Merge branch 'master' of https://github.com/cleanflight/cleanflight

docs/Gps.md

@@ -130,3 +130,15 @@ From the UBlox documentation:
 * Pedestrian - Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed. MAX Altitude [m]: 9000, MAX Velocity [m/s]: 30, MAX Vertical, Velocity [m/s]: 20, Sanity check type: Altitude and Velocity, Max Position Deviation: Small.
 * Portable - Applications with low acceleration, e.g. portable devices. Suitable for most situations. MAX Altitude [m]: 12000, MAX Velocity [m/s]: 310, MAX Vertical Velocity [m/s]: 50, Sanity check type: Altitude and Velocity, Max Position Deviation: Medium.
 * Airborne < 1G - Used for applications with a higher dynamic range and vertical acceleration than a passenger car. No 2D position fixes supported. MAX Altitude [m]: 50000, MAX Velocity [m/s]: 100, MAX Vertical Velocity [m/s]: 100, Sanity check type: Altitude, Max Position Deviation: Large
+
+## Hardware
+
+There are many GPS receivers available on the market, people have reported success with the following receivers:
+
+Ublox Neo-7M GPS with Compass and Pedestal Mount
+http://www.hobbyking.com/hobbyking/store/__55558__Ublox_Neo_7M_GPS_with_Compass_and_Pedestal_Mount.html
+
+RY825AI 18Hz UART USB interface GPS Glonass BeiDou QZSS antenna module flash
+http://www.ebay.com/itm/RY825AI-18Hz-UART-USB-interface-GPS-Glonass-BeiDou-QZSS-antenna-module-flash/181566850426
+
+

docs/Migrating from baseflight.md

@@ -70,7 +70,7 @@ reason: renamed to `yaw_rate` for consistency
 reason: renamed to `yaw_deadband` for consistency
 
 ### midrc
-reason: renamed to `midrc` for consistency
+reason: renamed to `mid_rc` for consistency
 
 ### mincheck
 reason: renamed to `min_check` for consistency

docs/Serial.md

@@ -50,12 +50,16 @@ To make configuration easier common usage scenarios are listed below.
 
 ### Constraints
 
+If the configuration is invalid the serial port configuration will reset to it's defaults and features may be disabled.
+
 * There must always be a port available to use for MSP
 * There must always be a port available to use for CLI
-* To use a port for a function, the function's corresponding feature must be enabled first.
+* There can only be 1 CLI port.
-e.g. to use GPS enable the GPS feature.
+* There is a maximum of 2 MSP ports.
-* If the configuration is invalid the serial port configuration will reset to it's defaults and features may be disabled.
+* To use a port for a function, the function's corresponding feature must be also be enabled.
-* If softserial is used be aware that both softserial ports must use the same baudrate.
+e.g. after configuring a port for GPS enable the GPS feature.
+* If softserial is used both softserial ports must use the same baudrate.
+
 
 ### Examples
 

lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c

@@ -141,7 +141,12 @@ void SetSysClock(bool overclock)
     *RCC_CRH |= (uint32_t)0x8 << (RCC_CFGR_PLLMULL9 >> 16);
     GPIOC->ODR &= (uint32_t)~(CAN_MCR_RESET);
 	
+#if defined(CJMCU)
+    // On CJMCU new revision boards (Late 2014) bit 15 of GPIOC->IDR is '1'.
+    RCC_CFGR_PLLMUL = RCC_CFGR_PLLMULL9;
+#else
     RCC_CFGR_PLLMUL = GPIOC->IDR & CAN_MCR_RESET ? hse_value = 12000000, RCC_CFGR_PLLMULL6 : RCC_CFGR_PLLMULL9;
+#endif
     switch (clocksrc) {
         case SRC_HSE:
             if (overclock) {

src/main/config/config.c

@@ -569,28 +569,37 @@ void activateConfig(void)
 
     activateControlRateConfig();
 
-    useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
+    useRcControlsConfig(
+        currentProfile->modeActivationConditions,
+        &masterConfig.escAndServoConfig,
+        &currentProfile->pidProfile
+    );
 
     useGyroConfig(&masterConfig.gyroConfig);
+
 #ifdef TELEMETRY
     useTelemetryConfig(&masterConfig.telemetryConfig);
 #endif
+
     setPIDController(currentProfile->pidController);
+
 #ifdef GPS
     gpsUseProfile(&currentProfile->gpsProfile);
     gpsUsePIDs(&currentProfile->pidProfile);
 #endif
+
     useFailsafeConfig(&currentProfile->failsafeConfig);
     setAccelerationTrims(&masterConfig.accZero);
+
     mixerUseConfigs(
-            currentProfile->servoConf,
+        currentProfile->servoConf,
-            &masterConfig.flight3DConfig,
+        &masterConfig.flight3DConfig,
-            &masterConfig.escAndServoConfig,
+        &masterConfig.escAndServoConfig,
-            &currentProfile->mixerConfig,
+        &currentProfile->mixerConfig,
-            &masterConfig.airplaneConfig,
+        &masterConfig.airplaneConfig,
-            &masterConfig.rxConfig,
+        &masterConfig.rxConfig,
-            &currentProfile->gimbalConfig
+        &currentProfile->gimbalConfig
-            );
+    );
 
     imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
     imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
@@ -598,8 +607,18 @@ void activateConfig(void)
     imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 
-    configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
+    configureImu(
-    configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
+        &imuRuntimeConfig,
+        &currentProfile->pidProfile,
+        &currentProfile->accDeadband
+    );
+
+    configureAltitudeHold(
+        &currentProfile->pidProfile,
+        &currentProfile->barometerConfig,
+        &currentProfile->rcControlsConfig,
+        &masterConfig.escAndServoConfig
+    );
 
     calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
     calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);