Merge branch 'release_7.1.1' into abo_autolanding_landing_disarm_fix

docs/Settings.md

@@ -1844,11 +1844,11 @@ Allows to chose when the home position is reset. Can help prevent resetting home
 
 ### inav_use_gps_no_baro
 
-_// TODO_
+Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF | OFF | ON |
+| ON | OFF | ON |
 
 ---
 

src/main/blackbox/blackbox.c

@@ -1308,10 +1308,16 @@ static void writeSlowFrame(void)
 static void loadSlowState(blackboxSlowState_t *slow)
 {
     memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
-    // Also log Nav auto selected flight modes rather than just those selected by boxmode
-    if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) {
+    // Also log Nav auto enabled flight modes rather than just those selected by boxmode
+    if (FLIGHT_MODE(ANGLE_MODE)) {
         slow->flightModeFlags |= (1 << BOXANGLE);
     }
+    if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVALTHOLD);
+    }
+    if (FLIGHT_MODE(NAV_RTH_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVRTH);
+    }
     if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
         slow->flightModeFlags |= (1 << BOXHEADINGHOLD);
     }

src/main/fc/fc_core.c

@@ -350,6 +350,10 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
         }
 
+        if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
+        }
+
         /* 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

src/main/fc/settings.yaml

@@ -2288,9 +2288,10 @@ groups:
         field: use_gps_velned
         type: bool
       - name: inav_use_gps_no_baro
+        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
         field: use_gps_no_baro
         type: bool
-        default_value: OFF
+        default_value: ON
       - name: inav_allow_dead_reckoning
         description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
         default_value: OFF

src/main/navigation/navigation_private.h

@@ -174,7 +174,7 @@ typedef enum {
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_1,
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_2,
     NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
-    NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
+    NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
     NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_5,
 
     NAV_FSM_EVENT_COUNT,
@@ -199,7 +199,7 @@ typedef enum {
     NAV_PERSISTENT_ID_RTH_INITIALIZE                            = 8,
     NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT                     = 9,
     NAV_PERSISTENT_ID_RTH_HEAD_HOME                             = 10,
-    NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING                = 11,
+    NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING               = 11,
     NAV_PERSISTENT_ID_RTH_LANDING                               = 12,
     NAV_PERSISTENT_ID_RTH_FINISHING                             = 13,
     NAV_PERSISTENT_ID_RTH_FINISHED                              = 14,
@@ -230,7 +230,7 @@ typedef enum {
     NAV_PERSISTENT_ID_CRUISE_ADJUSTING                          = 34,
 
     NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME                        = 35,
-    NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME                      = 36,
+    NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME                     = 36,
     NAV_PERSISTENT_ID_UNUSED_4                                  = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
     NAV_PERSISTENT_ID_RTH_TRACKBACK                             = 38,
 
@@ -261,8 +261,8 @@ typedef enum {
     NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
     NAV_STATE_RTH_TRACKBACK,
     NAV_STATE_RTH_HEAD_HOME,
-    NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
-    NAV_STATE_RTH_HOVER_ABOVE_HOME,
+    NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
+    NAV_STATE_RTH_LOITER_ABOVE_HOME,
     NAV_STATE_RTH_LANDING,
     NAV_STATE_RTH_FINISHING,
     NAV_STATE_RTH_FINISHED,
@@ -331,9 +331,10 @@ typedef enum {
 
     /* Additional flags */
     NAV_CTL_LAND            = (1 << 14),
-    NAV_AUTO_WP_DONE        = (1 << 15),    //Waypoint mission reached the last waypoint and is idling
+    NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
-    NAV_MIXERAT             = (1 << 16),    //MIXERAT in progress
+    NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
+    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position or will be when position reached
 } navigationFSMStateFlags_t;
 
 typedef struct {
@@ -400,7 +401,7 @@ typedef enum {
     RTH_HOME_ENROUTE_INITIAL,       // Initial position for RTH approach
     RTH_HOME_ENROUTE_PROPORTIONAL,  // Prorpotional position for RTH approach
     RTH_HOME_ENROUTE_FINAL,         // Final position for RTH approach
-    RTH_HOME_FINAL_HOVER,           // Final hover altitude (if rth_home_altitude is set)
+    RTH_HOME_FINAL_LOITER,          // Final loiter altitude (if rth_home_altitude is set)
     RTH_HOME_FINAL_LAND,            // Home position and altitude
 } rthTargetMode_e;
 

src/main/target/AOCODARCF4V3/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_stm32f405xg(AOCODARCF4V3_SD)
+target_stm32f405xg(AOCODARCF4V3)
+

src/main/target/AOCODARCF4V3/config.c

@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+//#include "fc/config.h"
+
+#include "io/piniobox.h"
+#include "drivers/serial.h"
+#include "io/serial.h"
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+   // beeperConfigMutable()->pwmMode = true;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP;
+        serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS;
+}

src/main/target/AOCODARCF4V3/target.c

@@ -0,0 +1,46 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM5,  CH4,  PA3,     TIM_USE_PPM,       0, 0 ),       // PPM IN
+
+    DEF_TIM(TIM8,   CH1,  PC6,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S1 
+    DEF_TIM(TIM8,   CH2,  PC7,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S2
+    DEF_TIM(TIM8,   CH3,  PC8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S3
+    DEF_TIM(TIM8,   CH4,  PC9,    TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S4
+
+    DEF_TIM(TIM2,   CH1,  PA15,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S5
+    DEF_TIM(TIM1,   CH1,  PA8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S6
+
+    DEF_TIM(TIM2,   CH3,  PB10,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S7
+    DEF_TIM(TIM2,   CH4,  PB11,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S8
+
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_LED,  0, 0 ),     // LED_STRIP
+
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);