Merge branch 'iNavFlight:master' into master

docs/Betaflight 4.3 compatible OSD.md

@@ -1,18 +1,22 @@
 # Betaflight 4.3 compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode")
 
-INAV 6.0 includes a special mode for MSP DisplayPort that supports incomplete implementations of MSP DisplayPort that only support BetaFlight, like the DJI O3 Air Unit.
+INAV 6.0 includes a special mode for MSP DisplayPort that supports incomplete implementations of MSP DisplayPort that only support BetaFlight, like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4.
 
 Different flight controllers have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs.
 
 While there is some overlap between the glyphs in BetaFlight and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the BetaFlight font, a question mark `?` will be displayed.
 
-This mode can be enabled by selecting BF43COMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
+This mode can be enabled by selecting BF43COMPAT or BFHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
 
 `set osd_video_system = BF43COMPAT`
 
+or
+
+`set osd_video_system = BFHDCOMPAT`
+
 ## Limitations
 
-* Canvas size is limited to PAL's canvas size.
+* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as BFHDCOMPAT in the OSD tab of the configurator.
 * Unsupported Glyphs show up as `?`
 
 ## FAQ
@@ -43,4 +47,4 @@ While it might technically be possible to replace some glyphs with text in multi
 
 ### Does DJI support Canvas Mode?
 
-Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD.
+Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD.

docs/SITL/RealFlight.md

@@ -0,0 +1,24 @@
+# RealFlight
+
+Supported are RealFlight 9.5S and RealFlight Evolution, NOT RealFlight-X.
+
+RealFlight is very well suited to simulate the model flight specific aspects. Autolaunch and the mixers can be used.
+However, since the sceneries do not correspond to a real environment, the GPS data must be "faked". The position is always shown somewhere in southern Nevada ;).
+GPS data and flight modes work fine though, only for missions with waypoints it is of course not ideal. 
+
+## Joystick 
+In the settings, calibrate the joystick, set it up and assign the axes in the same order as in INAV.
+Channel 1 (Aileron) in RealFlight is Cannel 1 (Aileron in INAV) and so on. 
+
+## General settings
+Under Settings / Physics / Quality Switch on "RealFlight Link enabled".
+As a command line option for SITL, the port does not need to be specified, the port is fixed.
+For better results, set the difficulty level to "Realistic". 
+
+## Prepare the models
+All mixer and servo influencing settings should be deactivated.
+In the model editor under "Electronis" all mixers should be deleted and the servos should be connected directly to the virtual receiver output.
+In the "Radio" tab also deactivate Expo and low rates: "Activadd when: Never".
+Configure the model in the same way as a real model would be set up in INAV including Mixer, Expo, etc. depending on the selected model in RealFlight.
+
+Then adjust the channelmap im the Configurator or via command line accordingly. 

docs/SITL/SITL.md

@@ -0,0 +1,146 @@
+# SITL
+
+![INAV-SIM-OSD](assets/INAV-SIM-OSD.png)
+
+## ATTENTION!
+SITL is currently still under development.
+
+SITL (Software in the loop) allows to run INAV completely in software on the PC without using a flight controller and simulate complete FPV flights.
+For this, INAV is compiled with a normal PC compiler.
+
+The sensors are replaced by data provided by a simulator.
+Currently supported are
+- RealFlight  https://www.realflight.com/
+- X-Plane https://www.x-plane.com/
+
+INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options.
+
+## Sensors
+The following sensors are emulated:
+- IMU (Gyro, Accelerometer)
+- GPS
+- Pitot
+- Magnetometer (Compass)
+- Rangefinder
+- Barometer
+- Battery (current and voltage), depending on simulator
+
+![SITL-Fake-Sensors](assets/SITL-Fake-Sensors.png)
+
+Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
+
+## Serial ports+
+UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 6761, ...
+By default, UART1 and UART2 are available as MSP connections.
+To connect the Configurator to SITL: Select TCP and connect to ```127.0.0.1:5760``` (if SITL is running on the same machine).
+IPv4 and IPv6 are supported, either raw addresses of hostname lookup.
+
+The assignment and status of user UART/TCP connections is displayed on the console.
+
+![STL-Output](assets/SITL-UART-TCP-Connecion.png)
+
+All other interfaces (I2C, SPI, etc.) are not emulated.
+
+## Remote control
+Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
+
+### Joystick interface
+Only 8 channels are supported.
+Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators.
+
+### Serial Receiver via USB
+Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual.
+
+The Configurator offers a built-in option for forwarding the serial data to the SITL TCP port, if SITL is started manually the following option can be used:
+
+The connection can then be established with a programme that forwards the serial data unaltered to TCP, e.g. with the Python script tcp_serial_redirect.py (https://github.com/Scavanger/TCP-Serial-Redirect)
+If necessary, please download the required runtime environment from https://www.python.org/.
+Please use the linked version, which has a smaller buffer, otherwise the control response is relatively slow.
+
+### Example SBUS:
+For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/) the signals can be inverted: Devices->Scan and Parse, then Hardware Specific -> Invert RS232 Signals -> Invert RXD.
+
+![SITL-SBUS-FT232](assets/SITL-SBUS-FT232.png)
+
+For SBUS, the command line arguments of the python script are:
+```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
+
+Note: Telemetry via return channel through the receiver is not supported by SITL (yet).
+
+## OSD
+For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
+For this, activate MSP-Displayport on a UART/TCP port and connect to the corresponding port.
+
+Note: INAV-Sim-OSD only works if the simulator is in window mode.
+
+## Command line
+The command line options are only necessary if the SITL executable is started by hand, e.g. when debugging.
+For normal use, please use the SITL tab in the configurator.
+
+The following SITL specific command line options are available:
+
+If SITL is started without command line options, only a serial MSP / CLI connection can be used (e.g. Configurator or other application) can be used.
+
+```--path``` Full path and file name to config file, if not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```
+
+```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```
+
+```--simip=[ip]``` IP address of the simulator, if you specify a simulator with "--sim" and omit this option localhost (127.0.0.1) will be used. Example: ```--simip=172.65.21.15```
+
+```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```
+
+```--useimu``` Use IMU sensor data from the simulator instead of using attitude data directly from the simulator. Not recommended, use only for debugging.
+
+```--chanmap=[chanmap]``` The channelmap to map the motor and servo outputs from INAV to the virtual receiver channel or control surfaces around simulator.
+Syntax: (M(otor)|S(ervo)<INAV-OUT>-<RECEIVER_OUT>),..., all numbers must have two digits.
+Example:
+To assign motor1 to virtual receiver channel 1, servo 1 to channel 2, and servo2 to channel 3:
+```--chanmap:M01-01,S01-02,S02-03```
+Please also read the documentation of the individual simulators.
+
+```--help``` Displays help for the command line options.
+
+## Running SITL
+It is recommended to start the tools in the following order:
+1. Simulator, aircraft should be ready for take-off
+2. INAV-SITL
+3. OSD
+4. serial redirect for RC input
+
+## Compile
+
+### Linux and FreeBSD:
+Almost like normal, ruby, cmake and make are also required.
+With cmake, the option "-DSITL=ON" must be specified.
+
+```
+mkdir build_SITL
+cd build_SITL
+cmake -DSITL=ON ..
+make
+```
+
+### Windows:
+Compile under cygwin, then as in Linux.
+Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
+
+#### Build manager
+
+`ninja` may also be used (parallel builds without `-j $(nproc)`):
+
+```
+cmake -GNinja -DSITL=ON ..
+ninja
+```
+
+### Compiler requirements
+
+* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work.
+* Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
+* Pthreads
+
+## Supported environments
+
+* Linux on x86_64, Aarch64 (e.g. Rpi4), RISC-V (e.g. VisionFive2)
+* Windows on x86_64
+* FreeBSD (x86_64 at least).

docs/SITL/X-Plane.md

@@ -0,0 +1,44 @@
+# X-Plane
+
+Tested on X-Plane 11, 12 should(!) work but not tested.
+
+X-Plane is not a model flight simulator, but is based on real world data and is therefore suitable for GPS missions with waypoints.
+
+## Aircraft
+It is recommended to use the "AR Wing" of the INAV HITL project: https://github.com/RomanLut/INAV-X-Plane-HITL
+
+## General settings
+In Settings / Network select "Accept incoming connections".
+The port can be found under "UDP PORTS", "Port we receive on". If no connection is established, the port can be changed.
+You may want to incease the "Flight model per frame" value under "General"
+
+## Joystick
+In the settings, calibrate the joystick, set it up and assign the axes as follows:
+
+| INAV | X-Plane |
+|------|---------|
+| Roll | Roll |
+| Pitch | Pitch |
+| Throttle | Cowl Flap 1 |
+| Yaw | Yaw |
+| Channel 5 | Cowl Flap 2 |
+| Channel 6 | Cowl Flap 3 |
+| Channel 7 | Cowl Flap 4 |
+| Channel 8 | Cowl Flap 5 |
+
+Reverse axis in X-Plane if necessary.
+
+## Channelmap:
+The assignment of the "virtual receiver" is fixed:
+1 - Throttle
+2 - Roll
+3 - Pitch
+4 - Yaw
+
+The internal mixer (e.g. for flying wings) cannot be deactivated without further ado, therefore always select "Aircraft with tail" in INAV.
+For the standard Aircraft preset the channelmap is:
+```--chanmap=M01-01,S01-03,S03-02,S04-04```
+
+## Other applications
+
+[fl2sitl](https://github.com/stronnag/bbl2kml/wiki/fl2sitl) is an open source application to replay an INAV Blackbox log through the INAV SITL via `blackbox_decode`. The output may be visualised in any MSP capable application, such as the INAV Configurator or [mwp](https://github.com/stronnag/mwptools). fl2sitl uses the X-plane protocol.

docs/Settings.md

@@ -2648,7 +2648,7 @@ If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or P
 
 | Default | Min | Max |
 | --- | --- | --- |
-| ON |  |  |
+| ALLOW_BYPASS |  |  |
 
 ---
 
@@ -4938,7 +4938,7 @@ When enabled, INAV will set RC filtering based on refresh rate and smoothing fac
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF | OFF | ON |
+| ON | OFF | ON |
 
 ---
 

docs/development/Windows 11 - VS Code - WSL2 - Hardware Debugging.md

@@ -84,7 +84,7 @@ sudo udevadm control --reload-rules
 - Just for info: `usbipd detach --busid ID_OF_DEVICE_FROM_FIRST_COMMAND` - will deattach USB device from WSL
 ### Back to WSL2 prompt
 - `lsusb` - should show you just attached USB device
-- `st-info -probe` - should "see" ST-Link and MCU
+- `st-info --probe` - should "see" ST-Link and MCU
 
 #### Leave Command Prompt and WSL Prompt minimized (for later usage)
 #### **NOTE:** Due to some USB reconnect issues, sometimes, is need to execute `usbipd wsl list` and `usbipd wsl attach...` commands again, to reconnect ST-Link to WSL