Merge with master - 2.6.1

README.md

@@ -39,7 +39,7 @@ Tool for Blackbox logs analysis is available [here](https://github.com/iNavFligh
 
 ### Telemetry screen for OpenTX
 
-Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
+Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)
 
 ## Installation
 

docs/Programming Framework.md

@@ -71,6 +71,8 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 35            | TAN                | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
 | 36            | MAP_INPUT          | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
 | 37            | MAP_OUTPUT         | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
+| 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
+| 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 
 
 ### Operands

docs/Settings.md

@@ -64,6 +64,7 @@
 | disarm_kill_switch | ON | Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel. |
 | display_force_sw_blink | OFF | OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON |
 | dji_esc_temp_source | ESC | Re-purpose the ESC temperature field for IMU/BARO temperature |
+| dji_speed_source | GROUND | Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR |
 | dji_use_name_for_messages | ON | Re-purpose the craft name field for messages. Replace craft name with :WTSED for Warnings|Throttle|Speed|Efficiency|Trip distance |
 | dji_workarounds |  | Enables workarounds for different versions of MSP protocol used |
 | dterm_lpf2_hz | 0 | Cutoff frequency for stage 2 D-term low pass filter |
@@ -133,6 +134,7 @@
 | fw_tpa_time_constant | 0 | TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups |
 | fw_turn_assist_pitch_gain | 1 | Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |
 | fw_turn_assist_yaw_gain | 1 | Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |
+| fw_yaw_iterm_freeze_bank_angle | 0 | Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. |
 | gps_auto_baud | ON | Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports |
 | gps_auto_config | ON | Enable automatic configuration of UBlox GPS receivers. |
 | gps_dyn_model | AIR_1G | GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying. |
@@ -390,6 +392,8 @@
 | osd_link_quality_alarm | 70 | LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50% |
 | osd_main_voltage_decimals | 1 | Number of decimals for the battery voltages displayed in the OSD [1-2]. |
 | osd_neg_alt_alarm | 5 | Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters) |
+| osd_pan_servo_index |  | Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos. |
+| osd_pan_servo_pwm2centideg | 0 | Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction. |
 | osd_plus_code_digits | 10 | Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm. |
 | osd_plus_code_short | 0 | Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requires a reference location within, respectively, ~800km, ~40 km and ~2km to recover the original coordinates. |
 | osd_right_sidebar_scroll |  |  |

docs/Telemetry.md

@@ -123,7 +123,7 @@ The following sensors are transmitted
 * **0450** : 'Flight Path Vector' or 'Course over ground' in degrees*10
 ### Compatible SmartPort/INAV telemetry flight status
 
-To quickly and easily monitor these SmartPort sensors and flight modes, install [iNav LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry) to your Taranis Q X7, X9D, X9D+ or X9E transmitter.
+To quickly and easily monitor these SmartPort sensors and flight modes, install [OpenTX Telemetry Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) to your Taranis Q X7, X9D, X9D+ or X9E transmitter.
 
 ## FrSky telemetry
 

src/main/CMakeLists.txt

@@ -73,6 +73,8 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_adxl345.h
     drivers/accgyro/accgyro_bma280.c
     drivers/accgyro/accgyro_bma280.h
+    drivers/accgyro/accgyro_bmi088.c
+    drivers/accgyro/accgyro_bmi088.h
     drivers/accgyro/accgyro_bmi160.c
     drivers/accgyro/accgyro_bmi160.h
     drivers/accgyro/accgyro_fake.c

src/main/drivers/accgyro/accgyro_bmi088.c

@@ -0,0 +1,245 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/system.h"
+#include "drivers/time.h"
+#include "drivers/io.h"
+#include "drivers/exti.h"
+#include "drivers/bus.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_bmi088.h"
+
+
+#if defined(USE_IMU_BMI088)
+
+/*
+  device registers, names follow datasheet conventions, with REGA_
+  prefix for accel, and REGG_ prefix for gyro
+ */
+#define REGA_CHIPID        0x00
+#define REGA_ERR_REG       0x02
+#define REGA_STATUS        0x03
+#define REGA_X_LSB         0x12
+#define REGA_INT_STATUS_1  0x1D
+#define REGA_TEMP_LSB      0x22
+#define REGA_TEMP_MSB      0x23
+#define REGA_CONF          0x40
+#define REGA_RANGE         0x41
+#define REGA_PWR_CONF      0x7C
+#define REGA_PWR_CTRL      0x7D
+#define REGA_SOFTRESET     0x7E
+#define REGA_FIFO_CONFIG0  0x48
+#define REGA_FIFO_CONFIG1  0x49
+#define REGA_FIFO_DOWNS    0x45
+#define REGA_FIFO_DATA     0x26
+#define REGA_FIFO_LEN0     0x24
+#define REGA_FIFO_LEN1     0x25
+
+#define REGG_CHIPID        0x00
+#define REGG_RATE_X_LSB    0x02
+#define REGG_INT_CTRL      0x15
+#define REGG_INT_STATUS_1  0x0A
+#define REGG_INT_STATUS_2  0x0B
+#define REGG_INT_STATUS_3  0x0C
+#define REGG_FIFO_STATUS   0x0E
+#define REGG_RANGE         0x0F
+#define REGG_BW            0x10
+#define REGG_LPM1          0x11
+#define REGG_RATE_HBW      0x13
+#define REGG_BGW_SOFTRESET 0x14
+#define REGG_FIFO_CONFIG_1 0x3E
+#define REGG_FIFO_DATA     0x3F
+
+
+static void bmi088GyroInit(gyroDev_t *gyro)
+{
+    gyroIntExtiInit(gyro);
+
+    busSetSpeed(gyro->busDev, BUS_SPEED_INITIALIZATION);
+
+    // Soft reset
+    busWrite(gyro->busDev, REGG_BGW_SOFTRESET, 0xB6);
+    delay(100);
+
+    // ODR 2kHz, BW 532Hz
+    busWrite(gyro->busDev, REGG_BW, 0x81);
+    delay(1);
+
+    // Enable sampling
+    busWrite(gyro->busDev, REGG_INT_CTRL, 0x80);
+    delay(1);
+
+    busSetSpeed(gyro->busDev, BUS_SPEED_FAST);
+}
+
+static void bmi088AccInit(accDev_t *acc)
+{
+    busSetSpeed(acc->busDev, BUS_SPEED_INITIALIZATION);
+
+    // Soft reset
+    busWrite(acc->busDev, REGA_SOFTRESET, 0xB6);
+    delay(100);
+
+    // Active mode
+    busWrite(acc->busDev, REGA_PWR_CONF, 0);
+    delay(100);
+
+    // ACC ON
+    busWrite(acc->busDev, REGA_PWR_CTRL, 0x04);
+    delay(100);
+
+    // OSR4, ODR 1600Hz
+    busWrite(acc->busDev, REGA_CONF, 0x8C);
+    delay(1);
+
+    // Range 12g
+    busWrite(acc->busDev, REGA_RANGE, 0x02);
+    delay(1);
+
+    busSetSpeed(acc->busDev, BUS_SPEED_STANDARD);
+
+    acc->acc_1G = 2048;
+}
+
+static bool bmi088GyroRead(gyroDev_t *gyro)
+{
+    uint8_t gyroRaw[6];
+
+    if (busReadBuf(gyro->busDev, REGG_RATE_X_LSB, gyroRaw, 6)) {
+        gyro->gyroADCRaw[X] = (int16_t)((gyroRaw[1] << 8) | gyroRaw[0]);
+        gyro->gyroADCRaw[Y] = (int16_t)((gyroRaw[3] << 8) | gyroRaw[2]);
+        gyro->gyroADCRaw[Z] = (int16_t)((gyroRaw[5] << 8) | gyroRaw[4]);
+        return true;
+    }
+
+    return false;
+}
+
+static bool bmi088AccRead(accDev_t *acc)
+{
+    uint8_t buffer[7];
+
+    if (busReadBuf(acc->busDev, REGA_STATUS, buffer, 2) && (buffer[1] & 0x80) && busReadBuf(acc->busDev, REGA_X_LSB, buffer, 7)) {
+        // first byte is discarded, see datasheet
+        acc->ADCRaw[X] = (int32_t)(((int16_t)(buffer[2] << 8) | buffer[1]) * 3 / 4);
+        acc->ADCRaw[Y] = (int32_t)(((int16_t)(buffer[4] << 8) | buffer[3]) * 3 / 4);
+        acc->ADCRaw[Z] = (int32_t)(((int16_t)(buffer[6] << 8) | buffer[5]) * 3 / 4);
+        return true;
+    }
+
+    return false;
+}
+
+static bool gyroDeviceDetect(busDevice_t * busDev)
+{
+    uint8_t attempts;
+
+    busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
+
+    for (attempts = 0; attempts < 5; attempts++) {
+        uint8_t chipId;
+
+        delay(100);
+        busRead(busDev, REGG_CHIPID, &chipId);
+
+        if (chipId == 0x0F) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool accDeviceDetect(busDevice_t * busDev)
+{
+    uint8_t attempts;
+
+    busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
+
+    for (attempts = 0; attempts < 5; attempts++) {
+        uint8_t chipId;
+
+        delay(100);
+        busRead(busDev, REGA_CHIPID, &chipId);
+
+        if (chipId == 0x1E) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool bmi088AccDetect(accDev_t *acc)
+{
+    acc->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_BMI088_ACC, acc->imuSensorToUse, OWNER_MPU);
+    if (acc->busDev == NULL) {
+        return false;
+    }
+
+    if (!accDeviceDetect(acc->busDev)) {
+        busDeviceDeInit(acc->busDev);
+        return false;
+    }
+
+    acc->initFn = bmi088AccInit;
+    acc->readFn = bmi088AccRead;
+
+    return true;
+}
+
+bool bmi088GyroDetect(gyroDev_t *gyro)
+{
+    gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_BMI088_GYRO, gyro->imuSensorToUse, OWNER_MPU);
+    if (gyro->busDev == NULL) {
+        return false;
+    }
+
+    if (!gyroDeviceDetect(gyro->busDev)) {
+        busDeviceDeInit(gyro->busDev);
+        return false;
+    }
+
+    gyro->initFn = bmi088GyroInit;
+    gyro->readFn = bmi088GyroRead;
+    gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb
+    gyro->intStatusFn = gyroCheckDataReady;
+    gyro->gyroAlign = gyro->busDev->param;
+
+    return true;
+}
+
+#endif /* USE_IMU_BMI088 */

src/main/drivers/accgyro/accgyro_bmi088.h

@@ -0,0 +1,30 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#include "drivers/sensor.h"
+
+bool bmi088AccDetect(accDev_t *acc);
+bool bmi088GyroDetect(gyroDev_t *gyro);

src/main/drivers/bus.h

@@ -91,6 +91,8 @@ typedef enum {
     DEVHW_MPU6050,
     DEVHW_MPU6500,
     DEVHW_BMI160,
+    DEVHW_BMI088_GYRO,
+    DEVHW_BMI088_ACC,
     DEVHW_ICM20689,
 
     /* Combined ACC/GYRO/MAG chips */

src/main/fc/fc_core.c

@@ -295,6 +295,16 @@ static void updateArmingStatus(void)
 	       DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
 	    }
 
+        if (isModeActivationConditionPresent(BOXPREARM)) {
+            if (IS_RC_MODE_ACTIVE(BOXPREARM)) {
+                DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
+            } else {
+                ENABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
+            }
+        } else {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
+        }
+
         /* CHECK: Arming switch */
         // If arming is disabled and the ARM switch is on
         // Note that this should be last check so all other blockers could be cleared correctly
@@ -506,6 +516,7 @@ void tryArm(void)
 #else
         beeper(BEEPER_ARMING);
 #endif
+
         statsOnArm();
 
         return;

src/main/fc/fc_msp.c

@@ -567,6 +567,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, programmingPids(i)->gains.FF);
         }
         break;
+    case MSP2_INAV_PROGRAMMING_PID_STATUS:
+        for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) {
+            sbufWriteU32(dst, programmingPidGetOutput(i));
+        }
+        break;
 #endif
     case MSP2_COMMON_MOTOR_MIXER:
         for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {

src/main/fc/fc_msp_box.c

@@ -86,6 +86,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXUSER2, "USER2", BOX_PERMANENT_ID_USER2 },
     { BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
     { BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
+    { BOXPREARM, "PREARM", 51 },
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -163,6 +164,7 @@ void initActiveBoxIds(void)
 
     activeBoxIdCount = 0;
     activeBoxIds[activeBoxIdCount++] = BOXARM;
+    activeBoxIds[activeBoxIdCount++] = BOXPREARM;
 
     if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
         activeBoxIds[activeBoxIdCount++] = BOXANGLE;