Acc align fixes #105
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Acc align fixes #105
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@orneryd something broke Blackbox unit test |
…quats when not in quaternion mode
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@orneryd Seems the blackbox unit test is failing still.
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…late quaternions.
kidBrazil
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Apr 11, 2018
orneryd
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May 23, 2018
- ACC Alignment Fix - Black Box Logging Fix - HELIO Auto Level FIX - Enables Quaternion on IMUF
orneryd
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Jun 6, 2018
- ACC Alignment Fix - Black Box Logging Fix - HELIO Auto Level FIX - Enables Quaternion on IMUF
orneryd
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Jun 16, 2018
implemented static gyro noise integration lock trough standard deviation modulus phase out rmat (use quaternion) improved gyro Integration (PCDM Acta Mech 224, 3091–3109 (2013)) separated from Mahony PI corrected acc corrected gyro increased default dcm_ki dcm_kp for faster convergence removed ATTITUDE task rescheduling butterflight merge correction LexioTech requested changes @robert-b requested changes BF cherrypick bf 8acea0b bf betaflight#5354 bf betaflight#5320 undo 79#discussion_r177906818 conjugate cleanup adding D to yaw updating to use proper kD filtering use biquad instead fix build, remove ptermYaw filter in favor of proper D filtering. Add gyro_stage_2_filter_type to MSP Added gyro_stage_2_filter_type to MSP to be able to get/set it from the configurator UI. Fixed indentation Fixed indentation to match existing code style (stupid Visual Studio defaults...) Fix indentation #2 ... Increase MSP protocol version to 1.40.0 With the addition of gyro_stage_2_filter_type to MSP, the protocol version must be bumped. optimizing the pid calcs, removing P filter on yaw. constraining step count to match the constraint of 16KHZ updating defaults setting unynced pwm and 32k for multishot unsynced pwm updating auto-update logic for imuf updating defaults with ACC on, removing rc_interp fix to be implemented separately, fixing version for release lower default P fixing angle/horizon mode with d enabled removing ifndef code fixing bad filter inits fix unit test Fixed the else if statement add delay to give imuf time to init re-adding ifndef for imuf switching from division to multiplication bumping imuf version to 105 Revert "Merge branch 'imuf_fix_angle_horizon' into butterflight-RC-351" This reverts commit 5c0363b, reversing changes made to 622d22d. merging calibration/horizon and yaw d fixes into Rc3 branch moving sanity check back to init Increment version to 3.5.1 Acc align fixes (#105) - ACC Alignment Fix - Black Box Logging Fix - HELIO Auto Level FIX - Enables Quaternion on IMUF Butterflight acc msp bbl fix (#108) * Fix Acc MSP BBL * Fix Acc MSP BBL v1 * Fix Acc MSP BBL v2 * Fix Acc MSP BBL v3 useAccFix Revert "Merge pull request #112 from adrianmiriuta/Butterflight-RC-351" This reverts commit 2ec20cb, reversing changes made to 19d39a1. Quaternion Sensors Refactor (#109) This refactor saves ~6% CPU on IMUF targets and ~2% on non-IMUF targets. - Ornery fixing up acc alignment setting for imuf and removing short circut for isCalibrating fixing BBL, adding imuf to headers lowering W default because quaternions take up more cpu on imuf, fixing BBL headers for imuf add 45 deg rotational support to imuf sorry Lucas, last one i promise updating default pids for yaw (#117) * updating default pids for yaw * fixing d filtering for yaw. saving 1.5K flash space by refactoring pid filter init fix led ACC Optimization + Dterm Filtering YAW turn off gyro_cal_on_first_arm by default Butterflight 3.5.1 RC MAG fix (#127) Attitude MAG correction fix. HEADFREE fix v2 (#124) Omnibus F4 Fireworks Target (#107) * Initial work porting @jflyper's Omnibus F4FW Target * Changed the Gyro configuration to match BuF * Revised pins based on Airbots schematics * Got the target fixed with Jflyper's help Butterflight 3.5.1 RC CPU crash cli > status fix (#129) * cleanup v1 * CPU crash on cli> status fix fix gyroSensor_e * CPU crash on cli> status fix v3 * CPU crash on cli> status fix v4 Fix CAM CTL on OmnibusF4FW fix board orientation (#134) Butterflight_3.5.1_RC_fix_board_orientation removing imuf_mode form OSD, allowing LPF up to 450 fix board orientation (#134) Butterflight_3.5.1_RC_fix_board_orientation max w 300, add define for default LPF updating default voltage reading and current scale values zeroing out dterm notch send setpoint, armed status, and rc data to imuf travis you butthole pulling in upstream changes re-adding w to OSD menu setting defaults cleaning up configuration contract setting up previous default for feel and previous pids setting W to 32 default send setpoint and arm info keep command below 127 updaing defautl pids updating OSD menu adding buttered pid option to odin initial commit adding reboot and notification to imuf settings in OSD fixing travis locking inteprolation to 8K for CPU consumption, commenting out setpoint send for now adding setpointRate as a uint32 cast for spi transfer encapsulation defaulting first PID profile to not buttered pids, and subsequent profiles to buttered pids. adding default pids define for other targets to use as well moving defines to target file fixing imuf errors fixing imuf crc errors adding task priority trigger. making loop times be consistent for dma spi triggers. reporting CPU load more accurately faster rx updates fast restart adding SITL to unsupported targets passing setpoint to imuf buttered pids ON/OFF in OSD and update imuf defaults setting defaults halfduplef telemetry default removing SITL checks updating lpf default FIX beeper accTrims vstdDev fix DEBUG, patch IMUF quaternion degradation apply sensor correction for imuf halfduplex off for helio
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This fixes autolevel and enables IMUF quaternions. it also changes the config constraints that if digital protocols are selected, we only use a 16k/16K gyro/pid loop.