Merge pull request #2348 from betaflight/patch_v3.1.5

Patch v3.1.5

src/main/config/config_eeprom.h

@@ -20,7 +20,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-#define EEPROM_CONF_VERSION 155
+#define EEPROM_CONF_VERSION 156
 
 bool isEEPROMContentValid(void);
 bool loadEEPROM(void);

src/main/config/config_master.h

@@ -71,6 +71,7 @@
 #define servoConfig(x) (&masterConfig.servoConfig)
 #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
 #define gimbalConfig(x) (&masterConfig.gimbalConfig)
+#define channelForwardingConfig(x) (&masterConfig.channelForwardingConfig)
 #define boardAlignment(x) (&masterConfig.boardAlignment)
 #define imuConfig(x) (&masterConfig.imuConfig)
 #define gyroConfig(x) (&masterConfig.gyroConfig)
@@ -193,6 +194,8 @@ typedef struct master_s {
     servoProfile_t servoProfile;
     // gimbal-related configuration
     gimbalConfig_t gimbalConfig;
+    // Channel forwarding start channel
+    channelForwardingConfig_t channelForwardingConfig;
 #endif
 
     boardAlignment_t boardAlignment;

src/main/fc/cli.c

@@ -664,6 +664,7 @@ static const clivalue_t valueTable[] = {
     { "servo_lowpass",              VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoPwmRate, .config.minmax = { 50,  498 } },
     { "gimbal_mode",                VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
+    { "channel_forwarding_start",    VAR_UINT8  | MASTER_VALUE, &channelForwardingConfig()->startChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
 #endif
 
     { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  255 } },

src/main/fc/config.c

@@ -800,6 +800,9 @@ void createDefaultConfig(master_t *config)
 
     // gimbal
     config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
+
+    // Channel forwarding;
+    config->channelForwardingConfig.startChannel = AUX1;
 #endif
 
 #ifdef GPS
@@ -903,10 +906,9 @@ void activateConfig(void)
     mixerUseConfigs(&masterConfig.airplaneConfig);
 
 #ifdef USE_SERVOS
-    servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig);
+    servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig, &masterConfig.channelForwardingConfig);
 #endif
 
-
     imuConfigure(
         &masterConfig.imuConfig,
         &currentProfile->pidProfile,
@@ -1179,6 +1181,7 @@ void changeControlRateProfile(uint8_t profileIndex)
         profileIndex = MAX_RATEPROFILES - 1;
     }
     setControlRateProfile(profileIndex);
+    generateThrottleCurve();
 }
 
 void beeperOffSet(uint32_t mask)

src/main/fc/fc_rc.c

@@ -296,7 +296,7 @@ void updateRcCommands(void)
         tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
     }
 
-    rcLookupThrottle(tmp);
+    rcCommand[THROTTLE] = rcLookupThrottle(tmp);
 
     if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
         fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

src/main/flight/altitudehold.c

@@ -83,7 +83,7 @@ static void applyMultirotorAltHold(void)
                 AltHold = EstAlt;
                 isAltHoldChanged = 0;
             }
-            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
+            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX);
         }
     } else {
         // slow alt changes, mostly used for aerial photography
@@ -97,7 +97,7 @@ static void applyMultirotorAltHold(void)
             velocityControl = 0;
             isAltHoldChanged = 0;
         }
-        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
+        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX);
     }
 }
 

src/main/flight/servos.c

@@ -59,6 +59,7 @@ static gimbalConfig_t *gimbalConfig;
 int16_t servo[MAX_SUPPORTED_SERVOS];
 static int useServo;
 static servoParam_t *servoConf;
+static channelForwardingConfig_t *channelForwardingConfig;
 
 
 #define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
@@ -144,11 +145,12 @@ const mixerRules_t servoMixers[] = {
 
 static servoMixer_t *customServoMixers;
 
-void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse)
+void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse)
 {
     servoMixerConfig = servoMixerConfigToUse;
     servoConf = servoParamsToUse;
     gimbalConfig = gimbalConfigToUse;
+    channelForwardingConfig = channelForwardingConfigToUse;
 }
 
 int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
@@ -252,7 +254,7 @@ void servoMixerLoadMix(int index, servoMixer_t *customServoMixers)
 STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
 {
     // start forwarding from this channel
-    uint8_t channelOffset = AUX1;
+    uint8_t channelOffset = channelForwardingConfig->startChannel;
 
     uint8_t servoOffset;
     for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {

src/main/flight/servos.h

@@ -122,6 +122,10 @@ typedef struct servoProfile_s {
     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
 } servoProfile_t;
 
+typedef struct channelForwardingConfig_s {
+    uint8_t startChannel;
+} channelForwardingConfig_t;
+
 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 
 void servoTable(void);
@@ -131,7 +135,7 @@ void filterServos(void);
 
 void servoMixerInit(servoMixer_t *customServoMixers);
 struct gimbalConfig_s;
-void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse);
+void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse);
 void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
 void loadCustomServoMixer(void);
 void servoConfigureOutput(void);

src/main/io/vtx_smartaudio.c

@@ -950,8 +950,14 @@ else
     saCmsPitFMode = 0;
 
     saCmsStatusString[0] = "-FR"[saCmsOpmodel];
-    saCmsStatusString[2] = "ABEFR"[saDevice.chan / 8];
+
-    saCmsStatusString[3] = '1' + (saDevice.chan % 8);
+    if (saCmsFselMode == 0) {
+        saCmsStatusString[2] = "ABEFR"[saDevice.chan / 8];
+        saCmsStatusString[3] = '1' + (saDevice.chan % 8);
+    } else {
+        saCmsStatusString[2] = 'U';
+        saCmsStatusString[3] = 'F';
+    }
 
     if ((saDevice.mode & SA_MODE_GET_PITMODE)
        && (saDevice.mode & SA_MODE_GET_OUT_RANGE_PITMODE))
@@ -1067,6 +1073,8 @@ static long saCmsConfigPitFModeByGvar(displayPort_t *pDisp, const void *self)
     return 0;
 }
 
+static long saCmsConfigFreqModeByGvar(displayPort_t *pDisp, const void *self); // Forward
+
 static long saCmsConfigOpmodelByGvar(displayPort_t *pDisp, const void *self)
 {
     UNUSED(pDisp);
@@ -1086,6 +1094,10 @@ static long saCmsConfigOpmodelByGvar(displayPort_t *pDisp, const void *self)
         // out-range receivers from getting blinded.
         saCmsPitFMode = 0;
         saCmsConfigPitFModeByGvar(pDisp, self);
+
+        // Direct frequency mode is not available in RACE opmodel
+        saCmsFselMode = 0;
+        saCmsConfigFreqModeByGvar(pDisp, self);
     } else {
         // Trying to go back to unknown state; bounce back
         saCmsOpmodel = SACMS_OPMODEL_UNDEF + 1;
@@ -1194,7 +1206,6 @@ static long saCmsCommence(displayPort_t *pDisp, const void *self)
         // Setup band, freq and power.
 
         saSetBandChan(saCmsBand - 1, saCmsChan - 1);
-        saSetPowerByIndex(saCmsPower - 1);
 
         // If in pit mode, cancel it.
 
@@ -1211,6 +1222,8 @@ static long saCmsCommence(displayPort_t *pDisp, const void *self)
             saSetFreq(saCmsUserFreq);
     }
 
+    saSetPowerByIndex(saCmsPower - 1);
+
     return MENU_CHAIN_BACK;
 }
 
@@ -1256,15 +1269,15 @@ static long saCmsSetUserFreqOnEnter(void)
     return 0;
 }
 
-static long saCmsSetUserFreq(displayPort_t *pDisp, const void *self)
+static long saCmsConfigUserFreq(displayPort_t *pDisp, const void *self)
 {
     UNUSED(pDisp);
     UNUSED(self);
 
     saCmsUserFreq = saCmsUserFreqNew;
-    saSetFreq(saCmsUserFreq);
+    //saSetFreq(saCmsUserFreq);
 
-    return 0;
+    return MENU_CHAIN_BACK;
 }
 
 static OSD_Entry saCmsMenuPORFreqEntries[] = {
@@ -1293,7 +1306,7 @@ static OSD_Entry saCmsMenuUserFreqEntries[] = {
 
     { "CUR FREQ",      OME_UINT16,  NULL,             &(OSD_UINT16_t){ &saCmsUserFreq, 5000, 5900, 0 },    DYNAMIC },
     { "NEW FREQ",      OME_UINT16,  NULL,             &(OSD_UINT16_t){ &saCmsUserFreqNew, 5000, 5900, 1 }, 0 },
-    { "SET",           OME_Funcall, saCmsSetUserFreq, NULL,                                                0 },
+    { "SET",           OME_Funcall, saCmsConfigUserFreq, NULL,                                                0 },
 
     { "BACK",          OME_Back,    NULL,             NULL,                                                0 },
     { NULL,            OME_END,     NULL,             NULL,                                                0 }
@@ -1314,8 +1327,8 @@ static OSD_TAB_t saCmsEntFselMode = { &saCmsFselMode, 1, saCmsFselModeNames };
 static OSD_Entry saCmsMenuConfigEntries[] = {
     { "- SA CONFIG -", OME_Label, NULL, NULL, 0 },
 
-    { "OP MODEL",  OME_TAB,     saCmsConfigOpmodelByGvar,              &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, 0 },
+    { "OP MODEL",  OME_TAB,     saCmsConfigOpmodelByGvar,              &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, DYNAMIC },
-    { "FSEL MODE", OME_TAB,     saCmsConfigFreqModeByGvar,             &saCmsEntFselMode,                                   0 },
+    { "FSEL MODE", OME_TAB,     saCmsConfigFreqModeByGvar,             &saCmsEntFselMode,                                   DYNAMIC },
     { "PIT FMODE", OME_TAB,     saCmsConfigPitFModeByGvar,             &saCmsEntPitFMode,                                   0 },
     { "POR FREQ",  OME_Submenu, (CMSEntryFuncPtr)saCmsORFreqGetString, &saCmsMenuPORFreq,                                   OPTSTRING },
     { "STATX",     OME_Submenu, cmsMenuChange,                         &saCmsMenuStats,                                     0 },

src/main/io/vtx_string.c

@@ -53,10 +53,12 @@ const char * const vtx58ChannelNames[] = {
 
 bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChan)
 {
-    uint8_t band;
+    int8_t band;
     uint8_t chan;
 
-    for (band = 0 ; band < 5 ; band++) {
+    // Use reverse lookup order so that 5880Mhz
+    // get Raceband 7 instead of Fatshark 8.
+    for (band = 4 ; band >= 0 ; band--) {
         for (chan = 0 ; chan < 8 ; chan++) {
             if (vtx58FreqTable[band][chan] == freq) {
                 *pBand = band + 1;

src/main/io/vtx_tramp.c

@@ -134,6 +134,8 @@ void trampCmdU16(uint8_t cmd, uint16_t param)
 void trampSetFreq(uint16_t freq)
 {
     trampConfFreq = freq;
+    if(trampConfFreq != trampCurFreq)
+        trampFreqRetries = TRAMP_MAX_RETRIES;
 }
 
 void trampSendFreq(uint16_t freq)
@@ -149,6 +151,8 @@ void trampSetBandChan(uint8_t band, uint8_t chan)
 void trampSetRFPower(uint16_t level)
 {
     trampConfPower = level;
+    if(trampConfPower != trampCurPower)
+        trampPowerRetries = TRAMP_MAX_RETRIES;
 }
 
 void trampSendRFPower(uint16_t level)
@@ -163,13 +167,6 @@ bool trampCommitChanges()
         return false;
 
     trampStatus = TRAMP_STATUS_SET_FREQ_PW;
-
-    if(trampConfFreq != trampCurFreq)
-        trampFreqRetries = TRAMP_MAX_RETRIES;
-
-    if(trampConfPower != trampCurPower)
-        trampPowerRetries = TRAMP_MAX_RETRIES;
-
     return true;
 }
 
@@ -511,6 +508,18 @@ static long trampCmsConfigChan(displayPort_t *pDisp, const void *self)
     return 0;
 }
 
+static long trampCmsConfigPower(displayPort_t *pDisp, const void *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    if (trampCmsPower == 0)
+        // Bounce back
+        trampCmsPower = 1;
+
+    return 0;
+}
+
 static OSD_INT16_t trampCmsEntTemp = { &trampCurTemp, -100, 300, 0 };
 
 static const char * const trampCmsPitmodeNames[] = {
@@ -598,7 +607,7 @@ static OSD_Entry trampMenuEntries[] =
     { "BAND",   OME_TAB,     trampCmsConfigBand,     &trampCmsEntBand,      0 },
     { "CHAN",   OME_TAB,     trampCmsConfigChan,     &trampCmsEntChan,      0 },
     { "(FREQ)", OME_UINT16,  NULL,                   &trampCmsEntFreqRef,   DYNAMIC },
-    { "POWER",  OME_TAB,     NULL,                   &trampCmsEntPower,     0 },
+    { "POWER",  OME_TAB,     trampCmsConfigPower,    &trampCmsEntPower,     0 },
     { "T(C)",   OME_INT16,   NULL,                   &trampCmsEntTemp,      DYNAMIC },
     { "SET",    OME_Submenu, cmsMenuChange,          &trampCmsMenuCommence, 0 },
 

src/main/target/SIRINFPV/target.c

@@ -31,7 +31,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM8, CH2, PB8,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM3 - PB8
     DEF_TIM(TIM17,CH1, PB9,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM4 - PB9
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM5 - PB0  - *TIM3_CH3
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM6 - PB1  - *TIM3_CH4
+    DEF_TIM(TIM8,CH3N, PB1,  TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED),// PWM6 - PB1  - *TIM3_CH4
 };