Changed the triggering phase so that in addition to the pidSum needing to exceed runaway_takeoff_threshold, the gyro rate on any axis must exceed a threshold value to indicate the quad is actually moving. The threshold for the yaw axis is much higher since the torque of the motors can still yaw the craft without props.
* Previously we allowed the user to override from the Biquad RC+FIR2 to the FKF
impl. at compile time via `make OPTIONS=USE_GYRO_FAST_KALMAN`.
* This was regressed in PR #5144 / commit: 4dd65a2. Restores previous behavior.
Reset Runaway Takeoff Prevention so that on the next arming after crash-flip is used it will once again be active. The use-case is that the pilot may have broken props or other damage that could cause a runaway event. After successful takeoff the feature will deactivate for the remainder of the battery as before.
Noise and momentary spikes in gyro data (particularly in 32K mode) were causing false triggering of the gyro overflow detection.
Also adjusted the trigger and reset rates slightly (approx. 1950dps and 1850dps respectively).
Optimized the gyro loop slightly by eliminating 3 floating point multiplies.
Fixed bug for gyros that may not be +-2000dps full scale.
Temporarily disables Runaway Takeoff Prevention when the `ARMING_DISABLED_MSP` flag is cleared in the configurator by switching the safety switch on the motors tab. Allows bench testing the motors and flight controller response without triggering a runaway takeoff auto-disarm.
Requires coordination with the configurator to pass an extra runaway takeoff temporary disable flag with the MSP_ARMING_DISABLE msp command.
* Generate 'k' per the code for the PT1
* Adjust function prototypes/functions to accept f_cut/dT where applicable
* Adjust gyro configuration, parameter group, interface settings to suit
Addresses an edge case where the user could turn on the safety switch (on motors tab), arm and spin the motors, and then turn off the safety switch (without disarming first). In this scenario the motors would keep spinning even though the ARMING_DISABLED_MSP arming disabled flag would be set.
This change checks the arming state and disarms when the configurator sets the ARMING_DISABLED_MSP flag.
Prevents Runaway Takeoff Prevention from auto-disarming during crash-flip (turtle mode). Addresses an edge-case where runaway takeoff prevention might not yet have been deactivated due to a crash immediatly upon takeoff.
Andrey Mironov
Bruce Luckcuck
Michael Keller
jflyper
Faduf
AJ Christensen
MJ666
MJ666
Moto Moto
Anders Hoglund