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@blckmn blckmn released this 06 Dec 02:06
v20241206.979
f05bee9

This is an automated development build. It may be unstable and result in craft loss or damage. Use only for testing.

Repository:

betaflight/betaflight (link)

Branch:

master (link)

Latest changeset:

3138141cd19548b78a7c757ab20d1b9d739cf131 (link)

Changes:

Position hold for 4.6 and Altitude Hold updates (#13975)

  • autopilot naming, function sharing
  • initial position hold setup
  • get current gps location
  • first position hold draft
  • basic control scheme
  • add debug values for testing
  • first working example with smoothed acceleration
  • add deadbands
  • Re-organise included files and functions thanks Karate
  • revise PID gains
  • PIDJ distance controller, not velocity based. Remove airmode check
  • sanity check notes
  • fix pid bug and improve iTerm handling
  • calculate PIDs independently for each axis, increas DJ gains
  • adjust pids and smoothing; smoothing cutoff to settings
  • force iTerm to zero when close to target
  • allow earth referencing in alt and pos hold
  • stop activation until throttle raised, but not require airmode
    use wasThrottleRaised in place of isAirmodeActivated where airmode isn't really needed
  • remove unnecessary debug
  • block arming if poshold or althold switches are on
  • basic sanity check and OSD warning
  • allow user to fly without mag only if they reverse the default
  • separate alt and pos hold deadbands
    if poshold deadband is zero, sticks are ignored
    if user tries to enable posHold and it can't work, they get stick with a deadband
  • try to prevent position hold if no mag without valid IMU
    fixes a bug in the last commit, also
  • retaisn iTerm just attenuate the output
  • struct for values
  • reset position at start when slowed down, retain rotated iTerm back
  • resolve bounceback and remove iTerm attenuation
  • adjust PID gains to 30
  • force unit tests sto work
  • tidy up after merge
  • Use mpif
  • conditionally only do compass check if Mag is defined
  • fixe defines and remove const
  • comments to explain strange rc multiplier
  • fix small omission when refactoring after throttle raised PR
  • licence updates, refactoring from review comments
  • fix issues when pos hold deadband is set to zero
  • A for acceleration element, not J
  • compact the posHoldUpdate() function - thanks K
  • rename showPosHoldWarning to posHoldFailure
  • Use a function in gps.c to initate the posHold activity on new GPS data
  • Use autopilotAngle in place of posHoldAngle
  • separate function for gpsHeading truth
  • use FLIGHT_MODE(POS_HOLD_MODE) in place of isPosHoldRequested
  • removed non-required definitions
  • fix failure to initiate position hold from error in ifdef
  • refactoring from reviews, rename posHoldReset
  • move deadbands for pos and alt hold to their config files.
  • comment
  • fix for blackbox breakup of GPS values
    reverts use a function in gps.c to initate the posHold activity on new GPS data
  • fix for msp change for posHoldConfig
  • try to constrain aggressiveness at start, smaller deadband
  • allow greater overshoot at the start for high incoming speed
    rename justStarted to isDeceleratingAtStart
  • dynamically update smoothing at the start
  • retain iTerm when moving sticks, to keep attitude in the wind
  • fix unit tests
  • finally retain iTerm correctly while moving sticks, but reset at start
  • Fix iTerm reset and parameter rotation
  • absolute rotation vs incremental rotation, fix spike after resetting target location
  • don't rotate D or A, it reverses their sign inappropriately
  • Block yaw, allow in CLI, option to apply yaw correction code
  • restore debug
  • calc D from groundspeed and drift angle
  • add back some target based D
  • Earth Frame iTerm vector
    appears to work :-)
  • fix unit test
  • lower PID gains, slowly leak iTerm while sticks move
  • earth ref Dterm, not from GPS Speed
    smoother than using GPS Speed and heading
  • stronger PIDs
  • adjust debug
  • shoehorn the unit tests
  • Proper earth referencing, at last
  • clean up a bit
  • no need to duplicate wrapping done in sin_approx
  • add note about PT1 gain on PT2 filters
  • avoid unnecessary float conversions
  • Remove unnecessary CLI testing params
  • update PID gains, stronger tilt angle correction
  • improved distance to target. thanks to demvlad
  • Terminate start individually on each axis
    added comments
  • refactoring to avoid code duplication
  • implement reviews, reduce PID gains
  • upsampling filter at 5Hz
  • warn if posHold mode requested but throttle not above airmode activation point
  • disable angle feedforward in position hold
  • rebase, pass unit test
  • sequential PT1's, refactoring from reviews
  • PID and filter revision
  • bane of my life
  • lenient sanity check, message for noMag, possible DA vector limit code
  • replace angleTarget in pid.c only when autopilot is active
  • rearrange status checks
  • fix debug, tidy up EF axis names, add comments about sign and direction
  • stop more cleanly, easier sanity check, phases, debugs complete
  • extend sanity check distance while sticks move; refactor; comments
  • fix instability on hard stop, allow activation after arming but before takeoff
  • make altHoldState_t local, getter to pass unit tests.
  • hopefully the last cleanup of this test file
  • implement review from PL - thank you!
  • restore angle limiting in pid.c , max of 80 degrees allowed in CLI
  • fixes after review changes weren't right
  • fix braces
  • limit max angle to 50 by vector length
  • Fix curly brackets, comments and debug mistake
  • in autopilot modes, allow up to 85 deg for pos hold
  • limit pilot angle in position hold to half the configured position hold angle
  • use smaller of angle_limit or half the autopilot limit
  • increase alt_hold sensitivity 5x and narrow deadband to 20
  • make altitude control 5x stronger with narrower deadband and new name
  • add suggestions from recent reviews
  • start autopilot gpsStamp at 0
  • renaming variables
  • reset the upsampling filters when resetting position control
  • improved gpsStamp thanks PL
    Also cleanup names and notes
  • simplify altitude control
  • rename to GPS_distances to GPS_latLongVectors
  • alt_hold respect zero deadband, hold when throttle is zero
  • remove unused debug
  • fix unit test
  • re-name variables in alt_hold and update comments
  • more flexible limit on target vs current altitude
  • updates from reviews, thanks karate
  • review changes from PL
  • more updates from PL review
  • rationalise GPS_latLongVectors
  • remove static newGpsData and rescueThrottle
  • Thanks, PL, for your review
  • Modifications, but has a big twitch when sticks stop
  • Re-naming, fix the twitch, minor changes
  • remove unnecessary unit test reference
  • sanity dist to 10m at full stop, send task interval for upsampling filter
  • vector and parameter re-name
    Co-Authored-By: Jan Post 19867640+KarateBrot@users.noreply.github.com
  • small changes from review
    Co-Authored-By: Mark Haslinghuis 8344830+haslinghuis@users.noreply.github.com
    Co-Authored-By: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
  • comment PL
    Co-Authored-By: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
  • fix ltm alt_hold flightMode
  • NOINLINE some pid.c functions
  • Revert "NOINLINE some pid.c functions"
    This reverts commit 56a3f7cec2b7a6e5de111865dd96cb21ba581739.
  • fast_code_pref the wing functions in pid.c
  • use fast_code_pref where won't break the build
  • apply fast_code_pref correctly
  • NOINLINE some pid.c functions
    FAST_CODE_PREF for updatePIDAudio
    add comment to FAST_CODE_PREF
    FIx platform.h unit test issue
    Wing functions all FAST_CODE_PREF
  • revert FAST_CODE_PREF changes
  • Reduce ITCM RAM footprint considerably
  • multiple name changes and some refactoring
    Thanks, PL
  • small editorial change
  • refactoring, thanks PL
    Co-Authored-By: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
  • 64 bytes to check crossing 180 deg longitude
    Co-Authored-By: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
  • try to fix build error
    Co-Authored-By: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
  • Revert "try to fix build error"
    This reverts commit f926d26021d2e693312bf8ce4b66de49582d6c33.
  • just guessing here
  • Revert "just guessing here"
    This reverts commit ebc240a325c86bea211ccb5e875397b3444c6ef3.
  • use a null location at initialisation
  • Revert "use a null location at initialisation"
    This reverts commit b51ae1395d69ef81d9d2e222517fd47ace27f1f0.
  • revert more compact initialisation code due to SITL error otherwise
  • fix wrapping when 180 lon meridian is crossed
  • null location option from PL
  • Revert "null location option from PL"
    This reverts commit ad40e979bd4af55270d7440e45914a6ca6108e8c.
  • refactor PosHold start/stop code
  • move Alt_Hold and Pos_Hold warnings ahead of Angle, update some comments
  • use setTargetLocationByAxis, fix comments
  • change from karatebrot review
    Co-Authored-By: Jan Post 19867640+KarateBrot@users.noreply.github.com
  • things still to do
    Co-Authored-By: Jan Post 19867640+KarateBrot@users.noreply.github.com
  • keep warning strings 12 or less characters
    Co-Authored-By: Jan Post 19867640+KarateBrot@users.noreply.github.com
  • a few more
    Co-Authored-By: Jan Post 19867640+KarateBrot@users.noreply.github.com

Co-authored-by: Jan Post 19867640+KarateBrot@users.noreply.github.com
Co-authored-by: Mark Haslinghuis 8344830+haslinghuis@users.noreply.github.com
Co-authored-by: Petr Ledvina 2318015+ledvinap@users.noreply.github.com
Co-authored-by: Jay Blackman blckmn@users.noreply.github.com

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