* lib: add FilteredDerivative class
* AirspeedValidator: add first principle check
- filters throttle, pitch and airspeed rate, and triggers
if the airspeed rate is negative even though the vehicle
is pitching down and giving high throttle.
Check has to fail for duration defined by ASPD_FP_T_WINDOW
to trigger an airspeed failure.
* AirspeedValidator: define constants for first principle check
* FilteredDerivative: set initialised to false if sample interval is invalid
* airspeed_selector: improved comment
* increase IAS derivative filter time constant from 4 to 5
* use legacy parameter handling for FW_PSP_OFF
* handle FW_THR_MAX as well
* ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
