Merge remote-tracking branch 'upstream/master' into custom_24

breadoven · Jun 15, 2024 · 5f79281 · 5f79281
2 parents b80a3c5 + 9922e7d
commit 5f79281
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Showing 108 changed files with 2,959 additions and 1,779 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -9,10 +9,10 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
         matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Setup environment
@@ -31,22 +31,22 @@ jobs:
           VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - uses: actions/cache@v1
+      - uses: actions/cache@v4
         with:
           path: downloads
           key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
       - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j4 ci
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.BUILD_NAME }}
+          name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
           path: ./build/*.hex
 
   build-SITL-Linux:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Setup environment
@@ -66,17 +66,17 @@ jobs:
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
       - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: ${{ env.BUILD_NAME }}_SITL
+          name: ${{ env.BUILD_NAME }}_SITL-Linux
           path: ./build_SITL/*_SITL
 
   build-SITL-Mac:
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: |
           brew install cmake ninja ruby
@@ -101,10 +101,10 @@ jobs:
         run: |
           mkdir -p build_SITL && cd build_SITL
           cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
-          ninja
+          ninja -j3
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: ${{ env.BUILD_NAME }}_SITL-MacOS
           path: ./build_SITL/*_SITL
@@ -115,7 +115,7 @@ jobs:
       run:
         shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Setup Cygwin
         uses: egor-tensin/setup-cygwin@v4
         with:
@@ -137,19 +137,19 @@ jobs:
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
       - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: ${{ env.BUILD_NAME }}_SITL-WIN
           path: ./build_SITL/*.exe
 
 
   test:
-    needs: [build]
+    #needs: [build]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Run Tests

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
@@ -14,7 +14,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install python3-yaml
       - name: Check that Settings.md is up to date

diff --git a/.vimrc b/.vimrc
@@ -5,5 +5,6 @@ set expandtab
 set bs=2
 set sw=4
 set ts=4
+syn on
 
 
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -3,24 +3,19 @@
         {
             "name": "Linux",
             "includePath": [
-                "${workspaceRoot}/src/main/**",
-                "${workspaceRoot}/lib/main/**",
-                "/usr/include/**"
+                "${workspaceRoot}",
+                "${workspaceRoot}/src/main/**"
             ],
             "browse": {
                 "limitSymbolsToIncludedHeaders": false,
                 "path": [
-                    "${workspaceRoot}/src/main/**",
-                    "${workspaceRoot}/lib/main/**"
+                    "${workspaceRoot}/**"
                 ]
             },
-            "intelliSenseMode": "linux-gcc-arm",
+            "intelliSenseMode": "msvc-x64",
             "cStandard": "c11",
             "cppStandard": "c++17",
             "defines": [
-                "MCU_FLASH_SIZE 512",
-                "USE_NAV",
-                "NAV_FIXED_WING_LANDING",
                 "USE_OSD",
                 "USE_GYRO_NOTCH_1",
                 "USE_GYRO_NOTCH_2",
@@ -34,30 +29,13 @@
                 "USE_RPM_FILTER",
                 "USE_GLOBAL_FUNCTIONS",
                 "USE_DYNAMIC_FILTERS",
-                "USE_IMU_BNO055",
-                "USE_SECONDARY_IMU",
                 "USE_DSHOT",
                 "FLASH_SIZE 480",
                 "USE_I2C_IO_EXPANDER",
                 "USE_PCF8574",
                 "USE_ESC_SENSOR",
-                "USE_PROGRAMMING_FRAMEWORK",
-                "USE_SERIALRX_GHST",
-                "USE_TELEMETRY_GHST",
-                "USE_CMS",
-                "USE_DJI_HD_OSD",
-                "USE_GYRO_KALMAN",
-                "USE_RANGEFINDER",
-                "USE_RATE_DYNAMICS",
-                "USE_SMITH_PREDICTOR",
-                "USE_ALPHA_BETA_GAMMA_FILTER",
-                "USE_MAG_VCM5883",
-                "USE_TELEMETRY_JETIEXBUS",
-                "USE_NAV",
-                "USE_SDCARD_SDIO",
-                "USE_SDCARD",
-                "USE_Q_TUNE",
-                "USE_GYRO_FFT_FILTER"
+                "USE_ADAPTIVE_FILTER",
+                "MCU_FLASH_SIZE 1024",
             ],
             "configurationProvider": "ms-vscode.cmake-tools"
         }

diff --git a/cmake/at32.cmake b/cmake/at32.cmake
@@ -18,6 +18,7 @@ set(CMSIS_DSP_SRC
     BasicMathFunctions/arm_scale_f32.c
     BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
+    BasicMathFunctions/arm_offset_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c
     TransformFunctions/arm_rfft_fast_init_f32.c
@@ -26,6 +27,9 @@ set(CMSIS_DSP_SRC
     CommonTables/arm_common_tables.c
     ComplexMathFunctions/arm_cmplx_mag_f32.c
     StatisticsFunctions/arm_max_f32.c
+    StatisticsFunctions/arm_rms_f32.c
+    StatisticsFunctions/arm_std_f32.c
+    StatisticsFunctions/arm_mean_f32.c
 )
 list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/")
 
@@ -326,6 +330,11 @@ function(target_at32)
 
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
+
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     if(args_COMPILE_DEFINITIONS)
         list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
     endif()

diff --git a/cmake/sitl.cmake b/cmake/sitl.cmake
@@ -99,6 +99,10 @@ function (target_sitl name)
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
 
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     string(TOLOWER ${PROJECT_NAME} lowercase_project_name)
     set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name})
     if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}")

diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
@@ -19,6 +19,7 @@ set(CMSIS_DSP_SRC
     BasicMathFunctions/arm_scale_f32.c
     BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
+    BasicMathFunctions/arm_offset_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c
     TransformFunctions/arm_rfft_fast_init_f32.c
@@ -27,6 +28,9 @@ set(CMSIS_DSP_SRC
     CommonTables/arm_common_tables.c
     ComplexMathFunctions/arm_cmplx_mag_f32.c
     StatisticsFunctions/arm_max_f32.c
+    StatisticsFunctions/arm_rms_f32.c
+    StatisticsFunctions/arm_std_f32.c
+    StatisticsFunctions/arm_mean_f32.c
 )
 list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/")
 
@@ -333,6 +337,11 @@ function(target_stm32)
 
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
+
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     if(args_COMPILE_DEFINITIONS)
         list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
     endif()

diff --git a/docs/Battery.md b/docs/Battery.md
@@ -201,7 +201,6 @@ Up to 3 battery profiles are supported. You can select the battery profile from
 - `vbat_max_cell_voltage`
 - `vbat_warning_cell_voltage`
 - `vbat_min_cell_voltage`
-- `battery_capacity_unit`
 - `battery_capacity`
 - `battery_capacity_warning`
 - `battery_capacity_critical`
@@ -253,7 +252,6 @@ feature BAT_PROF_AUTOSWITCH
 battery_profile 1
 
 set bat_cells = 3
-set battery_capacity_unit = MAH
 set battery_capacity = 2200
 set battery_capacity_warning = 440
 set battery_capacity_critical = 220
@@ -262,7 +260,6 @@ set battery_capacity_critical = 220
 battery_profile 2
 
 set bat_cells = 4
-set battery_capacity_unit = MAH
 set battery_capacity = 1500
 set battery_capacity_warning = 300
 set battery_capacity_critical = 150

diff --git a/docs/Betaflight 4.3 compatible OSD.md b/docs/Betaflight 4.3 compatible OSD.md