code tidy + baro filters

Author: rtlopez

lib/Espfc/src/Connect/Cli.cpp

@@ -276,8 +276,8 @@ void Cli::Param::write(ActuatorCondition& ac, const char ** args) const
   if(args[3]) ac.ch = String(args[3]).toInt();
   if(args[4]) ac.min = String(args[4]).toInt();
   if(args[5]) ac.max = String(args[5]).toInt();
-  if(args[6]) ac.max = String(args[6]).toInt();
-  if(args[7]) ac.max = String(args[7]).toInt();
+  if(args[6]) ac.logicMode = String(args[6]).toInt();
+  if(args[7]) ac.linkId = String(args[7]).toInt();
 }
 
 void Cli::Param::write(MixerEntry& ac, const char ** args) const

lib/Espfc/src/Connect/Vtx.cpp

@@ -31,9 +31,9 @@ static uint8_t crc8(const uint8_t * ptr, uint8_t len)
 {
   uint8_t crc = 0;
   for (uint8_t i = 0; i < len; i++) {
-  crc = crc8tab[crc ^ *ptr++];
-}
-return crc;
+    crc = crc8tab[crc ^ *ptr++];
+  }
+  return crc;
 }
 
 namespace Espfc::Connect {

lib/Espfc/src/Control/Altitude.hpp

@@ -15,8 +15,8 @@ class Altitude
     _model.state.altitude.height = 0.0f;
     _model.state.altitude.vario = 0.0f;
 
-    _altitudeFilter.begin(FilterConfig(FILTER_PT2, 5), _model.state.accel.timer.rate);
-    _varioFilter.begin(FilterConfig(FILTER_PT2, 5), _model.state.accel.timer.rate);
+    _altitudeFilter.begin(FilterConfig(FILTER_PT3, 5), _model.state.accel.timer.rate);
+    _varioFilter.begin(FilterConfig(FILTER_PT3, 5), _model.state.accel.timer.rate);
 
     return 1;
   }

lib/Espfc/src/Control/Controller.cpp

@@ -186,9 +186,9 @@ void FAST_CODE_ATTR Controller::innerLoop()
 
   if(_model.config.debug.mode == DEBUG_STACK)
   {
-    _model.state.debug[0] = std::clamp(lrintf(_model.state.setpoint.rate[AXIS_THRUST] * 1000.0f), -3000l, 3000l); // stack hi mem
-    _model.state.debug[1] = std::clamp(lrintf(_model.state.altitude.vario * 100.0f), -30000l, 30000l);            // stack lo mem
-    _model.state.debug[2] = std::clamp(lrintf(_model.state.altitude.height * 100.0f), -30000l, 30000l);           // stack curr
+    _model.state.debug[0] = std::clamp(lrintf(_model.state.setpoint.rate[AXIS_THRUST] * 1000.0f), -3000l, 3000l);   // stack hi mem
+    _model.state.debug[1] = std::clamp(lrintf(_model.state.altitude.vario * 1000.0f), -30000l, 30000l);             // stack lo mem
+    _model.state.debug[2] = std::clamp(lrintf(_model.state.altitude.height * 100.0f), -30000l, 30000l);             // stack curr
     _model.state.debug[3] = std::clamp(lrintf(_model.state.innerPid[AXIS_THRUST].error * 1000.0f), -30000l, 30000l); // stack p
     _model.state.debug[4] = std::clamp(lrintf(_model.state.innerPid[AXIS_THRUST].pTerm * 1000.0f), -3000l, 3000l);
     _model.state.debug[5] = std::clamp(lrintf(_model.state.innerPid[AXIS_THRUST].iTerm * 1000.0f), -3000l, 3000l);
@@ -214,7 +214,7 @@ float Controller::calcualteAltHoldSetpoint() const
 
   thrust = Utils::deadband(thrust, 0.1f); // +/- 12.5% deadband
 
-  return thrust * 2.0f; // climb/descend rate factor 2 m/s
+  return Utils::map3(thrust, -1.f, 0.f, 1.f, -2.0f, 0.f, 4.f); // climb rate 5ms, descend rate 2 m/s
 }
 
 float Controller::getTpaFactor() const

lib/Espfc/src/ModelConfig.h

@@ -836,7 +836,7 @@ class ModelConfig
       wireless.pass[0] = 0;
       modelName[0] = 0;
 
-// development settings
+// only local development settings
 #if !defined(ESPFC_REVISION)
       devPreset();
 #endif

lib/Espfc/src/Sensor/BaroSensor.cpp

@@ -17,7 +17,7 @@ int BaroSensor::begin()
   const int rate = 1000000 / interval;
   const int biasSamples = 3 * rate;
   const auto internalFilter = FILTER_PT1;
-  const auto internalCutoff = std::max((rate + 2) / 5, 1);
+  const auto internalCutoff = std::max((rate + 4) / 8, 1);
 
   _temperatureFilter.begin(FilterConfig(internalFilter, internalCutoff), rate);
   _pressureFilter.begin(FilterConfig(internalFilter, internalCutoff), rate);

platformio.ini

@@ -17,8 +17,10 @@ build_flags =
 ;  -DESPFC_DEBUG_SERIAL
 ;  -DESPFC_DEBUG_PIN=2 ; specify pin number (board specific)
 ;  -DESPFC_DEV_PRESET_MODES
-;  -DESPFC_DEV_PRESET_BLACKBOX=1 ; specify port number (board specific)
+;  -DESPFC_DEV_PRESET_BLACKBOX_SERIAL=1 ; specify port number (board specific)
+;  -DESPFC_DEV_PRESET_BLACKBOX_FLASH
 ;  -DESPFC_DEV_PRESET_DSHOT
+;  -DESPFC_DEV_PRESET_BRUSHED
 ;  -DESPFC_DEV_PRESET_SCALER
 ;  -DNO_GLOBAL_INSTANCES
 ;  -DDEBUG_ESP_PORT=Serial