Merge remote-tracking branch 'betaflight/master' into betaflight-master

.travis.sh

@@ -67,7 +67,7 @@ elif [ $TARGET ] ; then
 
 elif [ $GOAL ] ; then
     $MAKE $GOAL || exit $?
-    
+
   if [ $PUBLISHCOV ] ; then
     if [ "test" == "$GOAL" ] ; then
         lcov --directory . -b src/test --capture --output-file coverage.info 2>&1 | grep -E ":version '402\*', prefer.*'406\*" --invert-match
@@ -76,6 +76,6 @@ elif [ $GOAL ] ; then
         coveralls-lcov coverage.info # uploads to coveralls
     fi
   fi
-else 
+else
     $MAKE all
 fi

.travis.yml

@@ -61,11 +61,11 @@ after_success:
   - lcov --list coverage.info # debug before upload
   - coveralls-lcov coverage.info # uploads to coveralls
 
-cache: 
+cache:
   directories:
   - downloads
   - tools
-    
+
 
 #notifications:
 #  irc: "chat.freenode.net#cleanflight"

CONTRIBUTING.md

@@ -11,5 +11,3 @@ Please search for existing issues *before* creating new ones.
 # Developers
 
 Please refer to the development section in the `docs/development` folder.
-
-

Makefile

@@ -106,7 +106,7 @@ FATFS_SRC       = $(notdir $(wildcard $(FATFS_DIR)/*.c))
 
 CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
 
-LD_FLAGS         := 
+LD_FLAGS         :=
 
 #
 # Default Tool options - can be overridden in {mcu}.mk files.
@@ -338,7 +338,7 @@ targets-group-rest: $(GROUP_OTHER_TARGETS)
 
 $(VALID_TARGETS):
 	$(V0) @echo "Building $@" && \
-	time $(MAKE) binary hex TARGET=$@ && \
+	$(MAKE) binary hex TARGET=$@ && \
 	echo "Building $@ succeeded."
 
 $(SKIP_TARGETS):

README.md

@@ -125,7 +125,7 @@ Big thanks to current and past contributors:
 * **Sambas** (for the original STM32F4 port).
 * Bardwell, Joshua (joshuabardwell)
 * ctzsnooze
-* Höglund, Anders (andershoglund) 
+* Höglund, Anders (andershoglund)
 * Ledvin, Peter (ledvinap) - **IO code awesomeness!**
 * kc10kevin
 * Keeble, Gary (MadmanK)

make/build_verbosity.mk

@@ -19,4 +19,3 @@ export V0    :=
 export V1    :=
 export STDOUT   :=
 endif
-

make/mcu/SITL.mk

@@ -66,4 +66,4 @@ OPTIMISE_SPEED      := -Ofast
 OPTIMISE_SIZE       := -Os
 
 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_SPEED)
-endif
+endif

make/mcu/STM32F1.mk

@@ -69,12 +69,12 @@ MCU_COMMON_SRC = \
             drivers/system_stm32f10x.c \
             drivers/timer_stm32f10x.c
 
-DSP_LIB := 
+DSP_LIB :=
 
 ifneq ($(DEBUG),GDB)
 OPTIMISE_DEFAULT    := -Os
-OPTIMISE_SPEED      := 
-OPTIMISE_SIZE       := 
+OPTIMISE_SPEED      :=
+OPTIMISE_SIZE       :=
 
 LTO_FLAGS           := $(OPTIMISATION_BASE) $(OPTIMISE_DEFAULT)
 endif

make/mcu/STM32F4.mk

@@ -17,7 +17,7 @@ ifeq ($(PERIPH_DRIVER), HAL)
 CMSIS_DIR      := $(ROOT)/lib/main/STM32F4/Drivers/CMSIS
 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4/Drivers/STM32F4xx_HAL_Driver
 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
-EXCLUDES        = 
+EXCLUDES        =
 else
 CMSIS_DIR      := $(ROOT)/lib/main/CMSIS/CM4
 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver
@@ -102,7 +102,7 @@ VPATH           := $(VPATH):$(CMSIS_DIR)/CoreSupport:$(CMSIS_DIR)/DeviceSupport/
 VPATH           := $(VPATH):$(CMSIS_DIR)/Core:$(CMSIS_DIR)/Device/ST/STM32F4xx
 
 ifeq ($(PERIPH_DRIVER), HAL)
-CMSIS_SRC       := 
+CMSIS_SRC       :=
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(STDPERIPH_DIR)/Inc \
                    $(USBCORE_DIR)/Inc \

make/mcu/STM32F7.mk

@@ -94,7 +94,7 @@ DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
 #CMSIS
 VPATH           := $(VPATH):$(CMSIS_DIR)/Include:$(CMSIS_DIR)/Device/ST/STM32F7xx
 VPATH           := $(VPATH):$(STDPERIPH_DIR)/Src
-CMSIS_SRC       := 
+CMSIS_SRC       :=
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(STDPERIPH_DIR)/Inc \
                    $(USBCORE_DIR)/Inc \
@@ -114,7 +114,7 @@ ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fs
 
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER
 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
-DEVICE_FLAGS   += -DSTM32F745xx 
+DEVICE_FLAGS   += -DSTM32F745xx
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
 STARTUP_SRC     = startup_stm32f745xx.s
 TARGET_FLASH   := 2048

make/openocd.mk

@@ -15,4 +15,3 @@ endif
 ifneq ($(OPENOCD_CFG),)
 OPENOCD_COMMAND = $(OPENOCD) -f $(OPENOCD_IF) -f $(OPENOCD_CFG)
 endif
-

make/source.mk

@@ -131,6 +131,9 @@ FC_SRC = \
             cms/cms_menu_ledstrip.c \
             cms/cms_menu_misc.c \
             cms/cms_menu_osd.c \
+            cms/cms_menu_vtx_rtc6705.c \
+            cms/cms_menu_vtx_smartaudio.c \
+            cms/cms_menu_vtx_tramp.c \
             common/colorconversion.c \
             common/gps_conversion.c \
             drivers/display_ug2864hsweg01.c \
@@ -164,7 +167,7 @@ FC_SRC = \
             io/vtx_smartaudio.c \
             io/vtx_tramp.c \
             io/vtx_control.c
-            
+
 COMMON_DEVICE_SRC = \
             $(CMSIS_SRC) \
             $(DEVICE_STDPERIPH_SRC)

make/tools.mk

@@ -344,4 +344,3 @@ breakpad_clean:
 	$(V1) [ ! -d "$(BREAKPAD_DIR)" ] || $(RM) -rf $(BREAKPAD_DIR)
 	$(V0) @echo " CLEAN        $(BREAKPAD_DL_FILE)"
 	$(V1) $(RM) -f $(BREAKPAD_DL_FILE)
-

src/main/blackbox/blackbox.c

@@ -925,25 +925,8 @@ void stopInTestMode(void)
  */
 bool inMotorTestMode(void) {
     static uint32_t resetTime = 0;
-    uint16_t inactiveMotorCommand;
-    if (feature(FEATURE_3D)) {
-       inactiveMotorCommand = flight3DConfig()->neutral3d;
-#ifdef USE_DSHOT
-    } else if (isMotorProtocolDshot()) {
-       inactiveMotorCommand = DSHOT_DISARM_COMMAND;
-#endif
-    } else {
-       inactiveMotorCommand = motorConfig()->mincommand;
-    }
-
-    int i;
-    bool atLeastOneMotorActivated = false;
-
-    // set disarmed motor values
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
-        atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
 
-    if (atLeastOneMotorActivated) {
+    if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
         resetTime = millis() + 5000; // add 5 seconds
         return true;
     } else {
@@ -1645,7 +1628,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
     // Did we run out of room on the device? Stop!
     if (isBlackboxDeviceFull()) {
 #ifdef USE_FLASHFS
-        if (blackboxState != BLACKBOX_STATE_ERASING 
+        if (blackboxState != BLACKBOX_STATE_ERASING
             && blackboxState != BLACKBOX_STATE_START_ERASE
             && blackboxState != BLACKBOX_STATE_ERASED) {
 #endif

src/main/build/build_config.h

@@ -38,4 +38,3 @@
 #define REQUIRE_CC_ARM_PRINTF_SUPPORT
 #define REQUIRE_PRINTF_LONG_SUPPORT
 #endif
-

src/main/build/debug.c

@@ -49,5 +49,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "ALTITUDE",
     "FFT",
     "FFT_TIME",
-    "FFT_FREQ"
+    "FFT_FREQ",
+    "FRSKY_D_RX",
+    "GYRO_RAW"
 };

src/main/build/debug.h

@@ -54,7 +54,7 @@ typedef enum {
     DEBUG_MIXER,
     DEBUG_AIRMODE,
     DEBUG_PIDLOOP,
-    DEBUG_NOTCH,
+    DEBUG_GYRO_NOTCH,
     DEBUG_RC_INTERPOLATION,
     DEBUG_VELOCITY,
     DEBUG_DTERM_FILTER,
@@ -68,6 +68,8 @@ typedef enum {
     DEBUG_FFT,
     DEBUG_FFT_TIME,
     DEBUG_FFT_FREQ,
+    DEBUG_FRSKY_D_RX,
+    DEBUG_GYRO_RAW,
     DEBUG_COUNT
 } debugType_e;
 

src/main/build/version.h

@@ -15,17 +15,17 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
+
+#include "common/utils.h"
+
 #define FC_FIRMWARE_NAME            "Cleanflight"
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            1  // increment when a minor release is made (small new feature, change etc)
 #define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
 
-#define STR_HELPER(x) #x
-#define STR(x) STR_HELPER(x)
 #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)
 
-#define MW_VERSION              231
-
 extern const char* const targetName;
 
 #define GIT_SHORT_REVISION_LENGTH   7 // lower case hexadecimal digits.

src/main/cms/cms.c

@@ -610,7 +610,7 @@ static void cmsTraverseGlobalExit(const CMS_Menu *pMenu)
 }
 
 long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
-{ 
+{
     int exitType = (int)ptr;
     switch (exitType) {
     case CMS_EXIT_SAVE:

src/main/cms/cms.h

@@ -25,4 +25,3 @@ void cmsUpdate(uint32_t currentTimeUs);
 #define CMS_EXIT             (0)
 #define CMS_EXIT_SAVE        (1)
 #define CMS_EXIT_SAVEREBOOT  (2)
-

src/main/cms/cms_menu_builtin.c

@@ -44,11 +44,12 @@
 #include "cms/cms_menu_ledstrip.h"
 #include "cms/cms_menu_misc.h"
 
-// User supplied menus
+// VTX supplied menus
+
+#include "cms/cms_menu_vtx_rtc6705.h"
+#include "cms/cms_menu_vtx_smartaudio.h"
+#include "cms/cms_menu_vtx_tramp.h"
 
-#include "io/vtx_rtc6705_cms.h"
-#include "io/vtx_smartaudio_cms.h"
-#include "io/vtx_tramp.h"
 
 // Info
 

src/main/cms/cms_menu_vtx_rtc6705.c

@@ -0,0 +1,102 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <ctype.h>
+
+#include "platform.h"
+
+#ifdef CMS
+
+#include "common/printf.h"
+#include "common/utils.h"
+
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+
+#include "io/vtx_string.h"
+#include "io/vtx_rtc6705.h"
+
+
+static uint8_t cmsx_vtxBand;
+static uint8_t cmsx_vtxChannel;
+static uint8_t cmsx_vtxPower;
+
+static const char * const rtc6705BandNames[] = {
+    "BOSCAM A",
+    "BOSCAM B",
+    "BOSCAM E",
+    "FATSHARK",
+    "RACEBAND",
+};
+
+static OSD_TAB_t entryVtxBand =         {&cmsx_vtxBand, ARRAYLEN(rtc6705BandNames) - 1, &rtc6705BandNames[0]};
+static OSD_UINT8_t entryVtxChannel =    {&cmsx_vtxChannel, 1, 8, 1};
+static OSD_TAB_t entryVtxPower =        {&cmsx_vtxPower, RTC6705_POWER_COUNT - 1, &rtc6705PowerNames[0]};
+
+static void cmsx_Vtx_ConfigRead(void)
+{
+    cmsx_vtxBand = vtxRTC6705Config()->band - 1;
+    cmsx_vtxChannel = vtxRTC6705Config()->channel;
+    cmsx_vtxPower = vtxRTC6705Config()->power;
+}
+
+static void cmsx_Vtx_ConfigWriteback(void)
+{
+    vtxRTC6705ConfigMutable()->band = cmsx_vtxBand + 1;
+    vtxRTC6705ConfigMutable()->channel = cmsx_vtxChannel;
+    vtxRTC6705ConfigMutable()->power = cmsx_vtxPower;
+}
+
+static long cmsx_Vtx_onEnter(void)
+{
+    cmsx_Vtx_ConfigRead();
+
+    return 0;
+}
+
+static long cmsx_Vtx_onExit(const OSD_Entry *self)
+{
+    UNUSED(self);
+
+    cmsx_Vtx_ConfigWriteback();
+
+    return 0;
+}
+
+
+static OSD_Entry cmsx_menuVtxEntries[] =
+{
+    {"--- VTX ---", OME_Label, NULL, NULL, 0},
+    {"BAND", OME_TAB, NULL, &entryVtxBand, 0},
+    {"CHANNEL", OME_UINT8, NULL, &entryVtxChannel, 0},
+    {"POWER", OME_TAB, NULL, &entryVtxPower, 0},
+    {"BACK", OME_Back, NULL, NULL, 0},
+    {NULL, OME_END, NULL, NULL, 0}
+};
+
+CMS_Menu cmsx_menuVtxRTC6705 = {
+    .GUARD_text = "MENUVTX",
+    .GUARD_type = OME_MENU,
+    .onEnter = cmsx_Vtx_onEnter,
+    .onExit= cmsx_Vtx_onExit,
+    .onGlobalExit = NULL,
+    .entries = cmsx_menuVtxEntries
+};
+
+#endif // CMS

src/main/io/vtx_rtc6705_cms.h → src/main/cms/cms_menu_vtx_rtc6705.h

@@ -17,4 +17,7 @@
 
 #pragma once
 
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+
 extern CMS_Menu cmsx_menuVtxRTC6705;