Merge branch 'master' into 20240421_CRSF_default_when_nothing_defined

src/main/build/version.h

@@ -25,7 +25,7 @@
 #define FC_FIRMWARE_NAME            "EmuFlight"
 #define FC_VERSION_MAJOR            0  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            4  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      2 // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      3 // increment when a bug is fixed
 
 #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)
 

src/main/drivers/accgyro/gyro_sync.c

@@ -53,21 +53,26 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
     }
     gyro->mpuDividerDrops = gyroSyncDenominator - 1;
     gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_8_kHz : GYRO_RATE_1_kHz;
+    gyroConfigMutable()->gyroSampleRateHz = lpfNoneOr256 ? 8000 : 1000;
 
     switch (gyro->mpuDetectionResult.sensor) {
         case ICM_20649_SPI:  //20649 is a weird gyro
             gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
+            gyroConfigMutable()->gyroSampleRateHz = lpfNoneOr256 ? 9000 : 1100;
             break;
         case BMI_160_SPI:    //brainFPV is also a weird gyro
             if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
+            gyroConfigMutable()->gyroSampleRateHz = 3200;
             break;
         case BMI_270_SPI:    //bmi270
             gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
+            gyroConfigMutable()->gyroSampleRateHz = 3200;
             break;
         default:
             if (gyro_use_32khz) {
                 //use full 32k
                 gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+                gyroConfigMutable()->gyroSampleRateHz = 32000;
             }
     }
 

src/main/flight/mixer.c

@@ -865,29 +865,29 @@ void mixThingsUp(const float scaledAxisPidRoll, const float scaledAxisPidPitch,
     float controllerMixMin = 0, controllerMixMax = 0;
 
     for (int i = 0; i < motorCount; i++) {
-        float yawMixVal = controllerMix3DModeSign * scaledAxisPidYaw * currentMixer[i].yaw;
+        float yawMixVal = scaledAxisPidYaw * currentMixer[i].yaw;
         if (yawMixVal > yawMixMax) {
             yawMixMax = yawMixVal;
         } else if (yawMixVal < yawMixMin) {
             yawMixMin = yawMixVal;
         }
-        yawMix[i] = yawMixVal;
+        yawMix[i] = yawMixVal * controllerMix3DModeSign;
 
         float rollPitchMixVal = scaledAxisPidRoll * currentMixer[i].roll + scaledAxisPidPitch * currentMixer[i].pitch;
         if (rollPitchMixVal > rollPitchMixMax) {
             rollPitchMixMax = rollPitchMixVal;
         } else if (rollPitchMixVal < rollPitchMixMin) {
             rollPitchMixMin = rollPitchMixVal;
         }
-        rollPitchMix[i] = rollPitchMixVal;
+        rollPitchMix[i] = rollPitchMixVal * controllerMix3DModeSign;
 
-        float controllerMixVal = controllerMix3DModeSign * (rollPitchMixVal + yawMixVal);
+        float controllerMixVal = (rollPitchMixVal + yawMixVal);
         if (controllerMixVal > controllerMixMax) {
             controllerMixMax = controllerMixVal;
         } else if (controllerMixVal < controllerMixMin) {
             controllerMixMin = controllerMixVal;
         }
-        controllerMix[i] = controllerMixVal;
+        controllerMix[i] = controllerMixVal * controllerMix3DModeSign;
     }
 
     controllerMixRange = controllerMixMax - controllerMixMin; // measures how much the controller is trying to compensate

src/main/interface/msp.c

@@ -458,6 +458,9 @@ bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr
         // Signature
         sbufWriteData(dst, getSignature(), SIGNATURE_LENGTH);
 #endif
+        //MSP 1.54
+        sbufWriteU16(dst, gyroConfig()->gyroSampleRateHz); //For Configurator PID/Gyro loop selection.
+        //End MSP 1.54
 #endif // USE_BOARD_INFO
         break;
     }
@@ -1169,6 +1172,9 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
         sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
         sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
+        //MSP 1.54 - insert here to avoid new unnecessary Configurator code
+        sbufWriteU8(dst, motorConfig()->motorPoleCount);
+        //End MSP 1.54
         sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
         sbufWriteU8(dst, gyroConfig()->gyro_to_use);
         sbufWriteU8(dst, gyroConfig()->gyro_high_fsr);
@@ -1358,6 +1364,9 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
     sbufWriteU8(dst, vtxSettingsConfig()->power);
     sbufWriteU8(dst, pitmode);
     sbufWriteU16(dst, vtxSettingsConfig()->freq);
+    //MSP 1.54
+    sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
+    //END MSP 1.54
     // future extensions here...
     } else {
     sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX detected
@@ -1792,6 +1801,11 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
         if (sbufBytesRemaining(src)) {
             gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
         }
+        //MSP 1.54 - insert here to avoid new unnecessary Configurator code
+        if (sbufBytesRemaining(src) >= 1) {
+            motorConfigMutable()->motorPoleCount = sbufReadU8(src);
+        }
+        //End MSP 1.54
         if (sbufBytesRemaining(src)) {
             motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
         }
@@ -2016,32 +2030,37 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
 #endif
 #ifdef USE_VTX_COMMON
         case MSP_SET_VTX_CONFIG: {
-    vtxDevice_t *vtxDevice = vtxCommonDevice();
-    if (vtxDevice) {
-    if (vtxCommonGetDeviceType(vtxDevice) != VTXDEV_UNKNOWN) {
-    uint16_t newFrequency = sbufReadU16(src);
-    if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) {  //value is band and channel
-    const uint8_t newBand = (newFrequency / 8) + 1;
-    const uint8_t newChannel = (newFrequency % 8) + 1;
-    vtxSettingsConfigMutable()->band = newBand;
-    vtxSettingsConfigMutable()->channel = newChannel;
-    vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
-    } else {  //value is frequency in MHz
-    vtxSettingsConfigMutable()->band = 0;
-    vtxSettingsConfigMutable()->freq = newFrequency;
-    }
-    if (sbufBytesRemaining(src) > 1) {
-    vtxSettingsConfigMutable()->power = sbufReadU8(src);
-    // Delegate pitmode to vtx directly
-    const uint8_t newPitmode = sbufReadU8(src);
-    uint8_t currentPitmode = 0;
-    vtxCommonGetPitMode(vtxDevice, &currentPitmode);
-    if (currentPitmode != newPitmode) {
-    vtxCommonSetPitMode(vtxDevice, newPitmode);
-    }
-    }
-    }
-    }
+            vtxDevice_t *vtxDevice = vtxCommonDevice();
+            if (vtxDevice) {
+                if (vtxCommonGetDeviceType(vtxDevice) != VTXDEV_UNKNOWN) {
+                    uint16_t newFrequency = sbufReadU16(src);
+                    if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) {  //value is band and channel
+                    const uint8_t newBand = (newFrequency / 8) + 1;
+                    const uint8_t newChannel = (newFrequency % 8) + 1;
+                    vtxSettingsConfigMutable()->band = newBand;
+                    vtxSettingsConfigMutable()->channel = newChannel;
+                    vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
+                } else {  //value is frequency in MHz
+                    vtxSettingsConfigMutable()->band = 0;
+                    vtxSettingsConfigMutable()->freq = newFrequency;
+                }
+                if (sbufBytesRemaining(src) > 1) {
+                    vtxSettingsConfigMutable()->power = sbufReadU8(src);
+                    // Delegate pitmode to vtx directly
+                    const uint8_t newPitmode = sbufReadU8(src);
+                    uint8_t currentPitmode = 0;
+                    vtxCommonGetPitMode(vtxDevice, &currentPitmode);
+                    if (currentPitmode != newPitmode) {
+                        vtxCommonSetPitMode(vtxDevice, newPitmode);
+                    }
+                }
+                // MSP 1.54
+                if (sbufBytesRemaining(src) >= 1) {
+                    vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
+                }
+                // END MSP 1.54
+            }
+        }
     }
     break;
 #endif

src/main/interface/msp_protocol.h

@@ -64,7 +64,7 @@
 // API VERSION
 
 #define API_VERSION_MAJOR                   1  // increment when major changes are made
-#define API_VERSION_MINOR                   53 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
+#define API_VERSION_MINOR                   54 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
 
 #define API_VERSION_LENGTH                  2
 

src/main/sensors/gyro.h

@@ -175,6 +175,10 @@ typedef struct gyroConfig_s {
     uint8_t smithPredictorStrength;
     uint8_t smithPredictorDelay;
     uint8_t smithPredictorFilterHz;
+
+    //MSP 1.54
+    uint16_t gyroSampleRateHz;
+    //End MSP 1.54
 } gyroConfig_t;
 
 PG_DECLARE(gyroConfig_t, gyroConfig);

src/main/target/AIRBOTF4/target.c

@@ -0,0 +1,48 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * This software 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: d84474d + 1 file changed, 24 deletions(-)
+
+#include <stdint.h>
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // motor 1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // motor 2
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, 0, 1), // motor 3
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 0, 0), // motor 4
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, 0, 0), // motor 5
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, 0, 0), // motor 6
+    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM, 0, 0), // ppm RX_PPM_PIN; dma 0 assumed, please verify
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, 0, 0), // pwm RX_PWM2_PIN; dma 0 assumed, please verify
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_PWM, 0, 0), // pwm RX_PWM3_PIN
+    DEF_TIM(TIM8, CH2, PC7, TIM_USE_PWM, 0, 0), // pwm RX_PWM4_PIN
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_PWM, 0, 0), // pwm RX_PWM5_PIN
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_PWM, 0, 0), // pwm RX_PWM6_PIN
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, 0, 0), // led
+};
+
+// notice - this file was programmatically generated and may be incomplete.

src/main/target/AIRBOTF4/target.h

@@ -0,0 +1,133 @@
+/*
+ * This file is part of EmuFlight. It is derived from Betaflight.
+ *
+ * This is free software. You can redistribute this software
+ * and/or modify this software 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.
+ * This software 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 this software.
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// This resource file generated using https://github.com/nerdCopter/target-convert
+// Commit: d84474d + 1 file changed, 24 deletions(-)
+
+#pragma once
+
+#define BOARD_NAME        AIRBOTF4
+#define MANUFACTURER_ID   AIRB
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6500
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6500
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
+#define USE_BARO_SPI_BMP280
+#define USE_MAX7456
+#define USE_FLASH
+#define USE_FLASH_M25P16
+#define USE_BARO_BMP280
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+#define USE_BARO
+
+#define USE_VCP
+#define USE_FLASHFS
+#define USE_FLASH_M25P16    // 16MB Micron M25P16 driver; drives all unless QSPI
+#define USE_OSD
+
+#define USE_LED
+#define LED0_PIN             PB5
+#define LED_STRIP_PIN        PB6
+#define USE_BEEPER
+#define BEEPER_PIN           PB4
+#define BEEPER_INVERTED
+#define USE_USB_DETECT
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN        PC11
+#define SPI3_MOSI_PIN        PC12
+
+#define USE_SPI_GYRO
+#define USE_EXTI
+#define USE_GYRO_EXTI
+
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define MPU_INT_EXTI         PC4
+
+#define ACC_MPU6000_ALIGN        CW270_DEG
+#define GYRO_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN           PA4
+#define MPU6000_SPI_INSTANCE     SPI1
+
+#define ACC_MPU6500_ALIGN        CW270_DEG
+#define GYRO_MPU6500_ALIGN       CW270_DEG
+#define MPU6500_CS_PIN           PA4
+#define MPU6500_SPI_INSTANCE     SPI1
+
+#define USE_UART1
+#define UART1_TX_PIN         PA9
+#define UART1_RX_PIN         PA10
+#define USE_UART3
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+#define USE_UART4
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+#define USE_UART6
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+#define INVERTER_PIN_UART1   PC0
+#define SERIAL_PORT_COUNT 5
+
+#define BARO_CS_PIN          PC13
+#define BARO_SPI_INSTANCE SPI1
+#define BMP280_CS_PIN       PC13
+#define BMP280_SPI_INSTANCE SPI1
+#define USE_I2C
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)
+
+#define FLASH_CS_PIN         PB3
+#define FLASH_SPI_INSTANCE SPI3
+
+
+#define USE_ADC
+#define VBAT_ADC_PIN PC2
+#define CURRENT_METER_ADC_PIN PC1
+#define ADC1_DMA_OPT        1
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_PIN PB14
+
+#define PINIO1_PIN           PC8
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+// notice - masks were programmatically generated - please verify last port group for 0xffff or (BIT(2))
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT 13
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12) )
+
+// notice - this file was programmatically generated and may be incomplete.