Refactor OMNIBUSF4 targets into separate directories

.gitignore

@@ -46,3 +46,7 @@ launch.json
 # Assitnow token and files for test script
 tokens.yaml
 *.ubx
+
+# Local development files
+.semgrepignore
+build_sitl/

CMakeLists.txt

@@ -52,7 +52,7 @@ else()
 endif()
 
 
-project(INAV VERSION 9.0.0)
+project(INAV VERSION 9.0.1)
 
 
 enable_language(ASM)

src/main/fc/fc_core.c

@@ -946,7 +946,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
     processPilotAndFailSafeActions(dT);
 
-    updateArmingStatus();
+    // Check battery, GPS signal, arming status etc @ 200 Hz
+    static uint8_t armingStatusDivider = 0;
+    if (++armingStatusDivider >= 10) {
+        armingStatusDivider = 0;
+        updateArmingStatus();
+    }
 
     if (rxConfig()->rcFilterFrequency) {
         rcInterpolationApply(isRXDataNew, currentTimeUs);

src/main/fc/fc_msp.c

@@ -1550,6 +1550,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                 sbufWriteU8(dst, vtxDevice->capability.bandCount);
                 sbufWriteU8(dst, vtxDevice->capability.channelCount);
                 sbufWriteU8(dst, vtxDevice->capability.powerCount);
+
+                uint8_t minPowerIndex = 1;
+                if (deviceType == VTXDEV_MSP) {
+                    minPowerIndex = 0;
+                }
+                sbufWriteU8(dst, minPowerIndex);
             }
             else {
                 sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX configured

src/main/io/gps_ublox.c

@@ -1231,11 +1231,9 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
                 if (gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN)
                 {
                     pollVersion();
-                    ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
                 }
 
                 pollGnssCapabilities();
-                ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
             }
         }
     }

src/main/navigation/navigation_pos_estimator_agl.c

@@ -149,7 +149,7 @@ void estimationCalculateAGL(estimationContext_t * ctx)
         // Update estimate
         posEstimator.est.aglAlt += posEstimator.est.aglVel * ctx->dt;
         posEstimator.est.aglAlt += posEstimator.imu.accelNEU.z * sq(ctx->dt) / 2.0f * posEstimator.imu.accWeightFactor;
-        posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * sq(posEstimator.imu.accWeightFactor);
+        posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * posEstimator.imu.accWeightFactor;
 
         // Apply correction
         if (posEstimator.est.aglQual == SURFACE_QUAL_HIGH) {

src/main/navigation/navigation_pos_estimator_flow.c

@@ -73,6 +73,13 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
         return false;
     }
 
+    if (!opflow.updateDt) {
+        return true;
+    }
+    posEstimator.flow.updateDt = opflow.updateDt;
+    opflow.updateDt = 0.0f;
+    const float dt = posEstimator.flow.updateDt;
+
     // Calculate linear velocity based on angular velocity and altitude
     // Technically we should calculate arc length here, but for fast sampling this is accurate enough
     fpVector3_t flowVel = {
@@ -88,8 +95,9 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
     const float flowVelXInnov = flowVel.x - posEstimator.est.vel.x;
     const float flowVelYInnov = flowVel.y - posEstimator.est.vel.y;
 
-    ctx->estVelCorr.x = flowVelXInnov * positionEstimationConfig()->w_xy_flow_v * ctx->dt;
-    ctx->estVelCorr.y = flowVelYInnov * positionEstimationConfig()->w_xy_flow_v * ctx->dt;
+    const float w_xy_flow_v = positionEstimationConfig()->w_xy_flow_v;
+    ctx->estVelCorr.x = flowVelXInnov * w_xy_flow_v * dt;
+    ctx->estVelCorr.y = flowVelYInnov * w_xy_flow_v * dt;
 
     // Calculate position correction if possible/allowed
     if ((ctx->newFlags & EST_GPS_XY_VALID)) {
@@ -98,24 +106,25 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
         posEstimator.est.flowCoordinates[Y] = posEstimator.gps.pos.y;
     }
     else if (positionEstimationConfig()->allow_dead_reckoning) {
-        posEstimator.est.flowCoordinates[X] += flowVel.x * ctx->dt;
-        posEstimator.est.flowCoordinates[Y] += flowVel.y * ctx->dt;
+        posEstimator.est.flowCoordinates[X] += flowVel.x * dt;
+        posEstimator.est.flowCoordinates[Y] += flowVel.y * dt;
 
         const float flowResidualX = posEstimator.est.flowCoordinates[X] - posEstimator.est.pos.x;
         const float flowResidualY = posEstimator.est.flowCoordinates[Y] - posEstimator.est.pos.y;
 
-        ctx->estPosCorr.x = flowResidualX * positionEstimationConfig()->w_xy_flow_p * ctx->dt;
-        ctx->estPosCorr.y = flowResidualY * positionEstimationConfig()->w_xy_flow_p * ctx->dt;
+        const float w_xy_flow_p = positionEstimationConfig()->w_xy_flow_p;
+        ctx->estPosCorr.x = flowResidualX * w_xy_flow_p * dt;
+        ctx->estPosCorr.y = flowResidualY * w_xy_flow_p * dt;
 
-        ctx->newEPH = updateEPE(posEstimator.est.eph, ctx->dt, calc_length_pythagorean_2D(flowResidualX, flowResidualY), positionEstimationConfig()->w_xy_flow_p);
+        ctx->newEPH = updateEPE(posEstimator.est.eph, dt, calc_length_pythagorean_2D(flowResidualX, flowResidualY), w_xy_flow_p);
     }
 
     DEBUG_SET(DEBUG_FLOW, 0, RADIANS_TO_DEGREES(posEstimator.flow.flowRate[X]));
     DEBUG_SET(DEBUG_FLOW, 1, RADIANS_TO_DEGREES(posEstimator.flow.flowRate[Y]));
     DEBUG_SET(DEBUG_FLOW, 2, posEstimator.est.flowCoordinates[X]);
     DEBUG_SET(DEBUG_FLOW, 3, posEstimator.est.flowCoordinates[Y]);
 
-    return true;
+    return ctx->applyCorrections = true;
 #else
     UNUSED(ctx);
     return false;

src/main/navigation/navigation_pos_estimator_private.h

@@ -71,6 +71,7 @@ typedef struct {
     fpVector3_t vel;            // GPS velocity (cms)
     float       eph;
     float       epv;
+    float       updateDt;
 } navPositionEstimatorGPS_t;
 
 typedef struct {
@@ -79,6 +80,7 @@ typedef struct {
     float       alt;            // Raw barometric altitude (cm)
     float       epv;
     float       baroAltRate;    // Baro altitude rate of change (cm/s)
+    float       updateDt;
 } navPositionEstimatorBARO_t;
 
 typedef struct {
@@ -105,6 +107,7 @@ typedef struct {
     float       quality;
     float       flowRate[2];
     float       bodyRate[2];
+    float       updateDt;
 } navPositionEstimatorFLOW_t;
 
 typedef struct {
@@ -180,6 +183,7 @@ typedef struct {
     fpVector3_t estPosCorr;
     fpVector3_t estVelCorr;
     fpVector3_t accBiasCorr;
+    bool applyCorrections;
 } estimationContext_t;
 
 extern navigationPosEstimator_t posEstimator;

src/main/sensors/opflow.c

@@ -171,6 +171,7 @@ void opflowUpdate(timeUs_t currentTimeUs)
     if (opflow.dev.updateFn(&opflow.dev)) {
         // Indicate valid update
         opflow.isHwHealty = true;
+        opflow.updateDt = US2S(currentTimeUs - opflow.lastValidUpdate);
         opflow.lastValidUpdate = currentTimeUs;
         opflow.rawQuality = opflow.dev.rawData.quality;
 

src/main/sensors/opflow.h

@@ -53,6 +53,7 @@ typedef struct opflow_s {
 
     opflowQuality_e flowQuality;
     timeUs_t        lastValidUpdate;
+    float           updateDt;
     bool            isHwHealty;
     float           flowRate[2];    // optical flow angular rate in rad/sec measured about the X and Y body axis
     float           bodyRate[2];    // body inertial angular rate in rad/sec measured about the X and Y body axis

src/main/target/DYSF4/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_stm32f405xg(DYSF4PRO)
+target_stm32f405xg(DYSF4PROV2)

src/main/target/DYSF4/target.c

@@ -0,0 +1,47 @@
+/*
+ * 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 "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,               0, 0), // S1_OUT D1_ST7
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0), // S2_OUT D1_ST2
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 1), // S3_OUT D1_ST6
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0), // S4_OUT D1_ST1
+
+    // { TIM9,  IO_TAG(PA3),  TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9, TIM_USE_OUTPUT_AUTO }, // MOTOR_3
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,  0, 0), // S5_OUT MOTOR, SERVO or LED
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
+
+
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PPM,                  0, 0), // PPM
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_ANY,                  0, 0), // S2_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY,                 0, 0), // S3_IN, UART6_TX
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_ANY,                 0, 0), // S4_IN, UART6_RX
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_ANY,                 0, 0), // S5_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_ANY,                 0, 0), // S6_IN
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/DYSF4/target.h

@@ -0,0 +1,159 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+// This directory contains: DYSF4PRO, DYSF4PROV2
+
+#if defined(DYSF4PRO)
+#define TARGET_BOARD_IDENTIFIER "DYS4"
+#elif defined(DYSF4PROV2)
+#define TARGET_BOARD_IDENTIFIER "DY42"
+#endif
+
+#define USBD_PRODUCT_STRING "DysF4Pro"
+
+#define LED0                    PB5
+
+#define BEEPER                  PB4
+#define BEEPER_INVERTED
+
+#if defined(DYSF4PROV2)
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+#define I2C_EXT_BUS BUS_I2C1
+#else
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C_DEVICE_2_SHARES_UART3
+#define I2C_EXT_BUS BUS_I2C2
+#endif
+
+#define UG2864_I2C_BUS I2C_EXT_BUS
+
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+
+#define USE_MAG
+#define MAG_I2C_BUS             I2C_EXT_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
+
+#define USE_BARO
+#define BARO_I2C_BUS          I2C_EXT_BUS
+#define USE_BARO_BMP085
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+
+#define PITOT_I2C_BUS           I2C_EXT_BUS
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     I2C_EXT_BUS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC5
+#define VBUS_SENSING_ENABLED
+
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_RX_PIN     PC8
+#define SOFTSERIAL_1_TX_PIN     PC9
+
+#define SERIAL_PORT_COUNT       5       // VCP, USART1, USART3, USART6, SOFTSERIAL1
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN          PB3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI3
+#define MAX7456_CS_PIN          PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+
+#ifdef DYSF4PRO
+    #define ADC_CHANNEL_3_PIN               PC3
+#else
+    #define ADC_CHANNEL_3_PIN               PA0
+#endif
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                   PA1
+
+#define DISABLE_RX_PWM_FEATURE
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_SPEKTRUM_BIND
+#define BIND_PIN                PB11 // USART3 RX
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// Number of available PWM outputs
+#define MAX_PWM_OUTPUT_PORTS    6
+#define TARGET_MOTOR_COUNT      6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+

src/main/target/NEXUSX/target.h

@@ -32,7 +32,7 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define USE_IMU_ICM42605 // is actually ICM42688P
-#define IMU_ICM42605_ALIGN     CW180_DEG
+#define IMU_ICM42605_ALIGN     CW0_DEG
 #define ICM42605_CS_PIN        PA4
 #define ICM42605_EXTI_PIN      PB8
 #define ICM42605_SPI_BUS       BUS_SPI1