Merge remote-tracking branch 'upstream/master' into custom-23

breadoven · Aug 14, 2023 · 3ab48ec · 3ab48ec
2 parents 290c4a2 + 7d84c64
commit 3ab48ec
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diff --git a/.dir-locals.el b/.dir-locals.el
@@ -0,0 +1,5 @@
+;;; Directory Local Variables            -*- no-byte-compile: t -*-
+;;; For more information see (info "(emacs) Directory Variables")
+
+((nil . ((c-basic-offset . 4)
+	 (c-default-style . "k&r"))))
diff --git a/.gitignore b/.gitignore
@@ -12,7 +12,7 @@
 __pycache__
 startup_stm32f10x_md_gcc.s
 .vagrant/
-.vscode/
+#.vscode/
 cov-int*
 /build/
 /obj/
@@ -31,3 +31,4 @@ README.pdf
 
 # local changes only
 make/local.mk
+launch.json
diff --git a/.vimrc b/.vimrc
@@ -0,0 +1,9 @@
+filetype on
+filetype indent on
+
+set expandtab
+set bs=2
+set sw=4
+set ts=4
+
+
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,12 @@
+{
+    "files.associations": {
+        "chrono": "c",
+        "cmath": "c",
+        "ranges": "c"
+    },
+    "editor.tabSize": 4,
+    "editor.insertSpaces": true,
+    "editor.detectIndentation": false,
+    "editor.expandTabs": true,
+    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4,  BreakBeforeBraces: Mozilla }"
+}
diff --git a/docs/OSD.md b/docs/OSD.md
@@ -0,0 +1,167 @@
+# On Screen Display
+
+The On Screen Display, or OSD, is a feature that overlays flight data over the video image. This can be done on the flight controller, using the analogue MAX7456 chip. Digital systems take the OSD data, via MSP DisplayPort, send it to the video receiver; which combines the data with the image. You can specify what elements are displayed, and their locations on the image. Most systems are character based, and use the MAX7456 analogue setup, or MSP DisplayPort. However, there are some different systems which are also supported. Such as the canvas based FrSKY PixelOSD on analogue. Canvas OSDs draw shapes on the image. Whereas character based OSDs use font characters to display the data.
+
+## Features and Limitations
+Not all OSDs are created equally. This table shows the differences between the different systems available.
+
+| OSD System	| Character grid	| Character	| Canvas	| MSP DisplayPort	| All elements supported	|
+|---------------|-------------------|-----------|-----------|-------------------|---------------------------|
+| Analogue PAL	| 30 x 16			| X			|			|					| YES						|
+| Analogue NTSC	| 30 x 13			| X			|			|					| YES						|
+| PixelOSD		| As PAL or NTSC	|			| X			|					| YES						|
+| DJI OSD		| 30 x 16			| X			|			|					| NO - BF Characters only	|
+| DJI WTFOS		| 60 x 22			| X			|			| X					| YES						|
+| HDZero		| 50 x 18			| X			|			| X					| YES						|
+| Avatar		| 53 x 20			| X			|			| X					| YES						|
+| DJI O3		| 53 x 20 (HD)		| X			|			| X	(partial)		| NO - BF Characters only	|
+
+## OSD Elements
+Here are the OSD Elements provided by INAV.
+
+| ID	| Element										| Added |
+|-------|-----------------------------------------------|-------|
+| 0		| OSD_RSSI_VALUE								| 1.0.0	|
+| 1		| OSD_MAIN_BATT_VOLTAGE							| 1.0.0	|
+| 2		| OSD_CROSSHAIRS								| 1.0.0	|
+| 3		| OSD_ARTIFICIAL_HORIZON						| 1.0.0	|
+| 4		| OSD_HORIZON_SIDEBARS							| 1.0.0	|
+| 5		| OSD_ONTIME									| 1.0.0	|
+| 6		| OSD_FLYTIME									| 1.0.0	|
+| 7		| OSD_FLYMODE									| 1.0.0	|
+| 8		| OSD_CRAFT_NAME								| 1.0.0	|
+| 9		| OSD_THROTTLE_POS								| 1.0.0	|
+| 10	| OSD_VTX_CHANNEL								| 1.0.0	|
+| 11	| OSD_CURRENT_DRAW								| 1.0.0	|
+| 12	| OSD_MAH_DRAWN									| 1.0.0	|
+| 13	| OSD_GPS_SPEED									| 1.0.0	|
+| 14	| OSD_GPS_SATS									| 1.0.0	|
+| 15	| OSD_ALTITUDE									| 1.0.0	|
+| 16	| OSD_ROLL_PIDS									| 1.6.0	|
+| 17	| OSD_PITCH_PIDS								| 1.6.0	|
+| 18	| OSD_YAW_PIDS									| 1.6.0	|
+| 19	| OSD_POWER										| 1.6.0	|
+| 20	| OSD_GPS_LON									| 1.6.0	|
+| 21	| OSD_GPS_LAT									| 1.6.0	|
+| 22	| OSD_HOME_DIR									| 1.6.0	|
+| 23	| OSD_HOME_DIST									| 1.6.0	|
+| 24	| OSD_HEADING									| 1.6.0	|
+| 25	| OSD_VARIO										| 1.6.0	|
+| 26	| OSD_VARIO_NUM									| 1.6.0	|
+| 27	| OSD_AIR_SPEED									| 1.7.3	|
+| 28	| OSD_ONTIME_FLYTIME							| 1.8.0	|
+| 29	| OSD_RTC_TIME									| 1.8.0	|
+| 30	| OSD_MESSAGES									| 1.8.0	|
+| 31	| OSD_GPS_HDOP									| 1.8.0	|
+| 32	| OSD_MAIN_BATT_CELL_VOLTAGE					| 1.8.0	|
+| 33	| OSD_SCALED_THROTTLE_POS						| 1.8.0	|
+| 34	| OSD_HEADING_GRAPH								| 1.8.0	|
+| 35	| OSD_EFFICIENCY_MAH_PER_KM						| 1.9.0	|
+| 36	| OSD_WH_DRAWN									| 1.9.0	|
+| 37	| OSD_BATTERY_REMAINING_CAPACITY				| 1.9.0	|
+| 38	| OSD_BATTERY_REMAINING_PERCENT					| 1.9.0	|
+| 39	| OSD_EFFICIENCY_WH_PER_KM						| 1.9.0	|
+| 40	| OSD_TRIP_DIST									| 1.9.1	|
+| 41	| OSD_ATTITUDE_PITCH							| 2.0.0	|
+| 42	| OSD_ATTITUDE_ROLL								| 2.0.0	|
+| 43	| OSD_MAP_NORTH									| 2.0.0	|
+| 44	| OSD_MAP_TAKEOFF								| 2.0.0	|
+| 45	| OSD_RADAR										| 2.0.0	|
+| 46	| OSD_WIND_SPEED_HORIZONTAL						| 2.0.0	|
+| 47	| OSD_WIND_SPEED_VERTICAL						| 2.0.0	|
+| 48	| OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH			| 2.0.0	|
+| 49	| OSD_REMAINING_DISTANCE_BEFORE_RTH				| 2.0.0	|
+| 50	| OSD_HOME_HEADING_ERROR						| 2.0.0	|
+| 51	| OSD_COURSE_HOLD_ERROR							| 2.0.0	|
+| 52	| OSD_COURSE_HOLD_ADJUSTMENT					| 2.0.0	|
+| 53	| OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE			| 2.0.0	|
+| 54	| OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE	| 2.0.0	|
+| 55	| OSD_POWER_SUPPLY_IMPEDANCE					| 2.0.0	|
+| 56	| OSD_LEVEL_PIDS								| 2.0.0	|
+| 57	| OSD_POS_XY_PIDS								| 2.0.0	|
+| 58	| OSD_POS_Z_PIDS								| 2.0.0	|
+| 59	| OSD_VEL_XY_PIDS								| 2.0.0	|
+| 60	| OSD_VEL_Z_PIDS								| 2.0.0	|
+| 61	| OSD_HEADING_P									| 2.0.0	|
+| 62	| OSD_BOARD_ALIGN_ROLL							| 2.0.0	|
+| 63	| OSD_BOARD_ALIGN_PITCH							| 2.0.0	|
+| 64	| OSD_RC_EXPO									| 2.0.0	|
+| 65	| OSD_RC_YAW_EXPO								| 2.0.0	|
+| 66	| OSD_THROTTLE_EXPO								| 2.0.0	|
+| 67	| OSD_PITCH_RATE								| 2.0.0	|
+| 68	| OSD_ROLL_RATE									| 2.0.0	|
+| 69	| OSD_YAW_RATE									| 2.0.0	|
+| 70	| OSD_MANUAL_RC_EXPO							| 2.0.0	|
+| 71	| OSD_MANUAL_RC_YAW_EXPO						| 2.0.0	|
+| 72	| OSD_MANUAL_PITCH_RATE							| 2.0.0	|
+| 73	| OSD_MANUAL_ROLL_RATE							| 2.0.0	|
+| 74	| OSD_MANUAL_YAW_RATE							| 2.0.0	|
+| 75	| OSD_NAV_FW_CRUISE_THR							| 2.0.0	|
+| 76	| OSD_NAV_FW_PITCH2THR							| 2.0.0	|
+| 77	| OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE			| 2.0.0	|
+| 78	| OSD_DEBUG										| 2.0.0	|
+| 79	| OSD_FW_ALT_PID_OUTPUTS						| 2.0.0	|
+| 80	| OSD_FW_POS_PID_OUTPUTS						| 2.0.0	|
+| 81	| OSD_MC_VEL_X_PID_OUTPUTS						| 2.0.0	|
+| 82	| OSD_MC_VEL_Y_PID_OUTPUTS						| 2.0.0	|
+| 83	| OSD_MC_VEL_Z_PID_OUTPUTS						| 2.0.0	|
+| 84	| OSD_MC_POS_XYZ_P_OUTPUTS						| 2.0.0	|
+| 85	| OSD_3D_SPEED									| 2.1.0	|
+| 86	| OSD_IMU_TEMPERATURE							| 2.1.0	|
+| 87	| OSD_BARO_TEMPERATURE							| 2.1.0	|
+| 88	| OSD_TEMP_SENSOR_0_TEMPERATURE					| 2.1.0	|
+| 89	| OSD_TEMP_SENSOR_1_TEMPERATURE					| 2.1.0	|
+| 90	| OSD_TEMP_SENSOR_2_TEMPERATURE					| 2.1.0	|
+| 91	| OSD_TEMP_SENSOR_3_TEMPERATURE					| 2.1.0	|
+| 92	| OSD_TEMP_SENSOR_4_TEMPERATURE					| 2.1.0	|
+| 93	| OSD_TEMP_SENSOR_5_TEMPERATURE					| 2.1.0	|
+| 94	| OSD_TEMP_SENSOR_6_TEMPERATURE					| 2.1.0	|
+| 95	| OSD_TEMP_SENSOR_7_TEMPERATURE					| 2.1.0	|
+| 96	| OSD_ALTITUDE_MSL								| 2.1.0	|
+| 97	| OSD_PLUS_CODE									| 2.1.0	|
+| 98	| OSD_MAP_SCALE									| 2.2.0	|
+| 99	| OSD_MAP_REFERENCE								| 2.2.0	|
+| 100	| OSD_GFORCE									| 2.2.0	|
+| 101	| OSD_GFORCE_X									| 2.2.0	|
+| 102	| OSD_GFORCE_Y									| 2.2.0	|
+| 103	| OSD_GFORCE_Z									| 2.2.0	|
+| 104	| OSD_RC_SOURCE									| 2.2.0	|
+| 105	| OSD_VTX_POWER									| 2.2.0	|
+| 106	| OSD_ESC_RPM									| 2.3.0	|
+| 107	| OSD_ESC_TEMPERATURE							| 2.5.0	|
+| 108	| OSD_AZIMUTH									| 2.6.0	|
+| 109	| OSD_CRSF_RSSI_DBM								| 2.6.0	|
+| 110	| OSD_CRSF_LQ									| 2.6.0	|
+| 111	| OSD_CRSF_SNR_DB								| 2.6.0	|
+| 112	| OSD_CRSF_TX_POWER								| 2.6.0	|
+| 113	| OSD_GVAR_0									| 2.6.0	|
+| 114	| OSD_GVAR_1									| 2.6.0	|
+| 115	| OSD_GVAR_2									| 2.6.0	|
+| 116	| OSD_GVAR_3									| 2.6.0	|
+| 117	| OSD_TPA										| 2.6.0	|
+| 118	| OSD_NAV_FW_CONTROL_SMOOTHNESS					| 2.6.0	|
+| 119	| OSD_VERSION									| 3.0.0	|
+| 120	| OSD_RANGEFINDER								| 3.0.0	|
+| 121	| OSD_PLIMIT_REMAINING_BURST_TIME				| 3.0.0	|
+| 122	| OSD_PLIMIT_ACTIVE_CURRENT_LIMIT				| 3.0.0	|
+| 123	| OSD_PLIMIT_ACTIVE_POWER_LIMIT					| 3.0.0	|
+| 124	| OSD_GLIDESLOPE								| 3.0.1	|
+| 125	| OSD_GPS_MAX_SPEED								| 4.0.0	|
+| 126	| OSD_3D_MAX_SPEED								| 4.0.0	|
+| 127	| OSD_AIR_MAX_SPEED								| 4.0.0	|
+| 128	| OSD_ACTIVE_PROFILE							| 4.0.0	|
+| 129	| OSD_MISSION									| 4.0.0	|
+| 130	| OSD_SWITCH_INDICATOR_0						| 5.0.0	|
+| 131	| OSD_SWITCH_INDICATOR_1						| 5.0.0	|
+| 132	| OSD_SWITCH_INDICATOR_2						| 5.0.0	|
+| 133	| OSD_SWITCH_INDICATOR_3						| 5.0.0	|
+| 134	| OSD_TPA_TIME_CONSTANT							| 5.0.0	|
+| 135	| OSD_FW_LEVEL_TRIM								| 5.0.0	|
+| 136	| OSD_GLIDE_TIME_REMAINING						| 6.0.0	|
+| 137	| OSD_GLIDE_RANGE								| 6.0.0	|
+| 138	| OSD_CLIMB_EFFICIENCY							| 6.0.0	|
+| 139	| OSD_NAV_WP_MULTI_MISSION_INDEX				| 6.0.0	|
+| 140	| OSD_GROUND_COURSE								| 6.0.0	|
+| 141	| OSD_CROSS_TRACK_ERROR							| 6.0.0	|
+| 142	| OSD_PILOT_NAME								| 6.0.0	|
+| 143	| OSD_PAN_SERVO_CENTRED							| 6.0.0	|
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -1372,6 +1372,16 @@ Automatic configuration of GPS baudrate(The specified baudrate in configured in
 
 ---
 
+### gps_auto_baud_max_supported
+
+Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 230400 |  |  |
+
+---
+
 ### gps_auto_config
 
 Enable automatic configuration of UBlox GPS receivers.

diff --git a/docs/boards/SPEEDYBEEF405V3.md b/docs/boards/SPEEDYBEEF405V3.md
@@ -1,3 +1,18 @@
 # SpeedyBee F405 V3
 
-> Notice: At the moment, DSHOT is not supported on SpeedyBe F405 V3. Use Multishot instead
+> Notice: At the moment, DSHOT is not supported on SpeedyBe F405 V3. Use Multishot instead
+
+> Notice: The analog OSD and the SD card (blackbox) share the same SPI bus, which can cause problems when trying to use analog OSD and blackbox at the same time.
+
+## Flashing firmware
+
+We often see reports of users having problems flashing new firmware with this baord. The following sugestions usually seem to fix the issues.
+
+* Remove SD Card
+* Disconnect devices from UART1 and UART3
+
+Try removing the SD Card first, and if that still does not fix the issue, disconnect the devices connected to UART1 and UART3.
+
+
+
+
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -534,6 +534,8 @@ main_sources(COMMON_SRC
     io/vtx_ffpv24g.h
     io/vtx_control.c
     io/vtx_control.h
+    io/vtx_msp.c
+    io/vtx_msp.h
 
     navigation/navigation.c
     navigation/navigation.h

diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
@@ -47,6 +47,13 @@
 #ifndef ADC_CHANNEL_4_INSTANCE
 #define ADC_CHANNEL_4_INSTANCE  ADC_INSTANCE
 #endif
+#ifndef ADC_CHANNEL_5_INSTANCE
+#define ADC_CHANNEL_5_INSTANCE  ADC_INSTANCE
+#endif
+#ifndef ADC_CHANNEL_6_INSTANCE
+#define ADC_CHANNEL_6_INSTANCE  ADC_INSTANCE
+#endif
+
 
 #ifdef USE_ADC
 
@@ -99,7 +106,7 @@ uint16_t adcGetChannel(uint8_t function)
     }
 }
 
-#if defined(ADC_CHANNEL_1_PIN) || defined(ADC_CHANNEL_2_PIN) || defined(ADC_CHANNEL_3_PIN) || defined(ADC_CHANNEL_4_PIN)
+#if defined(ADC_CHANNEL_1_PIN) || defined(ADC_CHANNEL_2_PIN) || defined(ADC_CHANNEL_3_PIN) || defined(ADC_CHANNEL_4_PIN) || defined(ADC_CHANNEL_5_PIN) || defined(ADC_CHANNEL_6_PIN)
 static bool isChannelInUse(int channel)
 {
     for (int i = 0; i < ADC_FUNCTION_COUNT; i++) {
@@ -111,7 +118,7 @@ static bool isChannelInUse(int channel)
 }
 #endif
 
-#if !defined(ADC_CHANNEL_1_PIN) || !defined(ADC_CHANNEL_2_PIN) || !defined(ADC_CHANNEL_3_PIN) || !defined(ADC_CHANNEL_4_PIN)
+#if !defined(ADC_CHANNEL_1_PIN) || !defined(ADC_CHANNEL_2_PIN) || !defined(ADC_CHANNEL_3_PIN) || !defined(ADC_CHANNEL_4_PIN) || !defined(ADC_CHANNEL_5_PIN) || !defined(ADC_CHANNEL_6_PIN)
 static void disableChannelMapping(int channel)
 {
     for (int i = 0; i < ADC_FUNCTION_COUNT; i++) {
@@ -192,6 +199,33 @@ void adcInit(drv_adc_config_t *init)
     disableChannelMapping(ADC_CHN_4);
 #endif
 
+#ifdef ADC_CHANNEL_5_PIN
+    if (isChannelInUse(ADC_CHN_5)) {
+        adcConfig[ADC_CHN_5].adcDevice = adcDeviceByInstance(ADC_CHANNEL_5_INSTANCE);
+        if (adcConfig[ADC_CHN_5].adcDevice != ADCINVALID) {
+            adcConfig[ADC_CHN_5].tag = IO_TAG(ADC_CHANNEL_5_PIN);
+#if defined(USE_ADC_AVERAGING)
+            activeChannelCount[adcConfig[ADC_CHN_5].adcDevice] += 1;
+#endif
+        }
+    }
+#else
+    disableChannelMapping(ADC_CHN_5);
+#endif
+
+#ifdef ADC_CHANNEL_6_PIN
+    if (isChannelInUse(ADC_CHN_6)) {
+        adcConfig[ADC_CHN_6].adcDevice = adcDeviceByInstance(ADC_CHANNEL_6_INSTANCE);
+        if (adcConfig[ADC_CHN_6].adcDevice != ADCINVALID) {
+            adcConfig[ADC_CHN_6].tag = IO_TAG(ADC_CHANNEL_6_PIN);
+#if defined(USE_ADC_AVERAGING)
+            activeChannelCount[adcConfig[ADC_CHN_6].adcDevice] += 1;
+#endif
+        }
+    }
+#else
+    disableChannelMapping(ADC_CHN_6);
+#endif
 
     adcHardwareInit(init);
 }

diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
@@ -33,7 +33,9 @@ typedef enum {
     ADC_CHN_2,
     ADC_CHN_3,
     ADC_CHN_4,
-    ADC_CHN_MAX = ADC_CHN_4,
+	ADC_CHN_5,
+	ADC_CHN_6,
+    ADC_CHN_MAX = ADC_CHN_6,
     ADC_CHN_COUNT
 } adcChannel_e;
 

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
@@ -195,6 +195,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
         return true;
     }
 #endif
+#if defined(ADC_CHANNEL_5_PIN)
+    if (timHw->tag == IO_TAG(ADC_CHANNEL_5_PIN)) {
+        return true;
+    }
+#endif
+#if defined(ADC_CHANNEL_6_PIN)
+    if (timHw->tag == IO_TAG(ADC_CHANNEL_6_PIN)) {
+        return true;
+    }
+#endif
 #endif
 
     return false;

diff --git a/src/main/drivers/vtx_common.c b/src/main/drivers/vtx_common.c
@@ -24,6 +24,7 @@
 
 #include "platform.h"
 #include "build/debug.h"
+#include "common/log.h"
 
 #include "vtx_common.h"
 
@@ -73,8 +74,9 @@ void vtxCommonSetBandAndChannel(vtxDevice_t *vtxDevice, uint8_t band, uint8_t ch
     if (!vtxDevice)
         return;
 
-    if ((band > vtxDevice->capability.bandCount) || (channel > vtxDevice->capability.channelCount))
+    if ((band > vtxDevice->capability.bandCount) || (channel > vtxDevice->capability.channelCount)) {
         return;
+    }
 
     if (vtxDevice->vTable->setBandAndChannel) {
         vtxDevice->vTable->setBandAndChannel(vtxDevice, band, channel);

diff --git a/src/main/drivers/vtx_common.h b/src/main/drivers/vtx_common.h
@@ -36,7 +36,7 @@
 #define VTX_SETTINGS_MIN_FREQUENCY_MHZ 0             //min freq (in MHz) for 'vtx_freq' setting
 #define VTX_SETTINGS_MAX_FREQUENCY_MHZ 5999          //max freq (in MHz) for 'vtx_freq' setting
 
-#if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
+#if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP) || defined(USE_VTX_MSP)
 
 #define VTX_SETTINGS_POWER_COUNT        5
 #define VTX_SETTINGS_DEFAULT_POWER      1
@@ -63,6 +63,7 @@ typedef enum {
     VTXDEV_SMARTAUDIO = 3,
     VTXDEV_TRAMP      = 4,
     VTXDEV_FFPV       = 5,
+    VTXDEV_MSP        = 6,
     VTXDEV_UNKNOWN    = 0xFF,
 } vtxDevType_e;