Merge remote-tracking branch 'origin/master' into dzikuvx-ez-tune

docs/Programming Framework.md

@@ -152,6 +152,9 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
 | 35            | AGL_STATUS                    | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
 | 36            | AGL                           | integer Above The Groud Altitude in `cm` |
 | 37            | RANGEFINDER_RAW               | integer raw distance provided by the rangefinder in `cm` |
+| 38            | ACTIVE_MIXER_PROFILE          | Which mixers are currently active (for vtol etc) |
+| 39            | MIXER_TRANSITION_ACTIVE       | Currently switching between mixers (quad to plane etc) |
+| 40            | ATTITUDE_YAW                  | current heading (yaw) in `degrees` |
 
 #### FLIGHT_MODE
 

docs/Settings.md

@@ -258,7 +258,7 @@ Inertia force compensation method when gps is avaliable, VELNED use the acclerat
 
 | Default | Min | Max |
 | --- | --- | --- |
-| VELNED |  |  |
+| ADAPTIVE |  |  |
 
 ---
 
@@ -3528,7 +3528,7 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 1500 | 1000 | 2000 |
+| 1300 | 1000 | 2000 |
 
 ---
 
@@ -4102,6 +4102,16 @@ Value above which to make the OSD relative altitude indicator blink (meters)
 
 ---
 
+### osd_arm_screen_display_time
+
+Amount of time to display the arm screen [ms]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 1500 | 1000 | 5000 |
+
+---
+
 ### osd_baro_temp_alarm_max
 
 Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)
@@ -4432,6 +4442,16 @@ Temperature under which the IMU temperature OSD element will start blinking (dec
 
 ---
 
+### osd_inav_to_pilot_logo_spacing
+
+The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 8 | 0 | 20 |
+
+---
+
 ### osd_left_sidebar_scroll
 
 _// TODO_
@@ -4852,6 +4872,16 @@ IMPERIAL, METRIC, UK
 
 ---
 
+### osd_use_pilot_logo
+
+Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### osd_video_system
 
 Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF', 'AVATAR' and `BF43COMPAT`

docs/development/Software In The Loop (HITL) plugin for X-Plane 11.md → docs/development/Hardware In The Loop (HITL) plugin for X-Plane.md

@@ -1,11 +1,11 @@
-# Software In The Loop (HITL) plugin for X-Plane 11
+# Hardware In The Loop (HITL) plugin for X-Plane 11/12
 
 **Hardware-in-the-loop (HITL) simulation**, is a technique that is used in the development and testing of complex real-time embedded systems. 
 
 **X-Plane** is a flight simulation engine series developed and published by Laminar Research https://www.x-plane.com/
 
 **INAV-X-Plane-HITL** is plugin for **X-Plane** for testing and developing flight controllers with **INAV flight controller firmware** 
 
-https://github.com/iNavFlight/inav.
+https://github.com/RomanLut/INAV-X-Plane-HITL
 
 HITL technique can be used to test features during development. Please check page above for installation instructions.

src/main/cms/cms.h

@@ -37,9 +37,9 @@ void cmsYieldDisplay(displayPort_t *pPort, timeMs_t duration);
 void cmsUpdate(uint32_t currentTimeUs);
 void cmsSetExternKey(cms_key_e extKey);
 
-#define CMS_STARTUP_HELP_TEXT1 "MENU: THR MID"
-#define CMS_STARTUP_HELP_TEXT2     "+ YAW LEFT"
-#define CMS_STARTUP_HELP_TEXT3     "+ PITCH UP"
+#define CMS_STARTUP_HELP_TEXT1  "MENU: THR MID"
+#define CMS_STARTUP_HELP_TEXT2  "+ YAW LEFT"
+#define CMS_STARTUP_HELP_TEXT3  "+ PITCH UP"
 
 // cmsMenuExit special ptr values
 #define CMS_EXIT                (0)

src/main/drivers/osd_symbols.h

@@ -58,7 +58,7 @@
 //                                  0x26  // 038 ASCII &
 #define SYM_VTX_POWER               0x27  // 039 VTx Power
 //                                  0x28  // 040 to 062 ASCII
-#define SYM_AH_NM       		    0x3F  // 063 Ah/NM
+#define SYM_AH_NM                   0x3F  // 063 Ah/NM
 //                                  0x40  // 064 to 095 ASCII
 #define SYM_MAH_NM_0                0x60  // 096 mAh/NM left
 #define SYM_MAH_NM_1                0x61  // 097 mAh/NM right
@@ -78,7 +78,7 @@
 #define SYM_WH                      0x6D  // 109 WH
 #define SYM_WH_KM                   0x6E  // 110 WH/KM
 #define SYM_WH_MI                   0x6F  // 111 WH/MI
-#define SYM_WH_NM       		    0x70  // 112 Wh/NM
+#define SYM_WH_NM                   0x70  // 112 Wh/NM
 #define SYM_WATT                    0x71  // 113 WATTS
 #define SYM_MW                      0x72  // 114 mW
 #define SYM_KILOWATT                0x73  // 115 kW
@@ -159,6 +159,7 @@
 #define SYM_HEADING_W               0xCB  // 203 Heading Graphic west
 #define SYM_HEADING_DIVIDED_LINE    0xCC  // 204 Heading Graphic
 #define SYM_HEADING_LINE            0xCD  // 205 Heading Graphic
+
 #define SYM_MAX                     0xCE  // 206 MAX symbol
 #define SYM_PROFILE                 0xCF  // 207 Profile symbol
 #define SYM_SWITCH_INDICATOR_LOW    0xD0  // 208 Switch High
@@ -175,10 +176,10 @@
 #define SYM_FLIGHT_HOURS_REMAINING  0xDB  // 219 Flight time (hours) remaining
 #define SYM_GROUND_COURSE           0xDC  // 220 Ground course
 #define SYM_ALERT                   0xDD  // 221 General alert symbol
-
 #define SYM_TERRAIN_FOLLOWING       0xFB  // 251 Terrain following (also Alt adjust)
 #define SYM_CROSS_TRACK_ERROR       0xFC  // 252 Cross track error
 
+
 #define SYM_LOGO_START              0x101 // 257 to 297, INAV logo
 #define SYM_LOGO_WIDTH              10
 #define SYM_LOGO_HEIGHT             4
@@ -225,7 +226,7 @@
 #define SYM_HUD_SIGNAL_3            0x163 // 355 Hud signal icon 75%
 #define SYM_HUD_SIGNAL_4            0x164 // 356 Hud signal icon 100%
 
-#define SYM_HOME_DIST 	            0x165 // 357 DIST
+#define SYM_HOME_DIST               0x165 // 357 DIST
 #define SYM_AH_CH_CENTER            0x166 // 358 Crossair center
 #define SYM_FLIGHT_DIST_REMAINING   0x167 // 359 Flight distance reminaing
 #define SYM_ODOMETER                0x168 // 360 Odometer
@@ -262,8 +263,13 @@
 #define SYM_SERVO_PAN_IS_OFFSET_L   0x1C7 // 455 Pan servo is offset left
 #define SYM_SERVO_PAN_IS_OFFSET_R   0x1C8 // 456 Pan servo is offset right
 
+#define SYM_PILOT_LOGO_SML_L        0x1D5 // 469 small Pilot logo Left
+#define SYM_PILOT_LOGO_SML_C        0x1D6 // 470 small Pilot logo Centre
+#define SYM_PILOT_LOGO_SML_R        0x1D7 // 471 small Pilot logo Right
+#define SYM_PILOT_LOGO_LRG_START    0x1D8 // 472 to 511, Pilot logo
+
 #else
 
-#define TEMP_SENSOR_SYM_COUNT 0
+#define TEMP_SENSOR_SYM_COUNT       0
 
 #endif // USE_OSD

src/main/drivers/timer_impl_stdperiph.c

@@ -301,7 +301,12 @@ bool impl_timerPWMConfigChannelDMA(TCH_t * tch, void * dmaBuffer, uint8_t dmaBuf
     TIM_CtrlPWMOutputs(timer, ENABLE);
     TIM_ARRPreloadConfig(timer, ENABLE);
 
-    TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
+    if (tch->timHw->output & TIMER_OUTPUT_N_CHANNEL) {
+        TIM_CCxNCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCxN_Enable);
+    } else {
+        TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
+    }
+
     TIM_Cmd(timer, ENABLE);
 
     dmaInit(tch->dma, OWNER_TIMER, 0);
@@ -382,7 +387,12 @@ bool impl_timerPWMConfigDMABurst(burstDmaTimer_t *burstDmaTimer, TCH_t * tch, vo
     TIM_CtrlPWMOutputs(timer, ENABLE);
     TIM_ARRPreloadConfig(timer, ENABLE);
 
-    TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
+    if (tch->timHw->output & TIMER_OUTPUT_N_CHANNEL) {
+        TIM_CCxNCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCxN_Enable);
+    } else {
+        TIM_CCxCmd(timer, lookupTIMChannelTable[tch->timHw->channelIndex], TIM_CCx_Enable);
+    }
+
     TIM_Cmd(timer, ENABLE);
 
     if (!tch->timCtx->dmaBurstRef) {

src/main/fc/fc_core.c

@@ -727,6 +727,8 @@ void processRx(timeUs_t currentTimeUs)
         } else {
             DISABLE_FLIGHT_MODE(MANUAL_MODE);
         }
+    }else{
+        DISABLE_FLIGHT_MODE(MANUAL_MODE);
     }
 
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.

src/main/fc/fc_msp_box.c

@@ -202,7 +202,7 @@ void initActiveBoxIds(void)
     //Camstab mode is enabled always
     ADD_ACTIVE_BOX(BOXCAMSTAB);
 
-    if (STATE(MULTIROTOR)) {
+    if (STATE(MULTIROTOR) || platformTypeConfigured(PLATFORM_MULTIROTOR) || platformTypeConfigured(PLATFORM_TRICOPTER)) {
         if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
             ADD_ACTIVE_BOX(BOXHEADFREE);
             ADD_ACTIVE_BOX(BOXHEADADJ);
@@ -244,13 +244,13 @@ void initActiveBoxIds(void)
 #endif
         }
 
-        if (STATE(AIRPLANE)) {
+        if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
             ADD_ACTIVE_BOX(BOXSOARING);
         }
     }
 
 #ifdef USE_MR_BRAKING_MODE
-    if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
+    if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || platformTypeConfigured(PLATFORM_MULTIROTOR)) {
         ADD_ACTIVE_BOX(BOXBRAKING);
     }
 #endif
@@ -259,11 +259,12 @@ void initActiveBoxIds(void)
         ADD_ACTIVE_BOX(BOXNAVALTHOLD);
     }
 
-    if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
+    if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT) || 
+        platformTypeConfigured(PLATFORM_AIRPLANE) || platformTypeConfigured(PLATFORM_ROVER) || platformTypeConfigured(PLATFORM_BOAT)) {
         ADD_ACTIVE_BOX(BOXMANUAL);
     }
 
-    if (STATE(AIRPLANE)) {
+    if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
         if (!feature(FEATURE_FW_LAUNCH)) {
            ADD_ACTIVE_BOX(BOXNAVLAUNCH);
         }

src/main/fc/settings.yaml

@@ -1045,7 +1045,7 @@ groups:
         max: PWM_RANGE_MAX
       - name: nav_mc_hover_thr
         description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
-        default_value: 1500
+        default_value: 1300
         field: nav.mc.hover_throttle
         min: 1000
         max: 2000
@@ -1452,7 +1452,7 @@ groups:
         type: bool
       - name: ahrs_inertia_comp_method
         description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
-        default_value: VELNED
+        default_value: ADAPTIVE
         field: inertia_comp_method
         table: imu_inertia_comp_method
 
@@ -3559,59 +3559,88 @@ groups:
         max: 6
         default_value: 4
 
+      - name: osd_use_pilot_logo
+        description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
+        field: use_pilot_logo
+        type: bool
+        default_value: OFF
+
+      - name: osd_inav_to_pilot_logo_spacing
+        description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
+        field: inav_to_pilot_logo_spacing
+        min: 0
+        max: 20
+        default_value: 8
+
+      - name: osd_arm_screen_display_time
+        description: Amount of time to display the arm screen [ms]
+        field: arm_screen_display_time
+        min: 1000
+        max: 5000
+        default_value: 1500
+
       - name: osd_switch_indicator_zero_name
         description: "Character to use for OSD switch incicator 0."
         field: osd_switch_indicator0_name
         type: string
         max: 5
         default_value: "FLAP"
+
       - name: osd_switch_indicator_one_name
         description: "Character to use for OSD switch incicator 1."
         field: osd_switch_indicator1_name
         type: string
         max: 5
         default_value: "GEAR"
+
       - name: osd_switch_indicator_two_name
         description: "Character to use for OSD switch incicator 2."
         field: osd_switch_indicator2_name
         type: string
         max: 5
         default_value: "CAM"
+
       - name: osd_switch_indicator_three_name
         description: "Character to use for OSD switch incicator 3."
         field: osd_switch_indicator3_name
         type: string
         max: 5
         default_value: "LIGT"
+
       - name: osd_switch_indicator_zero_channel
         description: "RC Channel to use for OSD switch indicator 0."
         field: osd_switch_indicator0_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
+
       - name: osd_switch_indicator_one_channel
         description: "RC Channel to use for OSD switch indicator 1."
         field: osd_switch_indicator1_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
+
       - name: osd_switch_indicator_two_channel
         description: "RC Channel to use for OSD switch indicator 2."
         field: osd_switch_indicator2_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
+
       - name: osd_switch_indicator_three_channel
         description: "RC Channel to use for OSD switch indicator 3."
         field: osd_switch_indicator3_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
+
       - name: osd_switch_indicators_align_left
         description: "Align text to left of switch indicators"
         field: osd_switch_indicators_align_left
         type: bool
         default_value: ON
+
       - name: osd_system_msg_display_time
         description: System message display cycle time for multiple messages (milliseconds).
         field: system_msg_display_time

src/main/flight/imu.c

@@ -719,28 +719,25 @@ static void imuCalculateEstimatedAttitude(float dT)
     }
     if (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE && isGPSTrustworthy() && STATE(AIRPLANE))
     {
+        //pick the best centrifugal acceleration between velned and turnrate
         fpVector3_t compansatedGravityBF_velned;
         vectorAdd(&compansatedGravityBF_velned, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
-        float velned_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_velned)) - GRAVITY_CMSS);
+        float velned_error = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_velned)) - GRAVITY_CMSS);
 
         fpVector3_t compansatedGravityBF_turnrate;
         vectorAdd(&compansatedGravityBF_turnrate, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
-        float turnrate_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_turnrate)) - GRAVITY_CMSS);
-        if (velned_magnitude > turnrate_magnitude)
-        {
-            compansatedGravityBF = compansatedGravityBF_turnrate;
-        }
-        else
-        {
-            compansatedGravityBF = compansatedGravityBF_velned;
-        }
+        float turnrate_error = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_turnrate)) - GRAVITY_CMSS);
+
+        compansatedGravityBF = velned_error > turnrate_error? compansatedGravityBF_turnrate:compansatedGravityBF_velned;
     }
-    else if (imuConfig()->inertia_comp_method == COMPMETHOD_VELNED && isGPSTrustworthy())
+    else if (((imuConfig()->inertia_comp_method == COMPMETHOD_VELNED) || (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE)) && isGPSTrustworthy())
     {
+        //velned centrifugal force compensation, quad will use this method
         vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
     }
     else if (STATE(AIRPLANE))
     {
+        //turnrate centrifugal force compensation
         vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
     }
     else