Unfuck rebase

docs/MixerProfile.md

@@ -104,9 +104,6 @@ TailSitter is supported by add a 90deg offset to the board alignment. Set the bo
   - Rate Settings
   - ·······
 
-### TailSitter support
-TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing `set platform_type = TAILSITTER`. The `TAILSITTER` platform type is same as `MULTIROTOR` platform type, expect for a 90 deg board alignment offset. In `TAILSITTER` mixer_profile, when motor trust/airplane nose is pointing to the sky, 'airplane bottom'/'multi rotor front' should facing forward in model preview. Set the motor/servo mixer according to multirotor orientation, Model should roll around geography's longitudinal axis, the roll axis of `TAILSITTER` will be yaw axis of `AIRPLANE`. In addition, When `MIXER TRANSITION` input is activated, a 45deg offset will be add to the target angle for angle mode.
-
 ## Happy flying
 
 Remember that this is currently an emerging capability:

docs/Settings.md

@@ -5812,16 +5812,6 @@ Delay before disarming when requested by switch (ms) [0-1000]
 
 ---
 
-### tailsitter_orientation_offset
-
-Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
 ### telemetry_halfduplex
 
 S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details

lib/main/STM32F4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c

@@ -344,11 +344,6 @@ static int8_t SCSI_ModeSense6 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
-  }
-
   return 0;
 }
 
@@ -372,11 +367,6 @@ static int8_t SCSI_ModeSense10 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
-  }
-
   return 0;
 }
 

lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c

@@ -348,11 +348,6 @@ static int8_t SCSI_ModeSense6 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
-  }
-
   return 0;
 }
 
@@ -377,11 +372,6 @@ static int8_t SCSI_ModeSense10 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
-  }
-
   return 0;
 }
 

lib/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c

@@ -347,11 +347,6 @@ static int8_t SCSI_ModeSense6(USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *p
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
-  }
-
   return 0;
 }
 
@@ -377,11 +372,6 @@ static int8_t SCSI_ModeSense10(USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
 
-  // set bit 7 of the device configuration byte to indicate write protection
-  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
-      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
-  }
-
   return 0;
 }
 

src/main/fc/settings.yaml

@@ -1188,14 +1188,6 @@ groups:
         field: mixer_config.switchTransitionTimer
         min: 0
         max: 200
-      - name: tailsitter_orientation_offset
-        description: "Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode"
-        default_value: OFF
-        field: mixer_config.tailsitterOrientationOffset
-        type: bool
-
-
-
   - name: PG_REVERSIBLE_MOTORS_CONFIG
     type: reversibleMotorsConfig_t
     members:

src/main/flight/imu.c

@@ -704,33 +704,6 @@ static void imuCalculateTurnRateacceleration(fpVector3_t *vEstcentrifugalAccelBF
     lastspeed = currentspeed;
 }
 
-fpQuaternion_t* getTailSitterQuaternion(bool normal2tail){
-    static bool firstRun = true;
-    static fpQuaternion_t qNormal2Tail;
-    static fpQuaternion_t qTail2Normal;
-    if(firstRun){
-        fpAxisAngle_t axisAngle;
-        axisAngle.axis.x = 0;
-        axisAngle.axis.y = 1;
-        axisAngle.axis.z = 0;
-        axisAngle.angle = DEGREES_TO_RADIANS(-90);
-        axisAngleToQuaternion(&qNormal2Tail, &axisAngle);
-        quaternionConjugate(&qTail2Normal, &qNormal2Tail);
-        firstRun = false;
-    }
-    return normal2tail ? &qNormal2Tail : &qTail2Normal;
-}
-
-void imuUpdateTailSitter(void)
-{
-    static bool lastTailSitter=false;
-    if (((bool)STATE(TAILSITTER)) != lastTailSitter){
-        fpQuaternion_t* rotation_for_tailsitter= getTailSitterQuaternion(STATE(TAILSITTER));
-        quaternionMultiply(&orientation, &orientation, rotation_for_tailsitter);
-    }
-    lastTailSitter = STATE(TAILSITTER);
-}
-
 static void imuCalculateEstimatedAttitude(float dT)
 {
 #if defined(USE_MAG)
@@ -827,7 +800,6 @@ static void imuCalculateEstimatedAttitude(float dT)
                             useCOG, courseOverGround,
                             accWeight,
                             magWeight);
-    imuUpdateTailSitter();
     imuUpdateEulerAngles();
 }
 

src/main/flight/mixer.c

@@ -161,7 +161,6 @@ void mixerUpdateStateFlags(void)
     DISABLE_STATE(BOAT);
     DISABLE_STATE(AIRPLANE);
     DISABLE_STATE(MOVE_FORWARD_ONLY);
-    DISABLE_STATE(TAILSITTER);
 
     if (currentMixerConfig.platformType == PLATFORM_AIRPLANE) {
         ENABLE_STATE(FIXED_WING_LEGACY);
@@ -187,12 +186,6 @@ void mixerUpdateStateFlags(void)
         ENABLE_STATE(ALTITUDE_CONTROL);
     }
 
-    if (currentMixerConfig.tailsitterOrientationOffset) {
-        ENABLE_STATE(TAILSITTER);
-    } else {
-        DISABLE_STATE(TAILSITTER);
-    }
-
     if (currentMixerConfig.hasFlaps) {
         ENABLE_STATE(FLAPERON_AVAILABLE);
     } else {

src/main/flight/mixer_profile.c

@@ -53,7 +53,6 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
                          .PIDProfileLinking = SETTING_MIXER_PID_PROFILE_LINKING_DEFAULT,
                          .automated_switch = SETTING_MIXER_AUTOMATED_SWITCH_DEFAULT,
                          .switchTransitionTimer =  SETTING_MIXER_SWITCH_TRANS_TIMER_DEFAULT,
-                         .tailsitterOrientationOffset = SETTING_TAILSITTER_ORIENTATION_OFFSET_DEFAULT,
                      });
         for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++)
         {

src/main/flight/mixer_profile.h

@@ -18,7 +18,6 @@ typedef struct mixerConfig_s {
     bool PIDProfileLinking;
     bool automated_switch;
     int16_t switchTransitionTimer;
-    bool tailsitterOrientationOffset;
 } mixerConfig_t;
 typedef struct mixerProfile_s {
     mixerConfig_t mixer_config;

src/main/flight/pid.c

@@ -586,11 +586,7 @@ int16_t angleFreefloatDeadband(int16_t deadband, flight_dynamics_index_t axis)
 
 static float computePidLevelTarget(flight_dynamics_index_t axis) {
     // This is ROLL/PITCH, run ANGLE/HORIZON controllers
-#ifdef USE_PROGRAMMING_FRAMEWORK
-    float angleTarget = pidRcCommandToAngle(getRcCommandOverride(rcCommand, axis), pidProfile()->max_angle_inclination[axis]);
-#else
     float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);
-#endif
 
     // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
     if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
@@ -1146,6 +1142,7 @@ void FAST_CODE pidController(float dT)
     }
 
     for (int axis = 0; axis < 3; axis++) {
+        // Step 1: Calculate gyro rates
         pidState[axis].gyroRate = gyro.gyroADCf[axis];
 
         // Step 2: Read target
@@ -1183,11 +1180,6 @@ void FAST_CODE pidController(float dT)
             // If axis angle override, get the correct angle from Logic Conditions
             float angleTarget = getFlightAxisAngleOverride(axis, computePidLevelTarget(axis));
             
-            //apply 45 deg offset for tailsitter when isMixerTransitionMixing is activated
-            if (STATE(TAILSITTER) && isMixerTransitionMixing && axis == FD_PITCH){
-                angleTarget += DEGREES_TO_DECIDEGREES(45);
-            }
-
             if (STATE(AIRPLANE)) {  // update anglehold mode
                 updateAngleHold(&angleTarget, axis);
             }

src/main/io/displayport_msp_bf_compat.c

@@ -578,48 +578,6 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
     case (SYM_AH_V_START+4):
     case (SYM_AH_V_START+5):
         return BF_SYM_AH_BAR9_4;
-
-    // BF for ESP_RADAR Symbols
-    case SYM_HUD_CARDINAL:
-        return BF_SYM_ARROW_SOUTH;
-    case SYM_HUD_CARDINAL + 1:
-        return BF_SYM_ARROW_16;
-    case SYM_HUD_CARDINAL + 2:
-        return BF_SYM_ARROW_15;
-    case SYM_HUD_CARDINAL + 3:
-        return BF_SYM_ARROW_WEST;
-    case SYM_HUD_CARDINAL + 4:
-        return BF_SYM_ARROW_12;
-    case SYM_HUD_CARDINAL + 5:
-        return BF_SYM_ARROW_11;
-    case SYM_HUD_CARDINAL + 6:
-        return BF_SYM_ARROW_NORTH;
-    case SYM_HUD_CARDINAL + 7:
-        return BF_SYM_ARROW_7;
-    case SYM_HUD_CARDINAL + 8:
-        return BF_SYM_ARROW_6;
-    case SYM_HUD_CARDINAL + 9:
-        return BF_SYM_ARROW_EAST;
-    case SYM_HUD_CARDINAL + 10:
-        return BF_SYM_ARROW_3;
-    case SYM_HUD_CARDINAL + 11:
-        return BF_SYM_ARROW_2;
-
-    case SYM_HUD_ARROWS_R3:
-        return BF_SYM_AH_RIGHT;
-    case SYM_HUD_ARROWS_L3:
-        return BF_SYM_AH_LEFT;
-
-    case SYM_HUD_SIGNAL_0:
-        return BF_SYM_AH_BAR9_1;
-    case SYM_HUD_SIGNAL_1:
-        return BF_SYM_AH_BAR9_3;
-    case SYM_HUD_SIGNAL_2:
-        return BF_SYM_AH_BAR9_4;
-    case SYM_HUD_SIGNAL_3:
-        return BF_SYM_AH_BAR9_5;
-    case SYM_HUD_SIGNAL_4:
-        return BF_SYM_AH_BAR9_7;
 /*
     case SYM_VARIO_UP_2A:
         return BF_SYM_VARIO_UP_2A;

src/main/sensors/boardalignment.c

@@ -28,7 +28,6 @@
 
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "fc/runtime_config.h"
 
 #include "drivers/sensor.h"
 
@@ -46,7 +45,6 @@
 
 static bool standardBoardAlignment = true;     // board orientation correction
 static fpMat3_t boardRotMatrix;
-static fpMat3_t tailRotMatrix;
 
 // no template required since defaults are zero
 PG_REGISTER(boardAlignment_t, boardAlignment, PG_BOARD_ALIGNMENT, 0);
@@ -58,19 +56,19 @@ static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
 
 void initBoardAlignment(void)
 {
-    standardBoardAlignment=isBoardAlignmentStandard(boardAlignment());
+    if (isBoardAlignmentStandard(boardAlignment())) {
+        standardBoardAlignment = true;
+    } else {
         fp_angles_t rotationAngles;
 
+        standardBoardAlignment = false;
+
         rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
         rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
         rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees  );
 
         rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
-    fp_angles_t tailSitter_rotationAngles;
+    }
-    tailSitter_rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(0);
-    tailSitter_rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(900);
-    tailSitter_rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(0);
-    rotationMatrixFromAngles(&tailRotMatrix, &tailSitter_rotationAngles);
 }
 
 void updateBoardAlignment(int16_t roll, int16_t pitch)
@@ -87,23 +85,15 @@ void updateBoardAlignment(int16_t roll, int16_t pitch)
     initBoardAlignment();
 }
 
-void applyTailSitterAlignment(fpVector3_t *fpVec)
-{
-    if (!STATE(TAILSITTER)) {
-        return;
-    }
-    rotationMatrixRotateVector(fpVec, fpVec, &tailRotMatrix);
-}
-
 void applyBoardAlignment(float *vec)
 {
-    if (standardBoardAlignment && (!STATE(TAILSITTER))) {
+    if (standardBoardAlignment) {
         return;
     }
 
     fpVector3_t fpVec = { .v = { vec[X], vec[Y], vec[Z] } };
     rotationMatrixRotateVector(&fpVec, &fpVec, &boardRotMatrix);
-    applyTailSitterAlignment(&fpVec);
+
     vec[X] = lrintf(fpVec.x);
     vec[Y] = lrintf(fpVec.y);
     vec[Z] = lrintf(fpVec.z);

src/main/sensors/boardalignment.h

@@ -18,7 +18,6 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "common/vector.h"
 
 typedef struct boardAlignment_s {
     int16_t rollDeciDegrees;
@@ -32,4 +31,3 @@ void initBoardAlignment(void);
 void updateBoardAlignment(int16_t roll, int16_t pitch);
 void applySensorAlignment(float * dest, float * src, uint8_t rotation);
 void applyBoardAlignment(float *vec);
-void applyTailSitterAlignment(fpVector3_t *vec);

src/main/sensors/compass.c

@@ -472,7 +472,6 @@ void compassUpdate(timeUs_t currentTimeUs)
         fpVector3_t rotated;
 
         rotationMatrixRotateVector(&rotated, &v, &mag.dev.magAlign.externalRotation);
-        applyTailSitterAlignment(&rotated);
          mag.magADC[X] = rotated.x;
          mag.magADC[Y] = rotated.y;
          mag.magADC[Z] = rotated.z;