Merge remote-tracking branch 'upstream/master' into custom-23

docs/Cli.md

@@ -114,6 +114,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `status` | Show status. Error codes can be looked up [here](https://github.com/iNavFlight/inav/wiki/%22Something%22-is-disabled----Reasons) |
 | `tasks` | Show task stats |
 | `temp_sensor` | List or configure temperature sensor(s). See [temperature sensors documentation](Temperature-sensors.md) for more information. |
+|  `timer_output_mode`  | Override automatic timer /  pwm function allocation. [Additional Information](#timer_outout_mode)|
 | `version` | Show version |
 | `wp` | List or configure waypoints. See the [navigation documentation](Navigation.md#cli-command-wp-to-manage-waypoints). |
 
@@ -170,6 +171,66 @@ serial 0 -4
 
 `serial` can also be used without any argument to print the current configuration of all the serial ports.
 
+### `timer_output_mode`
+
+Since INAV 7, the firmware can dynamically allocate servo and motor outputs. This removes the need for bespoke targets for special cases (e.g. `MATEKF405` and `MATEKF405_SERVOS6`).
+
+#### Syntax
+
+```
+timer_output_mode [timer [function]]
+```
+where:
+* Without parameters, lists the current timers and modes
+* With just a `timer` lists the mode for that timer
+* With both `timer` and `function`, sets the function for that timers
+
+Note:
+
+* `timer` identifies the timer **index** (from 0); thus is one less than the corresponding `TIMn` definition in a target's `target.c`.
+* The function is one of `AUTO` (the default), `MOTORS` or `SERVOS`.
+
+Motors are allocated first, hence having a servo before a motor may require use of `timer_output_mode`.
+
+#### Example
+
+The original `MATEKF405` target defined a multi-rotor (MR) servo on output S1. The later `MATEKF405_SERVOS6` target defined (for MR) S1 as a motor and S6 as a servo. This was more logical, but annoying for anyone who had a legacy `MATEKF405` tricopter with the servo on S1.
+
+#### Solution
+
+There is now a single `MATEKF405` target. The `target.c` sets the relevant  outputs as:
+
+```
+DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1), // S2  UP(2,1)
+DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3  UP(2,1)
+DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4  UP(2,1)
+DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_LED, 0, 0), // S5  UP(1,7)
+DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6  UP(2,5)
+DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7  D(1,7)!S5 UP(2,6)
+```
+
+Using the "motors first" allocation, the servo would end up on S6, which in the legacy "tricopter servo on S1" case is not desired.
+
+Forcing the S1 output (`TIM3`) to servo is achieved by:
+
+```
+timer_output_mode 2 SERVOS
+```
+
+with resulting `resource` output:
+
+```
+C06: SERVO4 OUT
+C07: MOTOR1 OUT
+C08: MOTOR2 OUT
+C09: MOTOR3 OUT
+```
+
+Note that the `timer` **index** in the `timer_output_mode` line is one less than the mnemonic in `target.c`, `timer` of 2 for `TIM3`.
+
+Note that the usual caveat that one should not share a timer with both a motor and a servo still apply.
+
 ## Flash chip management
 
 For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.

docs/ESC and servo outputs.md

@@ -28,8 +28,23 @@ While motors are usually ordered sequentially, here is no standard output layout
 
 ## Modifying output mapping
 
-INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
+### Modifying all outputs at the same time
+
+Since INAV 5, it has been possible to force *ALL* outputs to be `MOTORS` or `SERVOS`.
+
+Traditional ESCs usually can be controlled via a servo output, but would require calibration.
+
+This can be done with the `output_mode` CLI setting. Allowed values:
 
 * `AUTO` assigns outputs according to the default mapping
 * `SERVOS` assigns all outputs to servos
-* `MOTORS` assigns all outputs to motors
+* `MOTORS` assigns all outputs to motors
+
+### Modifying only some outputs
+
+INAV 7 introduced extra functionality that let you force only some outputs to be either *MOTORS* or *SERVOS*, with some restrictions dictated by the hardware.
+
+The mains restrictions is that outputs need to be associated with timers, which are usually shared between multiple outputs. Two outputs on the same timer need to have the same function.
+
+The easiest way to modify outputs, is to use the Mixer tab in the Configurator, as it will clearly show you which timer is used by all outputs, but you can also use `timer_output_mode` on the cli.
+This can be used in conjunction to the previous method, in that cass all outputs will follow `output_mode` and `timer_output_mode` overrides are applied after that.

docs/Programming Framework.md

@@ -46,16 +46,16 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 10            | NAND                          | `false` if `Operand A` and `Operand B` are both `true`|
 | 11            | NOR                           | `true` if `Operand A` and `Operand B` are both `false` |
 | 12            | NOT                           | The boolean opposite to `Operand A` |         
-| 13            | STICKY                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
-| 14            | ADD                           | Add `Operand A` to `Operand B` and returns the result |
-| 15            | SUB                           | Substract `Operand B` from `Operand A` and returns the result |
-| 16            | MUL                           | Multiply `Operand A` by `Operand B` and returns the result |
-| 17            | DIV                           | Divide `Operand A` by `Operand B` and returns the result |
-| 18            | GVAR SET                      | Store value from `Operand B` into the Global Variable addressed by
+| 13            | Sticky                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
+| 14            | Basic: Add                           | Add `Operand A` to `Operand B` and returns the result |
+| 15            | Basic: Subtract                           | Substract `Operand B` from `Operand A` and returns the result |
+| 16            | Basic: Multiply                           | Multiply `Operand A` by `Operand B` and returns the result |
+| 17            | Basic: Divide                           | Divide `Operand A` by `Operand B` and returns the result |
+| 18            | Set GVAR                      | Store value from `Operand B` into the Global Variable addressed by
 `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
-| 19            | GVAR INC                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
-| 20            | GVAR DEC                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
-| 21            | IO PORT SET                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
+| 19            | Increase GVAR                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 20            | Decrease GVAR                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 21            | Set IO Port                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
 | 22            | OVERRIDE_ARMING_SAFETY        | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
 | 23            | OVERRIDE_THROTTLE_SCALE       | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
 | 24            | SWAP_ROLL_YAW                 | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
@@ -67,18 +67,18 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 30            | SET_VTX_BAND                  | Sets VTX band. Accepted values are `1-5` |
 | 31            | SET_VTX_CHANNEL               | Sets VTX channel. Accepted values are `1-8` |
 | 32            | SET_OSD_LAYOUT                | Sets OSD layout. Accepted values are `0-3` |
-| 33            | SIN                           | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 34            | COS                           | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 35            | TAN                           | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 33            | Trigonometry: Sine                           | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 34            | Trigonometry: Cosine                           | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 35            | Trigonometry: Tangent                           | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
 | 36            | MAP_INPUT                     | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
 | 37            | MAP_OUTPUT                    | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
 | 38            | RC_CHANNEL_OVERRIDE           | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET            | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
-| 40            | MOD                           | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
+| 40            | Modulo                           | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
 | 41            | LOITER_RADIUS_OVERRIDE        | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
 | 42            | SET_PROFILE                   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
-| 43            | MIN                           | Finds the lowest value of `Operand A` and `Operand B` |
-| 44            | MAX                           | Finds the highest value of `Operand A` and `Operand B` |
+| 43            | Use Lowest Value                           | Finds the lowest value of `Operand A` and `Operand B` |
+| 44            | Use Highest Value                           | Finds the highest value of `Operand A` and `Operand B` |
 | 45			| FLIGHT_AXIS_ANGLE_OVERRIDE	| Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
 | 46			| FLIGHT_AXIS_RATE_OVERRIDE	    | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
 | 47            | EDGE                          | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
@@ -158,7 +158,7 @@ The flight mode operands return `true` when the mode is active. These are modes
 | 7             | HORIZON           | `true` when you are in the **Horizon** flight mode. |
 | 8             | AIR               | `true` when you the **Airmode** flight mode modifier is active. |
 | 9             | USER1             | `true` when the **USER 1** mode is active. |
-| 10            | USER2             | `true` when the **USER 21** mode is active. |
+| 10            | USER2             | `true` when the **USER 2** mode is active. |
 | 11            | COURSE_HOLD       | `true` when you are in the **Course Hold** flight mode. |
 | 12            | USER3             | `true` when the **USER 3** mode is active. |
 | 13            | USER4             | `true` when the **USER 4** mode is active. |

docs/development/Building in Windows 10 or 11 with Linux Subsystem.md

@@ -26,7 +26,7 @@ Install Git, Make, gcc and Ruby
 -  `sudo apt-get install git make cmake ruby`
 
 Install python and python-yaml to allow updates to settings.md
--  `sudo apt-get install python3 python-yaml`
+-  `sudo apt-get install python3`
 
 ### CMAKE and Ubuntu 18_04
 

src/main/config/parameter_group_ids.h

@@ -119,7 +119,8 @@
 #define PG_UNUSED_1 1029
 #define PG_POWER_LIMITS_CONFIG 1030
 #define PG_OSD_COMMON_CONFIG 1031
-#define PG_INAV_END 1031
+#define PG_TIMER_OVERRIDE_CONFIG 1032
+#define PG_INAV_END 1032
 
 // OSD configuration (subject to change)
 //#define PG_OSD_FONT_CONFIG 2047