Merge pull request #8767 from shota3527/ahrs_parameter_rename

ahrs parameter names change

docs/Settings.md

@@ -182,6 +182,86 @@ Calculated value after '6 position avanced calibration'. See Wiki page.
 
 ---
 
+### ahrs_acc_ignore_rate
+
+Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 15 | 0 | 30 |
+
+---
+
+### ahrs_acc_ignore_slope
+
+Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 5 | 0 | 10 |
+
+---
+
+### ahrs_dcm_ki
+
+Inertial Measurement Unit KI Gain for accelerometer measurements
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 50 |  | 65535 |
+
+---
+
+### ahrs_dcm_ki_mag
+
+Inertial Measurement Unit KI Gain for compass measurements
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 50 |  | 65535 |
+
+---
+
+### ahrs_dcm_kp
+
+Inertial Measurement Unit KP Gain for accelerometer measurements
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 2000 |  | 65535 |
+
+---
+
+### ahrs_dcm_kp_mag
+
+Inertial Measurement Unit KP Gain for compass measurements
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 2000 |  | 65535 |
+
+---
+
+### ahrs_gps_yaw_windcomp
+
+Wind compensation in heading estimation from gps groundcourse(fixed wing only)
+
+| Default | Min | Max |
+| --- | --- | --- |
+| ON | OFF | ON |
+
+---
+
+### ahrs_inertia_comp_method
+
+Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop
+
+| Default | Min | Max |
+| --- | --- | --- |
+| VELNED |  |  |
+
+---
+
 ### airmode_throttle_threshold
 
 Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used
@@ -1622,86 +1702,6 @@ Power draw at zero throttle used for remaining flight time/distance estimation i
 
 ---
 
-### imu_acc_ignore_rate
-
-Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 15 | 0 | 30 |
-
----
-
-### imu_acc_ignore_slope
-
-Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 5 | 0 | 10 |
-
----
-
-### imu_dcm_ki
-
-Inertial Measurement Unit KI Gain for accelerometer measurements
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 50 |  | 65535 |
-
----
-
-### imu_dcm_ki_mag
-
-Inertial Measurement Unit KI Gain for compass measurements
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 50 |  | 65535 |
-
----
-
-### imu_dcm_kp
-
-Inertial Measurement Unit KP Gain for accelerometer measurements
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 2000 |  | 65535 |
-
----
-
-### imu_dcm_kp_mag
-
-Inertial Measurement Unit KP Gain for compass measurements
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 2000 |  | 65535 |
-
----
-
-### imu_gps_yaw_windcomp
-
-Wind compensation in heading estimation from gps groundcourse(fixed wing only)
-
-| Default | Min | Max |
-| --- | --- | --- |
-| ON | OFF | ON |
-
----
-
-### imu_inertia_comp_method
-
-Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop
-
-| Default | Min | Max |
-| --- | --- | --- |
-| VELNED |  |  |
-
----
-
 ### inav_allow_dead_reckoning
 
 Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation

src/main/fc/settings.yaml

@@ -1393,22 +1393,22 @@ groups:
     type: imuConfig_t
     headers: ["flight/imu.h"]
     members:
-      - name: imu_dcm_kp
+      - name: ahrs_dcm_kp
         description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
         default_value: 2000
         field: dcm_kp_acc
         max: UINT16_MAX
-      - name: imu_dcm_ki
+      - name: ahrs_dcm_ki
         description: "Inertial Measurement Unit KI Gain for accelerometer measurements"
         default_value: 50
         field: dcm_ki_acc
         max: UINT16_MAX
-      - name: imu_dcm_kp_mag
+      - name: ahrs_dcm_kp_mag
         description: "Inertial Measurement Unit KP Gain for compass measurements"
         default_value: 2000
         field: dcm_kp_mag
         max: UINT16_MAX
-      - name: imu_dcm_ki_mag
+      - name: ahrs_dcm_ki_mag
         description: "Inertial Measurement Unit KI Gain for compass measurements"
         default_value: 50
         field: dcm_ki_mag
@@ -1418,24 +1418,24 @@ groups:
         default_value: 25
         min: 0
         max: 180
-      - name: imu_acc_ignore_rate
+      - name: ahrs_acc_ignore_rate
         description: "Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy"
         default_value: 15
         field: acc_ignore_rate
         min: 0
         max: 30
-      - name: imu_acc_ignore_slope
+      - name: ahrs_acc_ignore_slope
         description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)"
         default_value: 5
         field: acc_ignore_slope
         min: 0
         max: 10
-      - name: imu_gps_yaw_windcomp
+      - name: ahrs_gps_yaw_windcomp
         description: "Wind compensation in heading estimation from gps groundcourse(fixed wing only)"
         default_value: ON
         field: gps_yaw_windcomp
         type: bool
-      - name: imu_inertia_comp_method
+      - name: ahrs_inertia_comp_method
         description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
         default_value: VELNED
         field: inertia_comp_method

src/main/flight/imu.c

@@ -114,15 +114,15 @@ FASTRAM bool gpsHeadingInitialized;
 PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 2);
 
 PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
-    .dcm_kp_acc = SETTING_IMU_DCM_KP_DEFAULT,                   // 0.20 * 10000
+    .dcm_kp_acc = SETTING_AHRS_DCM_KP_DEFAULT,                   // 0.20 * 10000
-    .dcm_ki_acc = SETTING_IMU_DCM_KI_DEFAULT,                   // 0.005 * 10000
+    .dcm_ki_acc = SETTING_AHRS_DCM_KI_DEFAULT,                   // 0.005 * 10000
-    .dcm_kp_mag = SETTING_IMU_DCM_KP_MAG_DEFAULT,               // 0.20 * 10000
+    .dcm_kp_mag = SETTING_AHRS_DCM_KP_MAG_DEFAULT,               // 0.20 * 10000
-    .dcm_ki_mag = SETTING_IMU_DCM_KI_MAG_DEFAULT,               // 0.005 * 10000
+    .dcm_ki_mag = SETTING_AHRS_DCM_KI_MAG_DEFAULT,               // 0.005 * 10000
     .small_angle = SETTING_SMALL_ANGLE_DEFAULT,
-    .acc_ignore_rate = SETTING_IMU_ACC_IGNORE_RATE_DEFAULT,
+    .acc_ignore_rate = SETTING_AHRS_ACC_IGNORE_RATE_DEFAULT,
-    .acc_ignore_slope = SETTING_IMU_ACC_IGNORE_SLOPE_DEFAULT,
+    .acc_ignore_slope = SETTING_AHRS_ACC_IGNORE_SLOPE_DEFAULT,
-    .gps_yaw_windcomp = 1,
+    .gps_yaw_windcomp = SETTING_AHRS_GPS_YAW_WINDCOMP_DEFAULT,
-    .inertia_comp_method = COMPMETHOD_VELNED
+    .inertia_comp_method = SETTING_AHRS_INERTIA_COMP_METHOD_DEFAULT
 );
 
 STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)