Merge remote-tracking branch 'origin/master' into dzikuvx-rework-7804

build.sh

@@ -1,3 +1,4 @@
+#!/usr/bin/env bash
 set -e
 
 if [[ $# == 0 ]]; then
@@ -6,9 +7,15 @@ Usage syntax: ./build.sh <TARGET>
 
 Notes:
   * You can specify multiple targets.
-  * If no targets are specified, *all* of them will be built.
+    ./build.sh <TARGET_1> <TARGET_2> <TARGET_N>
+  * To get a list of all targets use \"help\". Hint: pipe the output through a pager.
+    ./build.sh help | less
+  * To build all targets use \"all\"
+    ./build.sh all
   * To clean a target prefix it with \"clean_\".
-  * To clean all targets just use \"clean\"."
+    ./build.sh clean_MATEKF405SE
+  * To clean all targets just use \"clean\".
+    ./build.sh clean"
   exit 1
 fi
 

docs/Battery.md

@@ -195,7 +195,25 @@ Note that in this example even though your warning capacity (`battery_capacity_w
 
 ## Battery profiles
 
-Up to 3 battery profiles are supported. You can select the battery profile from the GUI, OSD menu, [stick commands](Controls.md) and CLI command `battery_profile n`. Battery profiles store the following settings (see above for an explanation of each setting): `bat_cells`, `vbat_cell_detect_voltage`, `vbat_max_cell_voltage`, `vbat_warning_cell_voltage`, `vbat_min_cell_voltage`, `battery_capacity_unit`, `battery_capacity`, `battery_capacity_warning`, `battery_capacity_critical`
+Up to 3 battery profiles are supported. You can select the battery profile from the GUI, OSD menu, [stick commands](Controls.md) and CLI command `battery_profile n`. Battery profiles store the following settings (see above for an explanation of each setting): 
+- `bat_cells`
+- `vbat_cell_detect_voltage`
+- `vbat_max_cell_voltage`
+- `vbat_warning_cell_voltage`
+- `vbat_min_cell_voltage`
+- `battery_capacity_unit`
+- `battery_capacity`
+- `battery_capacity_warning`
+- `battery_capacity_critical`
+- `throttle_idle`
+- `fw_min_throttle_down_pitch`
+- `nav_fw_cruise_thr`
+- `nav_fw_min_thr`
+- `nav_fw_pitch2thr`
+- `nav_fw_launch_thr`
+- `nav_fw_launch_idle_thr`
+- `failsafe_throttle`
+- `nav_mc_hover_thr`
 
 To enable the automatic battery profile switching based on battery voltage enable the `BAT_PROF_AUTOSWITCH` feature. For a profile to be automatically selected the number of cells of the battery needs to be specified (>0).
 

docs/Programming Framework.md

@@ -76,6 +76,8 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
 | 41			| LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
 | 42            | SET_PROFILE   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
+| 43			| MIN				| Finds the lowest value of `Operand A` and `Operand B` |
+| 44			| MAX				| Finds the highest value of `Operand A` and `Operand B` |
 
 ### Operands
 

docs/Settings.md

@@ -188,7 +188,7 @@ Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THR
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 1300 | 1000 | 2000 |
+| 1150 | 1000 | 2000 |
 
 ---
 
@@ -1602,6 +1602,36 @@ Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro
 
 ---
 
+### gyro_zero_x
+
+Calculated gyro zero calibration of axis X
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -32768 | 32767 |
+
+---
+
+### gyro_zero_y
+
+Calculated gyro zero calibration of axis Y
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -32768 | 32767 |
+
+---
+
+### gyro_zero_z
+
+Calculated gyro zero calibration of axis Z
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -32768 | 32767 |
+
+---
+
 ### has_flaps
 
 Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot
@@ -2102,6 +2132,26 @@ _// TODO_
 
 ---
 
+### init_gyro_cal
+
+If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| ON | OFF | ON |
+
+---
+
+### ins_gravity_cmss
+
+Calculated 1G of Acc axis Z to use in INS
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0.0 | 0 | 1000 |
+
+---
+
 ### iterm_windup
 
 Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)
@@ -2818,7 +2868,7 @@ Craft name
 
 | Default | Min | Max |
 | --- | --- | --- |
-| _empty_ |  |  |
+| _empty_ |  | MAX_NAME_LENGTH |
 
 ---
 
@@ -3852,6 +3902,16 @@ Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: AT
 
 ---
 
+### nav_wp_enforce_altitude
+
+Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### nav_wp_load_on_boot
 
 If set to ON, waypoints will be automatically loaded from EEPROM to the FC during startup.
@@ -4582,6 +4642,16 @@ Auto swap display time interval between disarm stats pages (seconds). Reverts to
 
 ---
 
+### osd_system_msg_display_time
+
+System message display cycle time for multiple messages (milliseconds).
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1000 | 500 | 5000 |
+
+---
+
 ### osd_telemetry
 
 To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`
@@ -4624,7 +4694,7 @@ IMPERIAL, METRIC, UK
 
 ### osd_video_system
 
-Video system used. Possible values are `AUTO`, `PAL` and `NTSC`
+Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, and `HD`
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -5404,7 +5474,7 @@ Total flight distance [in meters]. The value is updated on every disarm when "st
 
 ### stats_total_energy
 
-_// TODO_
+Total energy consumption [in mWh]. The value is updated on every disarm when "stats" are enabled.
 
 | Default | Min | Max |
 | --- | --- | --- |

docs/development/Building in Docker.md

@@ -20,6 +20,12 @@ Where `<TARGET>` must be replaced with the name of the target that you want to b
 ./build.sh MATEKF405SE
 ```
 
+Run the script with no arguments to get more details on its usage:
+
+```
+./build.sh
+```
+
 ## Windows 10
 
 Docker on Windows requires full paths for mounting volumes in `docker run` commands. For example: `c:\Users\pspyc\Documents\Projects\inav` becomes `//c/Users/pspyc/Documents/Projects/inav` .

src/main/CMakeLists.txt

@@ -496,6 +496,8 @@ main_sources(COMMON_SRC
     io/displayport_msp.h
     io/displayport_oled.c
     io/displayport_oled.h
+    io/displayport_hdzero_osd.c
+    io/displayport_hdzero_osd.h
     io/displayport_srxl.c
     io/displayport_srxl.h
     io/displayport_hott.c

src/main/cms/cms_menu_navigation.c

@@ -192,6 +192,7 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
     OSD_SETTING_ENTRY("MISSION FAILSAFE", SETTING_FAILSAFE_MISSION),
     OSD_SETTING_ENTRY("WP LOAD ON BOOT", SETTING_NAV_WP_LOAD_ON_BOOT),
     OSD_SETTING_ENTRY("WP REACHED RADIUS", SETTING_NAV_WP_RADIUS),
+    OSD_SETTING_ENTRY("WP ENFORCE ALTITUDE", SETTING_NAV_WP_ENFORCE_ALTITUDE),
     OSD_SETTING_ENTRY("WP SAFE DISTANCE", SETTING_NAV_WP_SAFE_DISTANCE),
 #ifdef USE_MULTI_MISSION
     OSD_SETTING_ENTRY("MULTI MISSION NUMBER", SETTING_NAV_WP_MULTI_MISSION_INDEX),

src/main/common/maths.h

@@ -66,6 +66,8 @@
 #define CMSEC_TO_CENTIKPH(cms)      (cms * 3.6)
 #define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.943845)
 
+#define C_TO_KELVIN(temp) (temp + 273.15f)
+
 // copied from https://code.google.com/p/cxutil/source/browse/include/cxutil/utility.h#70
 #define _CHOOSE2(binoper, lexpr, lvar, rexpr, rvar)         \
     ( __extension__ ({                                      \

src/main/drivers/io_port_expander.c

@@ -60,7 +60,7 @@ void ioPortExpanderSync(void)
 {
     if (ioPortExpanderState.active && ioPortExpanderState.shouldSync) {
         pcf8574Write(ioPortExpanderState.state);
-        ioPortExpanderState.shouldSync = false;;
+        ioPortExpanderState.shouldSync = false;
     }
 }
 

src/main/drivers/pitotmeter/pitotmeter_ms4525.c

@@ -97,7 +97,7 @@ static void ms4525_calculate(pitotDev_t * pitot, float *pressure, float *tempera
     //float dP = ctx->ms4525_up * 10.0f * 0.1052120688f;
     const float dP_psi = -((ctx->ms4525_up - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
     float dP = dP_psi * PSI_to_Pa;
-    float T  = (float)(200.0f * (int32_t)ctx->ms4525_ut) / 2047.0f - 50.0f + 273.15f;
+    float T  = C_TO_KELVIN((float)(200.0f * (int32_t)ctx->ms4525_ut) / 2047.0f - 50.0f);
 
     if (pressure) {
         *pressure = dP;    // Pa

src/main/drivers/serial_softserial.c

@@ -572,7 +572,7 @@ uint32_t softSerialTxBytesFree(const serialPort_t *instance)
 
     softSerial_t *s = (softSerial_t *)instance;
 
-    uint8_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
+    uint32_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
 
     return (s->port.txBufferSize - 1) - bytesUsed;
 }

src/main/fc/cli.c

@@ -2248,6 +2248,11 @@ static void cliFlashInfo(char *cmdline)
     UNUSED(cmdline);
 
     const flashGeometry_t *layout = flashGetGeometry();
+
+    if (layout->totalSize == 0) {
+        cliPrintLine("Flash not available");
+        return;
+    }
 
     cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u",
             layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize);
@@ -2277,6 +2282,13 @@ static void cliFlashErase(char *cmdline)
 {
     UNUSED(cmdline);
 
+    const flashGeometry_t *layout = flashGetGeometry();
+
+    if (layout->totalSize == 0) {
+        cliPrintLine("Flash not available");
+        return;
+    }
+
     cliPrintLine("Erasing...");
     flashfsEraseCompletely();
 
@@ -3344,7 +3356,11 @@ static void cliStatus(char *cmdline)
         hardwareSensorStatusNames[getHwRangefinderStatus()],
         hardwareSensorStatusNames[getHwOpticalFlowStatus()],
         hardwareSensorStatusNames[getHwGPSStatus()],
+#ifdef USE_SECONDARY_IMU
         hardwareSensorStatusNames[getHwSecondaryImuStatus()]
+#else
+        hardwareSensorStatusNames[0]
+#endif
     );
 
 #ifdef USE_ESC_SENSOR

src/main/fc/config.c

@@ -459,6 +459,22 @@ void setConfigBatteryProfileAndWriteEEPROM(uint8_t profileIndex)
     beeperConfirmationBeeps(profileIndex + 1);
 }
 
+void setGyroCalibrationAndWriteEEPROM(int16_t getGyroZero[XYZ_AXIS_COUNT]) {
+    gyroConfigMutable()->gyro_zero_cal[X] = getGyroZero[X];
+    gyroConfigMutable()->gyro_zero_cal[Y] = getGyroZero[Y];
+    gyroConfigMutable()->gyro_zero_cal[Z] = getGyroZero[Z];
+    // save the calibration
+    writeEEPROM();
+    readEEPROM();
+}
+
+void setGravityCalibrationAndWriteEEPROM(float getGravity) {
+    gyroConfigMutable()->gravity_cmss_cal = getGravity;
+    // save the calibration
+    writeEEPROM();
+    readEEPROM();
+}
+
 void beeperOffSet(uint32_t mask)
 {
     beeperConfigMutable()->beeper_off_flags |= mask;

src/main/fc/config.h

@@ -19,6 +19,7 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "common/axis.h"
 #include "common/time.h"
 #include "config/parameter_group.h"
 #include "drivers/adc.h"
@@ -29,6 +30,7 @@
 #define MAX_NAME_LENGTH 16
 
 #define TASK_GYRO_LOOPTIME 250 // Task gyro always runs at 4kHz
+
 typedef enum {
     FEATURE_THR_VBAT_COMP = 1 << 0,
     FEATURE_VBAT = 1 << 1,
@@ -130,6 +132,9 @@ uint8_t getConfigBatteryProfile(void);
 bool setConfigBatteryProfile(uint8_t profileIndex);
 void setConfigBatteryProfileAndWriteEEPROM(uint8_t profileIndex);
 
+void setGyroCalibrationAndWriteEEPROM(int16_t getGyroZero[XYZ_AXIS_COUNT]);
+void setGravityCalibrationAndWriteEEPROM(float getGravity);
+
 bool canSoftwareSerialBeUsed(void);
 void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);
 

src/main/fc/fc_core.c

@@ -978,12 +978,12 @@ void taskUpdateRxMain(timeUs_t currentTimeUs)
 // returns seconds
 float getFlightTime()
 {
-    return (float)(flightTime / 1000) / 1000;
+    return US2S(flightTime);
 }
 
 float getArmTime()
 {
-    return (float)(armTime / 1000) / 1000;
+    return US2S(armTime);
 }
 
 void fcReboot(bool bootLoader)

src/main/fc/fc_init.c

@@ -109,6 +109,7 @@
 #include "io/displayport_frsky_osd.h"
 #include "io/displayport_msp.h"
 #include "io/displayport_max7456.h"
+#include "io/displayport_hdzero_osd.h"
 #include "io/displayport_srxl.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
@@ -553,6 +554,11 @@ void init(void)
             osdDisplayPort = frskyOSDDisplayPortInit(osdConfig()->video_system);
         }
 #endif
+#ifdef USE_HDZERO_OSD
+        if (!osdDisplayPort) {
+            osdDisplayPort = hdzeroOsdDisplayPortInit();
+        }
+#endif
 #if defined(USE_MAX7456)
         // If there is a max7456 chip for the OSD and we have no
         // external OSD initialized, use it.

src/main/fc/fc_msp.c

@@ -425,7 +425,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, getHwRangefinderStatus());
         sbufWriteU8(dst, getHwPitotmeterStatus());
         sbufWriteU8(dst, getHwOpticalFlowStatus());
+#ifdef USE_SECONDARY_IMU
         sbufWriteU8(dst, getHwSecondaryImuStatus());
+#else
+        sbufWriteU8(dst, 0);
+#endif
         break;
 
     case MSP_ACTIVEBOXES: