[pull] master from iNavFlight:master

docs/Rx.md

@@ -200,7 +200,7 @@ Note:
 * It is necessary to update `MSP_SET_RAW_RC` at 5Hz or faster.
 * `MSP_SET_RAW_RC` uses the defined RC channel map
 * `MSP_RC` returns `AERT` regardless of channel map
-* You can combine "real" RC radio and MSP RX by compiling custom firmware with `USE_MSP_RC_OVERRIDE` defined. Then use `msp_override_channels` to set the channels to be overridden.
+* You can combine "real" RC radio and MSP RX by using `msp_override_channels` to set the channels to be overridden.
 * The [wiki Remote Control and Management article](https://github.com/iNavFlight/inav/wiki/INAV-Remote-Management,-Control-and-Telemetry) provides more information, including links to 3rd party projects that exercise `MSP_SET_RAW_RC` and `USE_MSP_RC_OVERRIDE`
 
 ## SIM (SITL) Joystick

docs/Settings.md

@@ -3034,7 +3034,7 @@ If enabled, motor will stop when throttle is low on this mixer_profile
 
 ### msp_override_channels
 
-Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode.
+Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires the `MSP RC Override` flight mode.
 
 | Default | Min | Max |
 | --- | --- | --- |

docs/VTOL.md

@@ -42,7 +42,7 @@ We highly value your feedback as it plays a crucial role in the development and
 5. *(Optional)* **Automated Switching (RTH):**
    - Optionally, set up automated switching in case of failsafe.
 
-# STEP0: Load parameter preset/templates
+# STEP 0: Load parameter preset/templates
 Find a working diff file if you can and start from there. If not, select keep current settings and apply following parameter in cli but read description about which one to apply.
 
 ```
@@ -113,7 +113,7 @@ set mc_iterm_relax = RPY
 save
 ```
 
-# STEP1: Configuring as a normal fixed-wing in Profile 1
+# STEP 1: Configuring as a normal fixed-wing in Profile 1
 
 1. **Select the fisrt Mixer Profile and PID Profile:**
    - In the CLI, switch to the mixer_profile and pid_profile you wish to set first. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
@@ -133,7 +133,7 @@ save
 ![Alt text](Screenshots/mixerprofile_fw_mixer.png)
 
 
-# STEP2: Configuring as a Multi-Copter in Profile 2
+# STEP 2: Configuring as a Multi-Copter in Profile 2
 
 1. **Switch to Another Mixer Profile with PID Profile:**
    - In the CLI, switch to another mixer_profile along with the appropriate pid_profile. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
@@ -161,7 +161,7 @@ save
    - Configure mixer ROLL/YAW mixing according to tail_sitting orientation in the tail_sitting MC mode. YAW axis is the trust axis.
    - Conduct a bench test and see the orientation of the model changes in inav-configurator setup tab
 
-# STEP3: Mode Tab Settings:
+# STEP 3: Mode Tab Settings:
 ### We recommend using an 3-pos switch on you radio to activate these modes, So pilot can jump in or bell out at any moment.
 ### Here is a example, in the bottom of inav-configurator Modes tab:
 ![Alt text](Screenshots/mixer_profile.png)
@@ -177,7 +177,7 @@ save
 
 Conduct a bench test on the model (without props attached). The model can now switch between fixed-wing and multi-copter modes while armed. Furthermore, it is capable of mid-air switching, resulting in an immediate stall upon entering fixed-wing profile
 
-# STEP4: Tilting Servo Setup (Recommended)
+# STEP 4: Tilting Servo Setup (Recommended)
 ### Setting up the tilting servos to operate correclty is crucial for correct yaw control of the craft. Using the default setup works, but will most likely result in your craft crawling forward with evey yaw input.
 The steps below describe how you can fine-tune the tilting servos such as to obtian the desired result.
 
@@ -229,7 +229,7 @@ Optional Setup Step for Tilt Servos:
 If you have set up the mixer as suggested in STEP1 and STEP2, you may have to deal with negative values for the mixer. You may wish to reverese a servo so that you don't have to deal with the negative signs. In that case, you may have to adjust the MIN and MAX values from point 4 again, so that your tilt servos are operating correctly. Check the operation of the servos once again for the YAW control in multicopter/tricipter mode as well as the horixontal position of the tilt servos in fixed-wing mode.
 
 
-# STEP5: Transition Mixing (Multi-Rotor Profile)(Recommended)
+# STEP 5: Transition Mixing (Multi-Rotor Profile)(Recommended)
 ### Transition Mixing is typically useful in multi-copter profile to gain airspeed in prior to entering the fixed-wing profile. When the `MIXER TRANSITION` mode is activated, the associated motor or servo will move according to your configured Transition Mixing. 
 
 Please note that transition input is disabled when a navigation mode is activated. The use of Transition Mixing is necessary to enable additional features such as VTOL RTH with out stalling.

src/main/fc/fc_msp.c

@@ -1737,6 +1737,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 #endif
+
+    case MSP2_COMMON_GET_RADAR_GPS:
+        for (uint8_t i = 0; i < RADAR_MAX_POIS; i++){
+            sbufWriteDataSafe(dst, &radar_pois[i].gps, sizeof(gpsLocation_t));
+        }
+        break;
+
     default:
         return false;
     }
@@ -1820,7 +1827,7 @@ static mspResult_e mspFcGeozoneVerteciesOutCommand(sbuf_t *dst, sbuf_t *src)
             return MSP_RESULT_ACK;
         } else {
             return MSP_RESULT_ERROR;
-        } 
+        }
     } else {
         return MSP_RESULT_ERROR;
     }
@@ -3431,13 +3438,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             if (!sbufReadU8Safe(&geozoneId, src) || geozoneId >= MAX_GEOZONES_IN_CONFIG) {
                 return MSP_RESULT_ERROR;
             }
-            
+
             geozoneResetVertices(geozoneId, -1);
-            geoZonesConfigMutable(geozoneId)->type = sbufReadU8(src); 
+            geoZonesConfigMutable(geozoneId)->type = sbufReadU8(src);
             geoZonesConfigMutable(geozoneId)->shape = sbufReadU8(src);
             geoZonesConfigMutable(geozoneId)->minAltitude = sbufReadU32(src);
-            geoZonesConfigMutable(geozoneId)->maxAltitude = sbufReadU32(src);  
-            geoZonesConfigMutable(geozoneId)->isSealevelRef = sbufReadU8(src);   
+            geoZonesConfigMutable(geozoneId)->maxAltitude = sbufReadU32(src);
+            geoZonesConfigMutable(geozoneId)->isSealevelRef = sbufReadU8(src);
             geoZonesConfigMutable(geozoneId)->fenceAction = sbufReadU8(src);
             geoZonesConfigMutable(geozoneId)->vertexCount = sbufReadU8(src);
         } else {

src/main/fc/settings.yaml

@@ -770,7 +770,7 @@ groups:
         field: halfDuplex
         table: tristate
       - name: msp_override_channels
-        description: "Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode."
+        description: "Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires the `MSP RC Override` flight mode."
         default_value: 0
         field: mspOverrideChannels
         condition: USE_MSP_RC_OVERRIDE

src/main/msp/msp_protocol_v2_common.h

@@ -19,21 +19,23 @@
 #define MSP2_COMMON_SET_TZ                  0x1002  //in message        Sets the TZ offset for the local time (args: minutes(i16))
 #define MSP2_COMMON_SETTING                 0x1003  //in/out message    Returns the value for a setting
 #define MSP2_COMMON_SET_SETTING             0x1004  //in message        Sets the value for a setting
-    
+
 #define MSP2_COMMON_MOTOR_MIXER             0x1005
 #define MSP2_COMMON_SET_MOTOR_MIXER         0x1006
-    
+
 #define MSP2_COMMON_SETTING_INFO            0x1007  //in/out message    Returns info about a setting (PG, type, flags, min/max, etc..).
 #define MSP2_COMMON_PG_LIST                 0x1008  //in/out message    Returns a list of the PG ids used by the settings
-    
+
 #define MSP2_COMMON_SERIAL_CONFIG           0x1009
 #define MSP2_COMMON_SET_SERIAL_CONFIG       0x100A
-    
-// radar commands   
+
+// radar commands
 #define MSP2_COMMON_SET_RADAR_POS           0x100B //SET radar position information
 #define MSP2_COMMON_SET_RADAR_ITD           0x100C //SET radar information to display
 
 #define MSP2_COMMON_SET_MSP_RC_LINK_STATS   0x100D //in message        Sets the MSP RC stats
 #define MSP2_COMMON_SET_MSP_RC_INFO         0x100E //in message        Sets the MSP RC info
 
+#define MSP2_COMMON_GET_RADAR_GPS           0x100F //get radar position for other planes
+
 #define MSP2_BETAFLIGHT_BIND                0x3000

src/main/rx/crsf.h

@@ -45,6 +45,7 @@ enum {
     CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
     CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
     CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
+    CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE = 2,
     CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
     CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
     CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
@@ -86,6 +87,7 @@ typedef enum {
     CRSF_FRAMETYPE_GPS = 0x02,
     CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
     CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
+    CRSF_FRAMETYPE_BAROMETER_ALTITUDE = 0x09,
     CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
     CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
     CRSF_FRAMETYPE_ATTITUDE = 0x1E,

src/main/target/DAKEFPVF722X8/target.h

@@ -105,6 +105,10 @@
 #define UART1_RX_PIN            PB6
 #define UART1_TX_PIN            PB7
 
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PD8
+
 #define USE_UART4
 #define UART4_RX_PIN            PC11
 #define UART4_TX_PIN            PC10
@@ -117,7 +121,7 @@
 #define UART6_RX_PIN            PC7
 #define UART6_TX_PIN            PC6
 
-#define SERIAL_PORT_COUNT       5
+#define SERIAL_PORT_COUNT       6
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_CRSF
@@ -153,14 +157,13 @@
 #define RSSI_ADC_CHANNEL            ADC_CHN_2
 #define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
 #define ADC1_DMA_STREAM             DMA2_Stream3
+#define VBAT_SCALE_DEFAULT          1600
 
-// unkonw
 #define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_LED_STRIP | FEATURE_GPS)
 
 #define USE_LED_STRIP
 #define WS2811_PIN                  PA0
 
-// unkonw
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/common.h

@@ -155,7 +155,7 @@
 #define USE_TELEMETRY_JETIEXBUS
 // These are rather exotic serial protocols
 #define USE_RX_MSP
-//#define USE_MSP_RC_OVERRIDE
+#define USE_MSP_RC_OVERRIDE
 #define USE_SERIALRX_CRSF
 #define USE_SERIAL_PASSTHROUGH
 #define NAV_MAX_WAYPOINTS       120

src/main/telemetry/crsf.c

@@ -258,6 +258,33 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
     crsfSerialize8(dst, batteryRemainingPercentage);
 }
 
+const int32_t ALT_MIN_DM = 10000;
+const int32_t ALT_THRESHOLD_DM = 0x8000 - ALT_MIN_DM;
+const int32_t ALT_MAX_DM = 0x7ffe * 10 - 5;
+
+/*
+0x09 Barometer altitude and vertical speed
+Payload:
+uint16_t    altitude_packed ( dm - 10000 )
+*/
+static void crsfBarometerAltitude(sbuf_t *dst)
+{
+    int32_t altitude_dm = lrintf(getEstimatedActualPosition(Z) / 10);
+    uint16_t altitude_packed;
+    if (altitude_dm < -ALT_MIN_DM) {
+        altitude_packed = 0;
+    } else if (altitude_dm > ALT_MAX_DM) {
+        altitude_packed = 0xfffe;
+    } else if (altitude_dm < ALT_THRESHOLD_DM) {
+        altitude_packed = altitude_dm + ALT_MIN_DM;
+    } else {
+        altitude_packed = ((altitude_dm + 5) / 10) | 0x8000;
+    }
+    sbufWriteU8(dst, CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
+    crsfSerialize8(dst, CRSF_FRAMETYPE_BAROMETER_ALTITUDE);
+    crsfSerialize16(dst, altitude_packed);
+}
+
 typedef enum {
     CRSF_ACTIVE_ANTENNA1 = 0,
     CRSF_ACTIVE_ANTENNA2 = 1
@@ -415,6 +442,7 @@ typedef enum {
     CRSF_FRAME_FLIGHT_MODE_INDEX,
     CRSF_FRAME_GPS_INDEX,
     CRSF_FRAME_VARIO_SENSOR_INDEX,
+    CRSF_FRAME_BAROMETER_ALTITUDE_INDEX,
     CRSF_SCHEDULE_COUNT_MAX
 } crsfFrameTypeIndex_e;
 
@@ -481,6 +509,11 @@ static void processCrsf(void)
         crsfFrameVarioSensor(dst);
         crsfFinalize(dst);
     }
+    if (currentSchedule & BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX)) {
+        crsfInitializeFrame(dst);
+        crsfBarometerAltitude(dst);
+        crsfFinalize(dst);
+    }
 #endif
     crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
 }
@@ -514,6 +547,11 @@ void initCrsfTelemetry(void)
     if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
         crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
     }
+#endif
+#ifdef USE_BARO
+    if (sensors(SENSOR_BARO)) {
+        crsfSchedule[index++] = BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX);
+    }
 #endif
     crsfScheduleCount = (uint8_t)index;
 }