EmuFlight is flight controller software (firmware) used to fly multi-rotor craft.
Changes:
set dynamic_gyro_notch_axis = [RP|RPY]
)PLEASE refer to 0.4.1 release notes for important information.
Change-log: https://github.com/emuflight/EmuFlight/compare/0.4.1...0.4.2
Thanks to Betaflight and iNav GPL code for ported/modified gyro drivers.
Note: 0.4.2 tag/release was previously 4d731cd49
but changed to commit d23611a55
for purposefully quiet releasing. Next release 0.4.3 will include bare-minimum MSP-Displayport for HDZero.
Don't get excited; this is a fix for HELIOSPRING, STRIXF10, and MODE2FLUX only.
https://github.com/emuflight/EmuFlight/compare/0.3.4...0.3.5
Interpolation, Manual, RPY, 21ms
. Pilot may tune as needed.dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
7bac6ddd0 bump version 0.4.1
448ff927b set CRSF/ELRS SNR to uplink_SNR rather than downlink_SNR (#833)
c6e12dca8 FF_RACEPIT Beeper resource use C03 (#585)
04cbafdaf Revert "default vtx_low_power_disarm = ON" (#831)
19f7867f8 revert rc-smoothing to interpolation (manual 21 RPTY) (#820)
f2f30bc85 default vtx_low_power_disarm = ON (#829)
3d8f6ee97 default 1.5khz logging (#818)
ffe0f02b5 port "widening range of BLHeli/_S device id BF#11513" (#815)
0e7be3c94 yaw_spin_recovery AUTO (#814)
ca4cb54ee Improve peak estimation (#808)
0acd3707f Add GPS telemetry support to GHST protocol (#515)
3460dcae5 Add MAMBAF722_X8 support and MPU6500 compatability to MAMBAF722 series (#804)
2e5bf60da update readme (#801)
97ae2c7f0 IFRC_IFLIGHT_F745_AIO Voltage/Amp Fix (#711)
2acea8b9b Adding ICM20689 Gyro to target (#795)
827c1b636 Target - TMVELOX (#792)
1fa302597 Target AXISFLYINGF7 (#790)
f1c513285 fix UART duplication/count (#791)
dc7944dae Target TMOTORF7V2 (#768)
a631e0d8d Target AIRBOTF7HDV (#774)
d2faf3df6 target EMAXF411 (#771)
1660b77ea Target skystarsf7 hd (#770)
a5767884e TARGET BETAFPVF411RX (#769)
1be9f2685 Nbdbbblv3 (#747)
c39dedcd1 take one for the team! (#749)
747fb2229 remove line in kalman.c (#729)
fb1397581 Update peak frequency even if blow mean energy (#724)
bb6be82a2 Add Redpine to BEEBRAIN_LITE (#742)
ba0a68c41 Add redpine to NBDHMBF4PRO (#741)
142088542 ADD REDPINE TO CRAZYBEEF3FR (#740)
92b5313c6 ADD REDPINE TO BEEBRAIN_PRO (#739)
fa065e244 ADD REDPINE TO NBDHMBF41S (#738)
1e35e5cc8 Add Redpine to NBDBBBLV2 (#737)
02fbddf7b Target Build FLWO_FLYWOOF411FR (#728)
e5698f418 Target Build DAFP_DARWINF722HD (#727)
2bf22a421 Fix buffer is accessed out of bounds (#719)
e534a952f Fix warning statement may fall through (#717)
8bb11e363 Fix warning cast between incompatible function types (#716)
41866617e Remove packed on accDev_t for dropping alignment warning (#715)
ded3f6f7d FLYWOOF745 (#709)
d2d689445 LUXMINIF7 BlackBox Fix (#713)
345aec3ad APEXF7 Features OSD Telemetry Airmode enabled by default (#710)
cdf7e88f8 Improvement to PTn filter order (#707)
89131b09a add DIAT_MAMBAF405US; rename MAMBAF405US to DIAT_MAMBAF405US (#703)
8e3969050 crsf add 50mW (#701)
b57b1d6c3 Fix Redpine SPI protocol for CRAZYBEEF4RX (#699)
1260a16bc add df_yaw to BB header (#695)
all below already backported/released as 0.4.0
69caf5a05 IFRC_JBF7 (#687)
e66905814 IFRC_IFLIGHT_SUCCEX_E_F4 (#683)
246a2ec2f IFRC_IFLIGHT_SUCCEX_E_F7 (#681)
8c9557267 adding target IFRC_IFLIGHT_F745_AIO (#686)
aa7983418 change imuf_q defaults for 0.4.0 (#688)
3bcb359aa Making angle mode more responsive (#689)
b0a671d6b add target HOWI_HOBBYWING_XROTORF7CONV
6b071ec34 don't build STM32F*.hex by default (#685)
a5e2673e4 Add baro support (#678)
643d87fa9 Update pid.c (#676)
3fc035e9c Update serial-4way-if to v20005 (#675)
a6884b827 bump version 0.4.0 (#674)
new & fixed targets were already back-ported/released to 0.4.0
mixer_impl
Range: LEGACY, SMOOTH, 2PASS. Default 2PASS.
mixer_laziness
Range: OFF, ON. Default OFF.
mixer_yaw_throttle_comp
Range: ON, OFF. Default ON.linear_thrust_low_output
- value to match physical motor's thrust curve data at low rpm.linear_thrust_high_output
- value to match physical motor's thrust curve data at high rpm.linear_throttle
Range: OFF, ON. Default value: OFF.axis_lock_multiplier
Range: 0-10. default 0 (Off).axis_lock_hz Allowed
Allows range: 1-50. Default 2.emu_gravity
Range: 0-255. Default 50.gyro_abg_alpha
Range: 0-1000. Default 0 (OFF). Low values are heavy filtering. Higher values are less filtering. Recommended values are 400-700 +/-.gyro_abg_boost
Range: 0-2000. Default 275.gyro_abg_half_life
Range: 0-250. Default 50.dterm_abg_alpha
Range: 0-1000. Default 0 (OFF). Low values are heavy filtering. Higher values are less filtering. Recommended values are 400-700 +/-.dterm_abg_boost
Range: 0-2000. Default 275dterm_abg_half_life
Range: 0-250. Default 50.df_yaw
Range 0-200. Default 15.df_angle_low
Range 0-200. Default 70.df_angle_high
Range 0-200. Default 0.smith_predict_enabled
Range: OFF, ON. Default ON.smith_predict_str
Range: 0-100. Default 50.smith_predict_delay
Range: 0-120. Default 40.smith_predict_filt_hz
Range: 1-250. Default 5.rates_type
Range: BETAFLIGHT, RACEFLIGHT, KISS, ACTUAL. Default BETAFLIGHT.imuf_ptn_order
Range: 1-4. default 3.gyro_lowpass_type
Range: PT1, BIQUAD, PT2, PT3, PT4. Default PT1 same as historically.gyro_lowpass2_type
same.dterm_lowpass_type
same.dterm_lowpass2_type
same.rc_smoothing_input_type
Range: PT1, BIQUAD, PT2, PT3, PT4. Default PT2.rc_smoothing_derivative
feature dynamic_filter
|feature -dynamic_filter
dynamic_gyro_notch_q
Range 1-1000, Default 400 Helio, 350 non-Helio.dynamic_gyro_notch_count
Range 1-5, Default 3.dynamic_gyro_notch_min_hz
Range 30-1000, Default 150.dynamic_gyro_notch_max_hz
Range 400-1000, Default 600.dterm_dyn_notch_enable
Range ON, OFF. Default OFF.dterm_dyn_notch_q
Range 1-1000, Default 400.plus_code_digits
Range 10-13.plus_code_short
Range ON, OFF.osd_plus_code_pos
Range 0-3071.dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
set mixer_impl = LEGACY
& save
.mixer_impl
Range: LEGACY, SMOOTH, 2PASS. Default 2PASS.
mixer_laziness
Range: OFF, ON. Default OFF.
mixer_yaw_throttle_comp
Range: ON, OFF. Default ON.linear_thrust_low_output
- value to match physical motor's thrust curve data at low rpm.linear_thrust_high_output
- value to match physical motor's thrust curve data at high rpm.linear_throttle
Range: OFF, ON. Default value: OFF.axis_lock_multiplier
Range: 0-10. default 0 (Off).axis_lock_hz Allowed
Allows range: 1-50. Default 2.emu_gravity
Range: 0-255. Default 50.gyro_abg_alpha
Range: 0-1000. Default 0 (OFF). Low values are heavy filtering. Higher values are less filtering. Recommended values are 400-700 +/-.gyro_abg_boost
Range: 0-2000. Default 275.gyro_abg_half_life
Range: 0-250. Default 50.dterm_abg_alpha
Range: 0-1000. Default 0 (OFF). Low values are heavy filtering. Higher values are less filtering. Recommended values are 400-700 +/-.dterm_abg_boost
Range: 0-2000. Default 275dterm_abg_half_life
Range: 0-250. Default 50.df_yaw
Range 0-200. Default 15.df_angle_low
Range 0-200. Default 70.df_angle_high
Range 0-200. Default 0.smith_predict_enabled
Range: OFF, ON. Default ON.smith_predict_str
Range: 0-100. Default 50.smith_predict_delay
Range: 0-120. Default 40.smith_predict_filt_hz
Range: 1-250. Default 5.rates_type
Range: BETAFLIGHT, RACEFLIGHT, KISS, ACTUAL. Default BETAFLIGHT.imuf_ptn_order
Range: 1-4. default 3.gyro_lowpass_type
Range: PT1, BIQUAD, PT2, PT3, PT4. Default PT1 same as historically.gyro_lowpass2_type
same.dterm_lowpass_type
same.dterm_lowpass2_type
same.rc_smoothing_input_type
Range: PT1, BIQUAD, PT2, PT3, PT4. Default PT2.rc_smoothing_derivative
feature dynamic_filter
|feature -dynamic_filter
dynamic_gyro_notch_q
Range 1-1000, Default 400 Helio, 350 non-Helio.dynamic_gyro_notch_count
Range 1-5, Default 3.dynamic_gyro_notch_min_hz
Range 30-1000, Default 150.dynamic_gyro_notch_max_hz
Range 400-1000, Default 600.dterm_dyn_notch_enable
Range ON, OFF. Default OFF.dterm_dyn_notch_q
Range 1-1000, Default 400.plus_code_digits
Range 10-13.plus_code_short
Range ON, OFF.osd_plus_code_pos
Range 0-3071.dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
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/
diffs
/dumps
from older 0.2.X and do not use tunes/pids from other flightware.set sbus_baud_fast = ON
)set show_altered_rc = ON
in order to see what your RC looks like (in Configurator) with rate dynamics, DAS, etc. One should revert it OFF while setting/testing receiver in configurator's Receiver-tab.crashflip_power_percent
).set imuf_w =
<= 2
to see why Kalman is better.dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
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/
diffs
/dumps
from 0.2.X or older and do not use tunes/pids from other flightware.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.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.set imuf_w =
<= 2
to see why Kalman is better.SCALE
for 170-300, and SIMPLE
for 0-100 (a.k.a 100 for Days
)set osd_logo_on_arming = [ON|OFF]
set osd_logo_on_arming_duration = [tenths-second]
, where 5 = 0.5 seconds.osd_task_frequency = 60
, PAL may be set 125 and NTSC may be set 150. Caveat analog may produce sync-lines.crashflip_power_percent
).dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
EmuFlight is software that is open source and is available free of charge without warranty of any kind. Contributions are always welcome via https://github.com/emuflight/
diffs
/dumps
from 0.2.X or older and do not use tunes/pids from other flightware.iterm_windup
valueimuf_sharpness = 0
dump all
from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.--
Release note : fix for Dynamic_filter working as default
Happy to announce the long awaited release of EmuFlight 0.3.0! We are very excited to see everyone using and testing this. This release is 0.3.1, but we already have plans for 0.3.X/full release. As such use this at your own risk. However, much testing has been done and we currently feel like this is a fairly stable version and our testers currently know of no major bugs. **If you are using HD DJI please do not arm your quad while plugged into the gui, the quad will arm. This should be a general practice anyhow, but it is one of the things we want to address in 0.3.x
Angle code has been completely reworked going from 0.2.0 to 0.3.x this is a huge improvement for any whoops.
For anyone confused or wondering about any of the new features in this update we do plan on making videos covering all of these new features and helping to share this information in an easier to understand manner.
diffs
/dumps
from older versions or other flightware. Defaults, calculations, and features have changed significantly.Rate Dynamics (genius way to handle stick feel without changing rates or tune). Preset tunes updated in the Configurator. Preset tunes display more information and are better overall. Improvements to the IMUF filter for non-Helio FC. Improvements to the IMUF filter for Helio FC New IMUF version 225 and 230 (imuf 225 and 230 only work with version 0.3.x and not 0.2.0). Voltage throttle compensation (similar to BF battery sag compensation). Angle/Horizon/NFE code completely reworked. Matrix filter from iNav.
Helio FC have full use of all the regular filters (off by default). Ability to set the lpf filters per axis. WitchCraft filter from RaceFlight (lagged moving average filter for dterm). Smart Dterm Smoothing a way of shrinking dterm when not needed as much. Configurable turtle mode power, allows you to increase turtle power or decrease it. Removal of Anti-Gravity, Iterm-Relax, Acro-Trainer, FeedForward, and Absolute Control. Now possible to set low-pass filters per axis.
If you want to see additional tuning settings you can enable expert mode (right top corner in GUI). Also you can turn ON expert mode permanently in GUI settings.
Special thanks to the EmuFlight development team for the countless hours they spent on this and all other updates. Loutwice, Andrey, nerdCopter, Jitter (@gretel), Kaiowarez, and QuickFlash. Big thanks for Loutwice, nerdCopter and Andrey for helping very much with the configurator. Shout out to Kaiowarez for adding new targets to EmuFlight. Thanks to Jitter for automating the build process of test releases.
Special thanks to the other developers who helped with this release of EmuFlight, notably: tylercorleone, NFE, MadChiller, DzikuVx, and Marinus. Thanks to tylercorleone for adding the voltage throttle compensation (its because of him that EmuFlight has this feature and BetaFlight has voltage sag compensation). Thanks to NFE for helping with some of the angle code from SilverWare! Thanks to DzikuVx for porting the iNav matrix filter into Emu and for reviewing the Kalman Filter! Thanks to MadChiller for working on the BrainFPV Radix target! Thanks to Marinus for helping with some Kalman Filter improvements!
Big shoutout to our dedicated team of testers. They work relentlessly testing out the latest code that we send them. They are an amazing group of pilots and have helped progress EmuFlight quicker than we ever thought possible. Big thanks to: MadChiller, MrNoizeFPV, Pierre Meunier, Skylion, PJC, 3dracingman, Denovich, NiceCrash, ehitaja, Filthrillz, gcc.quader, kumokraft, TintFPV, Project Mocking Bird, Vitales, White Hat FPV, teklust5401, Dogsock, Juelz and ill bro.
(If I failed to mention your name as a tester let me know and I can add it to this list)
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!
Happy to announce the long awaited release of EmuFlight 0.2.0! We are very excited to see everyone using and testing this. As our user base is increasing we have decided to release this version as a release candidate. As such use this at your own risk. However, much testing has been done and we currently feel like this is a fairly stable version and our testers currently know of no major bugs.
In this particular build a few new features specifically for whoops have been added just in time for whoop season. Everyone flying version 0.1.0 is absolutely going to love this release! Have fun and fly safe everyone!
For anyone confused or wondering about any of the new features in this update we do plan on making videos covering all of these new features and helping to share this information in an easier to understand manner.
Preset tunes in the Configurator Fixes to the IMUF filter for non-Helio FC Updates to the IMUF filter for Helio FC New IMUF version 213 NFE RacerMode (angle on roll axis only) Cinematic Yaw (whoop feature mixes roll and yaw based on pitch angle) Changes to Feathered PIDS (Feathered pids now works as a slider and FF always works) Motor Output Limit
Helio FC have full use of the dynamic notch filter Support for JESC configuator Ability to set the lpf filter for voltage and current (can now have quicker updating voltage readings) Fixed yaw pisum limit Improved telemetry causing pidloop jitters New dynamic gyro and dynamic dterm filter (still experimental) Emuboost split into Pitch/Roll and Yaw (can tune Emuboost separately for yaw) Stick Position Attenuation AKA SPA Rate (similar to TPA but based on stick deflection instead of throttle)
Special thanks to the EmuFlight development team for the countless hours they spent on this and all other updates. Loutwice, Andrey, Jitter (@gretel), and QuickFlash Big thanks for Loutwice and Andrey for creating Presets in the configurator. A much needed feature. Thanks to Jitter for automating the build process of test releases.
Special thanks to the other developers who helped with this release of EmuFlight, notably: NerdCopter, Edouardo, NFE, and JoeLucid Thanks to NerdCopter for helping with the configurator and helping where needed. Thanks to Edouardo for much help with the IMUF filtering. Thanks to NFE for helping with some of the new whoop features. Thanks to JoeLucid for showing us how to add support for the JESC configurator.
Big shoutout to our dedicated team of testers. They work relentlessly testing out the latest code that we send them. They are an amazing group of pilots and have helped progress EmuFlight quicker than we ever thought possible. Big thanks to: MadChiller, MrNoizeFPV, Pierre Meunier, Skylion, PJC, 3dracingman, Denovich, NiceCrash, ehitaja, Filthrillz, gcc.quader, kumokraft, and TintFPV
(If I failed to mention your name as a tester let me know and I can add it to this list)