Releases: betaflight/betaflight-nightlies
v20241209.987
v20241209.986
v20241209.985
v20241209.984
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:
8ef734408f7ee8c27cf182e608e96058dd9f1e1f (link)
Changes:
Adding 'size optimised' file list validity check (#14063)
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Adding 'size optimised' file list validity check
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NL at EOF
v20241208.983
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:
2426f435022f247c2bf76e36279843d7ea13837e (link)
Changes:
Update external defines for ALT / POS HOLD (#14069)
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Update external defines for ALT / POS HOLD
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Update unit test define
v20241207.982
v20241206.981
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:
896c8ee29bffc8dde610a07bfebf05165d2cee2a (link)
Changes:
Support for apple silicon (M-series) chip. (Right version of Arm GNU toolchain) (#14065)
v20241206.980
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:
4b78aeec518e7ed2ebde95a6847439ad0865134f (link)
Changes:
Fix arming disable flag and OSD warning buffer size (#14057)
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Fix missing arming disable flag
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Add test for array length
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Fix array init && add getter
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armingDisableFlagNames is no longer external
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Update array
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Thanks ledvinap
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Revert designated initializers
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Increase OSD Warnings buffer size
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Remove standard libraries
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Refactor
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Update pos
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Restore comment
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Micro optimize
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Extract condition
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Another optimization
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Use cmpTimeUs (not cmp32)
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Revert STATIC ASSERT string change
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Adjust esc sensor warning
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I like this
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Optimize intended minimum width
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revert Optimize intended minimum width
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Is dshot telemetry and esc telemetry exclusive
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Fix conflict
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OSD - WARNINGS_PREFERRED_SIZE
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OSD - Return NONE for no flag
v20241206.979
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
v20241204.978
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:
23605feb79bd046d687cbf231c46fa1ad2c8ebe4 (link)
Changes:
Adding check for speed optimised source validity (#14055)
- Adding check for speed optimised source validity
- Updated file location
- Common files to all HW
- Inadvertent inclusion
- VPATH reductions
- note simulator directory name change due to clash with MK file.
- Missed these MK files.
- Remove empty string