Merge remote-tracking branch 'upstream/master' into abo_mc_accel_atte…

…nuator

.gitignore

@@ -22,6 +22,7 @@ cov-int*
 /downloads/
 /debug/
 /release/
+/*_SITL/
 
 # script-generated files
 docs/Manual.pdf
@@ -35,3 +36,4 @@ make/local.mk
 launch.json
 .vscode/tasks.json
 .vscode/c_cpp_properties.json
+/cmake-build-debug/

.vscode/settings.json

@@ -2,11 +2,17 @@
     "files.associations": {
         "chrono": "c",
         "cmath": "c",
-        "ranges": "c"
+        "ranges": "c",
+        "navigation.h": "c",
+        "rth_trackback.h": "c"
+        "platform.h": "c",
+        "timer.h": "c",
+        "bus.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,
     "editor.detectIndentation": false,
     "editor.expandTabs": true,
     "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4,  BreakBeforeBraces: Mozilla }"
+
 }

.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

CMakeLists.txt

@@ -51,7 +51,7 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 7.0.0)
+project(INAV VERSION 8.0.0)
 
 enable_language(ASM)
 

Dockerfile

@@ -4,15 +4,18 @@ 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 ninja-build gdb
+RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi ninja-build
+
+RUN if [ "$GDB" = "yes" ]; then apt-get install -y gdb; fi
 
 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 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
+RUN addgroup --gid $GROUP_ID inav; exit 0;
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0;
+
+USER inav
 
-RUN if [ -n "$USER_ID" ]; then USER inav; fi
 RUN git config --global --add safe.directory /src
 
 VOLUME /src

build_docs.sh

@@ -21,7 +21,6 @@ doc_files=(
 	'Buzzer.md'
 	'Sonar.md'
 	'Profiles.md'
-	'Modes.md'
 	'Inflight Adjustments.md'
 	'Controls.md'
 	'Gtune.md'
@@ -49,7 +48,7 @@ if which gimli >/dev/null; then
 	done
 	rm -f ${filename}.pdf
 	gimli -f ${filename}.md -stylesheet override.css \
-	  -w '--toc --title "Cleanflight Manual" --footer-right "[page]" --toc-depth 1'
+	  -w '--toc --title "INAV Manual" --footer-right "[page]" --toc-depth 1'
 	rm ${filename}.md
 	popd >/dev/null
 else

cmake/arm-none-eabi-checks.cmake

@@ -2,21 +2,18 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "10.3.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10")
+set(arm_none_eabi_gcc_version "13.2.1")
+# This is the output directory "pretty" name and URI name prefix
+set(base_dir_name "arm-gnu-toolchain-13.2.rel1")
+# This is the name inside the archive, which is no longer evincible from URI, alas
+set(archive_base_dir_name "arm-gnu-toolchain-13.2.Rel1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/${base_dir_name}")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 2bc8f0c4c4659f8259c8176223eeafc1)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2383e4eb4ea23f248d33adc70dc3227e)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 3fe3d8bb693bd0a6e4615b6569443d0d)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" 7f2a7b7b23797302a9d6182c6e482449)
-
-function(arm_none_eabi_gcc_distname var)
-    string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})
-    list(LENGTH url_parts n)
-    math(EXPR last "${n} - 1")
-    list(GET url_parts ${last} basename)
-    set(${var} ${basename} PARENT_SCOPE)
-endfunction()
+set(arm_none_eabi_win32 "mingw-w64-i686-arm-none-eabi.zip" 7fd677088038cdf82f33f149e2e943ee)
+set(arm_none_eabi_linux_amd64 "x86_64-arm-none-eabi.tar.xz" 791754852f8c18ea04da7139f153a5b7)
+set(arm_none_eabi_linux_aarch64 "aarch64-arm-none-eabi.tar.xz" 5a08122e6d4caf97c6ccd1d29e62599c)
+set(arm_none_eabi_darwin_amd64 "darwin-x86_64-arm-none-eabi.tar.xz" 41d49840b0fc676d2ae35aab21a58693)
+set(arm_none_eabi_darwin_aarch64 "darwin-arm64-arm-none-eabi.tar.xz" 2c43e9d72206c1f81227b0a685df5ea6)
 
 function(host_uname_machine var)
     # We need to call uname -m manually, since at the point
@@ -47,7 +44,14 @@ function(arm_none_eabi_gcc_install)
             message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
         endif()
     elseif(CMAKE_HOST_SYSTEM_NAME STREQUAL "Darwin")
-        set(dist ${arm_none_eabi_gcc_macos})
+        host_uname_machine(machine)
+        if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
+            set(dist ${arm_none_eabi_darwin_amd64})
+        elseif(machine STREQUAL "aarch64" OR machine STREQUAL "arm64")
+            set(dist ${arm_none_eabi_darwin_aarch64})
+        else()
+            message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
+        endif()
     endif()
 
     if(dist STREQUAL "")
@@ -83,11 +87,27 @@ function(arm_none_eabi_gcc_install)
     if(NOT status EQUAL 0)
         message(FATAL_ERROR "error extracting ${basename}: ${status}")
     endif()
+    string(REPLACE "." ";" url_parts ${dist_suffix})
+    list(GET url_parts 0 host_dir_name)
+    set(dir_name "${archive_base_dir_name}-${host_dir_name}")
+    file(REMOVE_RECURSE "${TOOLS_DIR}/${base_dir_name}")
+    file(RENAME  "${TOOLS_DIR}/${dir_name}" "${TOOLS_DIR}/${base_dir_name}")
+    # This is **somewhat ugly**
+    # the newlib distributed by ARM generates suprious warnings from re-entrant POSIX functions
+    # that INAV doesn't use. These "harmless" warnings can be surpressed by removing the
+    # errant section from the only libnosys used by INAV ...
+    # So look the other way ... while this is "fixed"
+    execute_process(COMMAND arm-none-eabi-objcopy -w -R .gnu.warning.* "${TOOLS_DIR}/${base_dir_name}/arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a"
+      RESULT_VARIABLE status
+      WORKING_DIRECTORY ${TOOLS_DIR}
+    )
+    if(NOT status EQUAL 0)
+        message(FATAL_ERROR "error fixing libnosys.a: ${status}")
+    endif()
 endfunction()
 
 function(arm_none_eabi_gcc_add_path)
-    arm_none_eabi_gcc_distname(dist_name)
-    set(gcc_path "${TOOLS_DIR}/${dist_name}/bin")
+    set(gcc_path "${TOOLS_DIR}/${base_dir_name}/bin")
     if(CMAKE_HOST_SYSTEM MATCHES ".*Windows.*")
         set(sep "\\;")
     else()
@@ -110,7 +130,7 @@ function(arm_none_eabi_gcc_check)
     message("-- found ${prog} ${version} at ${prog_path}")
     if(COMPILER_VERSION_CHECK AND NOT arm_none_eabi_gcc_version STREQUAL version)
         message("-- expecting ${prog} version ${arm_none_eabi_gcc_version}, but got version ${version} instead")
-        arm_none_eabi_gcc_install()
+	arm_none_eabi_gcc_install()
         return()
     endif()
 endfunction()

cmake/at32.cmake

@@ -9,7 +9,7 @@ option(SEMIHOSTING "Enable semihosting")
 message("-- DEBUG_HARDFAULTS: ${DEBUG_HARDFAULTS}, SEMIHOSTING: ${SEMIHOSTING}")
 
 set(CMSIS_DIR "${MAIN_LIB_DIR}/lib/main/AT32F43x/Drivers/CMSIS")
-set(CMSIS_INCLUDE_DIR "${CMSIS_DIR}/cm4/core_support") 
+set(CMSIS_INCLUDE_DIR "${CMSIS_DIR}/cm4/core_support")
 # DSP use common
 set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
@@ -50,8 +50,8 @@ main_sources(AT32_ASYNCFATFS_SRC
 )
 
 main_sources(AT32_MSC_SRC
-    msc/at32_msc_diskio.c 
-    msc/emfat.c 
+    msc/at32_msc_diskio.c
+    msc/emfat.c
     msc/emfat_file.c
 )
 
@@ -92,6 +92,7 @@ set(AT32_LINK_OPTIONS
     -Wl,--cref
     -Wl,--no-wchar-size-warning
     -Wl,--print-memory-usage
+    -Wl,--no-warn-rwx-segments
 )
 # Get target features
 macro(get_at32_target_features output_var dir target_name)
@@ -264,7 +265,7 @@ function(add_at32_executable)
     endif()
 endfunction()
 
-#  Main function of AT32 
+#  Main function of AT32
 function(target_at32)
     if(NOT arm-none-eabi STREQUAL TOOLCHAIN)
         return()

cmake/sitl.cmake

@@ -34,7 +34,7 @@ set(SITL_LINK_OPTIONS
     -Wl,-L${STM32_LINKER_DIR}
 )
 
-if(${WIN32} OR ${CYGWIN})
+if(${CYGWIN})
     set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-static-libgcc")
 endif()
 
@@ -131,7 +131,7 @@ function (target_sitl name)
         target_link_options(${exe_target} PRIVATE -T${script_path})
     endif()
 
-    if(${WIN32} OR ${CYGWIN})
+    if(${CYGWIN})
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name}.exe)
     else()
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name})

docs/ADSB.md

@@ -0,0 +1,17 @@
+# ADS-B
+
+[Automatic Dependent Surveillance Broadcast](https://en.wikipedia.org/wiki/Automatic_Dependent_Surveillance%E2%80%93Broadcast)
+is an air traffic surveillance technology that enables aircraft to be accurately tracked by air traffic controllers and other pilots without the need for conventional radar.
+
+## Current state
+
+OSD can be configured to shows the closest aircraft.
+
+## Hardware
+
+All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/messages/common.html#ADSB_VEHICLE) message are supported 
+
+* [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
+* [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+
+

docs/API/MSP_extensions.md

@@ -23,7 +23,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
 
 | Data | Type | Notes |
 |------|------|-------|
-| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
+| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
 | auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
 | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25  where 0 == 900 and 48 == 2100 |
 | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
@@ -45,7 +45,7 @@ sending this message for all auxiliary slots.
 | Data | Type | Notes |
 |------|------|-------|
 | sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
-| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
+| permanentId | uint8 | See [Modes in the wiki](https://github.com/iNavFlight/inav/wiki/Modes) for a definition of the permanent ids |
 | auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
 | rangeStartStep | uint8 | The start value for this element in 'blocks' of 25  where 0 == 900 and 48 == 2100 |
 | rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
@@ -157,5 +157,5 @@ INAV.
 
 See also
 --------
-Modes.md describes the user visible implementation for the INAV
+[The wiki](https://github.com/iNavFlight/inav/wiki/Modes) describes the user visible implementation for the INAV
 modes extension.

docs/Boards.md

@@ -12,6 +12,9 @@ These boards are well tested with INAV and are known to be of good quality and r
 | [Holybro Kakute H7](https://inavflight.com/shop/s/bg/1914066)       | H7         | KAKUTEH7               | All  | All     | All            | All       | All      | SERIAL, SD     |
 
 It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
+
+There is also a [full list of all supported boards](https://github.com/iNavFlight/inav/wiki/Boards,-Targets-and-PWM-allocations).
+
 ### Boards documentation
 
 See the [docs/boards](https://github.com/iNavFlight/inav/tree/master/docs/boards) folder for additional information regards to many targets in INAV, to example help in finding pinout and features. _Feel free to help improve the docs._

docs/ESC and servo outputs.md

@@ -13,7 +13,7 @@ INAV support the following ESC protocols:
 
 ESC protocol can be selected in Configurator. No special configuration is required.
 
-Check ESC documentation of the list of protocols that it is supporting.
+Check the ESC documentation for the list of protocols that are supported.
 
 ## Servo outputs
 
@@ -28,23 +28,8 @@ While motors are usually ordered sequentially, here is no standard output layout
 
 ## Modifying output mapping
 
-### 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
-
-### 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 main restrictions is that outputs are associated with timers, which can be shared between multiple outputs and  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.