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

.gitignore

@@ -40,3 +40,6 @@ stm32.mak
 # artefacts for CLion
 /cmake-build-debug/
 /CMakeLists.txt
+
+.vagrant
+ubuntu*.log

Vagrantfile

@@ -16,6 +16,10 @@ Vagrant.configure(2) do |config|
 
   config.vm.provider "virtualbox" do |v|
       v.memory = 4096
+      v.customize [ "guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-interval", 10000]
+      v.customize [ "guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-min-adjust", 100]
+      v.customize [ "guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", 1]
+      v.customize [ "guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 10000]
   end
 
   # Enable provisioning with a shell script. Additional provisioners such as

make/mcu/SITL.mk

@@ -25,7 +25,6 @@ MCU_EXCLUDES = \
             drivers/dma.c \
             drivers/pwm_output.c \
             drivers/timer.c \
-            drivers/light_led.c \
             drivers/system.c \
             drivers/rcc.c \
             drivers/serial_escserial.c \

make/source.mk

@@ -159,6 +159,7 @@ FC_SRC = \
             telemetry/smartport.c \
             telemetry/ltm.c \
             telemetry/mavlink.c \
+            telemetry/msp_shared.c \
             telemetry/ibus.c \
             telemetry/ibus_shared.c \
             sensors/esc_sensor.c \

src/main/blackbox/blackbox.c

@@ -318,9 +318,6 @@ typedef struct blackboxSlowState_s {
     bool rxFlightChannelsValid;
 } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
 
-//From mixer.c:
-extern float motorOutputHigh, motorOutputLow;
-
 //From rc_controls.c
 extern boxBitmask_t rcModeActivationMask;
 
@@ -1702,7 +1699,7 @@ void blackboxInit(void)
     // by default p_denom is 32 and a P-frame is written every 1ms
     // if p_denom is zero then no P-frames are logged
     if (blackboxConfig()->p_denom == 0) {
-        blackboxPInterval = 0;
+        blackboxPInterval = 0; // blackboxPInterval not used when p_denom is zero, so just set it to zero
     } else if (blackboxConfig()->p_denom > blackboxIInterval && blackboxIInterval >= 32) {
         blackboxPInterval = 1;
     } else {

src/main/build/version.h

@@ -36,3 +36,5 @@ extern const char* const buildDate;  // "MMM DD YYYY" MMM = Jan/Feb/...
 
 #define BUILD_TIME_LENGTH 8
 extern const char* const buildTime;  // "HH:MM:SS"
+
+#define MSP_API_VERSION_STRING STR(API_VERSION_MAJOR) "." STR(API_VERSION_MINOR)

src/main/cms/cms_menu_imu.c

@@ -391,6 +391,77 @@ static CMS_Menu cmsx_menuFilterPerProfile = {
     .entries = cmsx_menuFilterPerProfileEntries,
 };
 
+#ifdef USE_COPY_PROFILE_CMS_MENU
+
+static uint8_t cmsx_dstPidProfile;
+static uint8_t cmsx_dstControlRateProfile;
+
+static const char * const cmsx_ProfileNames[] = {
+    "-",
+    "1",
+    "2",
+    "3"
+};
+
+static OSD_TAB_t cmsx_PidProfileTable = { &cmsx_dstPidProfile, 3, cmsx_ProfileNames };
+static OSD_TAB_t cmsx_ControlRateProfileTable = { &cmsx_dstControlRateProfile, 3, cmsx_ProfileNames };
+
+static long cmsx_menuCopyProfile_onEnter(void)
+{
+    cmsx_dstPidProfile = 0;
+    cmsx_dstControlRateProfile = 0;
+
+    return 0;
+}
+
+static long cmsx_CopyPidProfile(displayPort_t *pDisplay, const void *ptr)
+{
+    UNUSED(pDisplay);
+    UNUSED(ptr);
+
+    if (cmsx_dstPidProfile > 0) {
+        pidCopyProfile(cmsx_dstPidProfile - 1, getCurrentPidProfileIndex());
+    }
+
+    return 0;
+}
+
+static long cmsx_CopyControlRateProfile(displayPort_t *pDisplay, const void *ptr)
+{
+    UNUSED(pDisplay);
+    UNUSED(ptr);
+
+    if (cmsx_dstControlRateProfile > 0) {
+        copyControlRateProfile(cmsx_dstControlRateProfile - 1, getCurrentControlRateProfileIndex());
+    }
+
+    return 0;
+}
+
+static OSD_Entry cmsx_menuCopyProfileEntries[] = 
+{
+    { "-- COPY PROFILE --", OME_Label, NULL, NULL, 0},
+
+    { "CPY PID PROF TO",   OME_TAB,      NULL,                        &cmsx_PidProfileTable, 0 },
+    { "COPY PP",           OME_Funcall,  cmsx_CopyPidProfile,         NULL, 0 },
+    { "CPY RATE PROF TO",  OME_TAB,      NULL,                        &cmsx_ControlRateProfileTable, 0 },
+    { "COPY RP",           OME_Funcall,  cmsx_CopyControlRateProfile, NULL, 0 },
+
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+CMS_Menu cmsx_menuCopyProfile = {
+    .GUARD_text = "XCPY",
+    .GUARD_type = OME_MENU,
+    .onEnter = cmsx_menuCopyProfile_onEnter,
+    .onExit = NULL,
+    .onGlobalExit = NULL,
+    .entries = cmsx_menuCopyProfileEntries,
+};
+
+#endif
+
 static OSD_Entry cmsx_menuImuEntries[] =
 {
     { "-- IMU --", OME_Label, NULL, NULL, 0},
@@ -404,6 +475,9 @@ static OSD_Entry cmsx_menuImuEntries[] =
     {"RATE",      OME_Submenu, cmsMenuChange,                 &cmsx_menuRateProfile,                                         0},
 
     {"FILT GLB",  OME_Submenu, cmsMenuChange,                 &cmsx_menuFilterGlobal,                                        0},
+#ifdef USE_COPY_PROFILE_CMS_MENU
+    {"COPY PROF", OME_Submenu, cmsMenuChange,                 &cmsx_menuCopyProfile,                                         0},
+#endif
 
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}
@@ -417,4 +491,5 @@ CMS_Menu cmsx_menuImu = {
     .onGlobalExit = NULL,
     .entries = cmsx_menuImuEntries,
 };
+
 #endif // CMS

src/main/cms/cms_menu_vtx_smartaudio.c

@@ -21,7 +21,7 @@
 
 #include "platform.h"
 
-#ifdef CMS
+#if defined(CMS) && defined(VTX_SMARTAUDIO)
 
 #include "common/printf.h"
 #include "common/utils.h"

src/main/cms/cms_menu_vtx_tramp.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#ifdef CMS
+#if defined(CMS) && defined(VTX_TRAMP)
+
 #include "common/printf.h"
 #include "common/utils.h"
 

src/main/common/crc.c

@@ -77,3 +77,25 @@ void crc8_dvb_s2_sbuf_append(sbuf_t *dst, uint8_t *start)
     }
     sbufWriteU8(dst, crc);
 }
+
+uint8_t crc8_xor_update(uint8_t crc, const void *data, uint32_t length)
+{
+    const uint8_t *p = (const uint8_t *)data;
+    const uint8_t *pend = p + length;
+
+    for (; p != pend; p++) {
+        crc ^= *p;
+    }
+    return crc;
+}
+
+void crc8_xor_sbuf_append(sbuf_t *dst, uint8_t *start)
+{
+    uint8_t crc = 0;
+    const uint8_t *end = dst->ptr;
+    for (uint8_t *ptr = start; ptr < end; ++ptr) {
+        crc ^= *ptr;
+    }
+    sbufWriteU8(dst, crc);
+}
+

src/main/common/crc.h

@@ -17,9 +17,12 @@
 
 #pragma once
 
+struct sbuf_s;
+
 uint16_t crc16_ccitt(uint16_t crc, unsigned char a);
 uint16_t crc16_ccitt_update(uint16_t crc, const void *data, uint32_t length);
 uint8_t crc8_dvb_s2(uint8_t crc, unsigned char a);
 uint8_t crc8_dvb_s2_update(uint8_t crc, const void *data, uint32_t length);
-struct sbuf_s;
 void crc8_dvb_s2_sbuf_append(struct sbuf_s *dst, uint8_t *start);
+uint8_t crc8_xor_update(uint8_t crc, const void *data, uint32_t length);
+void crc8_xor_sbuf_append(struct sbuf_s *dst, uint8_t *start);

src/main/common/filter.c

@@ -295,6 +295,7 @@ float firFilterLastInput(const firFilter_t *filter)
 
 void firFilterDenoiseInit(firFilterDenoise_t *filter, uint8_t gyroSoftLpfHz, uint16_t targetLooptime)
 {
+    memset(filter, 0, sizeof(firFilterDenoise_t));
     filter->targetCount = constrain(lrintf((1.0f / (0.000001f * (float)targetLooptime)) / gyroSoftLpfHz), 1, MAX_FIR_DENOISE_WINDOW_SIZE);
 }
 
@@ -303,12 +304,14 @@ float firFilterDenoiseUpdate(firFilterDenoise_t *filter, float input)
 {
     filter->state[filter->index] = input;
     filter->movingSum += filter->state[filter->index++];
-    if (filter->index == filter->targetCount)
+    if (filter->index == filter->targetCount) {
         filter->index = 0;
+    }
     filter->movingSum -= filter->state[filter->index];
 
-    if (filter->targetCount >= filter->filledCount)
+    if (filter->targetCount >= filter->filledCount) {
         return filter->movingSum / filter->targetCount;
-    else
+    } else {
         return filter->movingSum / ++filter->filledCount + 1;
+    }
 }

src/main/common/filter.h

@@ -44,7 +44,7 @@ typedef struct biquadFilter_s {
     float x1, x2, y1, y2;
 } biquadFilter_t;
 
-typedef struct firFilterDenoise_s{
+typedef struct firFilterDenoise_s {
     int filledCount;
     int targetCount;
     int index;

src/main/common/streambuf.c

@@ -20,6 +20,13 @@
 
 #include "streambuf.h"
 
+sbuf_t *sbufInit(sbuf_t *sbuf, uint8_t *ptr, uint8_t *end)
+{
+    sbuf->ptr = ptr;
+    sbuf->end = end;
+    return sbuf;
+}
+
 void sbufWriteU8(sbuf_t *dst, uint8_t val)
 {
     *dst->ptr++ = val;
@@ -54,6 +61,12 @@ void sbufWriteU32BigEndian(sbuf_t *dst, uint32_t val)
 }
 
 
+void sbufFill(sbuf_t *dst, uint8_t data, int len)
+{
+    memset(dst->ptr, data, len);
+    dst->ptr += len;
+}
+
 void sbufWriteData(sbuf_t *dst, const void *data, int len)
 {
     memcpy(dst->ptr, data, len);
@@ -65,6 +78,11 @@ void sbufWriteString(sbuf_t *dst, const char *string)
     sbufWriteData(dst, string, strlen(string));
 }
 
+void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string)
+{
+    sbufWriteData(dst, string, strlen(string) + 1);
+}
+
 uint8_t sbufReadU8(sbuf_t *src)
 {
     return *src->ptr++;

src/main/common/streambuf.h

@@ -20,20 +20,23 @@
 #include <stdint.h>
 
 // simple buffer-based serializer/deserializer without implicit size check
-// little-endian encoding implemneted now
 
 typedef struct sbuf_s {
-    uint8_t *ptr;          // data pointer must be first (sbuff_t* is equivalent to uint8_t **)
+    uint8_t *ptr;          // data pointer must be first (sbuf_t* is equivalent to uint8_t **)
     uint8_t *end;
 } sbuf_t;
 
+sbuf_t *sbufInit(sbuf_t *sbuf, uint8_t *ptr, uint8_t *end);
+
 void sbufWriteU8(sbuf_t *dst, uint8_t val);
 void sbufWriteU16(sbuf_t *dst, uint16_t val);
 void sbufWriteU32(sbuf_t *dst, uint32_t val);
 void sbufWriteU16BigEndian(sbuf_t *dst, uint16_t val);
 void sbufWriteU32BigEndian(sbuf_t *dst, uint32_t val);
+void sbufFill(sbuf_t *dst, uint8_t data, int len);
 void sbufWriteData(sbuf_t *dst, const void *data, int len);
 void sbufWriteString(sbuf_t *dst, const char *string);
+void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string);
 
 uint8_t sbufReadU8(sbuf_t *src);
 uint16_t sbufReadU16(sbuf_t *src);

src/main/common/string_light.c

@@ -0,0 +1,74 @@
+/*
+ * 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 <limits.h>
+
+#include "string_light.h"
+#include "typeconversion.h"
+
+int sl_isalnum(int c)
+{
+    return sl_isdigit(c) || sl_isupper(c) || sl_islower(c);
+}
+
+int sl_isdigit(int c)
+{
+    return (c >= '0' && c <= '9');
+}
+
+int sl_isupper(int c)
+{
+    return (c >= 'A' && c <= 'Z');
+}
+
+int sl_islower(int c)
+{
+    return (c >= 'a' && c <= 'z');
+}
+
+int sl_tolower(int c)
+{
+    return sl_isupper(c) ? (c) - 'A' + 'a' : c;
+}
+
+int sl_toupper(int c)
+{
+    return sl_islower(c) ? (c) - 'a' + 'A' : c;
+}
+
+int sl_strcasecmp(const char * s1, const char * s2)
+{
+    return sl_strncasecmp(s1, s2, INT_MAX);
+}
+
+int sl_strncasecmp(const char * s1, const char * s2, int n)
+{
+    const unsigned char * ucs1 = (const unsigned char *) s1;
+    const unsigned char * ucs2 = (const unsigned char *) s2;
+
+    int d = 0;
+
+    for ( ; n != 0; n--) {
+        const int c1 = sl_tolower(*ucs1++);
+        const int c2 = sl_tolower(*ucs2++);
+        if (((d = c1 - c2) != 0) || (c2 == '\0')) {
+            break;
+        }
+    }
+
+    return d;
+}