Release 7.1.0

docs/boards/MAMBAH743_2022B.md

@@ -2,4 +2,8 @@
 
 Contrary to what the documentation suggests, VTX power is actually on USER2.
 
+# Dual Gyros
+
+INAV 7.1 changed the default gyro of the board from the gyro on SPI4 back to the one on SPI1. A new tagrt ```MAMBAH743_2022B_GYRO2``` was added to use gyro on SPI4, in case you suspect an issue with the gyro on SPI1, you can switch to the gyro on SPI4 by using the new target.
+
 

readme.md

@@ -1,18 +1,39 @@
 # INAV - navigation capable flight controller
 
-# PSA
+# F411 PSA
 
 > INAV no longer accepts targets based on STM32 F411 MCU.
 
 > INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.
 
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
 
+# PosHold, Navigation and RTH without compass PSA
+
+Attention all drone pilots and enthusiasts,
+
+Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.
+
+INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.
+
+While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:
+
+🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.
+
+🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.
+
+🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.
+
+Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.
+
+So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.
+
+Fly safe, fly smart with INAV 7.1 and a compass by your side!
+
 # INAV Community
 
 * [INAV Discord Server](https://discord.gg/peg2hhbYwN)
 * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
-* [INAV Official on Telegram](https://t.me/INAVFlight)
 
 ## Features
 
@@ -22,14 +43,15 @@
 * Outstanding performance out of the box
 * Position Hold, Altitude Hold, Return To Home and Waypoint Missions
 * Excellent support for fixed wing UAVs: airplanes, flying wings
+* Blackbox flight recorder logging
+* Advanced gyro filtering
 * Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices
 * Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
+* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
 * SmartAudio and IRC Tramp VTX support
-* Blackbox flight recorder logging
 * Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF
 * Multi-color RGB LED Strip support
-* Advanced gyro filtering
-* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
+* On Screen Display (OSD) - both character and pixel style
 * And many more!
 
 For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.
@@ -52,10 +74,6 @@ Command line tools (`blackbox_decode`, `blackbox_render`) for Blackbox log conve
 
 Users of EdgeTX and OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)
 
-### INAV magnetometer alignment helper
-
-[INAV Magnetometer Alignment helper](https://kernel-machine.github.io/INavMagAlignHelper/) allows to align INAV magnetometer despite position and orientation. This simplifies the process of INAV setup on multirotors with tilted GPS modules.
-
 ### OSD layout Copy, Move, or Replace helper tool
 
 [Easy INAV OSD switcher tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/inav-osd-switcher-tool/) allows you to easily switch your OSD layouts around in INAV. Choose the from and to OSD layouts, and the method of transfering the layouts.

src/main/fc/fc_core.c

@@ -499,18 +499,6 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
     return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
 }
 
-uint16_t emergencyInFlightRearmTimeMS(void)
-{
-    uint16_t rearmMS = 0;
-
-    if (STATE(IN_FLIGHT_EMERG_REARM)) {
-        timeMs_t currentTimeMs = millis();
-        rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
-    }
-
-    return rearmMS;
-}
-
 bool emergInflightRearmEnabled(void)
 {
     /* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
@@ -884,6 +872,7 @@ static void applyThrottleTiltCompensation(void)
 
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
+
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -902,8 +891,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         }
     }
 
-    if (armTime > 1 * USECS_PER_SEC) {  
-        // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
+    if (armTime > 1 * USECS_PER_SEC) {     // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
         DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
     }
 

src/main/fc/fc_core.h

@@ -41,9 +41,7 @@ timeUs_t getLastDisarmTimeUs(void);
 void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
-uint16_t emergencyInFlightRearmTimeMS(void);
 bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
-bool emergInflightRearmEnabled(void);
 
 bool areSensorsCalibrating(void);
 float getFlightTime(void);

src/main/io/osd.c

@@ -28,7 +28,6 @@
 #include <string.h>
 #include <ctype.h>
 #include <math.h>
-#include <inttypes.h>
 
 #include "platform.h"
 
@@ -4672,16 +4671,8 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
         displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
     }
 
-    uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
-
     if (savingSettings == true) {
         displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
-    } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
-        char emReArmMsg[23];
-        tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
-        tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
-        strcat(emReArmMsg, " **\0");
-        displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));
     } else if (notify_settings_saved > 0) {
         if (millis() > notify_settings_saved) {
             notify_settings_saved = 0;
@@ -4981,10 +4972,9 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
-    static uint8_t  statsCurrentPage = 0;
-    static timeMs_t statsRefreshTime = 0;
-    static bool     statsDisplayed = false;
-    static bool     statsAutoPagingEnabled = true;
+    static uint8_t statsCurrentPage = 0;
+    static bool statsDisplayed = false;
+    static bool statsAutoPagingEnabled = true;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -5052,24 +5042,25 @@ static void osdRefresh(timeUs_t currentTimeUs)
                 // Alternate screens for multi-page stats.
                 // Also, refreshes screen at swap interval for single-page stats.
                 if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
-                    if (statsCurrentPage == 0)
+                    if (statsCurrentPage == 0) {
+                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
                         statsCurrentPage = 1;
+                    }
                 } else {
-                    if (statsCurrentPage == 1)
+                    if (statsCurrentPage == 1) {
+                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
                         statsCurrentPage = 0;
+                    }
                 }
             } else {
                 // Process manual page change events for multi-page stats.
-                if (manualPageUpRequested)
+                if (manualPageUpRequested) {
+                    osdShowStats(statsSinglePageCompatible, 1);
                     statsCurrentPage = 1;
-                else if (manualPageDownRequested)
+                } else if (manualPageDownRequested) {
+                    osdShowStats(statsSinglePageCompatible, 0);
                     statsCurrentPage = 0;
-            }
-
-            // Only refresh the stats every 1/4 of a second.
-            if (statsRefreshTime <= millis()) {
-                statsRefreshTime =  millis() + 250;
-                osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+                }
             }
         }
 
@@ -5426,16 +5417,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
         }
 
         /* Messages that are shown regardless of Arming state */
-        uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
 
         if (savingSettings == true) {
            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
-        } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
-            char emReArmMsg[23];
-            tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
-            tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
-            strcat(emReArmMsg, " **\0");
-            messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);
         } else if (notify_settings_saved > 0) {
             if (millis() > notify_settings_saved) {
                 notify_settings_saved = 0;
@@ -5444,7 +5428,6 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
             }
         }
 
-
         if (messageCount > 0) {
             message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
             if (message == failsafeInfoMessage) {

src/main/rx/crsf.h

@@ -45,7 +45,6 @@ enum {
     CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
     CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
     CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
-    CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4,
     CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
     CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
     CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
@@ -87,7 +86,6 @@ typedef enum {
     CRSF_FRAMETYPE_GPS = 0x02,
     CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
     CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
-    CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09,
     CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
     CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
     CRSF_FRAMETYPE_ATTITUDE = 0x1E,

src/main/target/FOXEERF722DUAL/config.c

@@ -0,0 +1,31 @@
+/*
+ * 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"
+
+#if defined(FOXEERF722V2)
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}
+#endif

src/main/target/FOXEERF722DUAL/target.c

@@ -22,6 +22,7 @@
 #include "drivers/timer.h"
 #include "drivers/sensor.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/pinio.h"
 
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 #if defined(FOXEERF722DUAL)

src/main/target/FOXEERF722DUAL/target.h

@@ -147,3 +147,13 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
+
+// *************** PINIO ***************************
+#if defined(FOXEERF722V2)
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC6 // Enable GPS power
+#define PINIO1_FLAGS            PINIO_FLAGS_INVERTED
+#endif
+
+

src/main/target/IFLIGHT_2RAW_H743/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(IFLIGHT_2RAW_H743)

src/main/target/IFLIGHT_2RAW_H743/config.c

@@ -0,0 +1,31 @@
+/*
+ * 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;
+}

src/main/target/IFLIGHT_2RAW_H743/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]);