Merge branch 'master' into release_2.5.1

docs/Board - OMNIBUS.md

@@ -1,5 +1,7 @@
 # Board - OMNIBUS F3
 
+> This board is not supported in recent INAV releases
+
 ## Hardware Features
 
 Refer to the product web page:

docs/Cli.md

@@ -399,12 +399,15 @@ A shorter form is also supported to enable and disable functions using `serial <
 | mc_p_pitch | 40 | Multicopter rate stabilisation P-gain for PITCH               |
 | mc_i_pitch | 30 | Multicopter rate stabilisation I-gain for PITCH               |
 | mc_d_pitch | 23 | Multicopter rate stabilisation D-gain for PITCH               |
+| mc_cd_pitch | 60 | Multicopter Control Derivative gain for PITCH                |
 | mc_p_roll  | 40 | Multicopter rate stabilisation P-gain for ROLL                |
 | mc_i_roll  | 30 | Multicopter rate stabilisation I-gain for ROLL                |
 | mc_d_roll  | 23 | Multicopter rate stabilisation D-gain for ROLL                |
+| mc_cd_roll | 60 | Multicopter Control Derivative gain for ROLL                |
 | mc_p_yaw   | 85 | Multicopter rate stabilisation P-gain for YAW                 |
 | mc_i_yaw   | 45 | Multicopter rate stabilisation I-gain for YAW                 |
 | mc_d_yaw   | 0  | Multicopter rate stabilisation D-gain for YAW                 |
+| mc_cd_yaw | 60 | Multicopter Control Derivative gain for YAW                  |
 | mc_p_level | 20 | Multicopter attitude stabilisation P-gain                     |
 | mc_i_level | 15 | Multicopter attitude stabilisation low-pass filter cutoff     |
 | mc_d_level | 75 | Multicopter attitude stabilisation HORIZON transition point   |
@@ -506,7 +509,6 @@ A shorter form is also supported to enable and disable functions using `serial <
 | baro_cal_tolerance | 150 | Baro calibration tolerance in cm. The default  should allow the noisiest baro to complete calibration [cm]. |
 | mc_airmode_type | STICK_CENTER | Defines the Airmode state handling type for Multirotors. Default **STICK_CENTER** is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). **THROTTLE_THRESHOLD** is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above `mc_airmode_threshold` and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to **THROTTLE_THRESHOLD** since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use **STICK_CENTER** mode. |
 | mc_airmode_threshold | 1300 | Defines airmode THROTTLE activation threshold when `mc_airmode_type` **THROTTLE_THRESHOLD** is used |
-| use_dterm_fir_filter | ON | Setting to **OFF** disabled extra filter on Dterm. **OFF** offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use **OFF** setting. If motors are getting too hot, switch back to **ON** |
 | sim_ground_station_number | Empty string | Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
 | sim_pin | Empty string | PIN code for the SIM module |
 | sim_transmit_interval | 60 | Text message transmission interval in seconds for SIM module. Minimum value: 10 |
@@ -522,3 +524,4 @@ A shorter form is also supported to enable and disable functions using `serial <
 | antigravity_accelerator | 1   | |
 | antigravity_cutoff_lpf_hz | 15    | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
 | sim_pin   |   | PIN for GSM card module |
+| mc_cd_lpf_hz | 30 | Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky |

docs/development/Development.md

@@ -77,24 +77,34 @@ The main flow for a contributing is as follows:
 1. Login to github, go to the INAV repository and press `fork`.
 2. Then using the command line/terminal on your computer: `git clone <url to YOUR fork>`
 3. `cd inav`
-4. `git checkout development`
+4. `git checkout master`
 5. `git checkout -b my-new-code`
 6. Make changes
 7. `git add <files that have changed>`
 8. `git commit`
 9. `git push origin my-new-code`
-10. Create pull request using github UI to merge your changes from your new branch into `inav/development`
+10. Create pull request using github UI to merge your changes from your new branch into `inav/master`
 11. Repeat from step 4 for new other changes.
 
-The primary thing to remember is that separate pull requests should be created for separate branches.  Never create a pull request from your `development` branch.
+The primary thing to remember is that separate pull requests should be created for separate branches.  Never create a pull request from your `master` branch.
 
-Later, you can get the changes from the INAV repo into your `development` branch by adding INAV as a git remote and merging from it as follows:
+Later, you can get the changes from the INAV repo into your `master` branch by adding INAV as a git remote and merging from it as follows:
 
 1. `git remote add upstream https://github.com/iNavFlight/inav.git`
-2. `git checkout development`
+2. `git checkout master`
 3. `git fetch upstream`
-4. `git merge upstream/development`
-5. `git push origin development` is an optional step that will update your fork on github
+4. `git merge upstream/master`
+5. `git push origin master` is an optional step that will update your fork on github
 
 
 You can also perform the git commands using the git client inside Eclipse.  Refer to the Eclipse git manual.
+
+## Branching and release workflow
+
+Normally, all development occurs on the `master` branch. Every release will have it's own branch named `release_x.y.z`.
+
+During release candidate cycle we will follow the process outlined below:
+
+1. Create a release branch `release_x.y.z`
+2. All bug fixes found in the release candidates will be merged into `release_x.y.z` branch and not into the `master`.
+3. After final release is made, the branch `release_x.y.z` is locked, and merged into `master` bringing all of the bug fixes into the development branch. Merge conflicts that may arise at this stage are resolved manually.

make/release.mk

@@ -10,7 +10,7 @@ RELEASE_TARGETS += KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI KAKUTEF7HDV
 
 RELEASE_TARGETS += SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF4EVO SPRACINGF7DUAL
 
-RELEASE_TARGETS += OMNIBUS AIRBOTF4 ASGARD32F4 ASGARD32F7 FIREWORKSV2 AIRBOTF7 OMNIBUSF7NANOV7
+RELEASE_TARGETS += AIRBOTF4 ASGARD32F4 ASGARD32F7 FIREWORKSV2 AIRBOTF7 OMNIBUSF7NANOV7
 RELEASE_TARGETS += OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 DYSF4PRO DYSF4PROV2
 RELEASE_TARGETS += OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS
 RELEASE_TARGETS += OMNIBUSF7 OMNIBUSF7V2 OMNIBUSF7NXT YUPIF7

make/source.mk

@@ -104,6 +104,7 @@ COMMON_SRC = \
             flight/gyroanalyse.c \
             flight/rpm_filter.c \
             flight/dynamic_gyro_notch.c \
+            flight/kalman.c \
             io/beeper.c \
             io/esc_serialshot.c \
             io/servo_sbus.c \

make/targets.mk

@@ -66,7 +66,7 @@ endif
 
 GROUP_1_TARGETS := AIRHEROF3 AIRHEROF3_QUAD LUX_RACE SPARKY REVO SPARKY2 COLIBRI FALCORE FF_F35_LIGHTNING FF_FORTINIF4 FF_PIKOF4 FF_PIKOF4OSD
 GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF4EVO CLRACINGF4AIR CLRACINGF4AIRV2 BEEROTORF4 BETAFLIGHTF3 BETAFLIGHTF4 PIKOBLX
-GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO FIREWORKSV2 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 OMNIBUSF7NXT OMNIBUSF7V2 ASGARD32F4
+GROUP_3_TARGETS := AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO FIREWORKSV2 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 OMNIBUSF7NXT OMNIBUSF7V2 ASGARD32F4
 GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ALIENFLIGHTNGF7 PIXRACER YUPIF7 MATEKF405SE MATEKF411 MATEKF722 MATEKF405OSD MATEKF405_SERVOS6 NOX
 GROUP_5_TARGETS := ASGARD32F7 CLRACINGF4AIRV3 DALRCF405 DALRCF722DUAL DYSF4PROV2 F4BY FISHDRONEF4 FOXEERF405 FOXEERF722DUAL FRSKYF3 FRSKYF4 FURYF3 FURYF3_SPIFLASH FURYF4OSD
 GROUP_6_TARGETS := MAMBAF405 OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS AIKONF4

src/main/blackbox/blackbox.c

@@ -1717,8 +1717,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_type", "%d",                  pidProfile()->dterm_lpf_type);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf2_hz", "%d",                   pidProfile()->dterm_lpf2_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf2_type", "%d",                 pidProfile()->dterm_lpf2_type);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d",                  pidProfile()->dterm_soft_notch_hz);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d",              pidProfile()->dterm_soft_notch_cutoff);
         BLACKBOX_PRINT_HEADER_LINE("deadband", "%d",                        rcControlsConfig()->deadband);
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                    rcControlsConfig()->yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                        gyroConfig()->gyro_lpf);
@@ -1728,10 +1726,10 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchRange", "%d",           gyroConfig()->dynamicGyroNotchRange);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d",           gyroConfig()->dynamicGyroNotchMinHz);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
-                                                                            gyroConfig()->gyro_soft_notch_hz_2);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,
-                                                                            gyroConfig()->gyro_soft_notch_cutoff_2);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_notch_hz,
+                                                                            0);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_notch_cutoff,
+                                                                            1);
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d",                      accelerometerConfig()->acc_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d",                    accelerometerConfig()->acc_hardware);
         BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d",                   barometerConfig()->baro_hardware);
@@ -1747,7 +1745,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d",                    accelerometerConfig()->acc_notch_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d",                accelerometerConfig()->acc_notch_cutoff);
         BLACKBOX_PRINT_HEADER_LINE("gyro_stage2_lowpass_hz", "%d",          gyroConfig()->gyro_stage2_lowpass_hz);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%f",           (double)pidProfile()->dterm_setpoint_weight);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d",                     pidProfile()->pidSumLimit);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d",                  pidProfile()->pidSumLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d",        pidProfile()->axisAccelerationLimitYaw);

src/main/build/debug.h

@@ -71,5 +71,7 @@ typedef enum {
     DEBUG_DYNAMIC_FILTER,
     DEBUG_DYNAMIC_FILTER_FREQUENCY,
     DEBUG_IRLOCK,
+    DEBUG_CD,
+    DEBUG_KALMAN,
     DEBUG_COUNT
 } debugType_e;

src/main/build/version.h

@@ -16,8 +16,8 @@
  */
 
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
-#define FC_VERSION_MINOR            5  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      1  // increment when a bug is fixed
+#define FC_VERSION_MINOR            6  // increment when a minor release is made (small new feature, change etc)
+#define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)

src/main/common/filter.c

@@ -231,40 +231,4 @@ FAST_CODE void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint
     filter->x2 = x2;
     filter->y1 = y1;
     filter->y2 = y2;
-}
-
-/*
- * FIR filter
- */
-void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength)
-{
-    filter->buf = buf;
-    filter->bufLength = bufLength;
-    filter->coeffs = coeffs;
-    filter->coeffsLength = coeffsLength;
-    memset(filter->buf, 0, sizeof(float) * filter->bufLength);
-}
-
-/*
- * FIR filter initialisation
- * If FIR filter is just used for averaging, coeffs can be set to NULL
- */
-void firFilterInit(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs)
-{
-    firFilterInit2(filter, buf, bufLength, coeffs, bufLength);
-}
-
-void firFilterUpdate(firFilter_t *filter, float input)
-{
-    memmove(&filter->buf[1], &filter->buf[0], (filter->bufLength-1) * sizeof(float));
-    filter->buf[0] = input;
-}
-
-float firFilterApply(const firFilter_t *filter)
-{
-    float ret = 0.0f;
-    for (int ii = 0; ii < filter->coeffsLength; ++ii) {
-        ret += filter->coeffs[ii] * filter->buf[ii];
-    }
-    return ret;
-}
+}

src/main/common/filter.h

@@ -81,8 +81,3 @@ float biquadFilterReset(biquadFilter_t *filter, float value);
 float biquadFilterApplyDF1(biquadFilter_t *filter, float input);
 float filterGetNotchQ(float centerFrequencyHz, float cutoffFrequencyHz);
 void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, biquadFilterType_e filterType);
-
-void firFilterInit(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs);
-void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength);
-void firFilterUpdate(firFilter_t *filter, float input);
-float firFilterApply(const firFilter_t *filter);

src/main/drivers/serial.c

@@ -111,3 +111,11 @@ bool serialIsConnected(const serialPort_t *instance)
     // If API is not defined - assume connected
     return true;
 }
+
+bool serialIsIdle(serialPort_t *instance)
+{
+    if (instance->vTable->isIdle)
+        return instance->vTable->isIdle(instance);
+    else
+        return false;
+}

src/main/drivers/serial.h

@@ -95,6 +95,8 @@ struct serialPortVTable {
 
     bool (*isConnected)(const serialPort_t *instance);
 
+    bool (*isIdle)(serialPort_t *instance);
+
     // Optional functions used to buffer large writes.
     void (*beginWrite)(serialPort_t *instance);
     void (*endWrite)(serialPort_t *instance);
@@ -111,6 +113,7 @@ bool isSerialTransmitBufferEmpty(const serialPort_t *instance);
 void serialPrint(serialPort_t *instance, const char *str);
 uint32_t serialGetBaudRate(serialPort_t *instance);
 bool serialIsConnected(const serialPort_t *instance);
+bool serialIsIdle(serialPort_t *instance);
 
 // A shim that adapts the bufWriter API to the serialWriteBuf() API.
 void serialWriteBufShim(void *instance, const uint8_t *data, int count);

src/main/drivers/serial_softserial.c

@@ -628,7 +628,8 @@ static const struct serialPortVTable softSerialVTable = {
     .isConnected = NULL,
     .writeBuf = NULL,
     .beginWrite = NULL,
-    .endWrite = NULL
+    .endWrite = NULL,
+    .isIdle = NULL,
 };
 
 #endif

src/main/drivers/serial_uart.c

@@ -247,6 +247,17 @@ void uartWrite(serialPort_t *instance, uint8_t ch)
     USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE);
 }
 
+bool isUartIdle(serialPort_t *instance)
+{
+    uartPort_t *s = (uartPort_t *)instance;
+    if(USART_GetFlagStatus(s->USARTx, USART_FLAG_IDLE)) {
+        uartClearIdleFlag(s);
+        return true;
+    } else {
+        return false;
+    }
+}
+
 const struct serialPortVTable uartVTable[] = {
     {
         .serialWrite = uartWrite,
@@ -260,5 +271,6 @@ const struct serialPortVTable uartVTable[] = {
         .writeBuf = NULL,
         .beginWrite = NULL,
         .endWrite = NULL,
+        .isIdle = isUartIdle,
     }
 };

src/main/drivers/serial_uart.h

@@ -64,6 +64,7 @@ typedef struct {
 } uartPort_t;
 
 void uartGetPortPins(UARTDevice_e device, serialPortPins_t * pins);
+void uartClearIdleFlag(uartPort_t *s);
 serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_t mode, portOptions_t options);
 
 // serialPort API

src/main/drivers/serial_uart_hal.c

@@ -246,6 +246,17 @@ void uartWrite(serialPort_t *instance, uint8_t ch)
     __HAL_UART_ENABLE_IT(&s->Handle, UART_IT_TXE);
 }
 
+bool isUartIdle(serialPort_t *instance)
+{
+    uartPort_t *s = (uartPort_t *)instance;
+    if(__HAL_UART_GET_FLAG(&s->Handle, UART_FLAG_IDLE)) {
+        __HAL_UART_CLEAR_IDLEFLAG(&s->Handle);
+        return true;
+    } else {
+        return false;
+    }
+}
+
 const struct serialPortVTable uartVTable[] = {
     {
         .serialWrite = uartWrite,
@@ -259,5 +270,6 @@ const struct serialPortVTable uartVTable[] = {
         .writeBuf = NULL,
         .beginWrite = NULL,
         .endWrite = NULL,
+        .isIdle = isUartIdle,
     }
 };

src/main/drivers/serial_uart_stm32f30x.c

@@ -351,6 +351,11 @@ void usartIrqHandler(uartPort_t *s)
     }
 }
 
+void uartClearIdleFlag(uartPort_t *s)
+{
+    USART_ClearITPendingBit(s->USARTx, USART_IT_IDLE);
+}
+
 #ifdef USE_UART1
 void USART1_IRQHandler(void)
 {

src/main/drivers/serial_uart_stm32f4xx.c

@@ -253,6 +253,12 @@ void uartGetPortPins(UARTDevice_e device, serialPortPins_t * pins)
     }
 }
 
+void uartClearIdleFlag(uartPort_t *s)
+{
+    (void) s->USARTx->SR;
+    (void) s->USARTx->DR;
+}
+
 uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_t mode, portOptions_t options)
 {
     uartPort_t *s;

src/main/drivers/serial_usb_vcp.c

@@ -187,7 +187,8 @@ static const struct serialPortVTable usbVTable[] = {
         .isConnected = usbVcpIsConnected,
         .writeBuf = usbVcpWriteBuf,
         .beginWrite = usbVcpBeginWrite,
-        .endWrite = usbVcpEndWrite
+        .endWrite = usbVcpEndWrite,
+        .isIdle = NULL,
     }
 };
 

src/main/fc/config.c

@@ -167,14 +167,8 @@ uint32_t getLooptime(void) {
 
 void validateAndFixConfig(void)
 {
-    if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
-        gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
-    }
-    if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
-        gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
-    }
-    if (pidProfile()->dterm_soft_notch_cutoff >= pidProfile()->dterm_soft_notch_hz) {
-        pidProfileMutable()->dterm_soft_notch_hz = 0;
+    if (gyroConfig()->gyro_notch_cutoff >= gyroConfig()->gyro_notch_hz) {
+        gyroConfigMutable()->gyro_notch_hz = 0;
     }
     if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) {
         accelerometerConfigMutable()->acc_notch_hz = 0;