Merge branch 'master' into dzikuvx-nav-cruise-improvements

.github/no-response.yml

@@ -0,0 +1,12 @@
+# Configuration for probot-no-response - https://github.com/probot/no-response
+
+# Number of days of inactivity before an Issue is closed for lack of response
+daysUntilClose: 3
+# Label requiring a response
+responseRequiredLabel: Missing Information
+# Comment to post when closing an Issue for lack of response. Set to `false` to disable
+closeComment: >
+  This issue has been automatically closed because the information we asked
+  to be provided when opening it was not supplied by the original author.
+  With only the information that is currently in the issue, we don't have
+  enough information to take action.

docs/Cli.md

@@ -491,6 +491,7 @@ A shorter form is also supported to enable and disable functions using `serial <
 |  vtx_low_power_disarm  | OFF | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled. |
 |  vtx_pit_mode_freq  | Frequency to use (in MHz) when the VTX is in pit mode. |
 |  vtx_power  | 1 | VTX RF power level to use. The exact number of mw depends on the VTX hardware. |
+|  vtx_max_power_override | 0 | Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use this to override max supported power. 0 to disable and use whatever VTX reports as it's capabilities |
 | motor_accel_time | 0 | Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000] |
 | motor_decel_time | 0 | Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000] |
 | thr_comp_weight | 0.692 | Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage) |

docs/Logic Conditions.md

@@ -9,7 +9,7 @@ Logic conditions can be edited using INAV Configurator user interface, of via CL
 
 ## CLI
 
-`logic <rule> <enabled> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>`
+`logic <rule> <enabled> <activatorId> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>`
 
 * `<rule>` - ID of Logic Condition rule
 * `<enabled>` - `0` evaluates as disabled, `1` evaluates as enabled
@@ -102,4 +102,4 @@ All flags are reseted on ARM and DISARM event.
 
 | bit   | Decimal   | Function              |
 |----   |----       |----                   |
-| 0     | 1         | Latch - after activation LC will stay active until LATCH flag is reseted |
+| 0     | 1         | Latch - after activation LC will stay active until LATCH flag is reseted |

docs/Navigation.md

@@ -58,12 +58,14 @@ When deciding what altitude to maintain, RTH has 4 different modes of operation
 
 Parameters:
 
-  * `<action>` - The action to be taken at the WP. The following are enumerations are available in inav 2.5 and later:
+  * `<action>` - The action to be taken at the WP. The following are enumerations are available in inav 2.6 and later:
       *  0 - Unused / Unassigned
       *  1 - WAYPOINT
       *  3 - POSHOLD_TIME
       *  4 - RTH
+	  *  5 - SET_POI
       *  6 - JUMP
+      *  7 - SET_HEAD
       *  8 - LAND
 
   * `<lat>` - Latitude (WGS84), in degrees * 1E7 (for example 123456789 means 12.3456789).
@@ -72,7 +74,7 @@ Parameters:
 
   * `<alt>` - Altitude in cm.
 
-  * `<p1>` - For a RTH waypoint, p1 > 0 enables landing. For a normal waypoint it is the speed to this waypoint (cm/s), it is taken into account only for multicopters and when > 50 and < nav_auto_speed. For POSHOLD TIME waypoint it is time to loiter in seconds. For JUMP it is the target WP **index** (not number).
+  * `<p1>` - For a RTH waypoint, p1 > 0 enables landing. For a normal waypoint it is the speed to this waypoint (cm/s), it is taken into account only for multicopters and when > 50 and < nav_auto_speed. For POSHOLD TIME waypoint it is time to loiter in seconds. For JUMP it is the target WP **index** (not number). For SET_HEAD, it is the desired heading (0-359) or -1 to cancel a previous SET_HEAD or SET_POI.
 
   * `<p2>` - For a POSHOLD TIME it is the speed to this waypoint (cm/s), it is taken into account only for multicopters and when > 50 and < nav_auto_speed. For JUMP it is the number of iterations of the JUMP.
 

docs/development/Generic_Linux_development.md

@@ -24,16 +24,22 @@ In addition to a cross-compiler, it is necessary to install some other tools:
 
 ### Ubuntu / Debian
 ```
+$ # make sure the system is updated first
+$ sudo apt update && sudo apt upgrade
 $ sudo apt install gcc git make ruby curl
 ```
 
 ### Fedora
 ```
+$ # make sure the system is updated first
+$ sudo dnf -y update
 $ sudo dnf install gcc git make ruby curl
 ```
 
 ### Arch
 ```
+$ # make sure the system is updated first
+$ sudo pacman -Syu
 $ sudo pacman -S gcc git make ruby curl
 ```
 

make/release.mk

@@ -15,7 +15,9 @@ RELEASE_TARGETS += OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 DYSF4PRO DYSF4
 RELEASE_TARGETS += OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS
 RELEASE_TARGETS += OMNIBUSF7 OMNIBUSF7V2 OMNIBUSF7NXT YUPIF7
 
+# MATEK targets
 RELEASE_TARGETS += MATEKF405 MATEKF405_SERVOS6 MATEKF405OSD MATEKF722 MATEKF722_HEXSERVO MATEKF722SE MATEKF722MINI MATEKF405SE MATEKF411 MATEKF411_SFTSRL2 MATEKF411_FD_SFTSRL MATEKF411_RSSI MATEKF411SE MATEKF765 MATEKF722PX
+RELEASE_TARGETS += MATEKF765
 
 RELEASE_TARGETS += FOXEERF405 FOXEERF722DUAL
 
@@ -27,10 +29,9 @@ RELEASE_TARGETS += OMNIBUSF4V6
 
 RELEASE_TARGETS += MAMBAF405 MAMBAF405US MAMBAF722
 
-RELEASE_TARGETS += IFLIGHTF7_TWING IFLIGHTF4_TWING
+# IFLIGHT targets
+RELEASE_TARGETS += IFLIGHTF7_TWING IFLIGHTF4_TWING IFLIGHTF4_SUCCEXD
 
 RELEASE_TARGETS += AIKONF4
 
-RELEASE_TARGETS += MATEKF765
-
 RELEASE_TARGETS += ZEEZF7

src/main/drivers/barometer/barometer_dps310.c

@@ -0,0 +1,321 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Copyright: INAVFLIGHT OU
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <platform.h>
+
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "common/utils.h"
+
+#include "drivers/io.h"
+#include "drivers/bus.h"
+#include "drivers/time.h"
+#include "drivers/barometer/barometer.h"
+#include "drivers/barometer/barometer_dps310.h"
+
+#if defined(USE_BARO) && defined(USE_BARO_DPS310)
+
+#define DPS310_REG_PSR_B2           0x00
+#define DPS310_REG_PSR_B1           0x01
+#define DPS310_REG_PSR_B0           0x02
+#define DPS310_REG_TMP_B2           0x03
+#define DPS310_REG_TMP_B1           0x04
+#define DPS310_REG_TMP_B0           0x05
+#define DPS310_REG_PRS_CFG          0x06
+#define DPS310_REG_TMP_CFG          0x07
+#define DPS310_REG_MEAS_CFG         0x08
+#define DPS310_REG_CFG_REG          0x09
+
+#define DPS310_REG_RESET            0x0C
+#define DPS310_REG_ID               0x0D
+
+#define DPS310_REG_COEF             0x10
+#define DPS310_REG_COEF_SRCE        0x28
+
+
+#define DPS310_ID_REV_AND_PROD_ID       (0x10)
+
+#define DPS310_RESET_BIT_SOFT_RST       (0x09)    // 0b1001
+
+#define DPS310_MEAS_CFG_COEF_RDY        (1 << 7)
+#define DPS310_MEAS_CFG_SENSOR_RDY      (1 << 6)
+#define DPS310_MEAS_CFG_TMP_RDY         (1 << 5)
+#define DPS310_MEAS_CFG_PRS_RDY         (1 << 4)
+#define DPS310_MEAS_CFG_MEAS_CTRL_CONT  (0x7)
+
+#define DPS310_PRS_CFG_BIT_PM_RATE_32HZ (0x50)      //  101 - 32 measurements pr. sec.
+#define DPS310_PRS_CFG_BIT_PM_PRC_16    (0x04)      // 0100 - 16 times (Standard).
+
+#define DPS310_TMP_CFG_BIT_TMP_EXT          (0x80)  //
+#define DPS310_TMP_CFG_BIT_TMP_RATE_32HZ    (0x50)  //  101 - 32 measurements pr. sec.
+#define DPS310_TMP_CFG_BIT_TMP_PRC_16       (0x04)  // 0100 - 16 times (Standard).
+
+#define DPS310_CFG_REG_BIT_P_SHIFT          (0x04)
+#define DPS310_CFG_REG_BIT_T_SHIFT          (0x08)
+
+#define DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE  (0x80)
+
+typedef struct {
+    int16_t c0;     // 12bit
+    int16_t c1;     // 12bit
+    int32_t c00;    // 20bit
+    int32_t c10;    // 20bit
+    int16_t c01;    // 16bit
+    int16_t c11;    // 16bit
+    int16_t c20;    // 16bit
+    int16_t c21;    // 16bit
+    int16_t c30;    // 16bit
+} calibrationCoefficients_t;
+
+typedef struct {
+    calibrationCoefficients_t   calib;
+    float                       pressure;       // Pa
+    float                       temperature;    // DegC
+} baroState_t;
+
+static baroState_t  baroState;
+
+
+// Helper functions
+static uint8_t registerRead(busDevice_t * busDev, uint8_t reg)
+{
+    uint8_t buf;
+    busRead(busDev, reg, &buf);
+    return buf;
+}
+
+static void registerWrite(busDevice_t * busDev, uint8_t reg, uint8_t value)
+{
+    busWrite(busDev, reg, value);
+}
+
+static void registerSetBits(busDevice_t * busDev, uint8_t reg, uint8_t setbits)
+{
+    uint8_t val = registerRead(busDev, reg);
+
+    if ((val & setbits) != setbits) {
+        val |= setbits;
+        registerWrite(busDev, reg, val);
+    }
+}
+
+static int32_t getTwosComplement(uint32_t raw, uint8_t length)
+{
+    if (raw & ((int)1 << (length - 1))) {
+        return ((int32_t)raw) - ((int32_t)1 << length);
+    }
+    else {
+        return raw;
+    }
+}
+
+static bool deviceConfigure(busDevice_t * busDev)
+{
+    // Trigger a chip reset
+    registerSetBits(busDev, DPS310_REG_RESET, DPS310_RESET_BIT_SOFT_RST);
+
+    // Sleep 40ms
+    delay(40);
+
+    uint8_t status = registerRead(busDev, DPS310_REG_MEAS_CFG);
+
+    // Check if coefficients are available
+    if ((status & DPS310_MEAS_CFG_COEF_RDY) == 0) {
+        return false;
+    }
+
+    // Check if sensor initialization is complete
+    if ((status & DPS310_MEAS_CFG_SENSOR_RDY) == 0) {
+        return false;
+    }
+
+    // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
+    //   Note: The coefficients read from the coefficient register are 2's complement numbers.
+    uint8_t coef[18];
+    if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
+        return false;
+    }
+
+    // 0x11 c0 [3:0] + 0x10 c0 [11:4]
+    baroState.calib.c0 = getTwosComplement(((uint32_t)coef[0] << 4) | (((uint32_t)coef[1] >> 4) & 0x0F), 12);
+
+    // 0x11 c1 [11:8] + 0x12 c1 [7:0]
+    baroState.calib.c1 = getTwosComplement((((uint32_t)coef[1] & 0x0F) << 8) | (uint32_t)coef[2], 12);
+
+    // 0x13 c00 [19:12] + 0x14 c00 [11:4] + 0x15 c00 [3:0]
+    baroState.calib.c00 = getTwosComplement(((uint32_t)coef[3] << 12) | ((uint32_t)coef[4] << 4) | (((uint32_t)coef[5] >> 4) & 0x0F), 20);
+
+    // 0x15 c10 [19:16] + 0x16 c10 [15:8] + 0x17 c10 [7:0]
+    baroState.calib.c10 = getTwosComplement((((uint32_t)coef[5] & 0x0F) << 16) | ((uint32_t)coef[6] << 8) | (uint32_t)coef[7], 20);
+
+    // 0x18 c01 [15:8] + 0x19 c01 [7:0]
+    baroState.calib.c01 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
+
+    // 0x1A c11 [15:8] + 0x1B c11 [7:0]
+    baroState.calib.c11 = getTwosComplement(((uint32_t)coef[8] << 8) | (uint32_t)coef[9], 16);
+
+    // 0x1C c20 [15:8] + 0x1D c20 [7:0]
+    baroState.calib.c20 = getTwosComplement(((uint32_t)coef[12] << 8) | (uint32_t)coef[13], 16);
+
+    // 0x1E c21 [15:8] + 0x1F c21 [7:0]
+    baroState.calib.c21 = getTwosComplement(((uint32_t)coef[14] << 8) | (uint32_t)coef[15], 16);
+
+    // 0x20 c30 [15:8] + 0x21 c30 [7:0]
+    baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
+
+    // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
+    registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
+
+    // TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
+    const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
+    registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
+
+    // CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
+    registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
+
+    // MEAS_CFG: Continuous pressure and temperature measurement
+    registerSetBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_CONT);
+
+    return true;
+}
+
+static bool deviceReadMeasurement(baroDev_t *baro)
+{
+    // 1. Check if pressure is ready
+    bool pressure_ready = registerRead(baro->busDev, DPS310_REG_MEAS_CFG) & DPS310_MEAS_CFG_PRS_RDY;
+    if (!pressure_ready) {
+        return false;
+    }
+
+    // 2. Choose scaling factors kT (for temperature) and kP (for pressure) based on the chosen precision rate.
+    // The scaling factors are listed in Table 9.
+    static float kT = 253952; // 16 times (Standard)
+    static float kP = 253952; // 16 times (Standard)
+
+    // 3. Read the pressure and temperature result from the registers
+    // Read PSR_B2, PSR_B1, PSR_B0, TMP_B2, TMP_B1, TMP_B0
+    uint8_t buf[6];
+    if (!busReadBuf(baro->busDev, DPS310_REG_PSR_B2, buf, 6)) {
+        return false;
+    }
+
+    const int32_t Praw = getTwosComplement((buf[0] << 16) + (buf[1] << 8) + buf[2], 24);
+    const int32_t Traw = getTwosComplement((buf[3] << 16) + (buf[4] << 8) + buf[5], 24);
+
+    // 4. Calculate scaled measurement results.
+    const float Praw_sc = Praw / kP;
+    const float Traw_sc = Traw / kT;
+
+    // 5. Calculate compensated measurement results.
+    const float c00 = baroState.calib.c00;
+    const float c01 = baroState.calib.c01;
+    const float c10 = baroState.calib.c10;
+    const float c11 = baroState.calib.c11;
+    const float c20 = baroState.calib.c20;
+    const float c21 = baroState.calib.c21;
+    const float c30 = baroState.calib.c30;
+
+    const float c0 = baroState.calib.c0;
+    const float c1 = baroState.calib.c1;
+
+    baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
+    baroState.temperature = c0 * 0.5f + c1 * Traw_sc;
+
+    return true;
+}
+
+static bool deviceCalculate(baroDev_t *baro, int32_t *pressure, int32_t *temperature)
+{
+    UNUSED(baro);
+
+    if (pressure) {
+        *pressure = baroState.pressure; 
+    }
+
+    if (temperature) {
+        *temperature = (baroState.temperature * 100);   // to centidegrees
+    }
+
+    return true;
+}
+
+
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(busDevice_t * busDev)
+{
+    for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
+        uint8_t chipId[1];
+
+        delay(100);
+
+        bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1);
+
+        if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
+            return true;
+        }
+    };
+
+    return false;
+}
+
+bool baroDPS310Detect(baroDev_t *baro)
+{
+    baro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_DPS310, 0, OWNER_BARO);
+    if (baro->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(baro->busDev)) {
+        busDeviceDeInit(baro->busDev);
+        return false;
+    }
+
+    if (!deviceConfigure(baro->busDev)) {
+        busDeviceDeInit(baro->busDev);
+        return false;
+    }
+
+    const uint32_t baroDelay = 1000000 / 32 / 2;      // twice the sample rate to capture all new data
+
+    baro->ut_delay = 0;
+    baro->start_ut = NULL;
+    baro->get_ut = NULL;
+
+    baro->up_delay = baroDelay;
+    baro->start_up = NULL;
+    baro->get_up = deviceReadMeasurement;
+
+    baro->calculate = deviceCalculate;
+
+    return true;
+}
+
+#endif

src/main/drivers/barometer/barometer_dps310.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Copyright: INAVFLIGHT OU
+ */
+
+#pragma once
+
+bool baroDPS310Detect(baroDev_t *baro);

src/main/drivers/bus.h

@@ -104,6 +104,7 @@ typedef enum {
     DEVHW_LPS25H,
     DEVHW_SPL06,
     DEVHW_BMP388,
+    DEVHW_DPS310,
 
     /* Compass chips */
     DEVHW_HMC5883,

src/main/fc/cli.c

@@ -1338,7 +1338,7 @@ static void cliWaypoints(char *cmdline)
     } else if (sl_strcasecmp(cmdline, "save") == 0) {
         posControl.waypointListValid = false;
         for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
-            if (!(posControl.waypointList[i].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[i].action == NAV_WP_ACTION_JUMP || posControl.waypointList[i].action == NAV_WP_ACTION_RTH || posControl.waypointList[i].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[i].action == NAV_WP_ACTION_LAND)) break;
+            if (!(posControl.waypointList[i].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[i].action == NAV_WP_ACTION_JUMP || posControl.waypointList[i].action == NAV_WP_ACTION_RTH || posControl.waypointList[i].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[i].action == NAV_WP_ACTION_LAND || posControl.waypointList[i].action == NAV_WP_ACTION_SET_POI || posControl.waypointList[i].action == NAV_WP_ACTION_SET_HEAD)) break;
             if (posControl.waypointList[i].flag == NAV_WP_FLAG_LAST) {
                 posControl.waypointCount = i + 1;
                 posControl.waypointListValid = true;
@@ -1933,9 +1933,9 @@ static void cliGvar(char *cmdline) {
         int32_t i = args[INDEX];
         if (
             i >= 0 && i < MAX_GLOBAL_VARIABLES &&
-            args[DEFAULT] >= INT32_MIN && args[DEFAULT] <= INT32_MAX &&  
+            args[DEFAULT] >= INT32_MIN && args[DEFAULT] <= INT32_MAX &&
-            args[MIN] >= INT32_MIN && args[MIN] <= INT32_MAX &&  
+            args[MIN] >= INT32_MIN && args[MIN] <= INT32_MAX &&
-            args[MAX] >= INT32_MIN && args[MAX] <= INT32_MAX  
+            args[MAX] >= INT32_MIN && args[MAX] <= INT32_MAX
         ) {
             globalVariableConfigsMutable(i)->defaultValue = args[DEFAULT];
             globalVariableConfigsMutable(i)->min = args[MIN];

src/main/fc/fc_init.c

@@ -275,12 +275,6 @@ void init(void)
     // to run after the sensors have been detected.
     mspSerialInit();
 
-#ifdef USE_ESC_SENSOR
-    // DSHOT supports a dedicated wire ESC telemetry. Kick off the ESC-sensor receiver initialization
-    // We may, however, do listen_only, so need to init this anyway
-    escSensorInitialize();
-#endif
-
 #if defined(USE_DJI_HD_OSD)
     // DJI OSD uses a special flavour of MSP (subset of Betaflight 4.1.1 MSP) - process as part of serial task
     djiOsdSerialInit();
@@ -320,6 +314,13 @@ void init(void)
 
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
+#ifdef USE_ESC_SENSOR
+    // DSHOT supports a dedicated wire ESC telemetry. Kick off the ESC-sensor receiver initialization
+    // We may, however, do listen_only, so need to init this anyway
+    // Initialize escSensor after having done it with outputs
+    escSensorInitialize();
+#endif
+
 #ifdef BEEPER
     beeperDevConfig_t beeperDevConfig = {
         .ioTag = IO_TAG(BEEPER),

src/main/fc/settings.yaml

@@ -16,7 +16,7 @@ tables:
     values: ["NONE", "PMW3901", "CXOF", "MSP", "FAKE"]
     enum: opticalFlowSensor_e
   - name: baro_hardware
-    values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "FAKE"]
+    values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "FAKE"]
     enum: baroSensor_e
   - name: pitot_hardware
     values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE"]
@@ -2145,6 +2145,10 @@ groups:
         field: pitModeChan
         min: VTX_SETTINGS_MIN_CHANNEL
         max: VTX_SETTINGS_MAX_CHANNEL
+      - name: vtx_max_power_override
+        field: maxPowerOverride
+        min: 0
+        max: 10000
 
   - name: PG_PINIOBOX_CONFIG
     type: pinioBoxConfig_t

src/main/io/vtx.c

@@ -43,7 +43,7 @@
 #include "io/vtx_string.h"
 #include "io/vtx_control.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig, PG_VTX_SETTINGS_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig, PG_VTX_SETTINGS_CONFIG, 2);
 
 PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
     .band = VTX_SETTINGS_DEFAULT_BAND,
@@ -51,6 +51,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
     .power = VTX_SETTINGS_DEFAULT_POWER,
     .pitModeChan = VTX_SETTINGS_DEFAULT_PITMODE_CHANNEL,
     .lowPowerDisarm = VTX_LOW_POWER_DISARM_OFF,
+    .maxPowerOverride = 0,
 );
 
 typedef enum {
@@ -86,29 +87,30 @@ static vtxSettingsConfig_t * vtxGetRuntimeSettings(void)
 
 static bool vtxProcessBandAndChannel(vtxDevice_t *vtxDevice, const vtxSettingsConfig_t * runtimeSettings)
 {
+    uint8_t vtxBand;
+    uint8_t vtxChan;
+
     // Shortcut for undefined band
     if (!runtimeSettings->band) {
         return false;
     }
 
-    if(!ARMING_FLAG(ARMED) && runtimeSettings->band) {
+    if (!vtxCommonGetBandAndChannel(vtxDevice, &vtxBand, &vtxChan)) {
-        uint8_t vtxBand;
+        return false;
-        uint8_t vtxChan;
-        if (!vtxCommonGetBandAndChannel(vtxDevice, &vtxBand, &vtxChan)) {
-            return false;
-        }
-
-        if (vtxBand != runtimeSettings->band || vtxChan != runtimeSettings->channel) {
-            vtxCommonSetBandAndChannel(vtxDevice, runtimeSettings->band, runtimeSettings->channel);
-            return true;
-        }
     }
+
+    if (vtxBand != runtimeSettings->band || vtxChan != runtimeSettings->channel) {
+        vtxCommonSetBandAndChannel(vtxDevice, runtimeSettings->band, runtimeSettings->channel);
+        return true;
+    }
+
     return false;
 }
 
 static bool vtxProcessPower(vtxDevice_t *vtxDevice, const vtxSettingsConfig_t * runtimeSettings)
 {
     uint8_t vtxPower;
+
     if (!vtxCommonGetPowerIndex(vtxDevice, &vtxPower)) {
         return false;
     }
@@ -117,6 +119,7 @@ static bool vtxProcessPower(vtxDevice_t *vtxDevice, const vtxSettingsConfig_t *
         vtxCommonSetPowerByIndex(vtxDevice, runtimeSettings->power);
         return true;
     }
+
     return false;
 }
 
@@ -129,25 +132,28 @@ static bool vtxProcessPitMode(vtxDevice_t *vtxDevice, const vtxSettingsConfig_t
     bool        currPmSwitchState = false;
     static bool prevPmSwitchState = false;
 
-    if (!ARMING_FLAG(ARMED) && vtxCommonGetPitMode(vtxDevice, &pitOnOff)) {
+    if (!vtxCommonGetPitMode(vtxDevice, &pitOnOff)) {
-        if (currPmSwitchState != prevPmSwitchState) {
+        return false;
-            prevPmSwitchState = currPmSwitchState;
+    }
 
-            if (currPmSwitchState) {
+    if (currPmSwitchState != prevPmSwitchState) {
-                if (0) {
+        prevPmSwitchState = currPmSwitchState;
-                    if (!pitOnOff) {
+
-                        vtxCommonSetPitMode(vtxDevice, true);
+        if (currPmSwitchState) {
-                        return true;
+            if (0) {
-                    }
+                if (!pitOnOff) {
-                }
+                    vtxCommonSetPitMode(vtxDevice, true);
-            } else {
-                if (pitOnOff) {
-                    vtxCommonSetPitMode(vtxDevice, false);
                     return true;
                 }
             }
+        } else {
+            if (pitOnOff) {
+                vtxCommonSetPitMode(vtxDevice, false);
+                return true;
+            }
         }
     }
+
     return false;
 }
 
@@ -167,25 +173,21 @@ void vtxUpdate(timeUs_t currentTimeUs)
         // Build runtime settings
         const vtxSettingsConfig_t * runtimeSettings = vtxGetRuntimeSettings();
 
-        bool vtxUpdatePending = false;
-
         switch (currentSchedule) {
             case VTX_PARAM_POWER:
-                vtxUpdatePending = vtxProcessPower(vtxDevice, runtimeSettings);
+                vtxProcessPower(vtxDevice, runtimeSettings);
                 break;
             case VTX_PARAM_BANDCHAN:
-                vtxUpdatePending = vtxProcessBandAndChannel(vtxDevice, runtimeSettings);
+                vtxProcessBandAndChannel(vtxDevice, runtimeSettings);
                 break;
             case VTX_PARAM_PITMODE:
-                vtxUpdatePending = vtxProcessPitMode(vtxDevice, runtimeSettings);
+                vtxProcessPitMode(vtxDevice, runtimeSettings);
                 break;
             default:
                 break;
         }
 
-        if (!ARMING_FLAG(ARMED) || vtxUpdatePending) {
+        vtxCommonProcess(vtxDevice, currentTimeUs);
-            vtxCommonProcess(vtxDevice, currentTimeUs);
-        }
 
         currentSchedule = (currentSchedule + 1) % VTX_PARAM_COUNT;
     }

src/main/io/vtx.h

@@ -35,11 +35,12 @@ typedef enum {
 } vtxLowerPowerDisarm_e;
 
 typedef struct vtxSettingsConfig_s {
-    uint8_t band;           // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Racebande
+    uint8_t band;               // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Racebande
-    uint8_t channel;        // 1-8
+    uint8_t channel;            // 1-8
-    uint8_t power;          // 0 = lowest
+    uint8_t power;              // 0 = lowest
-    uint16_t pitModeChan;   // sets out-of-range pitmode frequency
+    uint16_t pitModeChan;       // sets out-of-range pitmode frequency
-    uint8_t lowPowerDisarm; // min power while disarmed, from vtxLowerPowerDisarm_e
+    uint8_t lowPowerDisarm;     // min power while disarmed, from vtxLowerPowerDisarm_e
+    uint16_t maxPowerOverride;  // for VTX drivers that are polling VTX capabilities - override what VTX is reporting
 } vtxSettingsConfig_t;
 
 PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);

src/main/io/vtx_tramp.c

@@ -228,9 +228,17 @@ static vtxProtoResponseType_e vtxProtoProcessResponse(void)
             vtxState.capabilities.freqMin = vtxState.recvPkt[2] | (vtxState.recvPkt[3] << 8);
             vtxState.capabilities.freqMax = vtxState.recvPkt[4] | (vtxState.recvPkt[5] << 8);
             vtxState.capabilities.powerMax = vtxState.recvPkt[6] | (vtxState.recvPkt[7] << 8);
+
             if (vtxState.capabilities.freqMin != 0 && vtxState.capabilities.freqMin < vtxState.capabilities.freqMax) {
-                // Update max power metadata so OSD settings would match VTX capabiolities
+                // Some TRAMP VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX)
+                // Make use of vtxSettingsConfig()->maxPowerOverride to override
+                if (vtxSettingsConfig()->maxPowerOverride != 0) {
+                    vtxState.capabilities.powerMax = vtxSettingsConfig()->maxPowerOverride;
+                }
+
+                // Update max power metadata so OSD settings would match VTX capabilities
                 vtxProtoUpdatePowerMetadata(vtxState.capabilities.powerMax);
+
                 return VTX_RESPONSE_TYPE_CAPABILITIES;
             }
             break;

src/main/navigation/navigation.c

@@ -172,8 +172,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
     }
 );
 
-EXTENDED_FASTRAM navigationPosControl_t  posControl;
+static navWapointHeading_t wpHeadingControl;
-EXTENDED_FASTRAM navSystemStatus_t       NAV_Status;
+navigationPosControl_t  posControl;
+navSystemStatus_t       NAV_Status;
 EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
 
 #if defined(NAV_BLACKBOX)
@@ -209,6 +210,8 @@ void calculateInitialHoldPosition(fpVector3_t * pos);
 void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t yaw, int32_t distance);
 void calculateNewCruiseTarget(fpVector3_t * origin, int32_t yaw, int32_t distance);
 static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome);
+static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint_t * waypoint);
+static navigationFSMEvent_t nextForNonGeoStates(void);
 
 void initializeRTHSanityChecker(const fpVector3_t * pos);
 bool validateRTHSanityChecker(void);
@@ -1416,6 +1419,21 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE(nav
     }
 }
 
+static navigationFSMEvent_t nextForNonGeoStates(void)
+{
+        /* simple helper for non-geographical states that just set other data */
+    const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) || (posControl.activeWaypointIndex >= (posControl.waypointCount - 1));
+
+    if (isLastWaypoint) {
+            // non-geo state is the last waypoint, switch to finish.
+        return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
+    } else {
+            // Finished non-geo,  move to next WP
+        posControl.activeWaypointIndex++;
+        return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
+    }
+}
+
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(navigationFSMState_t previousState)
 {
     /* A helper function to do waypoint-specific action */
@@ -1435,28 +1453,36 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
             if(posControl.waypointList[posControl.activeWaypointIndex].p3 != -1){
                 if(posControl.waypointList[posControl.activeWaypointIndex].p3 == 0){
                     resetJumpCounter();
-                    const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) ||
+                    return nextForNonGeoStates();
-                          (posControl.activeWaypointIndex >= (posControl.waypointCount - 1));
-
-                        if (isLastWaypoint) {
-                            // JUMP is the last waypoint and we reached the last jump, switch to finish.
-                            return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
-                        } else {
-                                // Finished JUMP, move to next WP
-                            posControl.activeWaypointIndex++;
-                            return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
-                        }
                 }
                 else
                 {
                     posControl.waypointList[posControl.activeWaypointIndex].p3--;
                 }
             }
-
             posControl.activeWaypointIndex = posControl.waypointList[posControl.activeWaypointIndex].p1;
-
             return NAV_FSM_EVENT_NONE; // re-process the state passing to the next WP
 
+        case NAV_WP_ACTION_SET_POI:
+            if (STATE(MULTIROTOR)) {
+                wpHeadingControl.mode = NAV_WP_HEAD_MODE_POI;
+                mapWaypointToLocalPosition(&wpHeadingControl.poi_pos,
+                                           &posControl.waypointList[posControl.activeWaypointIndex]);
+            }
+            return nextForNonGeoStates();
+
+        case NAV_WP_ACTION_SET_HEAD:
+            if (STATE(MULTIROTOR)) {
+                if (posControl.waypointList[posControl.activeWaypointIndex].p1 < 0 ||
+                    posControl.waypointList[posControl.activeWaypointIndex].p1 > 359) {
+                    wpHeadingControl.mode = NAV_WP_HEAD_MODE_NONE;
+                } else {
+                    wpHeadingControl.mode = NAV_WP_HEAD_MODE_FIXED;
+                    wpHeadingControl.heading = DEGREES_TO_CENTIDEGREES(posControl.waypointList[posControl.activeWaypointIndex].p1);
+                }
+            }
+            return nextForNonGeoStates();
+
         case NAV_WP_ACTION_RTH:
             posControl.rthState.rthInitialDistance = posControl.homeDistance;
             initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
@@ -1488,11 +1514,25 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                         posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f,
                         posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
                     setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
+                    if(STATE(MULTIROTOR)) {
+                        switch (wpHeadingControl.mode) {
+                            case NAV_WP_HEAD_MODE_NONE:
+                                break;
+                            case NAV_WP_HEAD_MODE_FIXED:
+                                setDesiredPosition(NULL, wpHeadingControl.heading, NAV_POS_UPDATE_HEADING);
+                                break;
+                            case NAV_WP_HEAD_MODE_POI:
+                                setDesiredPosition(&wpHeadingControl.poi_pos, 0, NAV_POS_UPDATE_BEARING);
+                                break;
+                        }
+                    }
                     return NAV_FSM_EVENT_NONE;      // will re-process state in >10ms
                 }
                 break;
 
             case NAV_WP_ACTION_JUMP:
+            case NAV_WP_ACTION_SET_HEAD:
+            case NAV_WP_ACTION_SET_POI:
                  UNREACHABLE();
 
             case NAV_WP_ACTION_RTH:
@@ -1530,6 +1570,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_REACHED(naviga
             return NAV_FSM_EVENT_SUCCESS;   // NAV_STATE_WAYPOINT_NEXT
 
         case NAV_WP_ACTION_JUMP:
+        case NAV_WP_ACTION_SET_HEAD:
+        case NAV_WP_ACTION_SET_POI:
             UNREACHABLE();
 
         case NAV_WP_ACTION_RTH:
@@ -2765,7 +2807,7 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
     }
     // WP #1 - #NAV_MAX_WAYPOINTS - common waypoints - pre-programmed mission
     else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !ARMING_FLAG(ARMED)) {
-        if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND) {
+        if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND || wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD ) {
             // Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
             if (wpNumber == (posControl.waypointCount + 1) || wpNumber == 1) {
                 posControl.waypointList[wpNumber - 1] = *wpData;

src/main/navigation/navigation.h

@@ -237,10 +237,18 @@ typedef enum {
     NAV_WP_ACTION_WAYPOINT  = 0x01,
     NAV_WP_ACTION_HOLD_TIME = 0x03,
     NAV_WP_ACTION_RTH       = 0x04,
+    NAV_WP_ACTION_SET_POI   = 0x05,
     NAV_WP_ACTION_JUMP      = 0x06,
+    NAV_WP_ACTION_SET_HEAD  = 0x07,
     NAV_WP_ACTION_LAND      = 0x08
 } navWaypointActions_e;
 
+typedef enum {
+    NAV_WP_HEAD_MODE_NONE  = 0,
+    NAV_WP_HEAD_MODE_POI   = 1,
+    NAV_WP_HEAD_MODE_FIXED = 2
+} navWaypointHeadings_e;
+
 typedef enum {
     NAV_WP_FLAG_LAST = 0xA5
 } navWaypointFlags_e;
@@ -254,6 +262,12 @@ typedef struct {
     uint8_t flag;
 } navWaypoint_t;
 
+typedef struct {
+    navWaypointHeadings_e  mode;
+    uint32_t heading; // fixed heading * 100 (SET_HEAD)
+    fpVector3_t poi_pos; // POI location in local coordinates (SET_POI)
+} navWapointHeading_t;
+
 typedef struct radar_pois_s {
     gpsLocation_t gps;
     uint8_t state;

src/main/sensors/barometer.c

@@ -38,6 +38,7 @@
 #include "drivers/barometer/barometer_fake.h"
 #include "drivers/barometer/barometer_ms56xx.h"
 #include "drivers/barometer/barometer_spl06.h"
+#include "drivers/barometer/barometer_dps310.h"
 #include "drivers/time.h"
 
 #include "fc/runtime_config.h"
@@ -172,6 +173,19 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
         }
         FALLTHROUGH;
 
+    case BARO_DPS310:
+#if defined(USE_BARO_DPS310)
+        if (baroDPS310Detect(dev)) {
+            baroHardware = BARO_DPS310;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (baroHardwareToUse != BARO_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case BARO_FAKE:
 #ifdef USE_FAKE_BARO
         if (fakeBaroDetect(dev)) {
@@ -265,15 +279,23 @@ uint32_t baroUpdate(void)
     switch (state) {
         default:
         case BAROMETER_NEEDS_SAMPLES:
-            baro.dev.get_ut(&baro.dev);
+            if (baro.dev.get_ut) {
-            baro.dev.start_up(&baro.dev);
+                baro.dev.get_ut(&baro.dev);
+            }
+            if (baro.dev.start_up) {
+                baro.dev.start_up(&baro.dev);
+            }
             state = BAROMETER_NEEDS_CALCULATION;
             return baro.dev.up_delay;
         break;
 
         case BAROMETER_NEEDS_CALCULATION:
-            baro.dev.get_up(&baro.dev);
+            if (baro.dev.get_up) {
-            baro.dev.start_ut(&baro.dev);
+                baro.dev.get_up(&baro.dev);
+            }
+            if (baro.dev.start_ut) {
+                baro.dev.start_ut(&baro.dev);
+            }
             baro.dev.calculate(&baro.dev, &baro.baroPressure, &baro.baroTemperature);
             if (barometerConfig()->use_median_filtering) {
                 baro.baroPressure = applyBarometerMedianFilter(baro.baroPressure);

src/main/sensors/barometer.h

@@ -29,9 +29,10 @@ typedef enum {
     BARO_BMP280 = 4,
     BARO_MS5607 = 5,
     BARO_LPS25H = 6,
-    BARO_SPL06 = 7,
+    BARO_SPL06  = 7,
     BARO_BMP388 = 8,
-    BARO_FAKE = 9,
+    BARO_DPS310 = 9,
+    BARO_FAKE   = 10,
     BARO_MAX = BARO_FAKE
 } baroSensor_e;
 

src/main/target/FIREWORKSV2/target.h

@@ -75,13 +75,14 @@
 #   define IMU_2_SPI_BUS           BUS_SPI1
 #   define IMU_2_ALIGN             CW0_DEG
 #else
-    // FIREWORKS V2
+    // IMU_1 is verified to work on OBF4V6 and Omnibus Fireworks board
-#   define IMU_1_CS_PIN            PD2
+#   define IMU_1_CS_PIN            PA4
-#   define IMU_1_SPI_BUS           BUS_SPI3
+#   define IMU_1_SPI_BUS           BUS_SPI1
-#   define IMU_1_ALIGN             CW180_DEG
+#   define IMU_1_ALIGN             CW0_DEG_FLIP
-#   define IMU_2_CS_PIN            PA4
+    // IMU_2 is sketchy and was not verified on actual hardware
-#   define IMU_2_SPI_BUS           BUS_SPI1
+#   define IMU_2_CS_PIN            PD2
-#   define IMU_2_ALIGN             CW0_DEG_FLIP
+#   define IMU_2_SPI_BUS           BUS_SPI3
+#   define IMU_2_ALIGN             CW180_DEG
 #endif
 
 #define USE_MAG

src/main/target/FURYF4OSD/target.h

@@ -120,6 +120,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS

src/main/target/FURYF4OSD/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \

src/main/target/IFLIGHTF4_SUCCEXD/target.c

@@ -0,0 +1,37 @@
+/*
+* This file is part of Cleanflight.
+*
+* Cleanflight is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* Cleanflight is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdbool.h>
+#include <platform.h>
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,      0, 0),
+
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_MC_MOTOR, 0, 0),
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_MC_MOTOR, 0, 0),
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED,      0, 0), 
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/IFLIGHTF4_SUCCEXD/target.h

@@ -0,0 +1,148 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IFSD"
+#define USBD_PRODUCT_STRING     "IFLIGHT_SucceX_D"
+
+#define LED0                    PC13
+#define LED1                    PC14
+
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI           PA1
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** SPI2 OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI3 FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define M25P16_CS_PIN           PA15
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC15
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define SERIAL_PORT_COUNT       3
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** I2C /Baro/Mag/Pitot ********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+#define USE_MAG_AK8975
+
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_RANGEFINDER_HCSR04_I2C
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PB0
+#define ADC_CHANNEL_2_PIN           PB1
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+
+// *************** LED2812 ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+// ***************  OTHERS *************************
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX)
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS    4

src/main/target/IFLIGHTF4_SUCCEXD/target.mk

@@ -0,0 +1,17 @@
+F411_TARGETS    += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH MSC
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms56xx.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_mag3110.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
+            drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c

src/main/target/IFLIGHTF4_TWING/target.h

@@ -60,6 +60,7 @@
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1
 #define USE_BARO_BMP280
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/IFLIGHTF4_TWING/target.mk

@@ -5,6 +5,7 @@ FEATURES       += VCP ONBOARDFLASH MSC
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \

src/main/target/IFLIGHTF7_TWING/target.h

@@ -63,6 +63,7 @@
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2
 #define USE_BARO_BMP280
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2

src/main/target/IFLIGHTF7_TWING/target.mk

@@ -4,6 +4,7 @@ FEATURES       += ONBOARDFLASH VCP MSC
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \

src/main/target/MATEKF405/target.h

@@ -147,6 +147,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS

src/main/target/MATEKF405/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \

src/main/target/MATEKF405SE/target.h

@@ -58,6 +58,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2

src/main/target/MATEKF405SE/target.mk

@@ -6,6 +6,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \

src/main/target/MATEKF411/target.h

@@ -118,6 +118,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/MATEKF411/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_qmc5883l.c \

src/main/target/MATEKF411SE/target.h

@@ -95,6 +95,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF411SE/target.mk

@@ -6,6 +6,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_mag3110.c \
             drivers/compass/compass_qmc5883l.c \

src/main/target/MATEKF722/target.h

@@ -56,6 +56,7 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF722/target.mk

@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/barometer/barometer_ms56xx.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \

src/main/target/MATEKF722PX/target.h

@@ -53,6 +53,7 @@
 #define BARO_I2C_BUS            BUS_I2C1
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF722PX/target.mk

@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_mpu6000.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \

src/main/target/MATEKF722SE/target.h

@@ -70,6 +70,7 @@
 #define BARO_I2C_BUS            BUS_I2C1
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF722SE/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \

src/main/target/MATEKF765/target.h

@@ -74,6 +74,7 @@
 #define BARO_I2C_BUS            BUS_I2C2
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
+#define USE_BARO_DPS310
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF765/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/compass/compass_ist8310.c \

src/main/target/common_hardware.c

@@ -149,6 +149,18 @@
     #endif
 #endif
 
+#if defined(USE_BARO_DPS310)
+    #if defined(DPS310_SPI_BUS)
+    BUSDEV_REGISTER_SPI(busdev_dps310,      DEVHW_DPS310,       DPS310_SPI_BUS,     DPS310_CS_PIN,      NONE,           DEVFLAGS_NONE, 0);
+    #elif defined(DPS310_I2C_BUS) || defined(BARO_I2C_BUS)
+    #if !defined(DPS310_I2C_BUS)
+        #define DPS310_I2C_BUS BARO_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_dps310,      DEVHW_DPS310,       DPS310_I2C_BUS,     0x76,               NONE,           DEVFLAGS_NONE, 0);
+    #endif
+#endif
+
+
 /** COMPASS SENSORS **/
 #if !defined(USE_TARGET_MAG_HARDWARE_DESCRIPTORS)
 #if defined(USE_MAG_HMC5883)