EmuFlight 0.3.3

This is an enhancement release. This re-release fixes Mix Roll Yaw (DAS) naming.

WARNING: DJI components bypass Configurator safety-checks. Do not attempt arming while connected to Configurator with LiPo plugged. Always remove propellers and use a smoke-stopper for extra safety.

EmuFlight is software that is open source and is available free of charge without warranty of any kind. Contributions are always welcome and encouraged via https://github.com/emuflight/

Imperative

• Flash with full-chip erase.
• 0.3.1 and 0.3.2 tunes/pids are good for 0.3.3; However, do not paste entire diffs/dumps from 0.2.X or older and do not use tunes/pids from other flightware.
• Use latest EmuConfigurator https://github.com/emuflight/EmuConfigurator/releases
• It is ideally best to tune Lowpass Filters per BlackBox analysis. Do not full-send without motor temperature tests. i.e. Do not flash and "rip" or risk "R.I.P."

Changelog:

• Mix Roll and Yaw (a.k.a Dual Axis Steering) for angle-racing. Re-release fixes variable names: Cli get das for options. This mix method is much better than the radio-method because of crash recovery benefits. das_roll_with_yaw_input (0-100) will add roll movement from yaw-stick. das_yaw_with_roll_input (0-100) will add yaw movement from roll-stick. Related but independent roll_pitch_mag_expo (0-250) adds some extra expo to roll and pitch when the magnitude of roll and pitch is high which helps keep the pilot in control.
• NFE on an aux-mode switch.
• set show_altered_rc = ON in order to see what your RC looks like (in Configurator) with rate dynamics, add roll to yaw, add yaw to roll, and roll pitch mag expo. To verify the effects of add roll to yaw, add yaw to roll, or roll pitch mag expo use this command and look at the output of your rc. Revert it OFF while setting/testing receiver in configurator's Receiver-tab.
• Make rateDynamics feel the same irregardless of RX rate
• Immersion RC Ghost protocol
• VTX power on an aux-mode switch (CLI only)
• Ability to turn off Kalman prediction, but why would you want to? set imuf_w = <= 2 to see why Kalman is better.
• CRSF Style selection via OSD
• Added CRSF style SCALE for 170-300, and SIMPLE for 0-100 (a.k.a 100 for Days)
• CRSF Avg cell voltage fix
• Backport CRSF frame-processing to prevent frame-drop
• Backport enable PINIOBOX only when needed
• Backport option to display logo on arm set osd_logo_on_arming = [ON|OFF] set osd_logo_on_arming_duration = [tenths-second], where 5 = 0.5 seconds.
• Backport fix dshot range from integer to float
• Backport optional high framerate OSD in Hz. Default osd_task_frequency = 60, PAL may be set 125 and NTSC may be set 150. Caveat analog may produce sync-lines.
• Backport ensure all timers initialized for dshot burst
• Backport make IMU gyro based on loop-time rather than delta-time (means slightly better gyro reading)
• Backport FrSky SPI fixes
• Backport F.Port fixes
• Backport Add osd widget for percent mAh used
• New targets: GEPRCF411_PRO, BETAFPVF722, JHEF411, NBDCRICKETF7, NBDBBBLV2, NBDHMBF4PRO, PYRODRONEF4PDB, SPEEDYBEEF7V2, TRANSTECF405HD, VGOODRCF4 (All backported to 0.3.2)
• Fixed targets: AIKONF7, DFRF722DUALHD, HGLRCF722, HIFIONRCF7, IFF7_TWIN_G, MATEKF722HD, ZEEZWHOOP. (All backported to 0.3.2)

Agenda:

• New mixers by Tyler Corleone for 0.4.X release.
• Test Axis-Lock, Yaw-only Direct FF, and ABG filter.
• Long-term: Work toward a full 1.0.0 release.
• Long-term: New GUI Configurator forked from Pegasus, renamed Nemesis will be for 1.0.0 compatibility only.

EmuFlight Features

• Rate Dynamics.
• EmuBoost (pTerm)
• DTerm Boost
• iDecay
• Simplified iTerm relax
• Sharpness
• PID Throttle Point Attenuation (TPA)
• Setpoint Attenuation (SPA)
• Kalman-based filtering for non-Helio FC.
• Per axis Dynamic Gyro Notch (Matrix) from Paweł Spychalski.
• Gyro and dTerm Lowpass Filters per axis in Configurator's expert-mode.
• Angle/Horizon/NFE Features including DAS. (expert-mode).
• WitchCraft filter from RaceFlight (expert-mode).
• Smart Dterm Smoothing (expert-mode).
• Preset-tunes via Configurator.
• Voltage throttle compensation.
• Motor Output Limit.
• Configurable turtle mode power (crashflip_power_percent).
• OSD Advanced PID sub-Menu.

Tips:

• Save a dump all from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.
• You must tune EmuFlight 0.3.X . Do not use 0.2.0 PID's. Do not use another flightware's PIDs.
• Most all tuning options can be set using the OSD!
• Reference firmware release notes, EmuFlight wiki and EmuConfigurator wiki for additional information.
• Join Discord for help: https://discord.gg/gdP9CwE

Immeasurable thanks to:

• Dev-team, Contributors, Testers and more: QuickFlash, Andrey, Loutwice, Kaiowarez, MadChiller, nerdCoper, Risko, tylerCorleone, Igorshp(Armon), gretel, DzikuVx, Shikijo, pleasuretek, mbilozub, Marinus, NFE, Pierre Meunier, Skylion, PJC, 3dracingman, Denovich, NiceCrash, ehitaja, Filthrillz, kumokraft, CrashFPV, TintFPV, MrNoizeFPV, Vitales, WhiteHat(Binary)FPV, teklust5401, ill bro, Vanadio, Kore, Gaétan, Mike P, Mainbrain, OGL, t0t0, hakintosh, Inva, gcc.quader, Dogsock, Juelz, DrSchnickistein, Alka, BrandonsBakedBeans, CesiumSalami, JoshG, krunked, knoopx, sweebee, countless Discordians that assist each other, and especially third-party github contributors.
• If you contributed and was inadvertently missed, apologies and please notify a dev for inclusion.
• Thanks to other projects, teams and vendors: BaseFlight, CleanFlight, BetaFlight, ButterFlight, SilverWare, Project Mocking Bird, iNav, RaceFlight, HelioRC, NewBeeDrone, HGLRC, Diatone, APCProps, and Trappy/TBS. Each of which have been valuable for resources and communications.
• Without the help of all these contributors, EmuFlight would not be what it is today! Big round of applause to all who were and are a part of this adventure! For the glory of Emu!

Please report Configurator-specific bugs to

• https://github.com/emuflight/EmuConfigurator/issues

Please report Firmware-specific bugs to

• https://github.com/emuflight/EmuFlight/issues

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