Merge remote-tracking branch 'upstream/master'

.gitignore

@@ -15,11 +15,12 @@ startup_stm32f10x_md_gcc.s
 #.vscode/
 cov-int*
 /build/
+/build_SITL/
 /obj/
 /patches/
 /tools/
 /downloads/
-/debug/
+/debug/
 /release/
 
 # script-generated files
@@ -32,3 +33,5 @@ README.pdf
 # local changes only
 make/local.mk
 launch.json
+.vscode/tasks.json
+.vscode/c_cpp_properties.json

.vscode/c_cpp_properties.json

@@ -0,0 +1,66 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceRoot}/src/main/**",
+                "${workspaceRoot}/lib/main/**",
+                "/usr/include/**"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": false,
+                "path": [
+                    "${workspaceRoot}/src/main/**",
+                    "${workspaceRoot}/lib/main/**"
+                ]
+            },
+            "intelliSenseMode": "linux-gcc-arm",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "defines": [
+                "MCU_FLASH_SIZE 512",
+                "USE_NAV",
+                "NAV_FIXED_WING_LANDING",
+                "USE_OSD",
+                "USE_GYRO_NOTCH_1",
+                "USE_GYRO_NOTCH_2",
+                "USE_DTERM_NOTCH",
+                "USE_ACC_NOTCH",
+                "USE_GYRO_BIQUAD_RC_FIR2",
+                "USE_D_BOOST",
+                "USE_SERIALSHOT",
+                "USE_ANTIGRAVITY",
+                "USE_ASYNC_GYRO_PROCESSING",
+                "USE_RPM_FILTER",
+                "USE_GLOBAL_FUNCTIONS",
+                "USE_DYNAMIC_FILTERS",
+                "USE_IMU_BNO055",
+                "USE_SECONDARY_IMU",
+                "USE_DSHOT",
+                "FLASH_SIZE 480",
+                "USE_I2C_IO_EXPANDER",
+                "USE_PCF8574",
+                "USE_ESC_SENSOR",
+                "USE_PROGRAMMING_FRAMEWORK",
+                "USE_SERIALRX_GHST",
+                "USE_TELEMETRY_GHST",
+                "USE_CMS",
+                "USE_DJI_HD_OSD",
+                "USE_GYRO_KALMAN",
+                "USE_RANGEFINDER",
+                "USE_RATE_DYNAMICS",
+                "USE_SMITH_PREDICTOR",
+                "USE_ALPHA_BETA_GAMMA_FILTER",
+                "USE_MAG_VCM5883",
+                "USE_TELEMETRY_JETIEXBUS",
+                "USE_NAV",
+                "USE_SDCARD_SDIO",
+                "USE_SDCARD",
+                "USE_Q_TUNE",
+                "USE_GYRO_FFT_FILTER"
+            ],
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}

.vscode/tasks.json

@@ -0,0 +1,41 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Build Matek F722-SE",
+            "type": "shell",
+            "command": "make MATEKF722SE",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        },
+        {
+            "label": "Build Matek F722",
+            "type": "shell",
+            "command": "make MATEKF722",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        }
+        ,
+        {
+            "label": "CMAKE Update",
+            "type": "shell",
+            "command": "cmake ..",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        }
+    ]
+}

AUTHORS

@@ -56,6 +56,7 @@ Krzysztof Rosinski
 Kyle Manna
 Larry Davis
 Marc Egli
+Marcelo Bezerra
 Mark Williams
 Martin Budden
 Matthew Evans

Dockerfile

@@ -4,15 +4,15 @@ ARG USER_ID
 ARG GROUP_ID
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi
+RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi ninja-build gdb
 
 RUN pip install pyyaml
 
 # if either of these are already set the same as the user's machine, leave them be and ignore the error
-RUN addgroup --gid $GROUP_ID inav; exit 0;
-RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0;
+RUN if [ -n "$USER_ID" ]; then RUN addgroup --gid $GROUP_ID inav; exit 0; fi
+RUN if [ -n "$USER_ID" ]; then  RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0; fi
 
-USER inav
+RUN if [ -n "$USER_ID" ]; then USER inav; fi
 RUN git config --global --add safe.directory /src
 
 VOLUME /src

cmake/docker.sh

@@ -6,7 +6,7 @@ CURR_REV="$(git rev-parse HEAD)"
 
 initialize_cmake() {
     echo -e "*** CMake was not initialized yet, doing it now.\n"
-    cmake ..
+    cmake -GNinja ..
     echo "$CURR_REV" > "$LAST_CMAKE_AT_REV_FILE"
 }
 
@@ -26,4 +26,4 @@ else
 fi
 
 # Let Make handle the arguments coming from the build script
-make "$@"
+ninja "$@"

cmake/docker_build_sitl.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+rm -r build_SITL
+mkdir -p build_SITL
+#cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
+cmake -DSITL=ON -DDEBUG=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
+cd build_SITL
+ninja

cmake/docker_run_sitl.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+cd build_SITL
+
+#Lauch SITL - configurator only mode
+./inav_7.0.0_SITL
+
+#Launch SITL - connect to X-Plane. IP address should be host IP address, not 127.0.0.1. Can be found in X-Plane "Network" tab.
+#./inav_7.0.0_SITL --sim=xp --simip=192.168.2.105 --simport=49000

cmake/sitl.cmake

@@ -53,6 +53,11 @@ set(SITL_COMPILE_OPTIONS
     -funsigned-char
 )
 
+if(DEBUG)
+    message(STATUS "Debug mode enabled. Adding -g to SITL_COMPILE_OPTIONS.")
+    list(APPEND SITL_COMPILE_OPTIONS -g)
+endif()
+
 if(NOT MACOSX)
     set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
         -Wno-return-local-addr

docs/Cli.md

@@ -114,6 +114,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `status` | Show status. Error codes can be looked up [here](https://github.com/iNavFlight/inav/wiki/%22Something%22-is-disabled----Reasons) |
 | `tasks` | Show task stats |
 | `temp_sensor` | List or configure temperature sensor(s). See [temperature sensors documentation](Temperature-sensors.md) for more information. |
+|  `timer_output_mode`  | Override automatic timer /  pwm function allocation. [Additional Information](#timer_outout_mode)|
 | `version` | Show version |
 | `wp` | List or configure waypoints. See the [navigation documentation](Navigation.md#cli-command-wp-to-manage-waypoints). |
 
@@ -170,6 +171,66 @@ serial 0 -4
 
 `serial` can also be used without any argument to print the current configuration of all the serial ports.
 
+### `timer_output_mode`
+
+Since INAV 7, the firmware can dynamically allocate servo and motor outputs. This removes the need for bespoke targets for special cases (e.g. `MATEKF405` and `MATEKF405_SERVOS6`).
+
+#### Syntax
+
+```
+timer_output_mode [timer [function]]
+```
+where:
+* Without parameters, lists the current timers and modes
+* With just a `timer` lists the mode for that timer
+* With both `timer` and `function`, sets the function for that timers
+
+Note:
+
+* `timer` identifies the timer **index** (from 0); thus is one less than the corresponding `TIMn` definition in a target's `target.c`.
+* The function is one of `AUTO` (the default), `MOTORS` or `SERVOS`.
+
+Motors are allocated first, hence having a servo before a motor may require use of `timer_output_mode`.
+
+#### Example
+
+The original `MATEKF405` target defined a multi-rotor (MR) servo on output S1. The later `MATEKF405_SERVOS6` target defined (for MR) S1 as a motor and S6 as a servo. This was more logical, but annoying for anyone who had a legacy `MATEKF405` tricopter with the servo on S1.
+
+#### Solution
+
+There is now a single `MATEKF405` target. The `target.c` sets the relevant  outputs as:
+
+```
+DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1), // S2  UP(2,1)
+DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3  UP(2,1)
+DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4  UP(2,1)
+DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_LED, 0, 0), // S5  UP(1,7)
+DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6  UP(2,5)
+DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7  D(1,7)!S5 UP(2,6)
+```
+
+Using the "motors first" allocation, the servo would end up on S6, which in the legacy "tricopter servo on S1" case is not desired.
+
+Forcing the S1 output (`TIM3`) to servo is achieved by:
+
+```
+timer_output_mode 2 SERVOS
+```
+
+with resulting `resource` output:
+
+```
+C06: SERVO4 OUT
+C07: MOTOR1 OUT
+C08: MOTOR2 OUT
+C09: MOTOR3 OUT
+```
+
+Note that the `timer` **index** in the `timer_output_mode` line is one less than the mnemonic in `target.c`, `timer` of 2 for `TIM3`.
+
+Note that the usual caveat that one should not share a timer with both a motor and a servo still apply.
+
 ## Flash chip management
 
 For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.

docs/Controls.md

@@ -44,9 +44,9 @@ The stick positions are combined to activate different functions:
 | Bypass Nav Arm disable        | LOW      | HIGH    | CENTER | CENTER |
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | CENTER |
-| Enter Camera OSD(RuncamDevice)| RIGHT    | CENTER  | CENTER | CENTER |
-| Exit Camera OSD (RuncamDevice)| LEFT     | CENTER  | CENTER | CENTER |
-| Confirm - Camera OSD          | RIGHT    | CENTER  | CENTER | CENTER |
+| Enter Camera OSD(RuncamDevice)| CENTER   | HIGH    | CENTER | CENTER |
+| Exit Camera OSD (RuncamDevice)| CENTER   | LOW     | CENTER | CENTER |
+| Confirm - Camera OSD          | CENTER   | HIGH    | CENTER | CENTER |
 | Navigation - Camera OSD       | CENTER   | CENTER  | *      | *      |
 
 For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).

docs/ESC and servo outputs.md

@@ -28,8 +28,23 @@ While motors are usually ordered sequentially, here is no standard output layout
 
 ## Modifying output mapping
 
-INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
+### Modifying all outputs at the same time
+
+Since INAV 5, it has been possible to force *ALL* outputs to be `MOTORS` or `SERVOS`.
+
+Traditional ESCs usually can be controlled via a servo output, but would require calibration.
+
+This can be done with the `output_mode` CLI setting. Allowed values:
 
 * `AUTO` assigns outputs according to the default mapping
 * `SERVOS` assigns all outputs to servos
-* `MOTORS` assigns all outputs to motors
+* `MOTORS` assigns all outputs to motors
+
+### Modifying only some outputs
+
+INAV 7 introduced extra functionality that let you force only some outputs to be either *MOTORS* or *SERVOS*, with some restrictions dictated by the hardware.
+
+The mains restrictions is that outputs need to be associated with timers, which are usually shared between multiple outputs. Two outputs on the same timer need to have the same function.
+
+The easiest way to modify outputs, is to use the Mixer tab in the Configurator, as it will clearly show you which timer is used by all outputs, but you can also use `timer_output_mode` on the cli.
+This can be used in conjunction to the previous method, in that cass all outputs will follow `output_mode` and `timer_output_mode` overrides are applied after that.