Creation

src/main/CMakeLists.txt

@@ -209,7 +209,7 @@ main_sources(COMMON_SRC
     drivers/pitotmeter/pitotmeter_ms4525.c
     drivers/pitotmeter/pitotmeter_ms4525.h
     drivers/pitotmeter/pitotmeter_dlvr_l10d.c
-    drivers/pitotmeter/pitotmeter_dlvr_l10d.h	
+    drivers/pitotmeter/pitotmeter_dlvr_l10d.h
     drivers/pitotmeter/pitotmeter_msp.c
     drivers/pitotmeter/pitotmeter_msp.h
     drivers/pitotmeter/pitotmeter_virtual.c

src/main/blackbox/blackbox.c

@@ -474,7 +474,7 @@ typedef struct blackboxMainState_s {
     int32_t mcSurfacePID[3];
     int32_t mcSurfacePIDOutput;
 
-    int32_t fwAltPID[3];
+    int32_t fwAltPID[3];  // CR97
     int32_t fwAltPIDOutput;
     int32_t fwPosPID[3];
     int32_t fwPosPIDOutput;

src/main/cms/cms_menu_imu.c

@@ -198,6 +198,8 @@ static const OSD_Entry cmsx_menuPidAltMagEntries[] =
 {
     OSD_LABEL_DATA_ENTRY("-- ALT&MAG --", profileIndexString),
 
+    OSD_SETTING_ENTRY("FW ALT RESPONSE", SETTING_NAV_FW_ALT_CONTROL_RESPONSE), // CR97A
+
     OTHER_PIDFF_ENTRY("ALT P", &cmsx_pidPosZ.P),
     OTHER_PIDFF_ENTRY("ALT I", &cmsx_pidPosZ.I),
     OTHER_PIDFF_ENTRY("ALT D", &cmsx_pidPosZ.D),
@@ -256,7 +258,6 @@ 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,
 };
 

src/main/cms/cms_menu_navigation.c

@@ -51,7 +51,10 @@ 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_SETTING_ENTRY("MC DTERM ATT START", SETTING_NAV_MC_VEL_XY_DTERM_ATTENUATION_START),  // CR47
 
     OSD_BACK_AND_END_ENTRY,
  };
@@ -106,7 +109,7 @@ 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 +175,7 @@ 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 +196,7 @@ 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 +205,6 @@ 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

@@ -40,13 +40,13 @@ float navPidApply3(
     const float dt,
     const float outMin,
     const float outMax,
-    const pidControllerFlags_e pidFlags,
+    pidControllerFlags_e pidFlags,  // CR99
     const float gainScaler,
     const float dTermScaler
 ) {
     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 {
@@ -79,7 +79,12 @@ float navPidApply3(
     }
 
     newDerivative = newDerivative * gainScaler * dTermScaler;
-
+    // CR99
+    // zero integral if proportional saturated
+    // if (newProportional > outMax || newProportional < outMin) {
+        // pidFlags |= PID_ZERO_INTEGRATOR;
+    // }
+    // CR99
     if (pidFlags & PID_ZERO_INTEGRATOR) {
         pid->integrator = 0.0f;
     }
@@ -107,7 +112,7 @@ 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 +126,10 @@ float navPidApply3(
             pid->integrator = newIntegrator;
         }
     }
-    
+
     if (pidFlags & PID_LIMIT_INTEGRATOR) {
         pid->integrator = constrainf(pid->integrator, outMin, outMax);
-    } 
+    }
 
     return outValConstrained;
 }

src/main/common/fp_pid.h

@@ -70,7 +70,7 @@ float navPidApply3(
     const float dt,
     const float outMin,
     const float outMax,
-    const pidControllerFlags_e pidFlags,
+    pidControllerFlags_e pidFlags,  // CR99
     const float gainScaler,
     const float dTermScaler
 );

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/cli.c

@@ -143,9 +143,8 @@ static void cliAssert(char *cmdline);
 #endif
 
 #ifdef USE_CLI_BATCH
-static bool     commandBatchActive = false;
-static bool     commandBatchError = false;
-static uint8_t  commandBatchErrorCount = 0;
+static bool commandBatchActive = false;
+static bool commandBatchError = false;
 #endif
 
 // sync this with features_e
@@ -258,7 +257,6 @@ static void cliPrintError(const char *str)
 #ifdef USE_CLI_BATCH
     if (commandBatchActive) {
         commandBatchError = true;
-        commandBatchErrorCount++;
     }
 #endif
 }
@@ -270,7 +268,6 @@ static void cliPrintErrorLine(const char *str)
 #ifdef USE_CLI_BATCH
     if (commandBatchActive) {
         commandBatchError = true;
-        commandBatchErrorCount++;
     }
 #endif
 }
@@ -373,7 +370,6 @@ static void cliPrintErrorVa(const char *format, va_list va)
 #ifdef USE_CLI_BATCH
     if (commandBatchActive) {
         commandBatchError = true;
-        commandBatchErrorCount++;
     }
 #endif
 }
@@ -665,7 +661,6 @@ static void cliAssert(char *cmdline)
 #ifdef USE_CLI_BATCH
         if (commandBatchActive) {
             commandBatchError = true;
-            commandBatchErrorCount++;
         }
 #endif
     }
@@ -3424,10 +3419,7 @@ static void cliDumpMixerProfile(uint8_t profileIndex, uint8_t dumpMask)
 #ifdef USE_CLI_BATCH
 static void cliPrintCommandBatchWarning(const char *warning)
 {
-    char errorBuf[59];
-    tfp_sprintf(errorBuf, "%d ERRORS WERE DETECTED - Please review and fix before continuing!", commandBatchErrorCount);
-
-    cliPrintErrorLinef(errorBuf);
+    cliPrintErrorLinef("ERRORS WERE DETECTED - PLEASE REVIEW BEFORE CONTINUING");
     if (warning) {
         cliPrintErrorLinef(warning);
     }
@@ -3437,7 +3429,6 @@ static void resetCommandBatch(void)
 {
     commandBatchActive = false;
     commandBatchError = false;
-    commandBatchErrorCount = 0;
 }
 
 static void cliBatch(char *cmdline)
@@ -3446,7 +3437,6 @@ static void cliBatch(char *cmdline)
         if (!commandBatchActive) {
             commandBatchActive = true;
             commandBatchError = false;
-            commandBatchErrorCount = 0;
         }
         cliPrintLine("Command batch started");
     } else if (strncasecmp(cmdline, "end", 3) == 0) {
@@ -3694,8 +3684,8 @@ static void cliStatus(char *cmdline)
 #if defined(AT32F43x)
     cliPrintLine("AT32 system clocks:");
     crm_clocks_freq_type clocks;
-    crm_clocks_freq_get(&clocks); 
-    
+    crm_clocks_freq_get(&clocks);
+
     cliPrintLinef("  SYSCLK = %d MHz", clocks.sclk_freq / 1000000);
     cliPrintLinef("  ABH    = %d MHz", clocks.ahb_freq  / 1000000);
     cliPrintLinef("  ABP1   = %d MHz", clocks.apb1_freq / 1000000);

src/main/fc/fc_core.c

@@ -551,7 +551,6 @@ void tryArm(void)
         return;
     }
 #endif
-
 #ifdef USE_PROGRAMMING_FRAMEWORK
     if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled() ||
         LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
@@ -741,7 +740,7 @@ 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);
@@ -980,6 +979,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         blackboxUpdate(micros());
     }
 #endif
+
 }
 
 // This function is called in a busy-loop, everything called from here should do it's own

src/main/fc/fc_core.h

@@ -34,7 +34,6 @@ typedef enum disarmReason_e {
     DISARM_REASON_COUNT
 } disarmReason_t;
 
-
 void handleInflightCalibrationStickPosition(void);
 
 void disarm(disarmReason_t disarmReason);