Proposed fix for "dolphining" bug in 6.1

[M0j0Risin]

This is essentially just reverting navigation_pos_estimator.c to the version from 6.0. And adding back in the lines to account for the new arming flags related to HITL & SITL added in 6.1.

[MrD-RC]

@ricardodeazambuja and @M0j0Risin if you’re both happy with this, and feel it is tested and working as expected. I’ll get this merged and let Paweł know that 6.1.1 is ready. Thanks for your work 👍🏻

[ricardodeazambuja]

sadly, I won't be able to test it next week (or the week after), so I will leave to @M0j0Risin.

[M0j0Risin]

@MrD-RC I've been flying it like this for the past two weekends and haven't seen any hint of the issue during nav modes. So I'm fairly confident this corrects the problem. It's a pretty safe bet since all we're really doing is bringing 6.1.1 back on par with 6.0 in this regard.

[M0j0Risin]

I pulled down the 6.1.1 branch and flight tested it this evening. Looking good.

https://www.youtube.com/watch?v=NLTpYXOuWog

[cpwilson]

Never had this issue before on any INAV version but upgraded 2 of my craft recently to 6.1.1 (Dart 250 and Nano Talon) and the Dart 250 is now dolphining like a good one. Nano Talon seems fine so not sure what has changed, diff all from 6.1 was applied to 6.1.1
FC is the 411WSE and nothing physical has changed on the airframe

[MrD-RC]

Never had this issue before on any INAV version but upgraded 2 of my craft recently to 6.1.1 (Dart 250 and Nano Talon) and the Dart 250 is now dolphining like a good one. Nano Talon seems fine so not sure what has changed, diff all from 6.1 was applied to 6.1.1
FC is the 411WSE and nothing physical has changed on the airframe

If you have any DVR or blackbox logs. Please open an issue. Replying to merged pull requests is not the right course of action.

[MrD-RC]

Similar issue with my plane: I upgraded my FC from 6.1.0 to INAV 6.1.1 and got into oscillation problem in AH mode as you can see in the video; acro or manual works fine; (there was no noticeable wind on the ground, forecast windspeed was 8 km/h south). Any inputs/suggestions would be appreciated. Thanks. https://www.youtube.com/watch?v=r0wBW1pFdt0

This is completely unrelated. This is not dolphining (slow oscillations on pitch). This is fast roll oscillations. Most likely caused by a bad tune, and too high PIDs.

[Sil20]

Hi
I have ATOM RC swordfish on wich I reduced the VTails length. Thow it fly perfectly in ACCRO and manuel, I experienced this dolphining, even if I am not sure it is related to the V6.1.

Interesting fact, a friends of mine also has the same plane , and was experiencing the same behaviour after cutting the VTail.
Extending back the VTail at normal length solve the issue but that might be an interesting situation to analyse. Because once again, ACCRO and Manual are working perfectly. Only stable modes are problematic.

Here is a blackbox file . I Laowered the Level strenght to 5, ad still have the issue though the oscillation are at lower frequencies
SwordFishblackbox_log_2023-06-25_113520.TXT

And here is a video sampled with the issue:
https://youtu.be/WVPBkWHC20o

Next time I will disable AUTOLEVELto have another comparison flight, but I doubt this is the source cause because my firend never uses AUTOLEVEL.

[FRPProject]

Hi I have ATOM RC swordfish on wich I reduced the VTails length. Thow it fly perfectly in ACCRO and manuel, I experienced this dolphining, even if I am not sure it is related to the V6.1.

Interesting fact, a friends of mine also has the same plane , and was experiencing the same behaviour after cutting the VTail. Extending back the VTail at normal length solve the issue but that might be an interesting situation to analyse. Because once again, ACCRO and Manual are working perfectly. Only stable modes are problematic.

Here is a blackbox file . I Laowered the Level strenght to 5, ad still have the issue though the oscillation are at lower frequencies SwordFishblackbox_log_2023-06-25_113520.TXT

And here is a video sampled with the issue: https://youtu.be/WVPBkWHC20o

Just as a suggestion to try, set both "Control Smoothness" and "Throttle Smoothing" to 0. These two are under the advance tuning tab-> fixed-wing navigation settings.

[Sil20]

I'll give it atr but throttle smoothing is already '0' and Control Smoothness is '2'.

I set those 2 parameters to '0' for next flight to be taken into account. THough they seems to setup throttle only when it is automatically controled and the issue is there whether throttle is manual or not.

[fedemj2]

Hello everyone, yesterday I flew in version 6.1.1 with the Matek 405 WMN board, using the main camera and at times the PAN camera.
Using the main one and going to CROSS mode, the problem of version 6.1 called "dolphining" appeared, I attached a video fragment so you can analyze it.

https://www.youtube.com/watch?v=4gHDf2qWOe4

I probably changed to INAV 7 but I wanted to state that the problem has not gone away, it has reappeared in 6.1.1.
Thank you for your time, I look forward to your comments.

@MrD-RC
@DzikuVx
@Stemplar42