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

.github/pull_request_template.md

@@ -0,0 +1,9 @@
+## Important considerations when opening a pull request:
+
+1.) Pull requests will only be accepted if they are opened against the `master` branch. Pull requests opened against other branches without prior consent from the maintainers will be closed;
+
+2.) Please follow the coding style guidlines: https://github.com/cleanflight/cleanflight/blob/master/docs/development/CodingStyle.md
+
+3.) If your pull request is a fix for one or more issues that are open in GitHub, add their numbers in the form `Fixes #<issue number>`. This will cause the issues to be closed when the pull request is merged;
+
+4.) Remove this Text :).

lib/main/MAVLink/mavlink_conversions.h

@@ -117,12 +117,12 @@ MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float
  */
 MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
 {
-    float cosPhi_2 = cosf(roll / 2);
-    float sinPhi_2 = sinf(roll / 2);
-    float cosTheta_2 = cosf(pitch / 2);
-    float sinTheta_2 = sinf(pitch / 2);
-    float cosPsi_2 = cosf(yaw / 2);
-    float sinPsi_2 = sinf(yaw / 2);
+    float cosPhi_2 = cos_approx(roll / 2);
+    float sinPhi_2 = sin_approx(roll / 2);
+    float cosTheta_2 = cos_approx(pitch / 2);
+    float sinTheta_2 = sin_approx(pitch / 2);
+    float cosPsi_2 = cos_approx(yaw / 2);
+    float sinPsi_2 = sin_approx(yaw / 2);
     quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
             sinPhi_2 * sinTheta_2 * sinPsi_2);
     quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
@@ -188,12 +188,12 @@ MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quate
  */
 MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
 {
-    float cosPhi = cosf(roll);
-    float sinPhi = sinf(roll);
-    float cosThe = cosf(pitch);
-    float sinThe = sinf(pitch);
-    float cosPsi = cosf(yaw);
-    float sinPsi = sinf(yaw);
+    float cosPhi = cos_approx(roll);
+    float sinPhi = sin_approx(roll);
+    float cosThe = cos_approx(pitch);
+    float sinThe = sin_approx(pitch);
+    float cosPsi = cos_approx(yaw);
+    float sinPsi = sin_approx(yaw);
 
     dcm[0][0] = cosThe * cosPsi;
     dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;

make/mcu/STM32F7.mk

@@ -69,7 +69,6 @@ EXCLUDES        = stm32f7xx_hal_can.c \
                   stm32f7xx_ll_rng.c \
                   stm32f7xx_ll_rtc.c \
                   stm32f7xx_ll_sdmmc.c \
-                  stm32f7xx_ll_tim.c \
                   stm32f7xx_ll_usart.c
 
 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))

make/source.mk

@@ -156,6 +156,7 @@ FC_SRC = \
             telemetry/srxl.c \
             telemetry/frsky.c \
             telemetry/hott.c \
+            telemetry/jetiexbus.c \
             telemetry/smartport.c \
             telemetry/ltm.c \
             telemetry/mavlink.c \

src/main/build/version.h

@@ -37,4 +37,4 @@ 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)
+#define MSP_API_VERSION_STRING STR(API_VERSION_MAJOR) "." STR(API_VERSION_MINOR)

src/main/cms/cms_menu_imu.c

@@ -212,7 +212,9 @@ static OSD_Entry cmsx_menuRateProfileEntries[] =
     { "RC EXPO",     OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &rateProfile.rcExpo8,    0, 100, 1, 10 }, 0 },
     { "RC YAW EXP",  OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &rateProfile.rcYawExpo8, 0, 100, 1, 10 }, 0 },
 
-    { "THRPID ATT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID,  0, 100, 1, 10}, 0 },
+    { "THR MID",     OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.thrMid8,           0,  100,  1}, 0 },
+    { "THR EXPO",    OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.thrExpo8,          0,  100,  1}, 0 },
+    { "THRPID ATT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &rateProfile.dynThrPID,         0,  100,  1, 10}, 0 },
     { "TPA BRKPT",   OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10}, 0 },
 
     { "BACK", OME_Back, NULL, NULL, 0 },
@@ -228,11 +230,13 @@ static CMS_Menu cmsx_menuRateProfile = {
     .entries = cmsx_menuRateProfileEntries
 };
 
-static uint8_t cmsx_dtermSetpointWeight;
-static uint8_t cmsx_setpointRelaxRatio;
-static uint8_t cmsx_angleStrength;
-static uint8_t cmsx_horizonStrength;
-static uint8_t cmsx_horizonTransition;
+static uint8_t  cmsx_dtermSetpointWeight;
+static uint8_t  cmsx_setpointRelaxRatio;
+static uint8_t  cmsx_angleStrength;
+static uint8_t  cmsx_horizonStrength;
+static uint8_t  cmsx_horizonTransition;
+static uint16_t cmsx_itermAcceleratorGain;
+static uint16_t cmsx_itermThrottleThreshold;
 
 static long cmsx_profileOtherOnEnter(void)
 {
@@ -246,6 +250,9 @@ static long cmsx_profileOtherOnEnter(void)
     cmsx_horizonStrength =   pidProfile->pid[PID_LEVEL].I;
     cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
 
+    cmsx_itermAcceleratorGain   = pidProfile->itermAcceleratorGain;
+    cmsx_itermThrottleThreshold = pidProfile->itermThrottleThreshold;
+
     return 0;
 }
 
@@ -262,17 +269,22 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
     pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
     pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
 
+    pidProfile->itermAcceleratorGain   = cmsx_itermAcceleratorGain;
+    pidProfile->itermThrottleThreshold = cmsx_itermThrottleThreshold;
+
     return 0;
 }
 
 static OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
 
-    { "D SETPT WT",  OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 },
-    { "SETPT TRS",   OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio,  0, 100, 1, 10 }, 0 },
-    { "ANGLE STR",   OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength,       0, 200, 1 }    , 0 },
-    { "HORZN STR",   OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength,     0, 200, 1 }    , 0 },
-    { "HORZN TRS",   OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition,   0, 200, 1 }    , 0 },
+    { "D SETPT WT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_dtermSetpointWeight,    0,    255,   1, 10 }, 0 },
+    { "SETPT TRS",   OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_setpointRelaxRatio,     0,    100,   1, 10 }, 0 },
+    { "ANGLE STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_angleStrength,          0,    200,   1 }    , 0 },
+    { "HORZN STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonStrength,        0,    200,   1 }    , 0 },
+    { "HORZN TRS",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonTransition,      0,    200,   1 }    , 0 },
+    { "AG GAIN",     OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain,   1000, 30000, 1 }    , 0 },
+    { "AG THR",      OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20,   1000,  1 }    , 0 },
 
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }

src/main/common/filter.c

@@ -108,8 +108,8 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
 {
     // setup variables
     const float omega = 2.0f * M_PI_FLOAT * filterFreq * refreshRate * 0.000001f;
-    const float sn = sinf(omega);
-    const float cs = cosf(omega);
+    const float sn = sin_approx(omega);
+    const float cs = cos_approx(omega);
     const float alpha = sn / (2.0f * Q);
 
     float b0 = 0, b1 = 0, b2 = 0, a0 = 0, a1 = 0, a2 = 0;

src/main/config/config_eeprom.h

@@ -20,7 +20,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-#define EEPROM_CONF_VERSION 163
+#define EEPROM_CONF_VERSION 165
 
 bool isEEPROMContentValid(void);
 bool loadEEPROM(void);

src/main/config/parameter_group_ids.h

@@ -115,7 +115,8 @@
 #define PG_CAMERA_CONTROL_CONFIG 522
 #define PG_FRSKY_D_CONFIG 523
 #define PG_MAX7456_CONFIG 524
-#define PG_BETAFLIGHT_END 524
+#define PG_FLYSKY_CONFIG 525
+#define PG_BETAFLIGHT_END 525
 
 
 // OSD configuration (subject to change)

src/main/drivers/barometer/barometer_bmp085.c

@@ -155,16 +155,6 @@ void bmp085Disable(const bmp085Config_t *config)
     BMP085_OFF;
 }
 
-bool bmp085ReadRegister(busDevice_t *busdev, uint8_t cmd, uint8_t len, uint8_t *data)
-{
-    return i2cBusReadRegisterBuffer(busdev, cmd, data, len);
-}
-
-bool bmp085WriteRegister(busDevice_t *busdev, uint8_t cmd, uint8_t byte)
-{
-    return i2cBusWriteRegister(busdev, cmd, byte);
-}
-
 bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
 {
     uint8_t data;
@@ -205,13 +195,13 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
         defaultAddressApplied = true;
     }
 
-    ack = bmp085ReadRegister(busdev, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */
+    ack = busReadRegisterBuffer(busdev, BMP085_CHIP_ID__REG, &data, 1); /* read Chip Id */
     if (ack) {
         bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID);
         bmp085.oversampling_setting = 3;
 
         if (bmp085.chip_id == BMP085_CHIP_ID) { /* get bitslice */
-            bmp085ReadRegister(busdev, BMP085_VERSION_REG, 1, &data); /* read Version reg */
+            busReadRegisterBuffer(busdev, BMP085_VERSION_REG, &data, 1); /* read Version reg */
             bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
             bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
             bmp085_get_cal_param(busdev); /* readout bmp085 calibparam structure */
@@ -302,7 +292,7 @@ static void bmp085_start_ut(baroDev_t *baro)
 #if defined(BARO_EOC_GPIO)
     isConversionComplete = false;
 #endif
-    bmp085WriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
+    busWriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
 }
 
 static void bmp085_get_ut(baroDev_t *baro)
@@ -316,7 +306,7 @@ static void bmp085_get_ut(baroDev_t *baro)
     }
 #endif
 
-    bmp085ReadRegister(&baro->busdev, BMP085_ADC_OUT_MSB_REG, 2, data);
+    busReadRegisterBuffer(&baro->busdev, BMP085_ADC_OUT_MSB_REG, data, 2);
     bmp085_ut = (data[0] << 8) | data[1];
 }
 
@@ -330,7 +320,7 @@ static void bmp085_start_up(baroDev_t *baro)
     isConversionComplete = false;
 #endif
 
-    bmp085WriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
+    busWriteRegister(&baro->busdev, BMP085_CTRL_MEAS_REG, ctrl_reg_data);
 }
 
 /** read out up for pressure conversion
@@ -348,7 +338,7 @@ static void bmp085_get_up(baroDev_t *baro)
     }
 #endif
 
-    bmp085ReadRegister(&baro->busdev, BMP085_ADC_OUT_MSB_REG, 3, data);
+    busReadRegisterBuffer(&baro->busdev, BMP085_ADC_OUT_MSB_REG, data, 3);
     bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2])
             >> (8 - bmp085.oversampling_setting);
 }
@@ -368,7 +358,7 @@ STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature
 static void bmp085_get_cal_param(busDevice_t *busdev)
 {
     uint8_t data[22];
-    bmp085ReadRegister(busdev, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data);
+    busReadRegisterBuffer(busdev, BMP085_PROM_START__ADDR, data, BMP085_PROM_DATA__LEN);
 
     /*parameters AC1-AC6*/
     bmp085.cal_param.ac1 = (data[0] << 8) | data[1];

src/main/drivers/barometer/barometer_bmp280.c

@@ -65,43 +65,13 @@ static void bmp280_get_up(baroDev_t *baro);
 
 STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature);
 
-bool bmp280ReadRegister(busDevice_t *busdev, uint8_t reg, uint8_t length, uint8_t *data)
-{
-    switch (busdev->bustype) {
-#ifdef USE_BARO_SPI_BMP280
-    case BUSTYPE_SPI:
-        return spiBusReadRegisterBuffer(busdev, reg | 0x80, data, length);
-#endif
-#ifdef USE_BARO_BMP280
-    case BUSTYPE_I2C:
-        return i2cBusReadRegisterBuffer(busdev, reg, data, length);
-#endif
-    }
-    return false;
-}
-
-bool bmp280WriteRegister(busDevice_t *busdev, uint8_t reg, uint8_t data)
-{
-    switch (busdev->bustype) {
-#ifdef USE_BARO_SPI_BMP280
-    case BUSTYPE_SPI:
-        return spiBusWriteRegister(busdev, reg & 0x7f, data);
-#endif
-#ifdef USE_BARO_BMP280
-    case BUSTYPE_I2C:
-        return i2cBusWriteRegister(busdev, reg, data);
-#endif
-    }
-    return false;
-}
-
 void bmp280BusInit(busDevice_t *busdev)
 {
 #ifdef USE_BARO_SPI_BMP280
     if (busdev->bustype == BUSTYPE_SPI) {
+        IOHi(busdev->busdev_u.spi.csnPin); // Disable
         IOInit(busdev->busdev_u.spi.csnPin, OWNER_BARO_CS, 0);
         IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
-        IOHi(busdev->busdev_u.spi.csnPin); // Disable
         spiSetDivisor(busdev->busdev_u.spi.instance, SPI_CLOCK_STANDARD); // XXX
     }
 #else
@@ -137,7 +107,7 @@ bool bmp280Detect(baroDev_t *baro)
         defaultAddressApplied = true;
     }
 
-    bmp280ReadRegister(busdev, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);  /* read Chip Id */
+    busReadRegisterBuffer(busdev, BMP280_CHIP_ID_REG, &bmp280_chip_id, 1);  /* read Chip Id */
 
     if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID) {
         bmp280BusDeinit(busdev);
@@ -148,10 +118,10 @@ bool bmp280Detect(baroDev_t *baro)
     }
 
     // read calibration
-    bmp280ReadRegister(busdev, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
+    busReadRegisterBuffer(busdev, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, (uint8_t *)&bmp280_cal, 24);
 
     // set oversampling + power mode (forced), and start sampling
-    bmp280WriteRegister(busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+    busWriteRegister(busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
 
     // these are dummy as temperature is measured as part of pressure
     baro->ut_delay = 0;
@@ -182,15 +152,15 @@ static void bmp280_start_up(baroDev_t *baro)
 {
     // start measurement
     // set oversampling + power mode (forced), and start sampling
-    bmp280WriteRegister(&baro->busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+    busWriteRegister(&baro->busdev, BMP280_CTRL_MEAS_REG, BMP280_MODE);
 }
 
 static void bmp280_get_up(baroDev_t *baro)
 {
     uint8_t data[BMP280_DATA_FRAME_SIZE];
 
     // read data from sensor
-    bmp280ReadRegister(&baro->busdev, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
+    busReadRegisterBuffer(&baro->busdev, BMP280_PRESSURE_MSB_REG, data, BMP280_DATA_FRAME_SIZE);
     bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
     bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
 }