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

…_hold

.vscode/c_cpp_properties.json

@@ -0,0 +1,66 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceRoot}/src/main/**",
+                "${workspaceRoot}/lib/main/**",
+                "/usr/include/**"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": false,
+                "path": [
+                    "${workspaceRoot}/src/main/**",
+                    "${workspaceRoot}/lib/main/**"
+                ]
+            },
+            "intelliSenseMode": "linux-gcc-arm",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "defines": [
+                "MCU_FLASH_SIZE 512",
+                "USE_NAV",
+                "NAV_FIXED_WING_LANDING",
+                "USE_OSD",
+                "USE_GYRO_NOTCH_1",
+                "USE_GYRO_NOTCH_2",
+                "USE_DTERM_NOTCH",
+                "USE_ACC_NOTCH",
+                "USE_GYRO_BIQUAD_RC_FIR2",
+                "USE_D_BOOST",
+                "USE_SERIALSHOT",
+                "USE_ANTIGRAVITY",
+                "USE_ASYNC_GYRO_PROCESSING",
+                "USE_RPM_FILTER",
+                "USE_GLOBAL_FUNCTIONS",
+                "USE_DYNAMIC_FILTERS",
+                "USE_IMU_BNO055",
+                "USE_SECONDARY_IMU",
+                "USE_DSHOT",
+                "FLASH_SIZE 480",
+                "USE_I2C_IO_EXPANDER",
+                "USE_PCF8574",
+                "USE_ESC_SENSOR",
+                "USE_PROGRAMMING_FRAMEWORK",
+                "USE_SERIALRX_GHST",
+                "USE_TELEMETRY_GHST",
+                "USE_CMS",
+                "USE_DJI_HD_OSD",
+                "USE_GYRO_KALMAN",
+                "USE_RANGEFINDER",
+                "USE_RATE_DYNAMICS",
+                "USE_SMITH_PREDICTOR",
+                "USE_ALPHA_BETA_GAMMA_FILTER",
+                "USE_MAG_VCM5883",
+                "USE_TELEMETRY_JETIEXBUS",
+                "USE_NAV",
+                "USE_SDCARD_SDIO",
+                "USE_SDCARD",
+                "USE_Q_TUNE",
+                "USE_GYRO_FFT_FILTER"
+            ],
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}

.vscode/tasks.json

@@ -0,0 +1,41 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Build Matek F722-SE",
+            "type": "shell",
+            "command": "make MATEKF722SE",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        },
+        {
+            "label": "Build Matek F722",
+            "type": "shell",
+            "command": "make MATEKF722",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        }
+        ,
+        {
+            "label": "CMAKE Update",
+            "type": "shell",
+            "command": "cmake ..",
+            "group": "build",
+            "problemMatcher": [],
+            "options": {
+                "cwd": "${workspaceFolder}/build"
+            }
+        }
+    ]
+}

Dockerfile

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

cmake/docker.sh

@@ -6,7 +6,7 @@ CURR_REV="$(git rev-parse HEAD)"
 
 initialize_cmake() {
     echo -e "*** CMake was not initialized yet, doing it now.\n"
-    cmake ..
+    cmake -GNinja ..
     echo "$CURR_REV" > "$LAST_CMAKE_AT_REV_FILE"
 }
 
@@ -26,4 +26,4 @@ else
 fi
 
 # Let Make handle the arguments coming from the build script
-make "$@"
+ninja "$@"

cmake/docker_build_sitl.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+rm -r build_SITL
+mkdir -p build_SITL
+#cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
+cmake -DSITL=ON -DDEBUG=ON -DWARNINGS_AS_ERRORS=ON -GNinja -B build_SITL ..
+cd build_SITL
+ninja

cmake/docker_run_sitl.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+cd build_SITL
+
+#Lauch SITL - configurator only mode
+./inav_7.0.0_SITL
+
+#Launch SITL - connect to X-Plane. IP address should be host IP address, not 127.0.0.1. Can be found in X-Plane "Network" tab.
+#./inav_7.0.0_SITL --sim=xp --simip=192.168.2.105 --simport=49000

cmake/sitl.cmake

@@ -53,6 +53,11 @@ set(SITL_COMPILE_OPTIONS
     -funsigned-char
 )
 
+if(DEBUG)
+    message(STATUS "Debug mode enabled. Adding -g to SITL_COMPILE_OPTIONS.")
+    list(APPEND SITL_COMPILE_OPTIONS -g)
+endif()
+
 if(NOT MACOSX)
     set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
         -Wno-return-local-addr

docs/Settings.md

@@ -872,6 +872,96 @@ Enable when BLHeli32 Auto Telemetry function is used. Disable in every other cas
 
 ---
 
+### ez_aggressiveness
+
+EzTune aggressiveness
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
+### ez_axis_ratio
+
+EzTune axis ratio
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 110 | 25 | 175 |
+
+---
+
+### ez_damping
+
+EzTune damping
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
+### ez_enabled
+
+Enables EzTune feature
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### ez_expo
+
+EzTune expo
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
+### ez_filter_hz
+
+EzTune filter cutoff frequency
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 110 | 10 | 300 |
+
+---
+
+### ez_rate
+
+EzTune rate
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
+### ez_response
+
+EzTune response
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
+### ez_stability
+
+EzTune stability
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 200 |
+
+---
+
 ### failsafe_delay
 
 Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay).

docs/development/Building in Docker.md

@@ -37,8 +37,19 @@ You'll have to manually execute the same steps that the build script does:
    + This step is only needed the first time.
 2. `docker run --rm -it -u root -v <PATH_TO_REPO>:/src inav-build <TARGET>`
    + Where `<PATH_TO_REPO>` must be replaced with the absolute path of where you cloned this repo (see above), and `<TARGET>` with the name of the target that you want to build.
-   + Note that on Windows/WSL 2 mounted /src folder is writeable for root user only. You have to run build under root user. You can achieve this by using `-u root` option in the command line above, or by removing "USER inav" line from the .\DockerFile before building image.   
+   + Note that on Windows/WSL 2 mounted /src folder is writeable for root user only. You have to run build under root user. You can achieve this by using `-u root` option in the command line above.   
 
-3. If you need to update `Settings.md`, run `docker run --entrypoint /src/cmake/docker_docs.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`
+3. If you need to update `Settings.md`, run:
+
+`docker run --entrypoint /src/cmake/docker_docs.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`
+
+4. Building SITL: 
+
+`docker run --rm --entrypoint /src/cmake/docker_build_sitl.sh -it -u root -v <PATH_TO_REPO>:/src inav-build`
+
+5. Running SITL: 
+
+`docker run -p 5760:5760 -p 5761:5761 -p 5762:5762 -p 5763:5763 -p 5764:5764 -p 5765:5765 -p 5766:5766 -p 5767:5767 --entrypoint /src/cmake/docker_run_sitl.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`.
+   + SITL command line parameters can be adjusted in `cmake/docker_run_sitl.sh`.
 
 Refer to the [Linux](#Linux) instructions or the [build script](/build.sh) for more details.

src/main/CMakeLists.txt

@@ -341,6 +341,8 @@ main_sources(COMMON_SRC
     flight/secondary_dynamic_gyro_notch.h
     flight/dynamic_lpf.c
     flight/dynamic_lpf.h
+    flight/ez_tune.c
+    flight/ez_tune.h
 
     io/beeper.c
     io/beeper.h

src/main/config/parameter_group_ids.h

@@ -120,7 +120,8 @@
 #define PG_POWER_LIMITS_CONFIG 1030
 #define PG_OSD_COMMON_CONFIG 1031
 #define PG_TIMER_OVERRIDE_CONFIG 1032
-#define PG_INAV_END 1032
+#define PG_EZ_TUNE 1033
+#define PG_INAV_END PG_EZ_TUNE
 
 // OSD configuration (subject to change)
 //#define PG_OSD_FONT_CONFIG 2047

src/main/fc/config.c

@@ -64,6 +64,7 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/failsafe.h"
+#include "flight/ez_tune.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
@@ -426,6 +427,9 @@ bool setConfigProfile(uint8_t profileIndex)
     systemConfigMutable()->current_profile_index = profileIndex;
     // set the control rate profile to match
     setControlRateProfile(profileIndex);
+#ifdef USE_EZ_TUNE
+    ezTuneUpdate();
+#endif
     return ret;
 }