4.4 work and minor bug fixes for afterburner

build.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# Check if the input file was provided
+if [ -z dos2unix  "$1" ]; then
+  echo "Usage: $0 <input-file>"
+  exit 1
+fi
+
+# Convert line endings of the script file to LF
+dos2unix "$0" >/dev/null 2>&1
+
+# Loop through each line in the input file
+while read -r line; do
+  # Extract the device name from the current line
+  device=$(echo "$line" | cut -d',' -f1)
+
+  # Skip the header row
+  if [ "$device" == "DEVICE_NAME" ]; then
+    continue
+  fi
+
+  # Run the make command for the current device
+  echo "Building firmware for $device"
+  make "$device" EXTRA_FLAGS="-D'RELEASE_NAME=4.4.1' -DCLOUD_BUILD -DUSE_DSHOT -DUSE_GPS -DUSE_GPS_PLUS_CODES -DUSE_LED_STRIP -DUSE_OSD -DUSE_OSD_HD -DUSE_OSD_SD -DUSE_PINIO -DUSE_SERIALRX -DUSE_SERIALRX_CRSF -DUSE_SERIALRX_DEFAULT -DUSE_SERIALRX_GHST -DUSE_SERIALRX_SBUS -DUSE_SERIALRX_SRXL2 -DUSE_SERIALRX_SPEKTRUM -DUSE_TELEMETRY -DUSE_TELEMETRY_CRSF -DUSE_TELEMETRY_GHST -DUSE_VTX"
+
+done < "$1"

common-devices.csv

@@ -0,0 +1,6 @@
+OMNIBUSF4SD
+AIKONF4
+AIKONF7
+HOBBYWING_XROTORF4G3
+HOBBYWING_XROTORF7CONV
+CRAZYBEEF4SX1280

devices.csv

@@ -0,0 +1,365 @@
+ALIENFLIGHTF4
+ALIENFLIGHTNGF7
+ALIENFLIGHTNGF7_DUAL
+ALIENFLIGHTNGF7_ELRS
+ALIENFLIGHTNGF7_RX
+AIKONF4
+AIKONF7
+AG3XF4
+AG3XF7
+AIRBOTF4
+AIRBOTF4SD
+AIRBOTF4V2
+AIRBOTF7
+AIRBOTF7HDV
+HELSEL_STRIKERF7
+NOX
+OMNIBUSF4
+OMNIBUSF4FW
+OMNIBUSF4NANOV7
+OMNIBUSF4SD
+OMNIBUSF4V6
+OMNIBUSF7
+OMNIBUSF7NANOV7
+OMNIBUSF7V2
+AIRB-OMNINXT4
+AIRB-OMNINXT7
+ALIENWHOOPF4
+MERCURYG4
+APEXF7
+AXISFLYINGF7
+AXISFLYINGF7PRO
+BETAFPVF405
+BETAFPVF411
+BETAFPVF411RX
+BETAFPVF4SX1280
+BETAFPVF722
+BETAFPVH743
+BLUEJAYF4
+NERO
+MATEKF405STD_CLONE
+CLRACINGF4
+CLRACINGF7
+RUSRACE_F4
+RUSRACE_F7
+SIRMIXALOT
+CYCLONEF405_PRO
+CYCLONEF722_PRO
+DARWINF411
+DARWINF4SX1280HD
+DARWINF722HD
+DAKEFPVF405
+DAKEFPVF411
+DAKEFPVF722
+DALRCF405
+DALRCF722DUAL
+SOULF4
+DFR_F722_DUAL_HD
+FURYF4
+FURYF4OSD
+MAMBAF405US
+MAMBAF405US_I2C
+MAMBAF405_2022A
+MAMBAF405_2022B
+MAMBAF411
+MAMBAF722
+MAMBAF722_2022A
+MAMBAF722_2022B
+MAMBAF722_I2C
+MAMBAF722_X8
+MAMBAG4
+MAMBAH743
+MAMBAH743_2022B
+ELINF405
+ELINF722
+DYSF44530D
+DYSF4PRO
+EACHINEF411_AIO
+EACHINEF722
+EACHINEF722_AIO
+EMAX_BABYHAWK_II_HD
+EMAX_TINYHAWKF4SX1280
+EMAX_TINYHAWK_F411RX
+EXF722DUAL
+EXUAVF4PRO
+FF_FORTINIF4
+FF_FORTINIF4_REV03
+FF_PIKOF4
+FF_PIKOF4OSD
+FF_RACEPIT
+FF_RACEPITF7
+FF_RACEPITF7_MINI
+FF_RACEPIT_MINI
+FLYCOLORF7
+FLYCOLORF7_AIO
+KIWIF4
+KIWIF4V2
+PLUMF4
+GRAVITYF7
+REVOLT
+REVOLTOSD
+FLYWOOF405
+FLYWOOF405NANO
+FLYWOOF405PRO
+FLYWOOF405S_AIO
+FLYWOOF411
+FLYWOOF411EVO_HD
+FLYWOOF411HEX
+FLYWOOF411V2
+FLYWOOF411_5IN1_AIO
+FLYWOOF745
+FLYWOOF745NANO
+FLYWOOF7DUAL
+ANYFCF7
+ANYFCM7
+DRONIUSF7
+F4BY
+FENIX_F405
+SPARKY2
+WORMFC
+FOXEERF405
+FOXEERF722DUAL
+FOXEERF722V2
+FOXEERF722V3
+FOXEERF722V4
+FOXEERF745V2_AIO
+FOXEERF745V3_AIO
+FOXEERF745V4_AIO
+FOXEERF745_AIO
+FOXEERH743
+BETAFLIGHTF4
+FPVM_BETAFLIGHTF7
+XRACERF4
+FRSKYF4
+GEELANGF411
+XILOF4
+GEPRCF405
+GEPRCF411
+GEPRCF411SX1280
+GEPRCF411_AIO
+GEPRCF411_PRO
+GEPRCF722
+GEPRCF722BT
+GEPRCF722_BT_HD
+GEPRCF745_BT_HD
+GEPRCG4AIO
+GEPRC_F722_AIO
+GEP_F405_VTX_V3
+GEMEF411
+GEMEF722
+CRAZYBEEF4DX
+CRAZYBEEF4DXS
+CRAZYBEEF4FR
+CRAZYBEEF4FS
+CRAZYBEEF4SX1280
+HAKRCF405
+HAKRCF405D
+HAKRCF405V2
+HAKRCF411
+HAKRCF411D
+HAKRCF722
+HAKRCF722D
+HAKRCF722MINI
+HAKRCF722V2
+HAKRCF7230D
+KD722
+KAKUTEF4
+KAKUTEF4V2
+KAKUTEF7
+KAKUTEF7HDV
+KAKUTEF7MINI
+KAKUTEF7MINIV3
+KAKUTEF7V2
+KAKUTEH7
+KAKUTEH7MINI
+KAKUTEH7V2
+TALONF4V2
+TALONF7DJIHD
+TALONF7FUSION
+TALONF7V2
+HIFIONRCF7
+HGLRCF405
+HGLRCF405AS
+HGLRCF411
+HGLRCF411SX1280
+HGLRCF411SX1280_15A
+HGLRCF722
+HGLRCF722E
+HGLRCF745
+ZEUSF4EVO
+ZEUSF4FR
+ZEUSF722_AIO
+NIDICI_F4
+HOBBYWING_XROTORF4G3
+HOBBYWING_XROTORF7CONV
+IFLIGHT_BLITZ_F405
+IFLIGHT_BLITZ_F411RX
+IFLIGHT_BLITZ_F722
+IFLIGHT_BLITZ_F722_X1
+IFLIGHT_BLITZ_F7_AIO
+IFLIGHT_BLITZ_F7_PRO
+IFLIGHT_F405_AIO
+IFLIGHT_F405_TWING
+IFLIGHT_F411_AIO32
+IFLIGHT_F411_PRO
+IFLIGHT_F4SX1280
+IFLIGHT_F722_TWING
+IFLIGHT_F745_AIO
+IFLIGHT_F745_AIO_V2
+IFLIGHT_H743_AIO_V2
+IFLIGHT_H7_TWING
+IFLIGHT_SUCCEX_E_F4
+IFLIGHT_SUCCEX_E_F7
+JBF7
+JBF7_DJI
+JBF7_V2
+JHEF405
+JHEF405PRO
+JHEF411
+JHEF745
+JHEF7DUAL
+JHEH743_AIO
+SYNERGYF4
+LDARC_F411
+ELLE0
+FISHDRONEF4
+KROOZX
+PIRXF4
+PODIUMF4
+STACKX
+VRRACE
+LUXAIO
+LUXF4OSD
+LUXF7HDV
+LUXMINIF7
+MERAKRCF405
+MERAKRCF722
+MLTEMPF4
+MLTYPHF4
+MATEKF405AIO
+MATEKF405CTR
+MATEKF405MINI
+MATEKF405SE
+MATEKF405STD
+MATEKF405TE
+MATEKF405TE_SD
+MATEKF411
+MATEKF411RX
+MATEKF411SE
+MATEKF722
+MATEKF722HD
+MATEKF722MINI
+MATEKF722SE
+MATEKH743
+NBD_CRICKETF7
+NBD_CRICKETF7V2
+NBD_GALAXYAIO255
+NBD_INFINITY200RS
+NBD_INFINITYAIO
+NBD_INFINITYAIOV2
+NBD_INFINITYAIOV2PRO
+NBD_INFINITYF4
+FLOWBOX
+FLOWBOXV2
+HYBRIDG4
+NEUTRONRCF407
+NEUTRONRCF411AIO
+NEUTRONRCF411SX1280
+NEUTRONRCF722AIO
+NEUTRONRCF7AIO
+NEUTRONRCG4AIO
+NEUTRONRCH743AIO
+NEUTRONRCH7BT
+UAVPNG030MINI
+REVO
+REVONANO
+PYRODRONEF4
+PYRODRONEF4PDB
+PYRODRONEF7
+AIRF7
+MINI_H743_HD
+ARESF7
+BEEROTORF4
+BLADE_F7
+BLADE_F7_HD
+RUSHCORE7
+RUSHF7AIO
+AOCODAF405
+AOCODAF405V2MPU6000
+AOCODAF405V2MPU6500
+AOCODAF722BLE
+AOCODAF722MINI
+AOCODARCF411_AIO
+AOCODARCF722_AIO
+AOCODARCF7DUAL
+AOCODARCH7DUAL
+SKYSTARSF405
+SKYSTARSF405AIO
+SKYSTARSF411
+SKYSTARSF7HD
+SKYSTARSF7HDPRO
+SKYSTARSH7HD
+ATOMRCF405
+ATOMRCF411
+ATOMRCF722
+SKYZONEF405
+SPEEDYBEEF4
+SPEEDYBEEF405V3
+SPEEDYBEEF7
+SPEEDYBEEF7MINI
+SPEEDYBEEF7MINIV2
+SPEEDYBEEF7V2
+SPEEDYBEEF7V3
+SPEEDYBEE_F745_AIO
+SPCMAKERF411
+SPEDIXF4
+SPRACINGF4EVO
+SPRACINGF4NEO
+SPRACINGF7DUAL
+SPRACINGH7EXTREME
+SPRACINGH7NANO
+SPRACINGH7RF
+NUCLEOF722
+STM32F411DISCOVERY
+STM32F4DISCOVERY
+SUB250F411
+MODULARF4
+TCMMF411
+TCMMF7
+COLIBRI
+PODRACERAIO
+TMH7
+TMOTORF4
+TMOTORF411
+TMOTORF4SX1280
+TMOTORF7
+TMOTORF722SE
+TMOTORF7V2
+TMOTORF7_AIO
+TMOTORH743
+TMOTORVELOXF7V2
+TMPACERF7
+TMPACERF7MINI
+TMVELOXF411
+TMVELOXF7
+TRANSTECF405HD
+TRANSTECF411
+TRANSTECF411AIO
+TRANSTECF411HD
+TRANSTECF7
+TRANSTECF7HD
+FPVCYCLEF401
+TUNERCF405
+VGOODF722DUAL
+VGOODRCF4
+VGOODRCF405_DJI
+VGOODRCF411_DJI
+VGOODRCF722_DJI
+VIVAF4AIO
+WIZZF7HD
+YUPIF4
+YUPIF7
+ZEEZF7
+ZEEZF7V2
+ZEEZF7V3
+ZEEZWHOOP

src/main/build/debug.c

@@ -108,5 +108,6 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "VTX_MSP",
     "GPS_DOP",
     "FAILSAFE",
-    "DSHOT_TELEMETRY_COUNTS"
+    "DSHOT_TELEMETRY_COUNTS",
+    "RPM_LIMITER"
 };

src/main/build/debug.h

@@ -107,6 +107,7 @@ typedef enum {
     DEBUG_GPS_DOP,
     DEBUG_FAILSAFE,
     DEBUG_DSHOT_TELEMETRY_COUNTS,
+    DEBUG_RPM_LIMITER,
     DEBUG_COUNT
 } debugType_e;
 

src/main/flight/mixer.c

@@ -361,7 +361,7 @@ static void applyRPMLimiter(void)
         //if drone is armed
         if (ARMING_FLAG(ARMED)) {
             //if the afterburner switch is enguaged
-            if(IS_RC_MODE_ACTIVE(BOXUSER4)) {
+            if(IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
                 //if the afterburner isn't initiated
                 if(mixerRuntime.afterburnerInitiated == false) {
                     //if there's charge in the tank
@@ -382,8 +382,10 @@ static void applyRPMLimiter(void)
                 //if the tank is empty, reset
                 if(mixerRuntime.afterburnerTankPercent<=0.0f) {
                     mixerRuntime.afterburnerInitiated = false;
-                    mixerRuntime.afterburnerTankPercent = 100.0f;
                     mixerRuntime.afterburnerTanksRemaining -= 1;  
+                    if(mixerRuntime.afterburnerTanksRemaining>0) {
+                        mixerRuntime.afterburnerTankPercent = 100.0f;
+                    }
                 } 
             }
 
@@ -425,15 +427,15 @@ static void applyRPMLimiter(void)
 
         //get the rpm averaged across the motors
         bool motorsSaturated = false;
-        //bool motorsDesaturated = false;
+        bool motorsDesaturated = false;
         for (int i = 0; i < getMotorCount(); i++) {
             averageRPM += getDshotTelemetry(i);
             if (motor[i] >= motorConfig()->maxthrottle) {
                 motorsSaturated = true;
             }
-            /*if (motor[i] <= motorConfig()->minthrottle) {
-                motorsDesaturated = true;
-            }*/
+            if (motor[i] <= motorConfig()->minthrottle) {
+                motorsDesaturated = false;
+            }
         }
         averageRPM = 100 * averageRPM / (getMotorCount()*mixerRuntime.motorPoleCount/2.0f);
 
@@ -459,13 +461,15 @@ static void applyRPMLimiter(void)
 
             //don't let I term wind up if throttle is below the motor idle
             if (rcCommandThrottle < motorConfig()->digitalIdleOffsetValue / 10000.0f) {
-                //mixerRuntime.govenorI *= 1.0f/(1.0f+(pidGetDT()*10.0f)); //slowly ramp down i term instead of resetting to avoid throttle pulsing cheats
-                mixerRuntime.govenorI = 0.0f;
+                mixerRuntime.govenorI *= 1.0f/(1.0f+(pidGetDT()*10.0f)); //slowly ramp down i term
+                //mixerRuntime.govenorI = 0.0f;
             } else {
                 //don't let I term wind up if motors are saturated. Otherwise, motors may stay at high throttle even after low throttle is commanded
-                if(!motorsSaturated)
+                if(!motorsSaturated && !motorsDesaturated)
                 {
                     mixerRuntime.govenorI += smoothedRPMError * mixerRuntime.govenorIGain; // + when overspeed
+                }else{
+                    mixerRuntime.govenorI *= 1.0f/(1.0f+(pidGetDT()*10.0f)); //slowly ramp down i term
                 }
             }
 
@@ -488,13 +492,18 @@ static void applyRPMLimiter(void)
             PIDOutput = MAX(PIDOutput,0.0f);
             
         }
-        if (mixerRuntime.govenor_init) {
-            if (mixerRuntime.rpmLinearization) {
-                throttle = constrainf(-PIDOutput, 0.0f, 1.0f);
-            } else {
-                throttle = constrainf(throttle-PIDOutput, 0.0f, 1.0f);
+        if (motorConfig()->dev.useDshotTelemetry) {
+            if (mixerRuntime.govenor_init) {
+                if (mixerRuntime.rpmLinearization) {
+                    throttle = constrainf(-PIDOutput, 0.0f, 1.0f);
+                } else {
+                    throttle = constrainf(throttle-PIDOutput, 0.0f, 1.0f);
+                }
             }
+        } else {    //if dshot telemetry isn't enabled. Keep the throttle at zero
+            throttle = 0.0f;
         }
+
         mixerRuntime.govenor_init = true;
 
         //update previous values for next loop

src/main/flight/mixer_init.c

@@ -60,7 +60,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .govenor_acceleration_limit = 60,
     .govenor_deceleration_limit = 60,
     .govenor_rpm_limit = 130,
-    .govenor_rpm_afterburner = 20,
+    .govenor_rpm_afterburner = 15,
     .govenor_rpm_afterburner_duration = 5,
     .govenor_rpm_afterburner_reset = true,
     .govenor_rpm_afterburner_hold_to_use = false,

src/main/msp/msp_box.c

@@ -100,7 +100,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
     { .boxId = BOXMSPOVERRIDE, .boxName = "MSP OVERRIDE", .permanentId = 50},
     { .boxId = BOXSTICKCOMMANDDISABLE, .boxName = "STICK COMMANDS DISABLE", .permanentId = 51},
     { .boxId = BOXBEEPERMUTE, .boxName = "BEEPER MUTE", .permanentId = 52},
-    { .boxId = BOXREADY, .boxName = "READY", .permanentId = 53}
+    { .boxId = BOXREADY, .boxName = "READY", .permanentId = 53},
 };
 
 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index

src/main/osd/osd_elements.c

@@ -146,6 +146,7 @@
 #include "flight/position.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
+#include "flight/mixer_init.h"
 #include "flight/pid.h"
 
 #include "io/gps.h"
@@ -1270,10 +1271,13 @@ static void osdElementMainBatteryUsage(osdElementParms_t *element)
         {
             uint8_t remainingCapacityBars = 0;
 
-            if (batteryConfig()->batteryCapacity) {
-                const float batteryRemaining = constrain(batteryConfig()->batteryCapacity - displayBasis, 0, batteryConfig()->batteryCapacity);
-                remainingCapacityBars = ceilf((batteryRemaining / (batteryConfig()->batteryCapacity / MAIN_BATT_USAGE_STEPS)));
-            }
+            //if (batteryConfig()->batteryCapacity) {
+            //const float batteryRemaining = constrain(batteryConfig()->batteryCapacity - displayBasis, 0, batteryConfig()->batteryCapacity);
+            //remainingCapacityBars = ceilf((batteryRemaining / (batteryConfig()->batteryCapacity / MAIN_BATT_USAGE_STEPS)));
+            const float maxBoost = 100.0f;
+            const float batteryRemaining = constrain(mixerRuntime.afterburnerTankPercent, 0, maxBoost);
+            remainingCapacityBars = ceilf((batteryRemaining / (maxBoost / MAIN_BATT_USAGE_STEPS)));
+            //}
 
             // Create empty battery indicator bar
             element->buff[0] = SYM_PB_START;
@@ -1284,7 +1288,12 @@ static void osdElementMainBatteryUsage(osdElementParms_t *element)
             if (remainingCapacityBars > 0 && remainingCapacityBars < MAIN_BATT_USAGE_STEPS) {
                 element->buff[1 + remainingCapacityBars] = SYM_PB_END;
             }
-            element->buff[MAIN_BATT_USAGE_STEPS+2] = '\0';
+            //tfp_sprintf(element->buff, element->buff+"%d", mixerRuntime.afterburnerTanksRemaining);
+            char tanksRemainingStr[1];
+            tfp_sprintf(tanksRemainingStr, "%d", mixerRuntime.afterburnerTanksRemaining);
+            element->buff[MAIN_BATT_USAGE_STEPS+2] = tanksRemainingStr[0];
+            element->buff[MAIN_BATT_USAGE_STEPS+3] = '\0';    
+            
             break;
         }
     }