Merge Betaflight 2.6.1

.gitignore

@@ -5,6 +5,8 @@
 *.dep
 *.bak
 *.uvgui.*
+*.swp
+*.save
 .project
 .settings
 .cproject

Makefile

@@ -42,7 +42,7 @@ FORKNAME			 = betaflight
 
 CC3D_TARGETS = CC3D CC3D_OPBL
 
-VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI KBCC3DF3
+VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO KBCC3DF3 DOGE
 
 # Valid targets for OP VCP support
 VCP_VALID_TARGETS = $(CC3D_TARGETS)
@@ -52,10 +52,9 @@ OPBL_VALID_TARGETS = CC3D_OPBL
 
 64K_TARGETS  = CJMCU
 128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
-256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI KBCC3DF3
-
-F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI KBCC3DF3
+256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO KBCC3DF3 DOGE
 
+F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO KBCC3DF3 DOGE
 
 # Configure default flash sizes for the targets
 ifeq ($(FLASH_SIZE),)
@@ -303,7 +302,9 @@ COMMON_SRC = build_config.c \
 		   io/rc_controls.c \
 		   io/rc_curves.c \
 		   io/serial.c \
-		   io/serial_1wire.c \
+		   io/serial_4way.c \
+		   io/serial_4way_avrootloader.c \
+		   io/serial_4way_stk500v2.c \
 		   io/serial_cli.c \
 		   io/serial_msp.c \
 		   io/statusindicator.c \
@@ -352,7 +353,8 @@ VCP_SRC = \
 		   vcp/usb_istr.c \
 		   vcp/usb_prop.c \
 		   vcp/usb_pwr.c \
-		   drivers/serial_usb_vcp.c
+		   drivers/serial_usb_vcp.c \
+		   drivers/usb_io.c
 
 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 		   drivers/accgyro_adxl345.c \
@@ -621,6 +623,20 @@ LUX_RACE_SRC = \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCP_SRC)
+
+DOGE_SRC = \
+		   $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
+		   drivers/accgyro_spi_mpu6500.c \
+		   drivers/barometer_bmp280.c \
+		   drivers/barometer_spi_bmp280.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/serial_usb_vcp.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC) \
+		   $(VCP_SRC)
 
 SPARKY_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
@@ -705,6 +721,28 @@ IRCFUSIONF3_SRC = \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)
 
+SPRACINGF3EVO_SRC	 = \
+		   $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
+		   drivers/accgyro_spi_mpu6500.c \
+		   drivers/barometer_bmp280.c \
+		   drivers/compass_ak8963.c \
+		   drivers/display_ug2864hsweg01.h \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/serial_usb_vcp.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   drivers/transponder_ir.c \
+		   drivers/transponder_ir_stm32f30x.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
+		   io/transponder_ir.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC) \
+		   $(VCP_SRC)
+
 MOTOLAB_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
 		   drivers/accgyro_mpu.c \

README.md

@@ -42,6 +42,7 @@ Cleanflight also has additional features not found in baseflight.
 * Graupner HoTT telemetry.
 * Multiple simultaneous telemetry providers.
 * Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
+* Optional lost buzzer on port 6 for CC3D (set enable_buzzer_p6 = ON)
 * And many more minor bug fixes.
 
 For a list of features, changes and some discussion please review the thread on MultiWii forums and consult the documentation.

fake_travis_build.sh

@@ -6,6 +6,7 @@ targets=("PUBLISHMETA=True" \
     "TARGET=COLIBRI_RACE" \
     "TARGET=LUX_RACE" \
     "TARGET=SPRACINGF3" \
+    "TARGET=SPRACINGF3EVO" \
     "TARGET=SPRACINGF3MINI" \
     "TARGET=NAZE" \
     "TARGET=AFROMINI" \
@@ -14,7 +15,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=MOTOLAB" \
     "TARGET=IRCFUSIONF3" \
     "TARGET=ALIENFLIGHTF1" \
-    "TARGET=ALIENFLIGHTF3")
+    "TARGET=ALIENFLIGHTF3" \
+    "TARGET=DOGE")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)

src/main/blackbox/blackbox.c

@@ -401,11 +401,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
         case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
         case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
         case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
-            if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
-                return currentProfile->pidProfile.D_f[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
-            } else {
-                return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
-            }
+            return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
 
         case FLIGHT_LOG_FIELD_CONDITION_MAG:
 #ifdef MAG

src/main/common/filter.c

@@ -96,3 +96,26 @@ float applyBiQuadFilter(float sample, biquad_t *state)
 
     return result;
 }
+
+int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]) {
+    int count;
+    int32_t averageSum = 0;
+
+    for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
+    averageState[0] = input;
+    for (count = 0; count < averageCount; count++) averageSum += averageState[count];
+
+    return averageSum / averageCount;
+}
+
+float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]) {
+    int count;
+    float averageSum = 0.0f;
+
+    for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
+    averageState[0] = input;
+    for (count = 0; count < averageCount; count++) averageSum += averageState[count];
+
+    return averageSum / averageCount;
+}
+

src/main/common/filter.h

@@ -15,6 +15,8 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#define DELTA_MAX_SAMPLES 12
+
 typedef struct filterStatePt1_s {
 	float state;
 	float RC;
@@ -29,4 +31,6 @@ typedef struct biquad_s {
 
 float applyBiQuadFilter(float sample, biquad_t *state);
 float filterApplyPt1(float input, filterStatePt1_t *filter, float f_cut, float dt);
+int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]);
+float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]);
 void BiQuadNewLpf(float filterCutFreq, biquad_t *newState, uint32_t refreshRate);

src/main/config/config.c

@@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 129;
+static const uint8_t EEPROM_CONF_VERSION = 131;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -147,14 +147,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 {
     pidProfile->pidController = 1;
 
-    pidProfile->P8[ROLL] = 42;
-    pidProfile->I8[ROLL] = 40;
+    pidProfile->P8[ROLL] = 45;
+    pidProfile->I8[ROLL] = 30;
     pidProfile->D8[ROLL] = 18;
-    pidProfile->P8[PITCH] = 54;
-    pidProfile->I8[PITCH] = 40;
-    pidProfile->D8[PITCH] = 22;
+    pidProfile->P8[PITCH] = 45;
+    pidProfile->I8[PITCH] = 30;
+    pidProfile->D8[PITCH] = 18;
     pidProfile->P8[YAW] = 90;
-    pidProfile->I8[YAW] = 50;
+    pidProfile->I8[YAW] = 40;
     pidProfile->D8[YAW] = 0;
     pidProfile->P8[PIDALT] = 50;
     pidProfile->I8[PIDALT] = 0;
@@ -168,31 +168,23 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
     pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
     pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
-    pidProfile->P8[PIDLEVEL] = 30;
-    pidProfile->I8[PIDLEVEL] = 30;
+    pidProfile->P8[PIDLEVEL] = 50;
+    pidProfile->I8[PIDLEVEL] = 50;
     pidProfile->D8[PIDLEVEL] = 100;
     pidProfile->P8[PIDMAG] = 40;
-    pidProfile->P8[PIDVEL] = 120;
-    pidProfile->I8[PIDVEL] = 45;
-    pidProfile->D8[PIDVEL] = 1;
+    pidProfile->P8[PIDVEL] = 55;
+    pidProfile->I8[PIDVEL] = 55;
+    pidProfile->D8[PIDVEL] = 75;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
+    pidProfile->yaw_lpf_hz = 70.0f;
     pidProfile->dterm_average_count = 4;
-    pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
+    pidProfile->rollPitchItermResetRate = 200;
+    pidProfile->yawItermResetRate = 50;
+    pidProfile->dterm_lpf_hz = 70.0f;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 
-    pidProfile->P_f[ROLL] = 1.1f;
-    pidProfile->I_f[ROLL] = 0.4f;
-    pidProfile->D_f[ROLL] = 0.01f;
-    pidProfile->P_f[PITCH] = 1.4f;
-    pidProfile->I_f[PITCH] = 0.4f;
-    pidProfile->D_f[PITCH] = 0.01f;
-    pidProfile->P_f[YAW] = 4.0f;
-    pidProfile->I_f[YAW] = 0.4f;
-    pidProfile->D_f[YAW] = 0.00f;
-    pidProfile->A_level = 4.0f;
-    pidProfile->H_level = 4.0f;
-    pidProfile->H_sensitivity = 75;
+    pidProfile->H_sensitivity = 75;  // TODO - Cleanup during next EEPROM changes
 
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
@@ -272,6 +264,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
     batteryConfig->vbatmaxcellvoltage = 43;
     batteryConfig->vbatmincellvoltage = 33;
     batteryConfig->vbatwarningcellvoltage = 35;
+    batteryConfig->vbathysteresis = 1;
     batteryConfig->vbatPidCompensation = 0;
     batteryConfig->currentMeterOffset = 0;
     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
@@ -312,15 +305,15 @@ void resetSerialConfig(serialConfig_t *serialConfig)
 
 static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
     controlRateConfig->rcRate8 = 100;
-    controlRateConfig->rcExpo8 = 70;
+    controlRateConfig->rcExpo8 = 60;
     controlRateConfig->thrMid8 = 50;
     controlRateConfig->thrExpo8 = 0;
     controlRateConfig->dynThrPID = 0;
     controlRateConfig->rcYawExpo8 = 20;
     controlRateConfig->tpa_breakpoint = 1500;
 
     for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
-        controlRateConfig->rates[axis] = 0;
+        controlRateConfig->rates[axis] = 50;
     }
 
 }
@@ -387,7 +380,7 @@ static void resetConf(void)
     masterConfig.version = EEPROM_CONF_VERSION;
     masterConfig.mixerMode = MIXER_QUADX;
     featureClearAll();
-#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(KBCC3DF3)
+#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)  || defined(KBCC3DF3) || defined(DOGE)
     featureSet(FEATURE_RX_PPM);
 #endif
 
@@ -410,7 +403,7 @@ static void resetConf(void)
     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
     masterConfig.gyro_lpf = 0;                 // 256HZ default
     masterConfig.gyro_sync_denom = 8;
-    masterConfig.gyro_soft_lpf_hz = 60;
+    masterConfig.gyro_soft_lpf_hz = 80.0f;
 
     masterConfig.pid_process_denom = 1;
 
@@ -459,14 +452,13 @@ static void resetConf(void)
     masterConfig.rxConfig.rcSmoothing = 0;
     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
     masterConfig.rxConfig.max_aux_channel = 6;
-    masterConfig.rxConfig.acroPlusFactor = 30;
-    masterConfig.rxConfig.acroPlusOffset = 40;
+    masterConfig.rxConfig.superExpoFactor = 30;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 
     masterConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
 
-    masterConfig.retarded_arm = 0;  // TODO - Cleanup retarded arm support
+    masterConfig.gyro_cal_on_first_arm = 0;  // TODO - Cleanup retarded arm support
     masterConfig.disarm_kill_switch = 1;
     masterConfig.auto_disarm_delay = 5;
     masterConfig.small_angle = 25;
@@ -601,6 +593,13 @@ static void resetConf(void)
     featureSet(FEATURE_FAILSAFE);
 #endif
 
+#ifdef SPRACINGF3EVO
+    featureSet(FEATURE_TRANSPONDER);
+    featureSet(FEATURE_RSSI_ADC);
+    featureSet(FEATURE_CURRENT_METER);
+    featureSet(FEATURE_TELEMETRY);
+#endif
+
     // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
 #ifdef ALIENFLIGHT
     featureSet(FEATURE_RX_SERIAL);

src/main/config/config_master.h

@@ -99,7 +99,7 @@ typedef struct master_t {
     inputFilteringMode_e inputFilteringMode;  // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
 
 
-    uint8_t retarded_arm;                   // allow disarm/arm on throttle down + roll left/right
+    uint8_t gyro_cal_on_first_arm;          // allow disarm/arm on throttle down + roll left/right
     uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint8_t auto_disarm_delay;              // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
     uint8_t small_angle;

src/main/config/runtime_config.h

@@ -21,7 +21,8 @@
 typedef enum {
     OK_TO_ARM       = (1 << 0),
     PREVENT_ARMING  = (1 << 1),
-    ARMED           = (1 << 2)
+    ARMED           = (1 << 2),
+    WAS_EVER_ARMED  = (1 << 3)
 } armingFlag_e;
 
 extern uint8_t armingFlags;

src/main/drivers/accgyro_mpu6500.h

@@ -17,6 +17,7 @@
 
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
+#define ICM20608G_WHO_AM_I_CONST            (0xAF)
 
 #define MPU6500_BIT_RESET                   (0x80)
 

src/main/drivers/accgyro_spi_mpu6000.c

@@ -132,6 +132,8 @@ void mpu6000SpiGyroInit(uint8_t lpf)
     mpu6000WriteRegister(MPU6000_CONFIG, lpf);
     delayMicroseconds(1);
 
+    spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER);  // 18 MHz SPI clock
+
     int16_t data[3];
     mpuGyroRead(data);
 

src/main/drivers/accgyro_spi_mpu6500.c

@@ -107,7 +107,7 @@ bool mpu6500SpiDetect(void)
 
     mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
 
-    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST) {
+    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
         return true;
     }