ledvinap) - IO code awesomeness!
- kc10kevin
- Keeble, Gary (MadmanK)
- Keller, Michael (mikeller) - Configurator brilliance
- Kravcov, Albert (skaman82) - Configurator brilliance
- MJ666
- Nathan (nathantsoi)
- ravnav
- sambas - bringing us the F4
- savaga
- Stålheim, Anton (KiteAnton)
And many many others who haven't been mentioned....