tune gyro gating and minimum gyro trust parameters and add menu to se…

…t optimum defaults for AHRS Parameters

main/SetupMenu.cpp

@@ -1647,25 +1647,7 @@ void SetupMenu::system_menu_create_hardware_ahrs_parameter( MenuEntry *top ){
 	SetupMenuValFloat * gyrog = new SetupMenuValFloat( PROGMEM"Gyro Gating", "°", 0, 10, 0.1, 0, false, &gyro_gating  );
 	gyrog->setHelp( PROGMEM"Minimum accepted gyro rate in degree per second");
 	top->addEntry( gyrog );
-/*
-	SetupMenuValFloat * virtglp = new SetupMenuValFloat( PROGMEM"Virtual G Lowpass", "", 0, 1, 0.005, 0, false, &ahrs_virt_g_lowpass  );
-	virtglp->setPrecision( 3 );
-	virtglp->setHelp( PROGMEM"Lowpass factor for virtual gravity from airspeed and omega or centripedal force compensation");
-	top->addEntry( virtglp );
-
-	SetupMenuValFloat * gflp = new SetupMenuValFloat( PROGMEM"G-Force Lowpass", "", 0, 1, 0.005, 0, false, &ahrs_gforce_lp  );
-	gflp->setHelp( PROGMEM"Lowpass factor to filter g force for loadfactor dependent bank calculation");
-	gflp->setPrecision( 3 );
-	top->addEntry( gflp );
-
-	SetupMenuValFloat * vgtrust = new SetupMenuValFloat( PROGMEM"Virt G trust bank", "", 0, 100, 0.1, 0, false, &ahrs_virtg_bank_trust  );
-	vgtrust->setHelp( PROGMEM"Factor for trust in virtual gravity depending on angle of bank");
-	top->addEntry( vgtrust );
-
-	SetupMenuValFloat * gloadbd = new SetupMenuValFloat( PROGMEM"G Load bank Dynamic", "", 1, 2, 0.01, 0, false, &ahrs_gbank_dynamic  );
-	gloadbd->setHelp( PROGMEM"G load dynamic grow factor for angle of bank to be considered");
-	top->addEntry( gloadbd );
-*/
+
 	SetupMenuValFloat * gyrocal = new SetupMenuValFloat( PROGMEM"Gyro Calibration", "", -0.5, 1.5, 0.01, 0, false, &ahrs_gyro_cal  );
 	gyrocal->setHelp( PROGMEM"Gyro calibration factor to increase accuracy of gyro in %/100");
 	top->addEntry( gyrocal );
@@ -1700,6 +1682,12 @@ void SetupMenu::system_menu_create_hardware_ahrs( MenuEntry *top ){
 	top->addEntry( ahrspa );
 	ahrspa->addCreator( system_menu_create_hardware_ahrs_parameter );
 
+	SetupMenuSelect * ahrsdef = new SetupMenuSelect( "AHRS Defaults", RST_NONE, 0, true, &ahrs_defaults );
+	top->addEntry( ahrsdef );
+	ahrsdef->setHelp( PROGMEM "Set optimum default values for all AHRS Parameters as determined to the best practice");
+	ahrsdef->addEntry( "Start");
+	ahrsdef->addEntry( "Cancel");
+
 	SetupMenuSelect * rpyl = new SetupMenuSelect( PROGMEM"AHRS RPYL", RST_NONE , 0, true, &ahrs_rpyl_dataset );
 	top->addEntry( rpyl );
 	rpyl->setHelp( PROGMEM "Send LEVIL AHRS like $RPYL sentence for artifical horizon");

main/SetupNG.cpp

@@ -126,6 +126,13 @@ void chg_mpu_target(){
 	mpu_target_temp = mpu_temperature.get();
 };
 
+void set_ahrs_defaults(){
+	ahrs_gyro_factor.setDefault();
+	ahrs_min_gyro_factor.setDefault();
+	ahrs_dynamic_factor.setDefault();
+	gyro_gating.setDefault();
+	ahrs_gyro_cal.setDefault();
+}
 
 SetupNG<float>          MC(  "MacCready", 0.5, true, SYNC_BIDIR, PERSISTENT, change_mc, UNIT_VARIO );
 SetupNG<float>  		QNH( "QNH", 1013.25, true, SYNC_BIDIR, PERSISTENT, 0, UNIT_QNH );
@@ -271,13 +278,11 @@ SetupNG<int>		    attitude_indicator("AHRS", 1 );
 SetupNG<int>		    ahrs_rpyl_dataset("RPYL", 0 );
 SetupNG<int>		    ahrs_autozero("AHRSAZ", 0 );
 SetupNG<float>		    ahrs_gyro_factor("AHRSMGYF", 100 );
+SetupNG<float>		    ahrs_min_gyro_factor("AHRSLGYF", 20 );
 SetupNG<float>		    ahrs_dynamic_factor("AHRSGDYN", 5 );
-SetupNG<float>		    ahrs_min_gyro_factor("AHRSLGYF", 40 );
-SetupNG<float>  		ahrs_gforce_lp("AHRSGFLP", 0.2 );
-SetupNG<float>  		ahrs_virt_g_lowpass("AHRSVGL", 0.2 );
-SetupNG<float>  		ahrs_virtg_bank_trust("AHRSGBT", 20 );
+SetupNG<float>       	gyro_gating("GYRO_GAT", 1.0 );
 SetupNG<float>  		ahrs_gyro_cal("AHRSGCAL", 1.07 );
-SetupNG<float>  		ahrs_gbank_dynamic("AHRSGBD", 1.2 );
+SetupNG<int>  			ahrs_defaults( "AHRSDEF", 1, RST_NONE, SYNC_NONE, VOLATILE, set_ahrs_defaults );
 SetupNG<int>		    display_style("DISPLAY_STYLE", 1 );
 SetupNG<int>		    s2f_switch_type("S2FHWSW", S2F_HW_SWITCH );
 SetupNG<int>		    hardwareRevision("HWREV", HW_UNKNOWN );
@@ -390,7 +395,7 @@ SetupNG<t_wireless_id>  custom_wireless_id("WLID", t_wireless_id("") );
 SetupNG<int> 			drawing_prio("DRAWP", DP_NEEDLE );
 
 mpud::raw_axes_t zero_bias;
-SetupNG<float>       	    gyro_gating("GYRO_GAT", 2.5 );
+
 SetupNG<mpud::raw_axes_t>	gyro_bias("GYRO_BIAS", zero_bias );
 SetupNG<mpud::raw_axes_t>	accl_bias("ACCL_BIAS", zero_bias );
 SetupNG<float>              mpu_temperature("MPUTEMP", 45.0, true, SYNC_FROM_MASTER, PERSISTENT, chg_mpu_target );    // default for AHRS chip temperature (XCV 2023)

main/SetupNG.h

@@ -157,6 +157,10 @@ class SetupNG: public SetupCommon
 		return flags._dirty;
 	}
 
+	virtual void setDefault(){
+			set( _default );
+	}
+
 	virtual void setValueStr( const char * val ){
 		if( flags._volatile != VOLATILE ){
 			if( typeid( T ) == typeid( float ) ){
@@ -360,6 +364,7 @@ class SetupNG: public SetupCommon
 		return true;
 	}
 
+
 	virtual bool erase() {
 		if( flags._volatile != PERSISTENT ){
 			return true;
@@ -540,13 +545,11 @@ extern SetupNG<int>		    attitude_indicator;
 extern SetupNG<int>		    ahrs_rpyl_dataset;
 extern SetupNG<int>		    ahrs_autozero;
 extern SetupNG<float>		ahrs_gyro_factor;
-extern SetupNG<float>		ahrs_dynamic_factor;
 extern SetupNG<float>		ahrs_min_gyro_factor;
-extern SetupNG<float>  		ahrs_gforce_lp;
-extern SetupNG<float>  		ahrs_virt_g_lowpass;
-extern SetupNG<float>  		ahrs_virtg_bank_trust;
+extern SetupNG<float>		ahrs_dynamic_factor;
+extern SetupNG<float>       gyro_gating;
+extern SetupNG<int>  		ahrs_defaults;
 extern SetupNG<float>  		ahrs_gyro_cal;
-extern SetupNG<float>  		ahrs_gbank_dynamic;
 extern SetupNG<int>		    display_style;
 extern SetupNG<int>		    display_variant;
 extern SetupNG<int>		    s2f_switch_type;
@@ -663,8 +666,6 @@ extern SetupNG<t_bitfield_compass> 	calibration_bits;
 extern SetupNG<int> 		gear_warning;
 extern SetupNG<t_wireless_id>  custom_wireless_id;
 extern SetupNG<int> 		drawing_prio;
-extern SetupNG<float>       gyro_gating;
-
 extern uint8_t g_col_background;
 extern uint8_t g_col_highlight;