new custom branch

Author: breadoven

docs/Settings.md

@@ -2318,7 +2318,7 @@ Calculated 1G of Acc axis Z to use in INS
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.0 | 0 | 2000 |
+| 0 | 0 | 2000 |
 
 ---
 
@@ -3064,7 +3064,7 @@ Protocol that is used to send motor updates to ESCs. Possible values - STANDARD,
 
 ### motor_pwm_rate
 
-Output frequency (in Hz) for motor pins.  Applies only to brushed motors. 
+Output frequency (in Hz) for motor pins.  Applies only to brushed motors.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -3362,6 +3362,16 @@ Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G =
 
 ---
 
+### nav_fw_launch_allow_throttle_low
+
+Allow launch sequence with throttle maintained low throughout. When main launch sequence completes control is maintained with Nav cruise throttle until sticks moved/throttle raised or control switches to other Nav mode if preselected
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### nav_fw_launch_climb_angle
 
 Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit
@@ -4052,6 +4062,16 @@ P gain of altitude PID controller (Multirotor)
 
 ---
 
+### nav_mc_toiletbowl_detection
+
+Sets sensitivity of toilet bowling detection for multirotors. On detection a heading correction is applied which should stop the toilet bowling. A setting of 2 works well for 5 inch multirotors. Increasing the setting will reduce sensitivity and delay detection. Set to 0 to disable. (Toilet bowling occurs most obviously during position hold when an inaccurate compass heading causes a rapidly increasing fast sweeping bowl shaped flight path).
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20 |
+
+---
+
 ### nav_mc_vel_xy_d
 
 D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.
@@ -4072,23 +4092,23 @@ Maximum D-term attenution percentage for horizontal velocity PID controller (Mul
 
 ---
 
-### nav_mc_vel_xy_dterm_attenuation_end
+### nav_mc_vel_xy_dterm_attenuation_end_speed
 
-A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum
+Horizontal speed at which nav_mc_vel_xy_dterm_attenuation reaches maximum [m/s]
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 60 | 0 | 100 |
+| 10 | 0 | 100 |
 
 ---
 
-### nav_mc_vel_xy_dterm_attenuation_start
+### nav_mc_vel_xy_dterm_attenuation_start_speed
 
-A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins
+Horizontal speed at which nav_mc_vel_xy_dterm_attenuation begins [m/s]
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 10 | 0 | 100 |
+| 5 | 0 | 100 |
 
 ---
 
@@ -6372,6 +6392,16 @@ Which aux channel to use to change serial output & baud rate (MSP / Telemetry).
 
 ---
 
+### test_setting
+
+For developer use. General use test setting from -1000 to 1000
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -1000 | 1000 |
+
+---
+
 ### thr_comp_weight
 
 Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)

src/main/cms/cms_menu_imu.c

@@ -283,7 +283,6 @@ static const OSD_Entry cmsx_menuPidGpsnavEntries[] =
     OTHER_PIDFF_ENTRY("VEL I", &cmsx_pidVelXY.I),
     OTHER_PIDFF_ENTRY("VEL D", &cmsx_pidVelXY.D),
     OTHER_PIDFF_ENTRY("VEL FF", &cmsx_pidVelXY.FF),
-
     OSD_BACK_AND_END_ENTRY,
 };
 
@@ -463,6 +462,8 @@ static const OSD_Entry cmsx_menuMechanicsEntries[] =
     OSD_SETTING_ENTRY("ITERM RELAX", SETTING_MC_ITERM_RELAX),
     OSD_SETTING_ENTRY("ITERM CUTOFF", SETTING_MC_ITERM_RELAX_CUTOFF),
     OSD_SETTING_ENTRY("CD LPF", SETTING_MC_CD_LPF_HZ),
+    OSD_SETTING_ENTRY("MC DTERM ATT START", SETTING_NAV_MC_VEL_XY_DTERM_ATTENUATION_START_SPEED),  //CR47
+    OSD_SETTING_ENTRY("MC DTERM ATT END", SETTING_NAV_MC_VEL_XY_DTERM_ATTENUATION_END_SPEED),    //CR47
 
     OSD_BACK_AND_END_ENTRY,
 };
@@ -492,7 +493,7 @@ static const OSD_Entry cmsx_menuImuEntries[] =
     OSD_SUBMENU_ENTRY("MECHANICS",  &cmsx_menuMechanics),
 
     // Rate profile dependent
-    OSD_UINT8_CALLBACK_ENTRY("RATE PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_PROFILE_COUNT, 1})),
+    // OSD_UINT8_CALLBACK_ENTRY("RATE PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_PROFILE_COUNT, 1})),
     OSD_SUBMENU_ENTRY("RATE", &cmsx_menuRateProfile),
     OSD_SUBMENU_ENTRY("MANU RATE", &cmsx_menuManualRateProfile),
 

src/main/cms/cms_menu_misc.c

@@ -45,6 +45,7 @@ static const OSD_Entry menuMiscEntries[]=
     OSD_SETTING_ENTRY("THR IDLE", SETTING_THROTTLE_IDLE),
 #ifdef USE_DEV_TOOLS
     OSD_SETTING_ENTRY("GROUND TEST MODE", SETTING_GROUND_TEST_MODE),
+    OSD_SETTING_ENTRY("DEV TEST SETTING", SETTING_TEST_SETTING),  // CR143
 #endif
 #ifdef USE_OSD
 #ifdef USE_ADC

src/main/cms/cms_menu_navigation.c

@@ -51,6 +51,8 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
     OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),
+    OSD_SETTING_ENTRY("USE FW YAW CONTROL", SETTING_NAV_USE_FW_YAW_CONTROL),
+    OSD_SETTING_ENTRY("LAND SENSITIVITY", SETTING_NAV_LAND_DETECT_SENSITIVITY),
     OSD_SETTING_ENTRY("LANDING DISARM", SETTING_NAV_DISARM_ON_LANDING),
 
     OSD_BACK_AND_END_ENTRY,
@@ -106,7 +108,7 @@ static const CMS_Menu cmsx_menuRTH = {
 
 static const OSD_Entry cmsx_menuFWCruiseEntries[] =
 {
-    OSD_LABEL_ENTRY("-- CRUISE --"),
+    OSD_LABEL_ENTRY("-- GENERAL --"),
 
     OSD_SETTING_ENTRY("CRUISE THROTTLE", SETTING_NAV_FW_CRUISE_THR),
     OSD_SETTING_ENTRY("MIN THROTTLE", SETTING_NAV_FW_MIN_THR),
@@ -172,7 +174,7 @@ static const OSD_Entry cmsx_menuFWSettingsEntries[] =
     OSD_LABEL_ENTRY("-- FIXED WING --"),
 
     OSD_SUBMENU_ENTRY("AUTOLAUNCH", &cmsx_menuFWLaunch),
-    OSD_SUBMENU_ENTRY("CRUISE", &cmsx_menuFWCruise),
+    OSD_SUBMENU_ENTRY("GENERAL", &cmsx_menuFWCruise),
 
     OSD_BACK_AND_END_ENTRY,
 };
@@ -193,6 +195,7 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
     OSD_LABEL_ENTRY("-- MISSIONS --"),
 
     OSD_SETTING_ENTRY("MC WP SLOWDOWN", SETTING_NAV_MC_WP_SLOWDOWN),
+    OSD_SETTING_ENTRY("MISSION RESTART", SETTING_NAV_WP_MISSION_RESTART),
     OSD_SETTING_ENTRY("WP FAILSAFE DELAY", SETTING_FAILSAFE_MISSION_DELAY),
     OSD_SETTING_ENTRY("WP LOAD ON BOOT", SETTING_NAV_WP_LOAD_ON_BOOT),
     OSD_SETTING_ENTRY("WP REACHED RADIUS", SETTING_NAV_WP_RADIUS),
@@ -201,7 +204,6 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
 #ifdef USE_MULTI_MISSION
     OSD_SETTING_ENTRY("MULTI MISSION NUMBER", SETTING_NAV_WP_MULTI_MISSION_INDEX),
 #endif
-    OSD_SETTING_ENTRY("MISSION RESTART", SETTING_NAV_WP_MISSION_RESTART),
     OSD_SETTING_ENTRY("WP TURN SMOOTHING", SETTING_NAV_FW_WP_TURN_SMOOTHING),
     OSD_SETTING_ENTRY("WP TRACKING ACCURACY", SETTING_NAV_FW_WP_TRACKING_ACCURACY),
     OSD_BACK_AND_END_ENTRY,

src/main/common/fp_pid.c

@@ -46,7 +46,7 @@ float navPidApply3(
 ) {
     float newProportional, newDerivative, newFeedForward;
     float error = 0.0f;
-    
+
     if (pid->errorLpfHz > 0.0f) {
         error = pt1FilterApply4(&pid->error_filter_state, setpoint - measurement, pid->errorLpfHz, dt);
     } else {
@@ -107,7 +107,7 @@ float navPidApply3(
     /* Update I-term */
     if (
         !(pidFlags & PID_ZERO_INTEGRATOR) &&
-        !(pidFlags & PID_FREEZE_INTEGRATOR) 
+        !(pidFlags & PID_FREEZE_INTEGRATOR)
     ) {
         const float newIntegrator = pid->integrator + (error * pid->param.kI * gainScaler * dt) + (backCalc * pid->param.kT * dt);
 
@@ -121,10 +121,10 @@ float navPidApply3(
             pid->integrator = newIntegrator;
         }
     }
-    
+
     if (pidFlags & PID_LIMIT_INTEGRATOR) {
         pid->integrator = constrainf(pid->integrator, outMin, outMax);
-    } 
+    }
 
     return outValConstrained;
 }

src/main/common/time.h

@@ -58,7 +58,7 @@ typedef uint32_t timeUs_t;
 #define MS2S(ms)    ((ms) * 1e-3f)
 #define S2MS(s)     ((s) * MILLISECS_PER_SEC)
 #define DS2MS(ds)   ((ds) * 100)
-#define HZ2S(hz)    US2S(HZ2US(hz))
+#define HZ2S(hz)    (1.0f / (hz))  // US2S(HZ2US(hz))  CR152.1
 
 // Use this function only to get small deltas (difference overflows at ~35 minutes)
 static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }

src/main/drivers/display.c

@@ -178,8 +178,8 @@ int displayWriteChar(displayPort_t *instance, uint8_t x, uint8_t y, uint16_t c)
 
 #ifdef USE_SIMULATOR
 	if (ARMING_FLAG(SIMULATOR_MODE_HITL)) {
-        //some FCs do not power max7456 from USB power 
-        //driver can not read font metadata 
+        //some FCs do not power max7456 from USB power
+        //driver can not read font metadata
         //chip assumed to not support second bank of font
         //artifical horizon, variometer and home direction are not drawn ( display.c: displayUpdateMaxChar())
         //return dummy metadata to let all OSD elements to work in simulator mode

src/main/fc/config.c

@@ -112,6 +112,7 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .debug_mode = SETTING_DEBUG_MODE_DEFAULT,
 #ifdef USE_DEV_TOOLS
     .groundTestMode = SETTING_GROUND_TEST_MODE_DEFAULT,     // disables motors, set heading trusted for FW (for dev use)
+    .devTestSetting = SETTING_TEST_SETTING_DEFAULT,         // CR143
 #endif
 #ifdef USE_I2C
     .i2c_speed = SETTING_I2C_SPEED_DEFAULT,

src/main/fc/config.h

@@ -73,6 +73,7 @@ typedef struct systemConfig_s {
     uint8_t debug_mode;
 #ifdef USE_DEV_TOOLS
     bool groundTestMode;                    // Disables motor ouput, sets heading trusted on FW (for dev use)
+    int16_t devTestSetting;                 // CR143
 #endif
 #ifdef USE_I2C
     uint8_t i2c_speed;

src/main/fc/fc_core.c

@@ -508,8 +508,7 @@ bool emergInflightRearmEnabled(void)
     timeMs_t currentTimeMs = millis();
     emergRearmStabiliseTimeout = 0;
 
-    if ((lastDisarmReason != DISARM_SWITCH) ||
-        (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
+    if ((lastDisarmReason != DISARM_SWITCH) || (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
         return false;
     }
 
@@ -546,7 +545,6 @@ void tryArm(void)
         return;
     }
 #endif
-
 #ifdef USE_PROGRAMMING_FRAMEWORK
     if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled() ||
         LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
@@ -729,7 +727,7 @@ void processRx(timeUs_t currentTimeUs)
     // Handle passthrough mode
     if (STATE(FIXED_WING_LEGACY)) {
         if ((IS_RC_MODE_ACTIVE(BOXMANUAL) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
-            (!ARMING_FLAG(ARMED) && areSensorsCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
+            (!ARMING_FLAG(ARMED) && areSensorsCalibrating())) {     // Backup - if we are not armed - enforce passthrough while calibrating
             ENABLE_FLIGHT_MODE(MANUAL_MODE);
         } else {
             DISABLE_FLIGHT_MODE(MANUAL_MODE);
@@ -906,7 +904,6 @@ static void processBlackbox(void)
 #endif
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -1013,6 +1010,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         processBlackbox();
     }
 #endif
+
 }
 
 // This function is called in a busy-loop, everything called from here should do it's own