Merge remote-tracking branch 'upstream/master' into FIX_at32f435vmt7_…

…spi2

.vscode/settings.json

@@ -3,6 +3,8 @@
         "chrono": "c",
         "cmath": "c",
         "ranges": "c",
+        "navigation.h": "c",
+        "rth_trackback.h": "c"
         "platform.h": "c",
         "timer.h": "c",
         "bus.h": "c"

cmake/arm-none-eabi-checks.cmake

@@ -2,21 +2,18 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "10.3.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10")
+set(arm_none_eabi_gcc_version "13.2.1")
+# This is the output directory "pretty" name and URI name prefix
+set(base_dir_name "arm-gnu-toolchain-13.2.rel1")
+# This is the name inside the archive, which is no longer evincible from URI, alas
+set(archive_base_dir_name "arm-gnu-toolchain-13.2.Rel1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/${base_dir_name}")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 2bc8f0c4c4659f8259c8176223eeafc1)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2383e4eb4ea23f248d33adc70dc3227e)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 3fe3d8bb693bd0a6e4615b6569443d0d)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" 7f2a7b7b23797302a9d6182c6e482449)
-
-function(arm_none_eabi_gcc_distname var)
-    string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})
-    list(LENGTH url_parts n)
-    math(EXPR last "${n} - 1")
-    list(GET url_parts ${last} basename)
-    set(${var} ${basename} PARENT_SCOPE)
-endfunction()
+set(arm_none_eabi_win32 "mingw-w64-i686-arm-none-eabi.zip" 7fd677088038cdf82f33f149e2e943ee)
+set(arm_none_eabi_linux_amd64 "x86_64-arm-none-eabi.tar.xz" 791754852f8c18ea04da7139f153a5b7)
+set(arm_none_eabi_linux_aarch64 "aarch64-arm-none-eabi.tar.xz" 5a08122e6d4caf97c6ccd1d29e62599c)
+set(arm_none_eabi_darwin_amd64 "darwin-x86_64-arm-none-eabi.tar.xz" 41d49840b0fc676d2ae35aab21a58693)
+set(arm_none_eabi_darwin_aarch64 "darwin-arm64-arm-none-eabi.tar.xz" 2c43e9d72206c1f81227b0a685df5ea6)
 
 function(host_uname_machine var)
     # We need to call uname -m manually, since at the point
@@ -47,7 +44,14 @@ function(arm_none_eabi_gcc_install)
             message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
         endif()
     elseif(CMAKE_HOST_SYSTEM_NAME STREQUAL "Darwin")
-        set(dist ${arm_none_eabi_gcc_macos})
+        host_uname_machine(machine)
+        if(machine STREQUAL "x86_64" OR machine STREQUAL "amd64")
+            set(dist ${arm_none_eabi_darwin_amd64})
+        elseif(machine STREQUAL "aarch64")
+            set(dist ${arm_none_eabi_darwin_aarch64})
+        else()
+            message("-- no precompiled ${arm_none_eabi_triplet} toolchain for machine ${machine}")
+        endif()
     endif()
 
     if(dist STREQUAL "")
@@ -83,11 +87,27 @@ function(arm_none_eabi_gcc_install)
     if(NOT status EQUAL 0)
         message(FATAL_ERROR "error extracting ${basename}: ${status}")
     endif()
+    string(REPLACE "." ";" url_parts ${dist_suffix})
+    list(GET url_parts 0 host_dir_name)
+    set(dir_name "${archive_base_dir_name}-${host_dir_name}")
+    file(REMOVE_RECURSE "${TOOLS_DIR}/${base_dir_name}")
+    file(RENAME  "${TOOLS_DIR}/${dir_name}" "${TOOLS_DIR}/${base_dir_name}")
+    # This is **somewhat ugly**
+    # the newlib distributed by ARM generates suprious warnings from re-entrant POSIX functions
+    # that INAV doesn't use. These "harmless" warnings can be surpressed by removing the
+    # errant section from the only libnosys used by INAV ...
+    # So look the other way ... while this is "fixed"
+    execute_process(COMMAND arm-none-eabi-objcopy -w -R .gnu.warning.* "${TOOLS_DIR}/${base_dir_name}/arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a"
+      RESULT_VARIABLE status
+      WORKING_DIRECTORY ${TOOLS_DIR}
+    )
+    if(NOT status EQUAL 0)
+        message(FATAL_ERROR "error fixing libnosys.a: ${status}")
+    endif()
 endfunction()
 
 function(arm_none_eabi_gcc_add_path)
-    arm_none_eabi_gcc_distname(dist_name)
-    set(gcc_path "${TOOLS_DIR}/${dist_name}/bin")
+    set(gcc_path "${TOOLS_DIR}/${base_dir_name}/bin")
     if(CMAKE_HOST_SYSTEM MATCHES ".*Windows.*")
         set(sep "\\;")
     else()
@@ -110,7 +130,7 @@ function(arm_none_eabi_gcc_check)
     message("-- found ${prog} ${version} at ${prog_path}")
     if(COMPILER_VERSION_CHECK AND NOT arm_none_eabi_gcc_version STREQUAL version)
         message("-- expecting ${prog} version ${arm_none_eabi_gcc_version}, but got version ${version} instead")
-        arm_none_eabi_gcc_install()
+	arm_none_eabi_gcc_install()
         return()
     endif()
 endfunction()

cmake/at32.cmake

@@ -9,7 +9,7 @@ option(SEMIHOSTING "Enable semihosting")
 message("-- DEBUG_HARDFAULTS: ${DEBUG_HARDFAULTS}, SEMIHOSTING: ${SEMIHOSTING}")
 
 set(CMSIS_DIR "${MAIN_LIB_DIR}/lib/main/AT32F43x/Drivers/CMSIS")
-set(CMSIS_INCLUDE_DIR "${CMSIS_DIR}/cm4/core_support") 
+set(CMSIS_INCLUDE_DIR "${CMSIS_DIR}/cm4/core_support")
 # DSP use common
 set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
@@ -50,8 +50,8 @@ main_sources(AT32_ASYNCFATFS_SRC
 )
 
 main_sources(AT32_MSC_SRC
-    msc/at32_msc_diskio.c 
-    msc/emfat.c 
+    msc/at32_msc_diskio.c
+    msc/emfat.c
     msc/emfat_file.c
 )
 
@@ -92,6 +92,7 @@ set(AT32_LINK_OPTIONS
     -Wl,--cref
     -Wl,--no-wchar-size-warning
     -Wl,--print-memory-usage
+    -Wl,--no-warn-rwx-segments
 )
 # Get target features
 macro(get_at32_target_features output_var dir target_name)
@@ -264,7 +265,7 @@ function(add_at32_executable)
     endif()
 endfunction()
 
-#  Main function of AT32 
+#  Main function of AT32
 function(target_at32)
     if(NOT arm-none-eabi STREQUAL TOOLCHAIN)
         return()

docs/SITL/SITL.md

@@ -79,7 +79,7 @@ For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/)
 For SBUS, the command line arguments of the python script are:
 ```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
 
-### Telemtry
+### Telemetry
 
 LTM and MAVLink telemetry are supported, either as a discrete function or shared with MSP.
 

docs/Settings.md

@@ -2782,16 +2782,6 @@ Craft name
 
 ---
 
-### nav_auto_climb_rate
-
-Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 500 | 10 | 2000 |
-
----
-
 ### nav_auto_disarm_delay
 
 Delay before craft disarms when `nav_disarm_on_landing` is set (ms)
@@ -2818,7 +2808,7 @@ Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 20 | 0 | 120 |
+| 60 | 0 | 120 |
 
 ---
 
@@ -3112,6 +3102,16 @@ PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
 
 ---
 
+### nav_fw_manual_climb_rate
+
+Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 300 | 10 | 2500 |
+
+---
+
 ### nav_fw_max_thr
 
 Maximum throttle for flying wing in GPS assisted modes
@@ -3382,16 +3382,6 @@ Allows immediate landing detection based on G bump at touchdown when set to ON.
 
 ---
 
-### nav_manual_climb_rate
-
-Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 200 | 10 | 2000 |
-
----
-
 ### nav_manual_speed
 
 Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
@@ -3442,6 +3432,16 @@ If set to STICK the FC remembers the throttle stick position when enabling ALTHO
 
 ---
 
+### nav_mc_auto_climb_rate
+
+Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 500 | 10 | 2000 |
+
+---
+
 ### nav_mc_bank_angle
 
 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
@@ -3552,6 +3552,16 @@ Multicopter hover throttle hint for altitude controller. Should be set to approx
 
 ---
 
+### nav_mc_manual_climb_rate
+
+Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 200 | 10 | 2000 |
+
+---
+
 ### nav_mc_pos_deceleration_time
 
 Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting

docs/boards/SPEEDYBEEF405V3.md

@@ -1,6 +1,6 @@
 # SpeedyBee F405 V3
 
-> Notice: At the moment, DSHOT is not supported on SpeedyBe F405 V3. Use Multishot instead
+> Notice: DSHOT on SpeedyBe F405 V3 requires INAV 7.0.0 or later. If you are using an older version, use MULTISHOT instead.
 
 > Notice: The analog OSD and the SD card (blackbox) share the same SPI bus, which can cause problems when trying to use analog OSD and blackbox at the same time.
 

lib/main/MAVLink/common/common.h

@@ -48,7 +48,7 @@ typedef enum FIRMWARE_VERSION_TYPE
 } FIRMWARE_VERSION_TYPE;
 #endif
 
-/** @brief Flags to report failure cases over the high latency telemtry. */
+/** @brief Flags to report failure cases over the high latency telemetry. */
 #ifndef HAVE_ENUM_HL_FAILURE_FLAG
 #define HAVE_ENUM_HL_FAILURE_FLAG
 typedef enum HL_FAILURE_FLAG

src/main/CMakeLists.txt

@@ -558,6 +558,8 @@ main_sources(COMMON_SRC
     navigation/navigation_rover_boat.c
     navigation/sqrt_controller.c
     navigation/sqrt_controller.h
+    navigation/rth_trackback.c
+    navigation/rth_trackback.h
 
     sensors/barometer.c
     sensors/barometer.h

src/main/cms/cms_menu_navigation.c

@@ -45,8 +45,9 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
     OSD_SETTING_ENTRY("MC NAV SPEED", SETTING_NAV_AUTO_SPEED),
     OSD_SETTING_ENTRY("MC MAX NAV SPEED", SETTING_NAV_MAX_AUTO_SPEED),
     OSD_SETTING_ENTRY("MAX CRUISE SPEED", SETTING_NAV_MANUAL_SPEED),
-    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_AUTO_CLIMB_RATE),
-    OSD_SETTING_ENTRY("MAX AH CLIMB RATE", SETTING_NAV_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX NAV CLIMB RATE", SETTING_NAV_MC_AUTO_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX MC AH CLIMB RATE", SETTING_NAV_MC_MANUAL_CLIMB_RATE),
+    OSD_SETTING_ENTRY("MAX FW AH CLIMB RATE", SETTING_NAV_FW_MANUAL_CLIMB_RATE),
     OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
     OSD_SETTING_ENTRY("MC ALTHOLD THROT", SETTING_NAV_MC_ALTHOLD_THROTTLE),
     OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),

src/main/common/maths.h

@@ -36,7 +36,7 @@
 #define RAD (M_PIf / 180.0f)
 
 #define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
-#define CENTIDEGREES_TO_DEGREES(angle) ((angle) / 100.0f)
+#define CENTIDEGREES_TO_DEGREES(angle) ((angle) * 0.01f)
 
 #define CENTIDEGREES_TO_DECIDEGREES(angle) ((angle) / 10.0f)
 #define DECIDEGREES_TO_CENTIDEGREES(angle) ((angle) * 10)
@@ -54,11 +54,11 @@
 #define RADIANS_TO_DECIDEGREES(angle) (((angle) * 10.0f) / RAD)
 
 #define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
-#define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * RAD)
+#define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)
 
 #define CENTIMETERS_TO_CENTIFEET(cm)    (cm / 0.3048f)
 #define CENTIMETERS_TO_FEET(cm)         (cm / 30.48f)
-#define CENTIMETERS_TO_METERS(cm)       (cm / 100.0f)
+#define CENTIMETERS_TO_METERS(cm)       (cm * 0.01f)
 
 #define METERS_TO_CENTIMETERS(m)        (m * 100)
 

src/main/fc/fc_msp.c

@@ -1310,9 +1310,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_NAV_POSHOLD:
         sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
         sbufWriteU16(dst, navConfig()->general.max_auto_speed);
-        sbufWriteU16(dst, navConfig()->general.max_auto_climb_rate);
+        sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate);
         sbufWriteU16(dst, navConfig()->general.max_manual_speed);
-        sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
+        sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate);
         sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
         sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
         sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@@ -2321,9 +2321,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize == 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
+            navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
-            navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
+            if (mixerConfig()->platformType != PLATFORM_AIRPLANE) {
+                navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
+            }else{
+                navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
+            }
             navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
             navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
             currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);

src/main/fc/multifunction.h

@@ -24,6 +24,8 @@
 
 #pragma once
 
+#include <stdbool.h>
+
 #ifdef USE_MULTI_FUNCTIONS
 
 extern uint8_t multiFunctionFlags;