Merge branch 'development' into jh_gcc_8_dev

Vagrantfile

@@ -14,14 +14,19 @@ Vagrant.configure(2) do |config|
   # boxes at https://atlas.hashicorp.com/search.
   config.vm.box = "ubuntu/trusty64"
   config.vm.synced_folder ".", "/home/vagrant/inav"
-
+  config.vm.hostname = "iNavDev"
+  config.vm.define "iNavDev"
+  config.vm.provider :virtualbox do |vb|
+	vb.name = "iNavDev"
+  end
   # Enable provisioning with a shell script. Additional provisioners such as
   # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
   # documentation for more information about their specific syntax and use.
   config.vm.provision "shell", inline: <<-SHELL
-	sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
+	sudo apt-get remove -y --force-yes gcc-arm-none-eabi ruby
 	sudo apt-add-repository ppa:brightbox/ruby-ng
+	sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
 	sudo apt-get update
-	sudo apt-get install -y --force-yes git gcc-arm-none-eabi=4.9.3.2015q3-1trusty1 libnewlib-arm-none-eabi ruby2.4 ruby2.4-dev
+	sudo apt-get install -y --force-yes git gcc-arm-embedded ruby2.4 ruby2.4-dev
   SHELL
 end

docs/Cli.md

@@ -227,9 +227,9 @@ Re-apply any new defaults as desired.
 |  align_gyro  | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
 |  align_acc  | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
 |  align_mag  | DEFAULT | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. |
-|  align_board_roll  | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
+|  align_board_roll  | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
-|  align_board_pitch  | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
+|  align_board_pitch  | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
-|  align_board_yaw  | 0 | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc |
+|  align_board_yaw  | 0 | Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc |
 |  align_mag_roll  | 0 | Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw. |
 |  align_mag_pitch  | 0 | Same as align_mag_roll, but for the pitch axis. |
 |  align_mag_yaw  | 0 | Same as align_mag_roll, but for the yaw axis. |

docs/development/Building in Vagrant.md

@@ -0,0 +1,89 @@
+# Building with Vagrant
+
+Setting up build environment with Vagrant is remarkably simple, but you still need to have some basic knowlage of your OS.
+
+## Installing Vagrant
+Vagrant needs some kind of virtualization software to run, i.e. VirtualBox.
+You can get VirtualBox from here:
+```
+https://www.virtualbox.org/wiki/Downloads
+```
+
+Download and install Vagrant for you OS from here:
+```
+https://www.vagrantup.com/downloads.html
+```
+
+## Cloning iNav repository
+Using git (The preferred way!)
+```
+git clone https://github.com/iNavFlight/inav.git
+```
+
+Or download the .zip file from
+```
+https://github.com/iNavFlight/inav
+```
+and extract it to folder of your choosing.
+
+## Running the virtual machine
+Open up a terminal or command line interface (In windows search for CMD.exe and run it as administrator!)
+Navigate in to the directory of your cloned/unzipped iNav repository. (Where the "Vagrantfile" is located.) and start the virtual machine.
+```
+vagrant up
+```
+
+Starting the virtual machine might take some time depending on your computer speed.
+When you start the virtual machine for the first time, it has to download the base virtual machine files and do some installation steps, 
+so it takes longer than the following times you start it.
+
+
+When the start up has finished succesfully and you are back to your command prompt. Login in to the virtual machine.
+```
+vagrant ssh
+```
+
+## Building firmware
+In the virtual machine, go to the inav directory
+```
+cd inav
+```
+
+If you downloadet the repository as a zip file, you may have to type:
+```
+git init
+```
+
+To stop the file system boundary warnings.
+
+Build your desired target
+i.e.
+```
+make TARGET=AIRBOTF4
+```
+
+## Updating and rebuilding the firmware
+
+```
+git reset --hard
+git pull
+make clean TARGET=AIRBOTF4
+make TARGET=AIRBOTF4
+```
+
+## Additional virtual machine commands
+
+Exit from the virtual machine interface with:
+```
+exit
+```
+
+Shutdown the virtual machine with:
+```
+vagrant halt
+```
+
+Remove the virtual machine files from your computer with:
+```
+vagrant destroy
+```

src/main/drivers/max7456_symbols.h

@@ -83,7 +83,7 @@
 #define SYM_CELLF      0xC3
 
 // Map mode
-#define SYM_HOME       0x04
+#define SYM_HOME       191
 #define SYM_AIRCRAFT   0x05
 #define SYM_RANGE_100  0x21
 #define SYM_RANGE_500  0x22

src/main/fc/fc_msp.c

@@ -700,6 +700,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, compassConfig()->mag_declination / 10);
 
         sbufWriteU16(dst, batteryConfig()->voltage.scale);
+        sbufWriteU16(dst, batteryConfig()->voltage.cellDetect);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMin);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMax);
         sbufWriteU16(dst, batteryConfig()->voltage.cellWarning);
@@ -712,6 +713,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP2_INAV_BATTERY_CONFIG:
         sbufWriteU16(dst, batteryConfig()->voltage.scale);
+        sbufWriteU16(dst, batteryConfig()->voltage.cellDetect);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMin);
         sbufWriteU16(dst, batteryConfig()->voltage.cellMax);
         sbufWriteU16(dst, batteryConfig()->voltage.cellWarning);
@@ -1613,7 +1615,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP2_INAV_SET_MISC:
-        if (dataSize == 37) {
+        if (dataSize == 39) {
             rxConfigMutable()->midrc = constrain(sbufReadU16(src), MIDRC_MIN, MIDRC_MAX);
 
             motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@@ -1643,6 +1645,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #endif
 
             batteryConfigMutable()->voltage.scale = sbufReadU16(src);
+            batteryConfigMutable()->voltage.cellDetect = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMin = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMax = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellWarning = sbufReadU16(src);
@@ -1660,8 +1663,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP2_INAV_SET_BATTERY_CONFIG:
-        if (dataSize == 25) {
+        if (dataSize == 27) {
             batteryConfigMutable()->voltage.scale = sbufReadU16(src);
+            batteryConfigMutable()->voltage.cellDetect = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMin = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellMax = sbufReadU16(src);
             batteryConfigMutable()->voltage.cellWarning = sbufReadU16(src);

src/main/fc/settings.yaml

@@ -501,6 +501,11 @@ groups:
         condition: USE_ADC
         min: VBAT_SCALE_MIN
         max: VBAT_SCALE_MAX
+      - name: vbat_cell_detect_voltage
+        field: voltage.cellDetect
+        condition: USE_ADC
+        min: 100
+        max: 500
       - name: vbat_max_cell_voltage
         field: voltage.cellMax
         condition: USE_ADC

src/main/io/osd.c

@@ -931,7 +931,8 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_HOME_DIST:
         {
-            osdFormatDistanceSymbol(buff, GPS_distanceToHome * 100);
+            buff[0] = SYM_HOME;
+            osdFormatDistanceSymbol(&buff[1], GPS_distanceToHome * 100);
             uint16_t dist_alarm = osdConfig()->dist_alarm;
             if (dist_alarm > 0 && GPS_distanceToHome > dist_alarm) {
                 TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
@@ -1570,9 +1571,8 @@ static uint8_t osdIncElementIndex(uint8_t elementIndex)
         if (elementIndex == OSD_CURRENT_DRAW) {
             elementIndex = OSD_GPS_SPEED;
         }
-        if (elementIndex == OSD_TRIP_DIST) {
+        if (elementIndex == OSD_EFFICIENCY_MAH_PER_KM) {
-            STATIC_ASSERT(OSD_TRIP_DIST == OSD_ITEM_COUNT - 1, OSD_TRIP_DIST_not_last_element);
+            elementIndex = OSD_TRIP_DIST;
-            elementIndex = OSD_ITEM_COUNT;
         }
     }
     if (!feature(FEATURE_GPS)) {

src/main/sensors/battery.c

@@ -45,7 +45,7 @@
 
 #define ADCVREF 3300                 // in mV (3300 = 3.3V)
 
-#define VBATT_CELL_FULL_MAX_DIFF 14  // Max difference with cell max voltage for the battery to be considered full (10mV steps)
+#define VBATT_CELL_FULL_MAX_DIFF 10  // Max difference with cell max voltage for the battery to be considered full (10mV steps)
 #define VBATT_PRESENT_THRESHOLD 100  // Minimum voltage to consider battery present
 #define VBATT_STABLE_DELAY 40        // Delay after connecting battery to begin monitoring
 #define VBATT_HYSTERESIS 10          // Batt Hysteresis of +/-100mV for changing battery state
@@ -73,13 +73,14 @@ static int32_t mWhDrawn = 0;               // energy (milliWatt hours) drawn fro
 
 batteryState_e batteryState;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 2);
 
 PG_RESET_TEMPLATE(batteryConfig_t, batteryConfig,
 
     .voltage = {
         .scale = VBAT_SCALE_DEFAULT,
-        .cellMax = 424,
+        .cellDetect = 430,
+        .cellMax = 420,
         .cellMin = 330,
         .cellWarning = 350
     },
@@ -148,7 +149,7 @@ void batteryUpdate(uint32_t vbatTimeDelta)
         delay(VBATT_STABLE_DELAY);
         updateBatteryVoltage(vbatTimeDelta);
 
-        unsigned cells = (batteryAdcToVoltage(vbatLatestADC) / batteryConfig()->voltage.cellMax) + 1;
+        unsigned cells = (batteryAdcToVoltage(vbatLatestADC) / batteryConfig()->voltage.cellDetect) + 1;
         if (cells > 8) cells = 8; // something is wrong, we expect 8 cells maximum (and autodetection will be problematic at 6+ cells)
 
         batteryCellCount = cells;

src/main/sensors/battery.h

@@ -49,7 +49,8 @@ typedef struct batteryConfig_s {
 
     struct {
         uint16_t scale;         // adjust this to match battery voltage to reported value
-        uint16_t cellMax;       // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 421 (4.21V)
+        uint16_t cellDetect;    // maximum voltage per cell, used for auto-detecting battery cell count in 0.01V units, default is 430 (4.3V)
+        uint16_t cellMax;       // maximum voltage per cell, used for full battery detection and battery gauge voltage in 0.01V units, default is 424 (4.24V)
         uint16_t cellMin;       // minimum voltage per cell, this triggers battery critical alarm, in 0.01V units, default is 330 (3.3V)
         uint16_t cellWarning;   // warning voltage per cell, this triggers battery warning alarm, in 0.01V units, default is 350 (3.5V)
     } voltage;