Merge remote-tracking branch 'borisbstyle/betaflight' into blackbox-enhancements

Makefile

@@ -255,6 +255,9 @@ endif
 
 ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
 TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D 
+ifeq ($(TARGET),CC3D_OPBL)
+TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
+endif
 TARGET_DIR = $(ROOT)/src/main/target/CC3D
 endif
 

src/main/config/config.c

@@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 134;
+static const uint8_t EEPROM_CONF_VERSION = 135;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -190,8 +190,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_lpf_hz = 80;    // filtering ON by default
     pidProfile->dynamic_pterm = 1;
 
-    pidProfile->H_sensitivity = 75;  // TODO - Cleanup during next EEPROM changes
-
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
@@ -485,7 +483,8 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     masterConfig.servo_pwm_rate = 50;
-    masterConfig.use_oneshot42 = 0;
+    masterConfig.fast_pwm_protocol = 0;
+    masterConfig.use_unsyncedPwm = 0;
 #ifdef CC3D
     masterConfig.use_buzzer_p6 = 0;
 #endif
@@ -500,11 +499,7 @@ static void resetConf(void)
 
     resetSerialConfig(&masterConfig.serialConfig);
 
-#if defined(STM32F10X) && !defined(CC3D)
+    masterConfig.emf_avoidance = 0; // TODO - needs removal
-    masterConfig.emf_avoidance = 1;
-#else
-    masterConfig.emf_avoidance = 0;
-#endif
 
     resetPidProfile(&currentProfile->pidProfile);
 	

src/main/config/config_master.h

@@ -34,8 +34,8 @@ typedef struct master_t {
 
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
-    uint8_t use_oneshot42;                  // Oneshot42
+    uint8_t fast_pwm_protocol;              // Fast Pwm Protocol
-    uint8_t use_multiShot;                  // multishot
+    uint8_t use_unsyncedPwm;                // unsync fast pwm protocol from PID loop
 
 #ifdef USE_SERVOS
     servoMixer_t customServoMixer[MAX_SERVO_RULES];

src/main/debug.h

@@ -42,10 +42,13 @@ extern uint32_t sectionTimes[2][4];
 #endif
 
 typedef enum {
-    DEBUG_CYCLETIME = 1,
+    DEBUG_NONE,
+    DEBUG_CYCLETIME,
     DEBUG_BATTERY,
     DEBUG_GYRO,
     DEBUG_ACCELEROMETER,
     DEBUG_MIXER,
-    DEBUG_AIRMODE
+    DEBUG_AIRMODE,
+    DEBUG_PIDLOOP,
+    DEBUG_COUNT
 } debugType_e;

src/main/drivers/pwm_mapping.c

@@ -31,8 +31,7 @@
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse);
-void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
 /*
@@ -912,7 +911,7 @@ if (init->useBuzzerP6) {
 
         if (type == MAP_TO_PPM_INPUT) {
 #if defined(SPARKY) || defined(ALIENFLIGHTF3)
-            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
+            if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)) {
                 ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
             }
 #endif
@@ -923,18 +922,14 @@ if (init->useBuzzerP6) {
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
 
 #ifdef CC3D
-            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)){
+            if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)){
             	// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
             	if (timerHardwarePtr->tim == TIM2)
             		continue;
             }
 #endif
-            if (init->useOneshot) {
+            if (init->useFastPwm) {
-                if (init->useMultiShot) {
+                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->fastPwmProtocolType, init->motorPwmRate, init->useUnsyncedPwm, init->idlePulse);
-                    pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
-                } else {
-                    pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
-                }
                 pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
             } else if (isMotorBrushed(init->motorPwmRate)) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

src/main/drivers/pwm_mapping.h

@@ -36,9 +36,11 @@
 #define MAX_INPUTS  8
 
 #define PWM_TIMER_MHZ 1
-#define ONESHOT_TIMER_MHZ 24
+
 #define PWM_BRUSHED_TIMER_MHZ 8
 #define MULTISHOT_TIMER_MHZ 12
+#define ONESHOT42_TIMER_MHZ 24
+#define ONESHOT125_TIMER_MHZ 8
 
 typedef struct sonarGPIOConfig_s {
     GPIO_TypeDef *gpio;
@@ -59,9 +61,8 @@ typedef struct drv_pwm_config_s {
     bool useUART3;
 #endif
     bool useVbat;
-    bool useOneshot;
+    bool useFastPwm;
-    bool useOneshot42;
+    bool useUnsyncedPwm;
-    bool useMultiShot;
     bool useSoftSerial;
     bool useLEDStrip;
 #ifdef SONAR
@@ -70,11 +71,12 @@ typedef struct drv_pwm_config_s {
 #ifdef USE_SERVOS
     bool useServos;
     bool useChannelForwarding;    // configure additional channels as servos
-#ifdef CC3D
+    uint8_t fastPwmProtocolType;
-    bool useBuzzerP6;
-#endif
     uint16_t servoPwmRate;
     uint16_t servoCenterPulse;
+#endif
+#ifdef CC3D
+    bool useBuzzerP6;
 #endif
     bool airplane;       // fixed wing hardware config, lots of servos etc
     uint16_t motorPwmRate;

src/main/drivers/pwm_output.c

@@ -135,27 +135,6 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = value;
 }
-#if defined(STM32F10X) && !defined(CC3D)
-static void pwmWriteOneshot125(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 21 / 6;  // 24Mhz -> 8Mhz
-}
-
-static void pwmWriteOneshot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 7 / 6;
-}
-#else
-static void pwmWriteOneshot125(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 3;  // 24Mhz -> 8Mhz
-}
-
-static void pwmWriteOneshot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value;
-}
-#endif
 
 static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 {
@@ -227,20 +206,30 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse)
 {
-    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, 0xFFFF, 0);
+    uint32_t timerMhzCounter;
-    if (useOneshot42) {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
-    } else {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
-    }
-}
 
-void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
+    switch (fastPwmProtocolType) {
-{
+        default:
-    motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, 0xFFFF, 0);
+        case (PWM_TYPE_ONESHOT125):
-    motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
+            timerMhzCounter = ONESHOT125_TIMER_MHZ;
+            break;
+        case (PWM_TYPE_ONESHOT42):
+            timerMhzCounter = ONESHOT42_TIMER_MHZ;
+            break;
+        case (PWM_TYPE_MULTISHOT):
+            timerMhzCounter = MULTISHOT_TIMER_MHZ;
+    }
+
+    if (useUnsyncedPwm) {
+        uint32_t hz = timerMhzCounter * 1000000;
+        motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
+    } else {
+        motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
+    }
+
+    motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot : pwmWriteStandard;
 }
 
 #ifdef USE_SERVOS

src/main/drivers/pwm_output.h

@@ -17,6 +17,12 @@
 
 #pragma once
 
+typedef enum {
+  PWM_TYPE_ONESHOT125 = 0,
+  PWM_TYPE_ONESHOT42 = 1,
+  PWM_TYPE_MULTISHOT = 2
+} FastPwmProtocolTypes_e;
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);

src/main/flight/mixer.c

@@ -633,7 +633,7 @@ void writeServos(void)
 }
 #endif
 
-void writeMotors(void)
+void writeMotors(uint8_t unsyncedPwm)
 {
     uint8_t i;
 
@@ -641,7 +641,7 @@ void writeMotors(void)
         pwmWriteMotor(i, motor[i]);
 
 
-    if (feature(FEATURE_ONESHOT125)) {
+    if (feature(FEATURE_ONESHOT125) && !unsyncedPwm) {
         pwmCompleteOneshotMotorUpdate(motorCount);
     }
 }
@@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
     // Sends commands to all motors
     for (i = 0; i < motorCount; i++)
         motor[i] = mc;
-    writeMotors();
+    writeMotors(1);
 }
 
 void stopMotors(void)

src/main/flight/mixer.h

@@ -218,6 +218,6 @@ int servoDirection(int servoIndex, int fromChannel);
 #endif
 void mixerResetDisarmedMotors(void);
 void mixTable(void);
-void writeMotors(void);
+void writeMotors(uint8_t unsyncedPwm);
 void stopMotors(void);
 void StopPwmAllMotors(void);

src/main/flight/pid.c

@@ -62,9 +62,10 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 uint8_t PIDweight[3];
 
 static int32_t errorGyroI[3], errorGyroILimit[3];
+#ifndef SKIP_PID_LUXFLOAT
 static float errorGyroIf[3], errorGyroIfLimit[3];
-static int32_t errorAngleI[2];
+#endif
-static float errorAngleIf[2];
+
 static bool lowThrottlePidReduction;
 
 static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@@ -103,22 +104,15 @@ uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) {
     return dynamicKp;
 }
 
-void pidResetErrorAngle(void)
-{
-    errorAngleI[ROLL] = 0;
-    errorAngleI[PITCH] = 0;
-
-    errorAngleIf[ROLL] = 0.0f;
-    errorAngleIf[PITCH] = 0.0f;
-}
-
 void pidResetErrorGyroState(uint8_t resetOption)
 {
     if (resetOption >= RESET_ITERM) {
         int axis;
         for (axis = 0; axis < 3; axis++) {
             errorGyroI[axis] = 0;
+#ifndef SKIP_PID_LUXFLOAT
             errorGyroIf[axis] = 0.0f;
+#endif
         }
     }
 
@@ -141,6 +135,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 static filterStatePt1_t deltaFilterState[3];
 static filterStatePt1_t yawFilterState;
 
+#ifndef SKIP_PID_LUXFLOAT
 static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
@@ -280,6 +275,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
 #endif
     }
 }
+#endif
 
 static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
         rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@@ -426,8 +422,10 @@ void pidSetController(pidControllerType_e type)
         case PID_CONTROLLER_MWREWRITE:
             pid_controller = pidMultiWiiRewrite;
             break;
+#ifndef SKIP_PID_LUXFLOAT
         case PID_CONTROLLER_LUX_FLOAT:
             pid_controller = pidLuxFloat;
+#endif
     }
 }
 

src/main/flight/pid.h

@@ -97,7 +97,6 @@ bool antiWindupProtection;
 extern uint32_t targetPidLooptime;
 
 void pidSetController(pidControllerType_e type);
-void pidResetErrorAngle(void);
 void pidResetErrorGyroState(uint8_t resetOption);
 void setTargetPidLooptime(uint8_t pidProcessDenom);
 

src/main/io/display.c

@@ -22,6 +22,7 @@
 
 #include "platform.h"
 #include "version.h"
+#include "debug.h"
 
 #include "build_config.h"
 
@@ -58,14 +59,16 @@
 #include "flight/navigation.h"
 #endif
 
-#include "config/runtime_config.h"
-
 #include "config/config.h"
+#include "config/runtime_config.h"
+#include "config/config_profile.h"
 
 #include "display.h"
 
 #include "scheduler.h"
 
+extern profile_t *currentProfile;
+
 controlRateConfig_t *getControlRateConfig(uint8_t profileIndex);
 
 #define MICROSECONDS_IN_A_SECOND (1000 * 1000)
@@ -317,13 +320,26 @@ void showProfilePage(void)
     i2c_OLED_set_line(rowIndex++);
     i2c_OLED_send_string(lineBuffer);
 
-    uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
+    static const char* const axisTitles[3] = {"ROL", "PIT", "YAW"};
+    const pidProfile_t *pidProfile = &currentProfile->pidProfile;
+    for (int axis = 0; axis < 3; ++axis) {
+        tfp_sprintf(lineBuffer, "%s P:%3d I:%3d D:%3d",
+            axisTitles[axis],
+            pidProfile->P8[axis],
+            pidProfile->I8[axis],
+            pidProfile->D8[axis]
+        );
+        padLineBuffer();
+        i2c_OLED_set_line(rowIndex++);
+        i2c_OLED_send_string(lineBuffer);
+    }
+
+    const uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
     tfp_sprintf(lineBuffer, "Rate profile: %d", currentRateProfileIndex);
     i2c_OLED_set_line(rowIndex++);
     i2c_OLED_send_string(lineBuffer);
 
-    controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
+    const controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
-
     tfp_sprintf(lineBuffer, "RCE: %d, RCR: %d",
         controlRateConfig->rcExpo8,
         controlRateConfig->rcRate8

src/main/io/display.h

@@ -15,7 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-//#define ENABLE_DEBUG_OLED_PAGE
+#define ENABLE_DEBUG_OLED_PAGE
 
 typedef enum {
     PAGE_WELCOME,

src/main/io/serial_cli.c

@@ -26,6 +26,7 @@
 #include "platform.h"
 #include "scheduler.h"
 #include "version.h"
+#include "debug.h"
 
 #include "build_config.h"
 
@@ -426,20 +427,25 @@ static const char * const lookupTableMagHardware[] = {
     "AK8963"
 };
 
-static const char * const lookupTableDebug[] = {
+static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "NONE",
     "CYCLETIME",
     "BATTERY",
     "GYRO",
     "ACCELEROMETER",
     "MIXER",
-    "AIRMODE"
+    "AIRMODE",
+    "PIDLOOP",
 };
 
 static const char * const lookupTableSuperExpoYaw[] = {
     "OFF", "ON", "ALWAYS"
 };
 
+static const char * const lookupTableFastPwm[] = {
+    "ONESHOT125", "ONESHOT42", "MULTISHOT"
+};
+
 typedef struct lookupTableEntry_s {
     const char * const *values;
     const uint8_t valueCount;
@@ -466,6 +472,7 @@ typedef enum {
     TABLE_MAG_HARDWARE,
 	TABLE_DEBUG,
     TABLE_SUPEREXPO_YAW,
+    TABLE_FAST_PWM,
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -488,7 +495,8 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
     { lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
     { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
-    { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }
+    { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
+    { lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) },
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -564,12 +572,12 @@ const clivalue_t valueTable[] = {
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
 
-    { "use_oneshot42",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
+    { "unsynced_fast_pwm",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
-    { "use_multishot",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
+    { "fast_pwm_protocol",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.fast_pwm_protocol, .config.lookup = { TABLE_FAST_PWM } },
 #ifdef CC3D
     { "enable_buzzer_p6",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
 #endif
-    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 300,  32000 } },
+    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 200,  32000 } },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 } },
 
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },

src/main/io/serial_msp.c

@@ -172,7 +172,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
         }
 #endif
 
-        if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
+        // Oneshot125 protection
+        if ((masterConfig.fast_pwm_protocol == 0) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125) && masterConfig.pid_process_denom < 3) masterConfig.pid_process_denom = 3;
     }
 }
 
@@ -1861,6 +1862,10 @@ void mspProcess(void)
             waitForSerialPortToFinishTransmitting(candidatePort->port);
             stopMotors();
             handleOneshotFeatureChangeOnRestart();
+            // On real flight controllers, systemReset() will do a soft reset of the device,
+            // reloading the program.  But to support offline testing this flag needs to be
+            // cleared so that the software doesn't continuously attempt to reboot itself.
+            isRebootScheduled = false;
             systemReset();
         }
     }

src/main/main.c

@@ -176,7 +176,7 @@ void init(void)
 #ifdef STM32F10X
     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
     // Configure the Flash Latency cycles and enable prefetch buffer
-    SetSysClock(masterConfig.emf_avoidance);
+    SetSysClock(0); // TODO - Remove from config in the future
 #endif
     //i2cSetOverclock(masterConfig.i2c_overclock);
 
@@ -311,18 +311,14 @@ void init(void)
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 #endif
 
-    pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
+    pwm_params.useFastPwm = feature(FEATURE_ONESHOT125);  // Configurator feature abused for enabling Fast PWM
-    if (masterConfig.use_oneshot42) {
+    pwm_params.fastPwmProtocolType = masterConfig.fast_pwm_protocol;
-        pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
-        masterConfig.use_multiShot = false;
-    } else {
-        pwm_params.useMultiShot = masterConfig.use_multiShot ? true : false;
-    }
     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
+    pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    if (pwm_params.motorPwmRate > 500)
+    if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
         pwm_params.idlePulse = 0; // brushed motors
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;

src/main/mw.c

@@ -504,7 +504,6 @@ void processRx(void)
             } else {
                 pidResetErrorGyroState(RESET_ITERM_AND_REDUCE_PID);
             }
-            pidResetErrorAngle();
         }
     } else {
         pidResetErrorGyroState(RESET_DISABLE);
@@ -655,6 +654,7 @@ void processRx(void)
 
 void subTaskPidController(void)
 {
+    const uint32_t startTime = micros();
     // PID - note this is function pointer set by setPIDController()
     pid_controller(
         &currentProfile->pidProfile,
@@ -663,10 +663,13 @@ void subTaskPidController(void)
         &masterConfig.accelerometerTrims,
         &masterConfig.rxConfig
     );
+    if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
 }
 
 void subTaskMainSubprocesses(void) {
 
+    const uint32_t startTime = micros();
+
     if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
         filterRc();
     }
@@ -730,16 +733,18 @@ void subTaskMainSubprocesses(void) {
     #ifdef TRANSPONDER
         updateTransponder();
     #endif
+    if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
 }
 
 void subTaskMotorUpdate(void)
 {
+    const uint32_t startTime = micros();
     if (debugMode == DEBUG_CYCLETIME) {
         static uint32_t previousMotorUpdateTime;
-        uint32_t currentDeltaTime = micros() - previousMotorUpdateTime;
+        const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
         debug[2] = currentDeltaTime;
         debug[3] = currentDeltaTime - targetPidLooptime;
-        previousMotorUpdateTime = micros();
+        previousMotorUpdateTime = startTime;
     }
 
     mixTable();
@@ -750,8 +755,9 @@ void subTaskMotorUpdate(void)
 #endif
 
     if (motorControlEnable) {
-        writeMotors();
+        writeMotors(masterConfig.use_unsyncedPwm);
     }
+    if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
 }
 
 uint8_t setPidUpdateCountDown(void) {
@@ -778,10 +784,12 @@ void taskMainPidLoopCheck(void)
         debug[1] = averageSystemLoadPercent;
     }
 
+    const uint32_t startTime = micros();
     while (true) {
         if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
             static uint8_t pidUpdateCountdown;
 
+            if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
             if (runTaskMainSubprocesses) {
                 subTaskMainSubprocesses();
                 runTaskMainSubprocesses = false;

src/main/scheduler.h

@@ -44,14 +44,14 @@ typedef enum {
     /* Actual tasks */
     TASK_SYSTEM = 0,
     TASK_GYROPID,
-    TASK_ATTITUDE,
     TASK_ACCEL,
+    TASK_ATTITUDE,
+    TASK_RX,
     TASK_SERIAL,
+    TASK_BATTERY,
 #ifdef BEEPER
     TASK_BEEPER,
 #endif
-    TASK_BATTERY,
-    TASK_RX,
 #ifdef GPS
     TASK_GPS,
 #endif

src/main/scheduler_tasks.c

@@ -22,14 +22,15 @@
 #include <platform.h>
 #include "scheduler.h"
 
+void taskSystem(void);
 void taskMainPidLoopCheck(void);
 void taskUpdateAccelerometer(void);
-void taskHandleSerial(void);
 void taskUpdateAttitude(void);
-void taskUpdateBeeper(void);
-void taskUpdateBattery(void);
 bool taskUpdateRxCheck(uint32_t currentDeltaTime);
 void taskUpdateRxMain(void);
+void taskHandleSerial(void);
+void taskUpdateBattery(void);
+void taskUpdateBeeper(void);
 void taskProcessGPS(void);
 void taskUpdateCompass(void);
 void taskUpdateBaro(void);
@@ -39,7 +40,6 @@ void taskUpdateDisplay(void);
 void taskTelemetry(void);
 void taskLedStrip(void);
 void taskTransponder(void);
-void taskSystem(void);
 #ifdef USE_BST
 void taskBstReadWrite(void);
 void taskBstMasterProcess(void);
@@ -61,13 +61,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_REALTIME,
     },
 
-    [TASK_ATTITUDE] = {
-        .taskName = "ATTITUDE",
-        .taskFunc = taskUpdateAttitude,
-        .desiredPeriod = 1000000 / 100,
-        .staticPriority = TASK_PRIORITY_MEDIUM,
-    },
-
     [TASK_ACCEL] = {
         .taskName = "ACCEL",
         .taskFunc = taskUpdateAccelerometer,
@@ -75,6 +68,21 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_MEDIUM,
     },
 
+    [TASK_ATTITUDE] = {
+        .taskName = "ATTITUDE",
+        .taskFunc = taskUpdateAttitude,
+        .desiredPeriod = 1000000 / 100,
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+
+    [TASK_RX] = {
+        .taskName = "RX",
+        .checkFunc = taskUpdateRxCheck,
+        .taskFunc = taskUpdateRxMain,
+        .desiredPeriod = 1000000 / 50,      // If event-based scheduling doesn't work, fallback to periodic scheduling
+        .staticPriority = TASK_PRIORITY_HIGH,
+    },
+
     [TASK_SERIAL] = {
         .taskName = "SERIAL",
         .taskFunc = taskHandleSerial,
@@ -82,6 +90,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_LOW,
     },
 
+    [TASK_BATTERY] = {
+        .taskName = "BATTERY",
+        .taskFunc = taskUpdateBattery,
+        .desiredPeriod = 1000000 / 50,      // 50 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+
 #ifdef BEEPER
     [TASK_BEEPER] = {
         .taskName = "BEEPER",
@@ -91,21 +106,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
-    [TASK_BATTERY] = {
-        .taskName = "BATTERY",
-        .taskFunc = taskUpdateBattery,
-        .desiredPeriod = 1000000 / 50,      // 50 Hz
-        .staticPriority = TASK_PRIORITY_LOW,
-    },
-
-    [TASK_RX] = {
-        .taskName = "RX",
-        .checkFunc = taskUpdateRxCheck,
-        .taskFunc = taskUpdateRxMain,
-        .desiredPeriod = 1000000 / 50,      // If event-based scheduling doesn't work, fallback to periodic scheduling
-        .staticPriority = TASK_PRIORITY_HIGH,
-    },
-
 #ifdef GPS
     [TASK_GPS] = {
         .taskName = "GPS",

src/main/sensors/initialisation.c

@@ -240,6 +240,7 @@ bool fakeGyroDetect(gyro_t *gyro)
     gyro->init = fakeGyroInit;
     gyro->read = fakeGyroRead;
     gyro->temperature = fakeGyroReadTemp;
+    gyro->scale = 1.0f / 16.4f;
     return true;
 }
 #endif

src/main/target/CC3D/target.h

@@ -71,10 +71,6 @@
 #define MAG
 #define USE_MAG_HMC5883
 
-#define INVERTER
-#define BEEPER
-#define DISPLAY
-
 #define USE_VCP
 #define USE_USART1
 #define USE_USART3
@@ -117,28 +113,31 @@
 #define WS2811_DMA_TC_FLAG           DMA1_FLAG_TC6
 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
 
-#define BLACKBOX
-#define TELEMETRY
-#define SERIAL_RX
-#define SONAR
-#define USE_SERVOS
-#define USE_CLI
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-
-#undef DISPLAY
-#undef SONAR
-//#if defined(OPBL) && defined(USE_SERIAL_1WIRE)
-#undef BARO
-//#undef BLACKBOX
-#undef GPS
-//#endif
-#define SKIP_CLI_COMMAND_HELP
-
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)
 #define BIND_PORT  GPIOB
 #define BIND_PIN   Pin_11
 
-#define USE_QUATERNION
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define INVERTER
+#define BEEPER
+#define DISPLAY
+#define BLACKBOX
+#define TELEMETRY
+#define SERIAL_RX
+#define USE_SERVOS
+#define USE_CLI
+#define SONAR
+//#define GPS
+
+#undef BARO
+
+#ifdef CC3D_OPBL
+#define SKIP_CLI_COMMAND_HELP
+//#define SKIP_PID_LUXFLOAT
+#undef DISPLAY
+#undef SONAR
+#undef GPS
+#endif
+