Merge pull request #2348 from iNavFlight/development

Release INAV 1.8

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,25 @@
+### If your issue looks like a hardware fault or a configuration problem please don't raise an issue here.
+
+### Please consider using other user support options such as asking the manufacturer of the hardware you are using, [RCGroups](https://www.rcgroups.com/forums/showthread.php?t=2495732), [Slack](https://inavflight.signup.team) or other user support forums & groups (e.g. facebook).
+
+### Board and Version
+_Board name goes here. If you have a link where you've purchased the board - please include it_
+_Version of INAV used goes here_
+
+_Use CLI command `version` and put its output here_
+
+_If it's a custom-compiled firmware please mention this_
+
+### Behavior
+* _Describe the problem_
+* _Steps needed to reproduce the problem_
+* _Expected Results_
+* _Actual Results_
+
+_Is this a new feature request?_
+
+#### Blackbox logs/Config (.ZIP) where problem occurs
+_Go to CLI, execute `dump` command copy its output to [PasteBin](https://pastebin.com) and provide a link to a paste here.
+
+_Upload a zipped blackbox log (if available)_
+

.gitignore

@@ -22,3 +22,4 @@ README.pdf
 # build generated files
 /src/main/fc/settings_generated.h
 /src/main/fc/settings_generated.c
+/settings.json

.travis.yml

@@ -1,8 +1,11 @@
 env:
 # Specify the main Mafile supported goals.
   - GOAL=test
-  - GOAL=all
-#  - TARGET=CC3D
+  - GOAL=targets-group-1
+  - GOAL=targets-group-2
+  - GOAL=targets-group-3
+  - GOAL=targets-group-4
+  - GOAL=targets-group-rest
 
 # use new docker environment
 sudo: false

Dockerfile

@@ -1,12 +1,22 @@
-FROM ubuntu:wily
-LABEL maintainer Alexandr Kuzmitsky <brat002@gmail.com>
+FROM ubuntu:xenial
+LABEL maintainer Andy Schwarz <flyandi@yahoo.com>
 
+# Configuration
 VOLUME /home/src/
 WORKDIR /home/src/
 
-RUN mkdir -p /home/src && apt-get update && \
-    apt-get install -y software-properties-common python-software-properties && \
-    apt-get remove -y binutils-arm-none-eabi gcc-arm-none-eabi && \
-    add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && \
+# Essentials
+RUN mkdir -p /home/src && \
     apt-get update && \
-    apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi make git gcc ruby
+    apt-get install -y software-properties-common python-software-properties ruby make git gcc wget curl bzip2 lib32ncurses5 lib32z1
+
+# Toolchain
+ENV TOOLCHAIN=
+ENV TOOLCHAIN_ID=
+RUN wget -P /tmp https://developer.arm.com/-/media/Files/downloads/gnu-rm/6-2017q2/gcc-arm-none-eabi-6-2017-q2-update-linux.tar.bz2
+RUN mkdir -p /opt && \
+	cd /opt && \
+    tar xvjf /tmp/gcc-arm-none-eabi-6-2017-q2-update-linux.tar.bz2 -C /opt && \
+	chmod -R -w /opt/gcc-arm-none-eabi-6-2017-q2-update
+
+ENV PATH="/opt/gcc-arm-none-eabi-6-2017-q2-update/bin:${PATH}"

Makefile

@@ -82,7 +82,6 @@ FEATURES        =
 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 
-#VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
@@ -139,6 +138,12 @@ $(error FLASH_SIZE not configured for target $(TARGET))
 endif
 endif
 
+GROUP_1_TARGETS := AIRHEROF3 AIRHEROF3_QUAD COLIBRI_RACE LUX_RACE SPARKY REVO SPARKY2 COLIBRI FALCORE PIKOBLX
+GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF3NEO SPRACINGF4EVO
+GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4V3 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO MATEKF405OSD
+GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7 ALIENFLIGHTNGF7 PIXRACER PIXRACER_ICM20608
+GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
+
 # note that there is no hardfault debugging startup file assembly handler for other platforms
 ifeq ($(DEBUG_HARDFAULTS),F3)
 CFLAGS               += -DDEBUG_HARDFAULTS
@@ -548,6 +553,7 @@ COMMON_SRC = \
             common/maths.c \
             common/printf.c \
             common/streambuf.c \
+            common/time.c \
             common/typeconversion.c \
             common/string_light.c \
             config/config_eeprom.c \
@@ -556,6 +562,9 @@ COMMON_SRC = \
             config/parameter_group.c \
             drivers/adc.c \
             drivers/buf_writer.c \
+            drivers/bus.c \
+            drivers/bus_busdev_i2c.c \
+            drivers/bus_busdev_spi.c \
             drivers/bus_i2c_soft.c \
             drivers/bus_spi.c \
             drivers/bus_spi_soft.c \
@@ -567,6 +576,7 @@ COMMON_SRC = \
             drivers/io_pca9685.c \
             drivers/light_led.c \
             drivers/logging.c \
+            drivers/resource.c \
             drivers/rx_nrf24l01.c \
             drivers/rx_spi.c \
             drivers/rx_xn297.c \
@@ -590,6 +600,7 @@ COMMON_SRC = \
             fc/fc_tasks.c \
             fc/fc_hardfaults.c \
             fc/fc_msp.c \
+            fc/fc_msp_box.c \
             fc/rc_adjustments.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
@@ -611,11 +622,13 @@ COMMON_SRC = \
             io/serial_4way_avrootloader.c \
             io/serial_4way_stk500v2.c \
             io/statusindicator.c \
-            io/rcsplit.c \
+            io/rcdevice.c \
+            io/rcdevice_cam.c \
             msp/msp_serial.c \
             rx/ibus.c \
             rx/jetiexbus.c \
             rx/msp.c \
+            rx/uib_rx.c \
             rx/nrf24_cx10.c \
             rx/nrf24_inav.c \
             rx/nrf24_h8_3d.c \
@@ -639,6 +652,8 @@ COMMON_SRC = \
             sensors/diagnostics.c \
             sensors/gyro.c \
             sensors/initialisation.c \
+            uav_interconnect/uav_interconnect_bus.c \
+            uav_interconnect/uav_interconnect_rangefinder.c \
             $(CMSIS_SRC) \
             $(DEVICE_STDPERIPH_SRC)
 
@@ -652,14 +667,17 @@ HIGHEND_SRC = \
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
             cms/cms_menu_misc.c \
+            cms/cms_menu_navigation.c \
             cms/cms_menu_osd.c \
             common/colorconversion.c \
             common/gps_conversion.c \
             drivers/display_ug2864hsweg01.c \
             drivers/rangefinder_hcsr04.c \
             drivers/rangefinder_hcsr04_i2c.c \
             drivers/rangefinder_srf10.c \
+            drivers/opflow_fake.c \
             drivers/rangefinder_vl53l0x.c \
+            drivers/vtx_common.c \
             io/dashboard.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \
@@ -680,15 +698,20 @@ HIGHEND_SRC = \
             sensors/barometer.c \
             sensors/pitotmeter.c \
             sensors/rangefinder.c \
+            sensors/opflow.c \
             telemetry/crsf.c \
             telemetry/frsky.c \
             telemetry/hott.c \
-	    telemetry/ibus_shared.c \
+            telemetry/ibus_shared.c \
             telemetry/ibus.c \
             telemetry/ltm.c \
             telemetry/mavlink.c \
             telemetry/smartport.c \
-            telemetry/telemetry.c
+            telemetry/telemetry.c \
+            io/vtx_string.c \
+            io/vtx_smartaudio.c \
+            io/vtx_tramp.c \
+            io/vtx_control.c
 
 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 VCP_SRC = \
@@ -918,28 +941,32 @@ CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 $(OBJECT_DIR)/$(TARGET)/build/version.o : $(TARGET_SRC)
 
 # Settings generator
-.PHONY: settings clean-settings
-UTILS_DIR			= $(ROOT)/src/utils
+.PHONY: .FORCE settings clean-settings
+UTILS_DIR		= $(ROOT)/src/utils
 SETTINGS_GENERATOR	= $(UTILS_DIR)/settings.rb
+BUILD_STAMP		= $(UTILS_DIR)/build_stamp.rb
+STAMP			= $(BIN_DIR)/build.stamp
 
 GENERATED_SETTINGS	= $(SRC_DIR)/fc/settings_generated.h $(SRC_DIR)/fc/settings_generated.c
 SETTINGS_FILE 		= $(SRC_DIR)/fc/settings.yaml
-$(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE)
+GENERATED_FILES		= $(GENERATED_SETTINGS)
+$(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE) $(STAMP)
+
+$(STAMP): .FORCE
+	$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
 
 # Use a pattern rule, since they're different than normal rules.
 # See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
 %generated.h %generated.c:
 	$(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
-	$(V1) CFLAGS="$(CFLAGS)" ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE)
+	$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE)
+
+settings-json:
+	$(V0) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
 
-settings: $(GENERATED_SETTINGS)
 clean-settings:
 	$(V1) $(RM) $(GENERATED_SETTINGS)
 
-# Files that depend on the generated settings
-$(OBJECT_DIR)/$(TARGET)/fc/cli.o: settings
-$(OBJECT_DIR)/$(TARGET)/fc/settings.o: settings
-
 # List of buildable ELF files and their object dependencies.
 # It would be nice to compute these lists, but that seems to be just beyond make.
 
@@ -949,7 +976,7 @@ $(TARGET_HEX): $(TARGET_ELF)
 $(TARGET_BIN): $(TARGET_ELF)
 	$(V0) $(OBJCOPY) -O binary $< $@
 
-$(TARGET_ELF): clean-settings $(TARGET_OBJS)
+$(TARGET_ELF): $(TARGET_OBJS)
 	$(V1) echo Linking $(TARGET)
 	$(V1) $(CROSS_CC) -o $@ $(filter %.o, $^) $(LDFLAGS)
 	$(V0) $(SIZE) $(TARGET_ELF)
@@ -975,6 +1002,21 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 ## all               : Build all valid targets
 all: $(VALID_TARGETS)
 
+## targets-group-1   : build some targets
+targets-group-1: $(GROUP_1_TARGETS)
+
+## targets-group-2   : build some targets
+targets-group-2: $(GROUP_2_TARGETS)
+
+## targets-group-3   : build some targets
+targets-group-3: $(GROUP_3_TARGETS)
+
+## targets-group-3   : build some targets
+targets-group-4: $(GROUP_4_TARGETS)
+
+## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
+targets-group-rest: $(GROUP_OTHER_TARGETS)
+
 $(VALID_TARGETS):
 	$(V0) echo "" && \
 	echo "Building $@" && \
@@ -1054,16 +1096,24 @@ help: Makefile
 
 ## targets           : print a list of all valid target platforms (for consumption by scripts)
 targets:
-	$(V0) @echo "Valid targets: $(VALID_TARGETS)"
-	$(V0) @echo "Target:        $(TARGET)"
-	$(V0) @echo "Base target:   $(BASE_TARGET)"
+	$(V0) @echo "Valid targets:      $(VALID_TARGETS)"
+	$(V0) @echo "Target:             $(TARGET)"
+	$(V0) @echo "Base target:        $(BASE_TARGET)"
+	$(V0) @echo "targets-group-1:    $(GROUP_1_TARGETS)"
+	$(V0) @echo "targets-group-2:    $(GROUP_2_TARGETS)"
+	$(V0) @echo "targets-group-3:    $(GROUP_3_TARGETS)"
+	$(V0) @echo "targets-group-4:    $(GROUP_4_TARGETS)"
+	$(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
 
 ## test              : run the cleanflight test suite
 test:
 	$(V0) cd src/test && $(MAKE) test || true
 
 # rebuild everything when makefile changes
-$(TARGET_OBJS) : Makefile
+# Make the generated files and the build stamp order only prerequisites,
+# so they will be generated before TARGET_OBJS but regenerating them
+# won't cause all TARGET_OBJS to be rebuilt.
+$(TARGET_OBJS) : Makefile | $(GENERATED_FILES) $(STAMP)
 
 # include auto-generated dependencies
 -include $(TARGET_DEPS)

README.md

@@ -29,6 +29,7 @@ Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betafl
 * Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus).
 * Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii
 * Lux's new PID (uses float values internally, resistant to looptime variation).
+
 * Simultaneous Bluetooth configuration and OSD.
 * Better PWM and PPM input and failsafe detection than baseflight.
 * Better FrSky Telemetry than baseflight.
@@ -78,6 +79,9 @@ https://github.com/iNavFlight/inav-configurator
 If you rather just want to use Cleanflight configurator you can download from here:
 https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
 
+## Telemetry screen for OpenTX
+
+Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
 
 ## Contributing
 

build.sh

@@ -1,2 +1,2 @@
 echo "Building target" $1
-docker run --rm -v `pwd`:/home/src/ inav make TARGET=$1
+docker run --rm -v `pwd`:/home/src/ flyandi/docker-inav make TARGET=$1

docs/Board - MatekF405.md

@@ -14,6 +14,16 @@ F405+ICM20602, w/ Betaflight OSD & SD Card Slot
 
 F405-AIO (only) exposes I2C pads for compass / baro etc.
 
+## Firmware
+
+Due to differences on the board (I2C --- see below), there are two
+firmware variants:
+
+| Board  | Firmware |
+| ------ | -------- |
+| Matek F405-AIO | inav_x.y.z_MATEKF405.hex |
+| Matek F405-OSD | inav_x.y.z_MATEKF405OSD.hex |
+
 ## MCU, Sensors and Features
 
 ### Hardware
@@ -30,19 +40,47 @@ F405-AIO (only) exposes I2C pads for compass / baro etc.
 * Integrated Voltage Regulator: F405-AIO, otherwise FCHUB-6S option
 * Brushed Motor Mosfets: No
 * Buttons: BOOT button
-* 6 PWM / DShot outputs
+* 6 PWM / DSHOT capable outputs
 * WS2812 Led Strip : Yes
 * Beeper : Yes
 
 ### Features
 * 32K Gyro ICM-20602
 * Support Gyro sample rate 32K & PID Loop 16K
 * Built in inverter for SBUS input (UART2-RX)
-* 6x DShot outputs without conflict
+* 6x DSHOT capable outputs without conflict (iNav does not implement DSHOT)
 * SD Card Slot
 * VCP, UART1, UART2, UART3, UART4 & UART5
 * w/ Anti-vibration Standoffs
-* I2C on F405-AIO
+* Dedicated hardware I2C on F405-AIO, soft-I2C via USART3 on F405-OSD
+
+### I2C
+
+The F405-AIO board exposes dedicated I2C pads.
+
+The F405-OSD does not expose I2C. For iNav there is a software I2C provision using the USART3 pads, as:
+
+* SDA => RX3, SCL => TX3
+* Do not assign any serial function to USART3
+
+## PWM and Servos
+
+Due to the available hardware, please note:
+
+### Flying Wing
+
+* S1 : ESC
+* S2 : LEFT elevon
+* S3 : RIGHT elevon
+
+### Tricopter
+
+* S1 : Tail Servo
+* S2 : Motor 1
+* S3 : Motor 2
+* S4 : Motor 3
+
+I2C requires that the WS2812 led strip is moved to S5, thus WS2812 is not usable on hexcopter and similar.
 
 ## USB
 
@@ -69,8 +107,6 @@ Matek Systems www.mateksys.com
 
 ## FAQ & Known Issues
 
-I2C requires that the WS2812 led strip is moved to S5, thus WS2812 is probably only usable on quadcopters.
-
 Setup Guide Matek F405: http://f405.mateksys.com
 
 Setup Guide Matek F405-AIO: http://www.mateksys.com/?portfolio=f405-aio