Remove double MPU_RA_PWR_MGMT_1
Looptime to Gyro refresh rate
disable 2khz when acc used for F3
Gyro sync code improvement
doc change
MPU6500 INT_STATUS support // MPU3500 dummy handling
Enable full 1khz sampling on F1 boards (no acc mode)
Add MPU3050 INT_STATUS
F1 target decreased max refresh
Configurable optione (sync_gyro_to_loop)
correction watchdog
correct filter
Coding style and cleanup code
Cli.md
Bump EEPROM version
MPU6050 MPU DATA READY Pin instead of i2c
Add more targets and corrections
correction to CC3D
ident
MPU6500 correction
INT_ENABLE MPU6500
add interrupt mpu6500
MPU6500 corrections from rebase
MPU6500 correct
Final fix to compile // ready for testing and review
MPU6000 / MPU3050 Corrections
Add CC3D extiConfig
add mpu6500
Fix intStatus position
fix returns
Add COLIBRI_RACE MPU INT
Change CLI name to gyro_sync
This is shorter typing and speaks for itself
Fix MotoLab After rebase
Add motolab
Full gyro Sync rework
Idents etc
Doc update
more corrections
Fix serial_cli
refactor // ident
GPL
single line
runloop refactor
Automatic magnetic declination from GPS coordinates (approximate to 1-2 degrees) (disabled)
Accelerometer bias compensation
Quaternion-based Mahony's DCM IMU (implementation by S. Madgwick)
Ability to lock heading to GPS cource for airplanes
Faster acquisition by initial attitude by using higher DCM kP gain on powerup
Changes to mag calibration algorithm (@HaukeRa's code). Compass calibration now independent from align_mag.
Changed acc calibration to proper 3-axis offset calculation code (same code as for mag). Changed board alignment angles to decidegrees (configurator incompatibility). Removed accelerometer trims (values passed thru MSP are ignored). Accel trim stick combo now adjusts board alignment directly (real-time, without reboot). Removed inflight acc calibration.
FIR filter implementation for different looptimes. Option gyro_cut_hz replaced with gyro_fir_enable (default gyro_soft_filter=3 preset - a very pessimistic filter with fairly large delay but low cutoff frequency for large or very noisy copters)
iNav-related PIDs renamed in CLI to avoid re-usage of old values when restoring config dumps.
PID with back-calculation and I-term anti-windup. Smarter max acceleration and jerk limiting
Initial support for airplane navigation. ALTHOLD, POSHOLD (circular loiter around the waypoint) and RTH should work. UNTESTED! RTH altitude probably needs some work. Autolanding will NOT function at the moment - the AUTOLAND phase will never complete. Absolutely no throttle control at the moment (fully manual control).
Increase delay for bmp085 baro detection. Resolves an issue with bmp085 not being detected sometimes on powerup
Fixed the missing checks for MIXER_CUSTOM_AIRPLANE
Lots of small fixes
Note: since it didn't actually calibrate anything it has been renamed to
rxrange.
Added ability to reset rxranges using `rxrange reset` - this follows the
same pattern as other cli commands.
pterm_cut_hz added
Let's play with this as well to get more noise filtered
Code Cleanup
Make filter more flexible for reuse
rewrite correction pterm
Define static delta in filter
Fix array count
ident
return function for filter
Filter Function enhanced
Full software filtering (DTerm, PTerm, Gyro, Acc)
Normalize Variables
Revert Back gyro settings
Bugfix gyro/acc filter // (MPU60xx equalize lpf settings)
Moved filtering to mw.c
This has been done to prevent reusing old cycletime for filter function.
acc_cut_hz removed (not needed)
Harakiri zero fix
Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
Pull request #802 has by default disabled yaw jump. That is fine on the
most of the configurations, but one of my multirotors had an angled
motor due to crash and this was causing weird behaviour.
It is also possible to configure very low values, which can even cause a
craft to not be able to stop after yaw and I am talking about the values
below 100 like 1.
Anyway this fix provides only valid configurable values what can't cause
any danger. Also default parameter is not unlimited anymore and is
configured to 200, which is a safe value to anybody who does the
upgrade.
cli.md is also edited
