[pull] master from iNavFlight:master

CMakeLists.txt

@@ -51,7 +51,6 @@ else()
     endif()
 endif()
 
-
 project(INAV VERSION 9.0.0)
 
 enable_language(ASM)

docs/ADSB.md

@@ -13,6 +13,7 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
 
 * [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
 * [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+* [ADSBee1090](https://pantsforbirds.com/adsbee-1090/) (tested)
 
 ## TT-SC1 settings
 * download software for ADSB TT-SC1 from https://www.aerobits.pl/product/aero/ , file Micro_ADSB_App-vX.XX.X_win_setup.zip and install it
@@ -24,3 +25,21 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
 PCB board for TT-SC1-B module https://oshwlab.com/error414/adsb-power-board
 ![TT-SC1 settings](Screenshots/ADSB_TTSC01_settings.png)
 
+## ADSBee 1090 settings
+* connect to ADSBee1090 via USB and set COMMS_UART to mavlink2 \
+``
+AT+PROTOCOL=COMMS_UART,MAVLINK2
+``\
+``
+AT+BAUDRATE=COMMS_UART,115200
+``\
+It's recommended to turn of wifi \
+``
+AT+ESP32_ENABLE=0
+``\
+``
+AT+SETTINGS=SAVE
+``
+* in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
+* https://pantsforbirds.com/adsbee-1090/quick-start/
+

docs/OSD.md

@@ -23,8 +23,8 @@ Not all OSDs are created equally. This table shows the differences between the d
 | DJI WTFOS                   | 60 x 22        | X         |        | X               | YES                     |
 | HDZero                      | 50 x 18        | X         |        | X               | YES                     |
 | Avatar                      | 53 x 20        | X         |        | X               | YES                     |
-| DJI O3                      | 53 x 20 (HD)   | X         |        | X (partial)     | NO - BF Characters only |
 | DJI O3 Goggles V2 + WTFOS   | 53 x 20        | X         |        | X               | YES                     |
+| DJI Goggles 2 and newer     | 53 x 20 (HD)   | X         |        | X               | YES (no custom fonts)   |
 
 ## OSD Elements
 Here are the OSD Elements provided by INAV.

lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c

@@ -23,8 +23,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c

@@ -22,8 +22,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

src/main/config/config_eeprom.c

@@ -118,6 +118,12 @@ void initEEPROM(void)
     BUILD_BUG_ON(sizeof(configFooter_t) != 2);
     BUILD_BUG_ON(sizeof(configRecord_t) != 6);
 
+#ifdef STM32H7A3xx
+    BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 16);
+#elif defined(STM32H743xx)
+    BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 32);
+#endif
+
 #if defined(CONFIG_IN_EXTERNAL_FLASH)
     bool eepromLoaded = loadEEPROMFromExternalFlash();
     if (!eepromLoaded) {

src/main/config/config_streamer.c

@@ -55,7 +55,7 @@ int config_streamer_write(config_streamer_t *c, const uint8_t *p, uint32_t size)
         return -1;
     }
 
-    for (const uint8_t *pat = p; pat != (uint8_t*)p + size; pat++) {
+    for (const uint8_t *pat = p; pat != (uint8_t *)p + size; pat++) {
         c->buffer.b[c->at++] = *pat;
 
         if (c->at == sizeof(c->buffer)) {
@@ -81,7 +81,7 @@ int config_streamer_flush(config_streamer_t *c)
         c->err = config_streamer_impl_write_word(c, &c->buffer.w);
         c->at = 0;
     }
-    return c-> err;
+    return c->err;
 }
 
 int config_streamer_finish(config_streamer_t *c)
@@ -91,4 +91,4 @@ int config_streamer_finish(config_streamer_t *c)
         c->unlocked = false;
     }
     return c->err;
-}
+}

src/main/config/config_streamer.h

@@ -27,15 +27,14 @@
 
 #ifdef CONFIG_IN_EXTERNAL_FLASH
 #define CONFIG_STREAMER_BUFFER_SIZE M25P16_PAGESIZE // Must match flash device page size
-typedef uint32_t config_streamer_buffer_align_type_t;
 #elif defined(STM32H7)
-#define CONFIG_STREAMER_BUFFER_SIZE 32  // Flash word = 256-bits
-typedef uint64_t config_streamer_buffer_align_type_t;
+#define CONFIG_STREAMER_BUFFER_SIZE (FLASH_NB_32BITWORD_IN_FLASHWORD * 4) // Flash word = 256-bits or 128bits, depending on the mcu
 #else
 #define CONFIG_STREAMER_BUFFER_SIZE 4
-typedef uint32_t config_streamer_buffer_align_type_t;
 #endif
 
+typedef uint32_t config_streamer_buffer_align_type_t;
+
 typedef struct config_streamer_s {
     uintptr_t address;
     uintptr_t end;

src/main/config/config_streamer_stm32h7.c

@@ -15,16 +15,45 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <string.h>
-#include "platform.h"
-#include "drivers/system.h"
-#include "config/config_streamer.h"
+ #include <string.h>
+ #include "platform.h"
+ #include "drivers/system.h"
+ #include "config/config_streamer.h"
+
+ #if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
-#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
+static uint32_t getFLASHBankForEEPROM(uint32_t address)
+{
+#ifdef DUAL_BANK
+    if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+        return FLASH_BANK_1;
+    }
+
+    return FLASH_BANK_2;
+#else
+    return FLASH_BANK_1;
+#endif
+}
+
+#if defined(STM32H7A3xx)
+static uint32_t getFLASHSectorForEEPROM(uint32_t address)
+{
+    uint32_t sector = 0;
+
+    if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+        sector = (address - FLASH_BASE) / FLASH_SECTOR_SIZE;
+    } else {
+        sector = (address - (FLASH_BASE + FLASH_BANK_SIZE)) / FLASH_SECTOR_SIZE;
+    }
 
-#if defined(STM32H743xx)
+    if (sector > FLASH_SECTOR_TOTAL) {
+        failureMode(FAILURE_FLASH_WRITE_FAILED);
+    }
+
+    return sector;
+}
+#elif defined(STM32H743xx)
 /* Sectors 0-7 of 128K each */
-#define FLASH_PAGE_SIZE     ((uint32_t)0x20000) // 128K sectors
 static uint32_t getFLASHSectorForEEPROM(uint32_t address)
 {
     if (address <= 0x0801FFFF)
@@ -49,9 +78,9 @@ static uint32_t getFLASHSectorForEEPROM(uint32_t address)
     }
 }
 #elif defined(STM32H750xx)
-#  error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
+#error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
 #else
-#  error "Unsupported CPU!"
+#error "Unsupported CPU!"
 #endif
 
 void config_streamer_impl_unlock(void)
@@ -70,30 +99,31 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
         return c->err;
     }
 
-    if (c->address % FLASH_PAGE_SIZE == 0) {
+    if (c->address % FLASH_SECTOR_SIZE == 0) {
         FLASH_EraseInitTypeDef EraseInitStruct = {
-            .TypeErase     = FLASH_TYPEERASE_SECTORS,
-            .VoltageRange  = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
-            .NbSectors     = 1,
-            .Banks         = FLASH_BANK_1
-        };
-        EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
-
-        uint32_t SECTORError;
-        const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
-        if (status != HAL_OK) {
-            return -1;
-        }
-    }
+            .TypeErase = FLASH_TYPEERASE_SECTORS,
+#ifdef FLASH_VOLTAGE_RANGE_3
+            .VoltageRange = FLASH_VOLTAGE_RANGE_3,  // 2.7-3.6V
+#endif
+            .NbSectors = 1};
+         EraseInitStruct.Banks = getFLASHBankForEEPROM(c->address);
+         EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
 
-    // On H7 HAL_FLASH_Program takes data address, not the raw word value
-    const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
-    if (status != HAL_OK) {
-        return -2;
-    }
+         uint32_t SECTORError;
+         const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
+         if (status != HAL_OK) {
+             return -1;
+         }
+     }
 
-    c->address += CONFIG_STREAMER_BUFFER_SIZE;
-    return 0;
-}
+     // On H7 HAL_FLASH_Program takes data address, not the raw word value
+     const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
+     if (status != HAL_OK) {
+         return -2;
+     }
 
-#endif
+     c->address += CONFIG_STREAMER_BUFFER_SIZE;
+     return 0;
+ }
+
+#endif

src/main/drivers/osd.h

@@ -50,7 +50,8 @@ typedef enum {
     VIDEO_SYSTEM_DJIWTF,
     VIDEO_SYSTEM_AVATAR,
     VIDEO_SYSTEM_DJICOMPAT,
-    VIDEO_SYSTEM_DJICOMPAT_HD
+    VIDEO_SYSTEM_DJICOMPAT_HD,
+    VIDEO_SYSTEM_DJI_NATIVE
 } videoSystem_e;
 
 typedef enum {

src/main/fc/cli.c

@@ -1578,11 +1578,11 @@ static void printGeozones(uint8_t dumpMask, const geoZoneConfig_t *geoZone, cons
             && geoZone[i].fenceAction == defaultGeoZone->fenceAction
             && geoZone[i].vertexCount == defaultGeoZone->vertexCount;
 
-            cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);  
+            cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);
         }
-        cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);    
+        cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);
     }
-} 
+}
 
 static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertices, const vertexConfig_t *defaultVertices)
 {
@@ -1594,11 +1594,11 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
             && vertices[i].lat == defaultVertices->lat
             && vertices[i].lon == defaultVertices->lon
             && vertices[i].zoneId == defaultVertices->zoneId;
-            
+
             cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultVertices[i].zoneId, defaultVertices[i].idx, defaultVertices[i].lat, defaultVertices[i].lon);
         }
-        
-        cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);    
+
+        cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);
     }
 
     if (!defaultVertices) {
@@ -1608,10 +1608,10 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
 }
 
 static void cliGeozone(char* cmdLine)
-{  
+{
     if (isEmpty(cmdLine)) {
         printGeozones(DUMP_MASTER, geoZonesConfig(0), NULL);
-    } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {    
+    } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {
         printGeozoneVertices(DUMP_MASTER, geoZoneVertices(0), NULL);
     } else if (sl_strncasecmp(cmdLine, "vertex reset", 12) == 0) {
          const char* ptr = &cmdLine[12];
@@ -1648,7 +1648,7 @@ static void cliGeozone(char* cmdLine)
         const char* ptr = cmdLine;
         uint8_t argumentCount = 1;
 
-        if ((ptr = nextArg(ptr))) {         
+        if ((ptr = nextArg(ptr))) {
             zoneId = fastA2I(ptr);
             if (zoneId < 0) {
                 return;
@@ -1678,7 +1678,7 @@ static void cliGeozone(char* cmdLine)
             cliShowParseError();
             return;
         }
-        
+
         if ((ptr = nextArg(ptr))) {
             argumentCount++;
             lon = fastA2I(ptr);
@@ -1695,7 +1695,7 @@ static void cliGeozone(char* cmdLine)
             cliShowParseError();
             return;
         }
-        
+
         for (uint8_t i = 0; i < MAX_VERTICES_IN_CONFIG; i++) {
             if (geoZoneVertices(i)->zoneId == zoneId && geoZoneVertices(i)->idx == vertexZoneIdx)  {
                 geoZoneVerticesMutable(i)->lat = lat;
@@ -1719,8 +1719,8 @@ static void cliGeozone(char* cmdLine)
         geoZoneVerticesMutable(vertexIdx)->lat = lat;
         geoZoneVerticesMutable(vertexIdx)->lon = lon;
         geoZoneVerticesMutable(vertexIdx)->zoneId = zoneId;
-        geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;  
-        
+        geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;
+
         uint8_t totalVertices = geozoneGetUsedVerticesCount();
         cliPrintLinef("# %u vertices free (Used %u of %u)", MAX_VERTICES_IN_CONFIG - totalVertices, totalVertices, MAX_VERTICES_IN_CONFIG);
 
@@ -1733,7 +1733,7 @@ static void cliGeozone(char* cmdLine)
         } else {
             geozoneReset(-1);
             geozoneResetVertices(-1, -1);
-        } 
+        }
     } else {
         int8_t idx = 0, isPolygon = 0, isInclusive = 0, fenceAction = 0, seaLevelRef = 0, vertexCount = 0;
         int32_t minAltitude = 0, maxAltitude = 0;
@@ -1745,7 +1745,7 @@ static void cliGeozone(char* cmdLine)
             cliShowArgumentRangeError("geozone index", 0, MAX_GEOZONES_IN_CONFIG - 1);
             return;
         }
-        
+
         if ((ptr = nextArg(ptr))) {
             argumentCount++;
             isPolygon = fastA2I(ptr);
@@ -1787,7 +1787,7 @@ static void cliGeozone(char* cmdLine)
         }
 
         if ((ptr = nextArg(ptr))){
-            argumentCount++;        
+            argumentCount++;
             fenceAction = fastA2I(ptr);
             if (fenceAction < 0 || fenceAction > GEOFENCE_ACTION_RTH) {
                 cliShowArgumentRangeError("fence action", 0, GEOFENCE_ACTION_RTH);
@@ -1812,7 +1812,7 @@ static void cliGeozone(char* cmdLine)
 
         if ((ptr = nextArg(ptr))){
             argumentCount++;
-        } 
+        }
 
         if (argumentCount != 8) {
             cliShowParseError();
@@ -4190,14 +4190,19 @@ static void cliStatus(char *cmdline)
 #if defined(USE_OSD)
     if (armingFlags & ARMING_DISABLED_NAVIGATION_UNSAFE) {
 	    navArmingBlocker_e reason = navigationIsBlockingArming(NULL);
-        if (reason & NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
+        if (reason == NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
             cliPrintLinef("  %s", OSD_MSG_JUMP_WP_MISCONFIG);
-        if (reason & NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
+        if (reason == NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
             cliPrintLinef("  %s", OSD_MSG_WAITING_GPS_FIX);
 		} else {
-            if (reason & NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE)
-                cliPrintLinef("  %s", OSD_MSG_DISABLE_NAV_FIRST);
-            if (reason & NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
+            if (reason == NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE) {
+		if(armingFlags & ARMING_DISABLED_RC_LINK) {
+		    cliPrintLinef("  ENABLE RX TO CLEAR NAV");
+		} else {
+		    cliPrintLinef("  %s", OSD_MSG_DISABLE_NAV_FIRST);
+		}
+	    }
+            if (reason == NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
                 cliPrintLinef("  FIRST WP TOO FAR");
        }
     }