Merge remote-tracking branch 'upstream/master' into custom_24

.vscode/tasks.json

@@ -4,19 +4,19 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "Build Matek F722-SE",
+            "label": "Build AOCODARCH7DUAL",
             "type": "shell",
-            "command": "make MATEKF722SE",
+            "command": "make AOCODARCH7DUAL",
             "group": "build",
             "problemMatcher": [],
             "options": {
                 "cwd": "${workspaceFolder}/build"
             }
         },
         {
-            "label": "Build Matek F722",
+            "label": "Build AOCODARCH7DUAL",
             "type": "shell",
-            "command": "make MATEKF722",
+            "command": "make AOCODARCH7DUAL",
             "group": {
                 "kind": "build",
                 "isDefault": true

docs/Fixed Wing Landing.md

@@ -5,6 +5,8 @@
 INAV supports advanced automatic landings for fixed wing aircraft from version 7.1.
 The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible.
 Supported are landings at safehome after "Return to Home" or at a defined LAND waypoint for missions. 
+Every landing locations can be defined with a target point and 2 different approach headings (colinear to the landing strips) with exclusive direction or opposite directions allowed. 
+This enables up to 4 different approach directions, based on the landing site and surrounding area. 
 
 ## General procedure:
 
@@ -34,7 +36,7 @@ The following graphics illustrate the process:
 
 ### The following parameters are set for each landing site (Safefome/LAND waypoint):
 
-All settings can also be conveniently made in the Configurator via Missionplanner.
+All settings can also be conveniently made in the Configurator via Mission Control.
 
 CLI command `fwapproach`:
 `fwapproach <index> <Approach altitude> <Land altitude> <Approach direction> <approach heading 1> <approach heading 2> <sea level>`
@@ -54,7 +56,7 @@ This means that practically 4 landing directions can be saved.
 > [!CAUTION]
 > The Configuator automatically determines the ground altitude based on databases on the Internet, which may be inaccurate. Please always compare with the measured GPS altitude at the landing site to avoid crashes.
 
-### Global paramters
+### Global parameters
 
 All settings are available via “Advanced Tuning” in the Configurator.
 
@@ -104,7 +106,7 @@ If the altitude of the waypoint and the "Approach Altitude" are different, the a
 
 ## Logic Conditions
 
-The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deplyoment of the landing flaps.
+The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deployment of the landing flaps.
 
 | Returned value | State |
 | --- | --- |

docs/Settings.md

@@ -658,7 +658,7 @@ These are values (in us) by how much RC input can be different before it's consi
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 5 | 0 | 32 |
+| 2 | 0 | 32 |
 
 ---
 
@@ -932,6 +932,16 @@ EzTune response
 
 ---
 
+### ez_snappiness
+
+EzTune snappiness
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 100 |
+
+---
+
 ### ez_stability
 
 EzTune stability
@@ -2372,16 +2382,6 @@ These are min/max values (in us) which, when a channel is smaller (min) or large
 
 ---
 
-### max_throttle
-
-This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000.
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 1850 | PWM_RANGE_MIN | PWM_RANGE_MAX |
-
----
-
 ### mc_cd_lpf_hz
 
 Cutoff frequency for Control Derivative. This controls the cutoff for the LPF that is applied to the CD (Feed Forward) signal to the PID controller. Lower value will produce a smoother CD gain to the controller, but it will be more delayed. Higher values will produce CD gain that may have more noise in the signal depending on your RC link but wil be less delayed.
@@ -3754,7 +3754,7 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
 
 ### nav_min_ground_speed
 
-Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
+Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -5092,26 +5092,6 @@ Allows to set type of PID controller used in control loop. Possible values: `NON
 
 ---
 
-### pidsum_limit
-
-A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 500 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
-
----
-
-### pidsum_limit_yaw
-
-A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 350 | PID_SUM_LIMIT_MIN | PID_SUM_LIMIT_MAX |
-
----
-
 ### pilot_name
 
 Pilot name
@@ -6248,7 +6228,7 @@ These are values (in us) by how much RC input can be different before it's consi
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 5 | 0 | 100 |
+| 2 | 0 | 100 |
 
 ---
 

src/main/blackbox/blackbox.c

@@ -1852,9 +1852,9 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s",                      systemConfig()->craftName);
         BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u",                   blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
         BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d",                     getThrottleIdleValue());
-        BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d",                     motorConfig()->maxthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d",                     getMaxThrottle());
         BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x",                    castFloatBytesToInt(1.0f));
-        BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                  getThrottleIdleValue(),motorConfig()->maxthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                  getThrottleIdleValue(),getMaxThrottle());
         BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u",                          acc.dev.acc_1G);
 
 #ifdef USE_ADC
@@ -1947,8 +1947,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("waypoints", "%d,%d",                    getWaypointCount(),isWaypointListValid());
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d",                    accelerometerConfig()->acc_notch_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d",                accelerometerConfig()->acc_notch_cutoff);
-        BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d",                     pidProfile()->pidSumLimit);
-        BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d",                  pidProfile()->pidSumLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d",        pidProfile()->axisAccelerationLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitRollPitch", "%d",  pidProfile()->axisAccelerationLimitRollPitch);
 #ifdef USE_RPM_FILTER