Previously if arming was delayed due to DSHOT beacon then the arming type (normal or crash-flip) would be captured *after* the delay. This change captures the state on entering the delay which more accurately represents the pilot's intent.
For example, the pilot may have crash-flip on a momentary switch that's initially set when the arming switch is enabled. Previously if the pilot didn't hold the momentary switch through the entire delay the quad would arm in normal mode. This change uses the state when the arming switch first enables so even if the momentary crash-flip switch is released the quad will still arm in crash-flip mode.
Revise and simplify initialization logic and avoid unneeded code if USE_DUAL_GYRO is not defined.
Corrected double constant to float.
Split centerFreq filter apply and constrain into separate statements.
The dynamic filter is not usefull with gyro loop times less than 2KHz so disable the feature and prevent the code from running in this circumstance.
In `isDynamicFilterActive()` we can't just rely on the feature because the feature will be disabled after the gyro has initialized and is running - possibly running into the underflow/wedging problem. And unfortunately we can't disable the feature earlier because we need to know the `targetLooptime` which is determined during gyro init.
For gyro loops from 2K to < 4K scale the FFT_SAMPLING_RATE_HZ to ensure we get 3 samples.
Also constrain the `centerFreq` result from the lowpass to ensure it doesn't overshoot beyond the min/max notch center cutoff.
This board use the STM32F722RET6 microcontroller and have the following features:
High-performance and DSP with FPU, ARM Cortex-M7 MCU with 512 Kbytes Flash
216 MHz CPU,462 DMIPS/2.14 DMIPS/MHz (Dhrystone 2.1) and DSP instructions, Art Accelerator, L1 cache, SDRAM
DUAL gyro MPU6000 and ICM20602,could choose mpu6000,more stable and smooth.Or choose ICM20602,higher rate(32K/32K).Choose on CLI mode,experience different feature gyro on same board
OSD on board
The 16M byte SPI flash on board for data logging
USB VCP and boot select button on board(for DFU)
Stable voltage regulation,DUAL BEC 5v/2.5A and 10v/2A for VTX/camera etc.And could select 5v/10v with pad
Serial LED interface(LED_STRIP)
VBAT/CURR/RSSI sensors input
Suppose IRC Tramp/smart audio/FPV Camera Control/FPORT/telemetry
Supports SBus(built-in inverters), Spektrum1024/2048, PPM
Supports I2C device extend(baro/compass/OLED etc)(socket)
Supports GPS (socket)
Michael Keller
flywoo
ZhengNingwei
MJ666
Bruce Luckcuck
loopur
Miguel Angel Mulero Martinez