Merge branch 'master' into abo_mc_course_hold_cruise

.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"))))

.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

.vimrc

@@ -0,0 +1,9 @@
+filetype on
+filetype indent on
+
+set expandtab
+set bs=2
+set sw=4
+set ts=4
+
+

.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 }"
+}

docs/Programming Framework.md

@@ -46,16 +46,16 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 10            | NAND                          | `false` if `Operand A` and `Operand B` are both `true`|
 | 11            | NOR                           | `true` if `Operand A` and `Operand B` are both `false` |
 | 12            | NOT                           | The boolean opposite to `Operand A` |         
-| 13            | STICKY                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
-| 14            | ADD                           | Add `Operand A` to `Operand B` and returns the result |
-| 15            | SUB                           | Substract `Operand B` from `Operand A` and returns the result |
-| 16            | MUL                           | Multiply `Operand A` by `Operand B` and returns the result |
-| 17            | DIV                           | Divide `Operand A` by `Operand B` and returns the result |
-| 18            | GVAR SET                      | Store value from `Operand B` into the Global Variable addressed by
+| 13            | Sticky                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
+| 14            | Basic: Add                           | Add `Operand A` to `Operand B` and returns the result |
+| 15            | Basic: Subtract                           | Substract `Operand B` from `Operand A` and returns the result |
+| 16            | Basic: Multiply                           | Multiply `Operand A` by `Operand B` and returns the result |
+| 17            | Basic: Divide                           | Divide `Operand A` by `Operand B` and returns the result |
+| 18            | Set GVAR                      | Store value from `Operand B` into the Global Variable addressed by
 `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
-| 19            | GVAR INC                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
-| 20            | GVAR DEC                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
-| 21            | IO PORT SET                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
+| 19            | Increase GVAR                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 20            | Decrease GVAR                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 21            | Set IO Port                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
 | 22            | OVERRIDE_ARMING_SAFETY        | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
 | 23            | OVERRIDE_THROTTLE_SCALE       | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
 | 24            | SWAP_ROLL_YAW                 | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
@@ -67,18 +67,18 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 30            | SET_VTX_BAND                  | Sets VTX band. Accepted values are `1-5` |
 | 31            | SET_VTX_CHANNEL               | Sets VTX channel. Accepted values are `1-8` |
 | 32            | SET_OSD_LAYOUT                | Sets OSD layout. Accepted values are `0-3` |
-| 33            | SIN                           | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 34            | COS                           | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 35            | TAN                           | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 33            | Trigonometry: Sine                           | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 34            | Trigonometry: Cosine                           | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 35            | Trigonometry: Tangent                           | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
 | 36            | MAP_INPUT                     | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
 | 37            | MAP_OUTPUT                    | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
 | 38            | RC_CHANNEL_OVERRIDE           | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET            | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
-| 40            | MOD                           | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
+| 40            | Modulo                           | Modulo. 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` |
+| 43            | Use Lowest Value                           | Finds the lowest value of `Operand A` and `Operand B` |
+| 44            | Use Highest Value                           | Finds the highest value of `Operand A` and `Operand B` |
 | 45			| FLIGHT_AXIS_ANGLE_OVERRIDE	| Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
 | 46			| FLIGHT_AXIS_RATE_OVERRIDE	    | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
 | 47            | EDGE                          | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |

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.
@@ -3272,6 +3282,16 @@ Max allowed above the ground altitude for terrain following mode
 
 ---
 
+### nav_mc_althold_throttle
+
+If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| STICK |  |  |
+
+---
+
 ### nav_mc_bank_angle
 
 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
@@ -3742,16 +3762,6 @@ Enables or Disables the use of the heading PID controller on fixed wing. Heading
 
 ---
 
-### nav_use_midthr_for_althold
-
-If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
 ### nav_user_control_mode
 
 Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction.

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.
+
+
+
+

docs/development/serial_printf_debugging.md

@@ -76,9 +76,11 @@ If the CLI `log_topics` is non-zero, then all topics matching the mask will be d
 
 A set of macros `LOG_ERROR()` (log error) through `LOG_DEBUG()` (log debug) may be used, subject to compile time log level constraints. These provide `printf` style logging for a given topic.
 
+Note that the `topic` is specified without the `LOG_TOPIC_` prefix:
+
 ```
 //  LOG_DEBUG(topic, fmt, ...)
-LOG_DEBUG(LOG_TOPIC_SYSTEM, "This is %s topic debug message, value %d", "system", 42);
+LOG_DEBUG(SYSTEM, "This is %s topic debug message, value %d", "system", 42);
 ```
 
 It is also possible to dump a hex representation of arbitrary  data, using functions named variously `LOG_BUFFER_` (`ERROR`) and `LOG_BUF_` (anything else, alas) e.g.:
@@ -89,7 +91,7 @@ It is also possible to dump a hex representation of arbitrary  data, using funct
 
 struct {...} tstruct;
 ...
-LOG_BUF_DEBUG(LOG_TOPIC_TEMPERATURE, &tstruct, sizeof(tstruct));
+LOG_BUF_DEBUG(TEMPERATURE, &tstruct, sizeof(tstruct));
 ```
 
 ## Output Support
@@ -104,7 +106,7 @@ Log messages are transmitted through the `FUNCTION_LOG` serial port as MSP messa
 For example, with the final lines of `src/main/fc/fc_init.c` set to:
 
 ```
- LOG_ERROR(LOG_TOPIC_SYSTEM, "Init is complete");
+ LOG_ERROR(SYSTEM, "Init is complete");
  systemState |= SYSTEM_STATE_READY;
 ```
 

src/main/CMakeLists.txt

@@ -208,6 +208,8 @@ main_sources(COMMON_SRC
     drivers/pitotmeter/pitotmeter_adc.h
     drivers/pitotmeter/pitotmeter_ms4525.c
     drivers/pitotmeter/pitotmeter_ms4525.h
+    drivers/pitotmeter/pitotmeter_dlvr_l10d.c
+    drivers/pitotmeter/pitotmeter_dlvr_l10d.h	
     drivers/pitotmeter/pitotmeter_msp.c
     drivers/pitotmeter/pitotmeter_msp.h
     drivers/pitotmeter/pitotmeter_virtual.c
@@ -285,6 +287,8 @@ main_sources(COMMON_SRC
     fc/firmware_update.h
     fc/firmware_update_common.c
     fc/firmware_update_common.h
+    fc/multifunction.c
+    fc/multifunction.h
     fc/rc_smoothing.c
     fc/rc_smoothing.h
     fc/rc_adjustments.c