Merge branch 'release_7.1.0' into custom-23

docs/SITL/RealFlight.md

@@ -3,8 +3,15 @@
 Supported are RealFlight 9.5S and RealFlight Evolution, NOT RealFlight-X.
 
 RealFlight is very well suited to simulate the model flight specific aspects. Autolaunch and the mixers can be used.
-However, since the sceneries do not correspond to a real environment, the GPS data must be "faked". The position is always shown somewhere in southern Nevada ;).
-GPS data and flight modes work fine though, only for missions with waypoints it is of course not ideal. 
+
+The RealFlight 3D sceneries are based on real topographic data of the Sierra Nevada in Southern Spain.
+INAV uses as reference the scenery "RealFlight Ranch" which is located at the coordinates Lat: 37.118949°, Lon: -2.772960.
+Use these scenery to use the mission planner and other GPS features.
+
+> [!CAUTION]:
+> The immediate surroundings of the airfield have been levelled in the scenery.  If, for example, Autoland is to be tested here, do not use "Sea level ref" and the automatically determined heights of the Configurator. 
+> Either use relarive elevations or correct the elevation manually.
+> The altitude of the airfield is exactly 1300 metres. 
 
 ## Joystick 
 In the settings, calibrate the joystick, set it up and assign the axes in the same order as in INAV.

docs/Settings.md

@@ -1948,7 +1948,7 @@ Weight of barometer measurements in estimated altitude and climb rate. Setting i
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.35 | 0 | 10 |
 
 ---
 
@@ -1958,7 +1958,7 @@ Weight of GPS altitude measurements in estimated altitude. Setting is used on bo
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.2 | 0 | 10 |
 
 ---
 
@@ -1968,7 +1968,7 @@ Weight of GPS climb rate measurements in estimated climb rate. Setting is used o
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.8 | 0 | 10 |
+| 0.1 | 0 | 10 |
 
 ---
 

src/main/fc/settings.yaml

@@ -2377,19 +2377,19 @@ groups:
         field: w_z_baro_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.35
       - name: inav_w_z_gps_p
         description: "Weight of GPS altitude measurements in estimated altitude. Setting is used on both airplanes and multirotors."
         field: w_z_gps_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.2
       - name: inav_w_z_gps_v
         description: "Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors."
         field: w_z_gps_v
         min: 0
         max: 10
-        default_value: 0.8
+        default_value: 0.1
       - name: inav_w_xy_gps_p
         description: "Weight of GPS coordinates in estimated UAV position and speed."
         default_value: 1.0

src/main/navigation/navigation.c

@@ -4398,11 +4398,12 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         if (posControl.flags.forcedRTHActivated) {
             return NAV_FSM_EVENT_SWITCH_TO_RTH;
         }
-        // CR115
+
         /* WP mission activation control:
          * canActivateWaypoint & waypointWasActivated are used to prevent WP mission
          * auto restarting after interruption by Manual or RTH modes.
-         * WP mode must be deselected before it can be reactivated again. */
+         * WP mode must be deselected before it can be reactivated again
+         * WP Mode also inhibited when Mission Planner is active */
         static bool waypointWasActivated = false;
         bool canActivateWaypoint = isWaypointMissionValid();
         bool wpRthFallbackIsActive = false;
@@ -4412,16 +4413,17 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         } else {
             if (waypointWasActivated && !FLIGHT_MODE(NAV_WP_MODE)) {
                 canActivateWaypoint = false;
+
                 if (!IS_RC_MODE_ACTIVE(BOXNAVWP)) {
                     canActivateWaypoint = true;
                     waypointWasActivated = false;
                 }
             }
+
             wpRthFallbackIsActive = IS_RC_MODE_ACTIVE(BOXNAVWP) && !canActivateWaypoint;
         }
 
-        /* Pilot-triggered RTH, also fall-back for WP if there is no mission loaded.
-         * WP prevented from falling back to RTH if WP mission planner is active.
+        /* Pilot-triggered RTH, also fall-back for WP if no mission is loaded.
          * Check for isExecutingRTH to prevent switching our from RTH in case of a brief GPS loss
          * Without this loss of any of the canActivateNavigation && canActivateAltHold
          * will kick us out of RTH state machine via NAV_FSM_EVENT_SWITCH_TO_IDLE and will prevent any of the fall-back
@@ -4431,7 +4433,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
                 return NAV_FSM_EVENT_SWITCH_TO_RTH;
             }
         }
-        // CR115
+
         // MANUAL mode has priority over WP/PH/AH
         if (IS_RC_MODE_ACTIVE(BOXMANUAL)) {
             return NAV_FSM_EVENT_SWITCH_TO_IDLE;
@@ -4440,11 +4442,11 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(bool launchBypass)
         // Pilot-activated waypoint mission. Fall-back to RTH if no mission loaded.
         // Also check multimission mission change status before activating WP mode.
 #ifdef USE_MULTI_MISSION
-        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {  // CR115
+        if (updateWpMissionChange() && IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #else
-        if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {  // CR115
+        if (IS_RC_MODE_ACTIVE(BOXNAVWP)) {
 #endif
-            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {  // CR115
+            if (FLIGHT_MODE(NAV_WP_MODE) || (canActivateWaypoint && canActivateNavigation && canActivateAltHold && STATE(GPS_FIX_HOME))) {
                 waypointWasActivated = true;
                 return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT;
             }

src/main/programming/logic_condition.c

@@ -483,8 +483,9 @@ static int logicConditionCompute(
             }
             break;
 
-#ifdef LED_PIN
+#ifdef USE_LED_STRIP
         case LOGIC_CONDITION_LED_PIN_PWM:
+
             if (operandA >=0 && operandA <= 100) {
                 ledPinStartPWM((uint8_t)operandA);
             } else {

src/main/target/FURYF4OSD/target.h

@@ -45,6 +45,12 @@
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 #define USE_SPI_DEVICE_3
 #define SPI3_SCK_PIN            PC10
@@ -112,10 +118,7 @@
 
 #define USE_BARO
 #define BARO_I2C_BUS                DEFAULT_I2C_BUS
-#define USE_BARO_BMP280
-#define USE_BARO_MS5611
-#define USE_BARO_BMP085
-#define USE_BARO_DPS310
+#define USE_BARO_ALL
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS

src/main/target/IFLIGHT_BLITZ_H7_PRO/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(IFLIGHT_BLITZ_H7_PRO)

src/main/target/IFLIGHT_BLITZ_H7_PRO/config.c

@@ -0,0 +1,32 @@
+/*
+ * 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 <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    beeperConfigMutable()->pwmMode = true;
+}

src/main/target/IFLIGHT_BLITZ_H7_PRO/target.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1),   // S2
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 2),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 3),   // S4
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5),   // S6
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7),   // S8
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0),   // S9
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0),   // S10 DMA_NONE
+
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0),   // S12 DMA_NONE
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);