Update documentation

docs/Battery.md

@@ -305,4 +305,10 @@ To use this feature the following conditions need to be met:
 - The average power draw at cruise throttle needs to be specified (`cruise_power` setting in 0.01W unit)
 - The battery needs to be full when plugged in (voltage >= (`vbat_max_cell_voltage` - 100mV) * cells)
 
-It is advised to set `nav_fw_cruise_speed` a bit lower than the real speed and `cruise_power` 10% higher than the power at cruise throttle to ensure variations in throttle during cruise won't cause the aircraft to draw more power than estimated.
+It is advised to set `nav_fw_cruise_speed` a bit lower than the real speed and `cruise_power` 10% higher than the power at cruise throttle to ensure variations in throttle during cruise won't cause the aircraft to draw more energy than estimated.
+
+If `---` is displayed during flight instead of the remaining flight time/distance it means at least one of the above conditions aren't met. If the OSD element is blinking and the digits are replaced by the horizontal wind symbol it means that the estimated horizontal wind is too strong to be able to return home at `nav_fw_cruise_speed`.
+
+## Automatic throttle compensation based on battery voltage
+
+Automatic throttle compensation based on battery voltage can be used by enabling the `THR_VBAT_COMP` feature. It is working like this: used_throttle = requested_throttle * battery_max_voltage / sag_compensated_voltage.

docs/Cli.md

@@ -101,7 +101,6 @@ Re-apply any new defaults as desired.
 |  acc_task_frequency  | 500 | Determines accelerometer task frequency in async_mode = ALL. Depending on UAV type this frequency can be lowered to conserve CPU resources as long as vibrations are not a problem. |
 |  attitude_task_frequency  | 250 | Determines attitude task frequency when async_mode = ALL |
 |  async_mode  | NONE | Enables asynchronous mode processing for gyro/accelerometer and attitude computations. Allowed modes: NONE -> default behavior, all calculations are executed in main PID loop. GYRO -> gyro sampling and filtering is detached from main PID loop. PID loop runs based on looptime while gyro sampling uses gyro_sync_denom and gyro_lpf combination to determine its frequency. ALL -> in this mode, gyro, accelerometer and attitude are running as separate tasks. Accelerometer task frequency is determined by acc_task_frequency, attitude task frequency by attitude_task_frequency. In this mode ANGLE and HORIZON, as well GPS assisted flight modes (including PosHold) performance might be lowered. |
-|  mid_rc  | 1500 | This is an important number to set in order to avoid trimming receiver/transmitter. Most standard receivers will have this at 1500, however Futaba transmitters will need this set to 1520. A way to find out if this needs to be changed, is to clear all trim/subtrim on transmitter, and connect to GUI. Note the value most channels idle at - this should be the number to choose. Once midrc is set, use subtrim on transmitter to make sure all channels (except throttle of course) are centered at midrc value. |
 |  min_check  | 1100 | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. |
 |  max_check  | 1900 | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value. |
 |  rssi_channel  | 0 | RX channel containing the RSSI signal |
@@ -121,6 +120,7 @@ Re-apply any new defaults as desired.
 |  fixed_wing_auto_arm  | OFF | Auto-arm fixed wing aircraft on throttle above min_throttle, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured. |
 |  disarm_kill_switch  | ON | Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. |
 |  auto_disarm_delay  | 5 | Delay before automatic disarming when using stick arming and MOTOR_STOP. This does not apply when using FIXED_WING |
+|  switch_disarm_delay | 250 | Delay before disarming when requested by switch (ms) [0-1000] |
 |  small_angle  | 25 | If the aircraft tilt angle exceed this value the copter will refuse to arm.  |
 |  reboot_character  | 82 | Special character used to trigger reboot |
 |  gps_provider  | UBLOX | Which GPS protocol to be used |
@@ -135,6 +135,7 @@ Re-apply any new defaults as desired.
 |  inav_use_gps_velned  | ON | Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance. |
 |  inav_gps_delay  | 200 | GPS position and velocity data usually arrive with a delay. This parameter defines this delay. Default (200) should be reasonable for most GPS receivers. |
 |  inav_reset_altitude | FIRST_ARM | Defines when relative estimated altitude is reset to zero. Variants - `NEVER` (once reference is acquired it's used regardless); `FIRST_ARM` (keep altitude at zero until firstly armed), `EACH_ARM` (altitude is reset to zero on each arming) |
+|  inav_reset_home | EACH_ARM | Allows to chose when the home position is reset. Can help prevent resetting home position after accidental mid-air disarm. Possible values are: NEVER, FIRST_ARM and EACH_ARM |
 |  inav_max_surface_altitude  | 200 | Max allowed altitude for surface following mode. [cm] |
 |  inav_w_z_baro_p  | 0.350 | Weight of barometer measurements in estimated altitude and climb rate |
 |  inav_w_z_gps_p  | 0.200 | Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes |
@@ -219,7 +220,7 @@ Re-apply any new defaults as desired.
 |  battery_capacity  | 0 | Battery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity. |
 |  vbat_scale  | 1100 | Battery voltage calibration value. 1100 = 11:1 voltage divider (10k:1k) x 100. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli. |
 |  bat_voltage_src  | RAW | Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP` |
-|  vbat_cells  | 0 | Number of cells of the battery (0 = autodetect), see battery documentation |
+|  bat_cells  | 0 | Number of cells of the battery (0 = autodetect), see battery documentation |
 |  vbat_cell_detect_voltage  | 430 | Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units, default is 4.30V |
 |  vbat_max_cell_voltage  | 420 | Maximum voltage per cell in 0.01V units, default is 4.20V |
 |  vbat_min_cell_voltage  | 330 | Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V) |
@@ -232,6 +233,7 @@ Re-apply any new defaults as desired.
 |  battery_capacity_unit | MAH | Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour). |
 |  cruise_power  | 0 | Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit |
 |  idle_power  | 0 | Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit |
+|  rth_energy_margin | 5 | Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation |
 |  multiwii_current_meter_output  | OFF | Default current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps) |
 |  current_meter_type  | ADC | ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position. |
 |  align_gyro  | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
@@ -243,6 +245,7 @@ Re-apply any new defaults as desired.
 |  align_mag_roll  | 0 | Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw. |
 |  align_mag_pitch  | 0 | Same as align_mag_roll, but for the pitch axis. |
 |  align_mag_yaw  | 0 | Same as align_mag_roll, but for the yaw axis. |
+|  align_opflow | 5 | Optical flow module alignment (default CW0_DEG_FLIP) |
 |  gyro_hardware_lpf  | 42HZ | Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ,256Hz (8khz mode). If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first. |
 |  moron_threshold  | 32 | When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered. |
 |  imu_dcm_kp  | 2500 | Inertial Measurement Unit KP Gain for accelerometer measurements |
@@ -297,6 +300,7 @@ Re-apply any new defaults as desired.
 |  osd_alt_alarm        | 100   | Value above which to make the OSD relative altitude indicator blink (meters) |
 |  osd_neg_alt_alarm    | 5    | Value bellow which (negative altitude) to make the OSD relative altitude indicator blink (meters) |
 |  osd_estimations_wind_compensation  | ON | Use wind estimation for remaining flight time/distance estimation |
+|  osd_attitude_angle_decimals | 0 | Chose the numbers of decimals displayed by OSD attitude angle elements [0-1] |
 |  magzero_x  | 0 | Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed. |
 |  magzero_y  | 0 | Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed. |
 |  magzero_z  | 0 | Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed. |
@@ -414,6 +418,8 @@ Re-apply any new defaults as desired.
 |  vtx_low_power_disarm  | OFF | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled. |
 |  vtx_pit_mode_freq  | Frequency to use (in MHz) when the VTX is in pit mode. |
 |  vtx_power  | 1 | VTX RF power level to use. The exact number of mw depends on the VTX hardware. |
+| motor_accel_time | 0 | Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000] |
+| motor_decel_time | 0 | Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000] |
 
 This Markdown table is made by MarkdwonTableMaker addon for google spreadsheet.
 Original Spreadsheet used to make this table can be found here https://docs.google.com/spreadsheets/d/1ubjYdMGmZ2aAMUNYkdfe3hhIF7wRfIjcuPOi_ysmp00/edit?usp=sharing