Merge remote-tracking branch 'origin/master' into release_6.1.1

.github/workflows/ci.yml

@@ -38,9 +38,9 @@ jobs:
       - 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
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}.zip
+          name: ${{ env.BUILD_NAME }}
           path: ./build/*.hex
 
   build-SITL-Linux:
@@ -68,9 +68,46 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL.zip
+          name: ${{ env.BUILD_NAME }}_SITL
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          brew update
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(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
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
+          ninja
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
           path: ./build_SITL/*_SITL
 
   build-SITL-Windows:
@@ -103,9 +140,9 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL-WIN.zip
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
           path: ./build_SITL/*.exe
 
 

CMakeLists.txt

@@ -14,10 +14,10 @@ option(SITL "SITL build for host system" OFF)
 
 set(TOOLCHAIN_OPTIONS none arm-none-eabi host)
 if (SITL)
-    set(TOOLCHAIN "host" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
-    if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+    if (CMAKE_HOST_APPLE)
         set(MACOSX TRUE)
     endif()
+    set(TOOLCHAIN "host" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
 else()
     set(TOOLCHAIN "arm-none-eabi" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
 endif()
@@ -51,7 +51,7 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 6.1.1)
+project(INAV VERSION 7.0.0)
 
 enable_language(ASM)
 

cmake/arm-none-eabi-checks.cmake

@@ -2,13 +2,13 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "10.2.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major")
+set(arm_none_eabi_gcc_version "10.3.1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 5ee6542a2af847934177bc8fa1294c0d)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 8312c4c91799885f222f663fc81f9a31)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 1c3b8944c026d50362eef1f01f329a8e)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" e588d21be5a0cc9caa60938d2422b058)
+set(arm_none_eabi_win32 "win32.zip" 2bc8f0c4c4659f8259c8176223eeafc1)
+set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2383e4eb4ea23f248d33adc70dc3227e)
+set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 3fe3d8bb693bd0a6e4615b6569443d0d)
+set(arm_none_eabi_gcc_macos "mac.tar.bz2" 7f2a7b7b23797302a9d6182c6e482449)
 
 function(arm_none_eabi_gcc_distname var)
     string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})

cmake/at32.cmake

@@ -15,6 +15,8 @@ set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
 
 set(CMSIS_DSP_SRC
+    BasicMathFunctions/arm_scale_f32.c
+    BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c

cmake/host.cmake

@@ -16,15 +16,23 @@ set(CMAKE_CXX_COMPILER "g++${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "c++ compil
 set(CMAKE_OBJCOPY "objcopy${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "objcopy tool")
 set(CMAKE_OBJDUMP "objdump${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "objdump tool")
 set(CMAKE_SIZE "size${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "size tool")
-set(CMAKE_DEBUGGER "gdb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+if(CMAKE_HOST_APPLE)
+  set(CMAKE_DEBUGGER "lldb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+else()
+  set(CMAKE_DEBUGGER "gdb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+endif()
 set(CMAKE_CPPFILT "c++filt${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "c++filt")
 
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build Type" FORCE)
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${CMAKE_CONFIGURATION_TYPES})
 
 set(debug_options "-Og -O0 -g")
 set(release_options "-Os -DNDEBUG")
-set(relwithdebinfo_options "-ggdb3 ${release_options}")
+if(CMAKE_HOST_APPLE)
+  set(relwithdebinfo_options "-g ${release_options}")
+else()
+  set(relwithdebinfo_options "-ggdb3 ${release_options}")
+endif()
 
 set(CMAKE_C_FLAGS_DEBUG ${debug_options} CACHE INTERNAL "c compiler flags debug")
 set(CMAKE_CXX_FLAGS_DEBUG ${debug_options} CACHE INTERNAL "c++ compiler flags debug")

cmake/main.cmake

@@ -83,7 +83,7 @@ function(setup_executable exe name)
     set_target_properties(${exe} PROPERTIES
         RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
     )
-    if(IS_RELEASE_BUILD)
+    if(IS_RELEASE_BUILD AND NOT CMAKE_HOST_APPLE)
         set_target_properties(${exe} PROPERTIES
             INTERPROCEDURAL_OPTIMIZATION ON
         )

cmake/sitl.cmake

@@ -26,7 +26,7 @@ main_sources(SITL_SRC
 )
 
 
-if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+if(CMAKE_HOST_APPLE)
   set(MACOSX ON)
 endif()
 
@@ -59,6 +59,9 @@ if(NOT MACOSX)
         -Wno-error=maybe-uninitialized
         -fsingle-precision-constant
     )
+else()
+    set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
+    )
 endif()
 
 set(SITL_DEFINITIONS

cmake/stm32.cmake

@@ -16,6 +16,8 @@ set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
 
 set(CMSIS_DSP_SRC
+    BasicMathFunctions/arm_scale_f32.c
+    BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c

cmake/stm32h7.cmake

@@ -149,6 +149,8 @@ main_sources(STM32H7_SRC
     drivers/bus_i2c_hal.c
     drivers/dma_stm32h7xx.c
     drivers/bus_spi_hal_ll.c
+    drivers/bus_quadspi.c
+    drivers/bus_quadspi_hal.c
     drivers/memprot.h
     drivers/memprot_hal.c
     drivers/memprot_stm32h7xx.c

docs/Battery.md

@@ -206,9 +206,11 @@ Up to 3 battery profiles are supported. You can select the battery profile from
 - `battery_capacity_warning`
 - `battery_capacity_critical`
 - `throttle_idle`
-- `fw_min_throttle_down_pitch`
+- `throttle_scale`
+- `turtle_mode_power_factor`
 - `nav_fw_cruise_thr`
 - `nav_fw_min_thr`
+- `nav_fw_max_thr`
 - `nav_fw_pitch2thr`
 - `nav_fw_launch_thr`
 - `nav_fw_launch_idle_thr`

docs/Controls.md

@@ -44,6 +44,10 @@ The stick positions are combined to activate different functions:
 | Bypass Nav Arm disable        | LOW      | HIGH    | CENTER | CENTER |
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | CENTER |
+| Enter Camera OSD(RuncamDevice)| RIGHT    | CENTER  | CENTER | CENTER |
+| Exit Camera OSD (RuncamDevice)| LEFT     | CENTER  | CENTER | CENTER |
+| Confirm - Camera OSD          | RIGHT    | CENTER  | CENTER | CENTER |
+| Navigation - Camera OSD       | CENTER   | CENTER  | *      | *      |
 
 For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).
 ![Stick Positions](assets/images/StickPositions.png)

docs/Navigation.md

@@ -4,11 +4,14 @@ The navigation system in INAV is responsible for assisting the pilot allowing al
 
 ## NAV ALTHOLD mode - altitude hold
 
-Altitude hold requires a valid source of altitude - barometer, GPS or rangefinder. The best source is chosen automatically. GPS is available as an altitude source for airplanes only.
+Altitude hold requires a valid source of altitude - barometer, GPS or rangefinder. The best source is chosen automatically. 
 In this mode THROTTLE stick controls climb rate (vertical velocity). When pilot moves stick up - quad goes up, pilot moves stick down - quad descends, you keep stick at neutral position - quad hovers.
 
+By default, GPS is available as an altitude source for airplanes only. Multirotor requires barometer, unless *inav_use_gps_no_baro* is enabled.
+
 ### CLI parameters affecting ALTHOLD mode:
 * *nav_use_midthr_for_althold* - when set to "0", firmware will remember where your throttle stick was when ALTHOLD was activated - this will be considered neutral position. When set to "1" - 50% throttle will be considered neutral position.
+* *inav_use_gps_no_baro* - Multirotor only: enable althold based on GPS only, without baromemer installed. Default is OFF. 
 
 ### Related PIDs
 PIDs affecting altitude hold: ALT & VEL
@@ -22,12 +25,13 @@ Throttle tilt compensation attempts to maintain constant vertical thrust when co
 
 ## NAV POSHOLD mode - position hold
 
-Position hold requires GPS, accelerometer and compass sensors. Flight modes that require a compass (POSHOLD, RTH) are locked until compass is properly calibrated.
+Position hold requires GPS, accelerometer and compass sensors. Multirotor requires barometer, unless *inav_use_gps_no_baro* is enabled. Flight modes that require a compass (POSHOLD, RTH) are locked until compass is properly calibrated.
 When activated, this mode will attempt to keep copter where it is (based on GPS coordinates). From INAV 2.0, POSHOLD is a full 3D position hold. Heading hold in this mode is assumed and activated automatically.
 
 ### CLI parameters affecting POSHOLD mode:
 * *nav_user_control_mode* - can be set to "0" (GPS_ATTI) or "1" (GPS_CRUISE), controls how firmware will respond to roll/pitch stick movement. When in GPS_ATTI mode, right stick controls attitude, when it is released, new position is recorded and held. When in GPS_CRUISE mode right stick controls velocity and firmware calculates required attitude on its own.
-
+* *inav_use_gps_no_baro* - Multirotor only: enable althold based on GPS only, without baromemer installed. Default is OFF. 
+
 ### Related PIDs
 PIDs affecting position hold: POS, POSR
 PID meaning:
@@ -38,9 +42,9 @@ PID meaning:
 
 Home for RTH is the position where vehicle was first armed. This position may be offset by the CLI settings `nav_rth_home_offset_distance` and `nav_rth_home_offset_direction`. This position may also be overridden with Safehomes. RTH requires accelerometer, compass and GPS sensors.
 
-If barometer is NOT present, RTH will fly directly to home, altitude control here is up to pilot.
+RTH requires barometer for multirotor, unless unless *inav_use_gps_no_baro* is enabled.
 
-If barometer is present, RTH will maintain altitude during the return. When home is reached, a copter will attempt automated landing. An airplane will either loiter around the home position, or attempt an automated landing, depending on your settings.
+RTH will maintain altitude during the return. When home is reached, a copter will attempt automated landing. An airplane will either loiter around the home position, or attempt an automated landing, depending on your settings.
 When deciding what altitude to maintain, RTH has 6 different modes of operation (controlled by *nav_rth_alt_mode* and *nav_rth_altitude* cli variables):
 * 0 (NAV_RTH_NO_ALT) - keep current altitude during whole RTH sequence (*nav_rth_altitude* is ignored)
 * 1 (NAV_RTH_EXTRA_ALT) - climb to current altitude plus extra margin prior to heading home (*nav_rth_altitude* defines the extra altitude (cm))

docs/Profiles.md

@@ -86,8 +86,6 @@ set max_angle_inclination_rll = 300
 set max_angle_inclination_pit = 300
 set dterm_lpf_hz = 110
 set dterm_lpf_type = PT2
-set dterm_lpf2_hz = 0
-set dterm_lpf2_type = PT1
 set yaw_lpf_hz = 0
 set fw_iterm_throw_limit = 165
 set fw_loiter_direction = RIGHT

docs/Programming Framework.md

@@ -51,7 +51,8 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 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 `Operand B`. 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` |
+| 18            | GVAR SET                      | 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` |