Merge remote-tracking branch 'upstream/master' into abo_fixed_wing_so…

…aring_mode

CMakeLists.txt

@@ -37,7 +37,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 3.1.0)
+project(INAV VERSION 4.0.0)
 
 enable_language(ASM)
 

README.md

@@ -2,6 +2,13 @@
 
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
 
+# INAV Community
+
+* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
+* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
+* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
+* [INAV Official on Telegram](https://t.me/INAVFlight)
+
 ## Features
 
 * Runs on the most popular F4 and F7 flight controllers
@@ -47,9 +54,6 @@ See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
 * [Wing Tuning Masterclass](docs/INAV_Wing_Tuning_Masterclass.pdf)
 * [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
 * [Official Wiki](https://github.com/iNavFlight/inav/wiki)
-* [INAV Official on Telegram](https://t.me/INAVFlight)
-* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
-* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
 * [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
 * [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)
 

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 "9.3.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update")
+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")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 184b3397414485f224e7ba950989aab6)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2b9eeccc33470f9d3cda26983b9d2dc6)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 000b0888cbe7b171e2225b29be1c327c)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" 75a171beac35453fd2f0f48b3cb239c3)
+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)
 
 function(arm_none_eabi_gcc_distname var)
     string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})

cmake/settings.cmake

@@ -33,7 +33,7 @@ function(enable_settings exe name)
     add_custom_command(
         OUTPUT ${output}
         COMMAND
-            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH=$ENV{PATH} SETTINGS_CXX=${args_SETTINGS_CXX}
+            ${CMAKE_COMMAND} -E env CFLAGS="${cflags}" TARGET=${name} PATH="$ENV{PATH}" SETTINGS_CXX=${args_SETTINGS_CXX}
             ${RUBY_EXECUTABLE} ${SETTINGS_GENERATOR} ${MAIN_DIR} ${SETTINGS_FILE} -o "${dir}"
         DEPENDS ${SETTINGS_GENERATOR} ${SETTINGS_FILE}
     )

cmake/stm32.cmake

@@ -189,7 +189,7 @@ endfunction()
 
 function(add_hex_target name exe hex)
     add_custom_target(${name} ALL
-        cmake -E env PATH=$ENV{PATH}
+        cmake -E env PATH="$ENV{PATH}"
         # TODO: Overriding the start address with --set-start 0x08000000
         # seems to be required due to some incorrect assumptions about .hex
         # files in the configurator. Verify wether that's the case and fix
@@ -201,7 +201,7 @@ endfunction()
 
 function(add_bin_target name exe bin)
     add_custom_target(${name}
-        cmake -E env PATH=$ENV{PATH}
+        cmake -E env PATH="$ENV{PATH}"
         ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${exe}> ${bin}
         BYPRODUCTS ${bin}
     )

cmake/stm32f3.cmake

@@ -19,6 +19,8 @@ main_sources(STM32F3_SRC
     target/system_stm32f30x.c
 
     config/config_streamer_stm32f3.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f30x.c
     drivers/bus_i2c_stm32f30x.c

cmake/stm32f4.cmake

@@ -36,6 +36,8 @@ main_sources(STM32F4_SRC
     target/system_stm32f4xx.c
 
     config/config_streamer_stm32f4.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f4xx.c
     drivers/adc_stm32f4xx.c
@@ -124,6 +126,7 @@ exclude_basenames(STM32F411_OR_F427_STDPERIPH_SRC ${STM32F411_OR_F427_STDPERIPH_
 set(STM32F411_COMPILE_DEFINITIONS
     STM32F411xE
     MCU_FLASH_SIZE=512
+    OPTIMIZATION -Os
 )
 
 function(target_stm32f411xe name)
@@ -132,9 +135,9 @@ function(target_stm32f411xe name)
         STARTUP startup_stm32f411xe.s
         SOURCES ${STM32F411_OR_F427_STDPERIPH_SRC}
         COMPILE_DEFINITIONS ${STM32F411_COMPILE_DEFINITIONS}
-        LINKER_SCRIPT stm32_flash_f411xe
+	LINKER_SCRIPT stm32_flash_f411xe
         SVD STM32F411
-        ${ARGN}
+	${ARGN}
     )
 endfunction()
 

cmake/stm32f7.cmake

@@ -61,6 +61,8 @@ main_sources(STM32F7_SRC
     target/system_stm32f7xx.c
 
     config/config_streamer_stm32f7.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32f7xx.c
     drivers/bus_i2c_hal.c

cmake/stm32h7.cmake

@@ -142,6 +142,8 @@ main_sources(STM32H7_SRC
     target/system_stm32h7xx.c
 
     config/config_streamer_stm32h7.c
+    config/config_streamer_ram.c
+    config/config_streamer_extflash.c
 
     drivers/adc_stm32h7xx.c
     drivers/bus_i2c_hal.c
@@ -217,4 +219,4 @@ macro(define_target_stm32h7 subfamily size)
     endfunction()
 endmacro()
 
-define_target_stm32h7(43 i)
+define_target_stm32h7(43 i)

docs/Boards.md

@@ -30,20 +30,20 @@ These boards are well tested with INAV and are known to be of good quality and r
 It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
 ### Boards documentation
 
-See the [docs](https://github.com/iNavFlight/inav/tree/master/docs) folder for additional information regards to many targets in INAV, to example help in finding pinout and features. _Feel free to help improve the docs._
+See the [docs/boards](https://github.com/iNavFlight/inav/tree/master/docs/boards) folder for additional information regards to many targets in INAV, to example help in finding pinout and features. _Feel free to help improve the docs._
 
 ### Boards based on F4/F7 CPUs
 
 These boards are powerful and in general support everything INAV is capable of. Limitations are quite rare and are usually caused by hardware design issues.
 
 ### Boards based on F3 CPUs
 
-Boards based on F3 boards will be supported for as long as practical, sometimes with reduced features due to lack of resources. No new features will be added so F3 boards are not recommended for new builds.
+Boards based on STM32F3 MCUs are no longer supported by latest INAV version. Last release is 2.6.1.
 
 ### Boards based on F1 CPUs
 
 Boards based on STM32F1 CPUs are no longer supported by latest INAV version. Last release is 1.7.3
 
 ### Not recommended for new setups
 
-F1 and F3 boards are no longer recommended. Users should choose a board from the supported F4 or F7 devices available in the latest release.
+F1 and F3 boards are no longer recommended. Users should choose a board from the supported F4 or F7 devices available in the latest release.

docs/Controls.md

@@ -39,6 +39,7 @@ The stick positions are combined to activate different functions:
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | 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)
 
 ## Yaw control

docs/Failsafe.md

@@ -9,22 +9,23 @@ Failsafe is a state the flight controller is meant to enter when the radio recei
 If the failsafe happens while the flight controller is disarmed, it only prevent arming. If it happens while armed, the failsafe policy configured in `failsafe_procedure` is engaged. The available procedures are:
 
 * __DROP:__ Just kill the motors and disarm (crash the craft).
-* __SET-THR:__ Enable auto-level mode (for multirotor) or enter preconfigured roll/pitch/yaw spiral down (for airplanes) and set the throttle to a predefined value (`failsafe_throttle`) for a predefined time (`failsafe_off_delay`). This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), it doesn't require any extra sensor other than gyros and accelerometers.
-* __RTH:__ (Return To Home) One of the key features of inav, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
+* __LAND:__ (replaces **SET-THR** from INAV V3.1.0) Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). The descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than gyros and accelerometers.
+* __SET-THR:__ (Pre INAV V3.1.0) Same as **LAND** except it doesn't use an Emergency Landing but is limited instead to just setting the throttle to a predefined value (`failsafe_throttle`) to perform a descent. It doesn't require any extra sensors other than gyros and accelerometers.
+* __RTH:__ (Return To Home) One of the key features of INAV, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
 * __NONE:__ Do nothing. This is meant to let the craft perform a fully automated flight (eg. waypoint flight) outside of radio range. Highly unsafe when used with manual flight.
 
 Note that:
-* Should the failsafe disarm the flight controller (**DROP**, **SET-THR** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
+* Should the failsafe disarm the flight controller (**DROP**, **LAND/SET-THR** after `failsafe_off_delay` or **RTH** with `nav_disarm_on_landing` ON), the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
 
 * Prior to starting failsafe it is checked if the throttle position has been below `min_throttle` for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is simply disarmed. This feature can be disabled completely by setting `failsafe_throttle_low_delay` to zero, which may be necessary to do if the craft may fly long with zero throttle (eg. gliders).
 
 ## Notes about safety
 
 * If the craft is landed but armed, the failsafe may make the motors and props spin again and even make the craft take off (in case of **RTH** failsafe). Take expecially care of this when using `MOTOR_STOP` feature. **Props will spin up without warning**. Have a look at the `failsafe_throttle_low_delay` setting explained above to learn when this could happen.
 
-* If any required navigation sensor becomes unavailable during a Return to Home (eg. loss of GPS fix), an emergency landing similar to **SET-THR** but with barometer support will be performed after a short timeout. An emergency landing would also be performed right when the failsafe is triggered if any required sensor is reported as unavailable.
+* If any required navigation sensor becomes unavailable during a Return to Home (eg. loss of GPS fix), an emergency landing, as used by the **LAND** procedure, will be performed after a short timeout. An emergency landing would also be performed right when the failsafe is triggered if any required sensor is reported as unavailable.
 
-* **SET-THR** doesn't control the descend in any other way than setting a fixed throttle. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
+* The **SET-THR** procedure doesn't control descent in any way other than setting a fixed throttle. This is also the case for the **LAND** procedure when altitude sensors are unavailable. Thus, appropriate testing must be performed to find the right throttle value. Consider that a constant throttle setting will yield different thrusts depending on battery voltage, so when you evaluate the throttle value do it with a loaded battery. Failure to do so may cause a flyaway.
 
 * When the failsafe mode is aborted (RC signal restored/failsafe switch set to OFF), the current stick positions will be enforced immediately. Be ready to react quickly.
 
@@ -48,7 +49,7 @@ Failsafe delays are configured in 0.1 second units. Distances are in centimeters
 
 #### `failsafe_procedure`
 
-Selects the failsafe procedure. Valid procedures are **DROP**, **SET-THR**, **RTH** and **NONE**. See above for a description of each one.
+Selects the failsafe procedure. Valid procedures are **DROP**, **LAND/SET-THR**, **RTH** and **NONE**. See above for a description of each one.
 
 #### `failsafe_delay`
 
@@ -122,25 +123,29 @@ Enables landing when home position is reached. If OFF the craft will hover indef
 
 Instructs the flight controller to disarm the craft when landing is detected
 
-### Parameters relevant to **SET-THR** failsafe procedure
+### Parameters relevant to **LAND/SET-THR** failsafe procedure
 
 #### `failsafe_off_delay`
 
 Delay after failsafe activates before motors finally turn off.  This is the amount of time 'failsafe_throttle' is active.  If you fly at higher altitudes you may need more time to descend safely. Set to zero to keep `failsafe_throttle` active indefinitely.
 
+#### `nav_emerg_landing_speed`
+
+(**LAND** only) Actively controlled descent speed when altitude sensors are available. If altitude sensors aren't available landing descent falls back to using the fixed thottle setting `failsafe_throttle` so ensure this is also set correctly.
+
 #### `failsafe_throttle`
 
 Throttle level used for landing.  Specify a value that causes the aircraft to descend at about 1M/sec. Default is set to 1000 which should correspond to throttle off.
 
 #### `failsafe_fw_roll_angle`
 
-This parameter defines amount of roll angle (in 1/10 deg units) to execute on failsafe. Negative = LEFT
+This parameter defines the amount of roll angle (in 1/10 deg units) to execute on failsafe. Negative = LEFT
 
 #### `failsafe_fw_pitch_angle`
 
-This parameter defines amount of pitch angle (in 1/10 deg units) to execute on `SET-THR` failsafe for an airplane. Negative = CLIMB
+This parameter defines the amount of pitch angle (in 1/10 deg units) to execute on failsafe for an airplane. Negative = CLIMB
 
 #### `failsafe_fw_yaw_rate`
 
-This parameter defines amount of yaw rate (in deg per second units) to execute on `SET-THR` failsafe for an airplane. Negative = LEFT
+This parameter defines the amount of yaw rate (in deg per second units) to execute on failsafe for an airplane. Negative = LEFT
 

docs/Programming Framework.md

@@ -74,6 +74,7 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 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           | 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. |
 
 
 ### Operands
@@ -125,8 +126,9 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 30            | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
 | 31            | 3D HOME_DISTANCE      | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
-| 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
-| 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
+| 33            | CROSSFIRE SNR         | Crossfire SNR as returned by the CRSF protocol   |
+| 34            | GPS_VALID             | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
+| 35			| LOITER_RADIUS			| The current loiter radius in cm. |
 
 #### ACTIVE_WAYPOINT_ACTION
 

docs/Rangefinder.md

@@ -14,19 +14,17 @@ Current support of rangefinders in INAV is very limited. They are used only to:
 
 Following rangefinders are supported:
 
-* HC-SR04 - ***DO NOT USE*** HC-SR04 while most popular is not suited to use in noise reach environments (like multirotors). It is proven that this sonar rangefinder start to report random values already at 1.5m above solid concrete surface. Reported altitude is valid up to only 75cm above concrete. ***DO NOT USE***
-* US-100 in trigger-echo mode - Can be used as direct replacement of _HC-SR04_ when `rangefinder_hardware` is set to _HCSR04_. Useful up to 2m over concrete and correctly reporting _out of range_ when out of range
 * SRF10 - experimental
 * INAV_I2C - is a simple [DIY rangefinder interface with Arduino Pro Mini 3.3V](https://github.com/iNavFlight/inav-rangefinder). Can be used to connect when flight controller has no Trigger-Echo ports. 
 * VL53L0X - simple laser rangefinder usable up to 75cm
 * UIB - experimental
 * MSP - experimental
+* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
 
 ## Connections
 
-Target dependent in case of Trigger/Echo solutions like `HC-SR04` and `US-100`.
 I2C solutions like `VL53L0X` or `INAV_I2C` can be connected to I2C port and used as any other I2C device.
 
 #### Constraints
 
-Target dependent in case of Trigger/Echo solutions like `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`.
+iNav does not support `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`.