diff --git a/README.md b/README.md
index cbe75a1b18..f34db4d136 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,7 @@ Tool for Blackbox logs analysis is available [here](https://github.com/iNavFligh
### Telemetry screen for OpenTX
-Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
+Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)
## Installation
diff --git a/docs/Telemetry.md b/docs/Telemetry.md
index 8c8b406ccf..2b5972370e 100644
--- a/docs/Telemetry.md
+++ b/docs/Telemetry.md
@@ -123,7 +123,7 @@ The following sensors are transmitted
* **0450** : 'Flight Path Vector' or 'Course over ground' in degrees*10
### Compatible SmartPort/INAV telemetry flight status
-To quickly and easily monitor these SmartPort sensors and flight modes, install [iNav LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry) to your Taranis Q X7, X9D, X9D+ or X9E transmitter.
+To quickly and easily monitor these SmartPort sensors and flight modes, install [OpenTX Telemetry Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget) to your Taranis Q X7, X9D, X9D+ or X9E transmitter.
## FrSky telemetry
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index a32961daba..0e47385044 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -567,6 +567,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, programmingPids(i)->gains.FF);
}
break;
+ case MSP2_INAV_PROGRAMMING_PID_STATUS:
+ for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) {
+ sbufWriteU32(dst, programmingPidGetOutput(i));
+ }
+ break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 81b5c771db..1951cc1562 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2807,8 +2807,8 @@ groups:
description: "Value below which Crossfire SNR Alarm pops-up. (dB)"
default_value: "4"
field: snr_alarm
- min: -12
- max: 8
+ min: -20
+ max: 10
- name: osd_link_quality_alarm
condition: USE_SERIALRX_CRSF
description: "LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%"
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 3255ae79e2..b44ca994f4 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1699,7 +1699,7 @@ static bool osdDrawSingleElement(uint8_t item)
}
case OSD_CRSF_SNR_DB: {
- const char* showsnr = "-12";
+ const char* showsnr = "-20";
const char* hidesnr = " ";
int16_t osdSNR_Alarm = rxLinkStatistics.uplinkSNR;
if (osdSNR_Alarm <= osdConfig()->snr_alarm) {
@@ -1776,9 +1776,6 @@ static bool osdDrawSingleElement(uint8_t item)
gpsLocation_t wp2;
int j;
- tfp_sprintf(buff, "W%u/%u", posControl.activeWaypointIndex, posControl.waypointCount);
- displayWrite(osdGetDisplayPort(), 13, osdConfig()->hud_margin_v - 1, buff);
-
for (int i = osdConfig()->hud_wp_disp - 1; i >= 0 ; i--) { // Display in reverse order so the next WP is always written on top
j = posControl.activeWaypointIndex + i;
if (posControl.waypointList[j].lat != 0 && posControl.waypointList[j].lon != 0 && j <= posControl.waypointCount) {
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index aeca8340b5..9fef3692cc 100755
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -297,7 +297,7 @@ typedef struct osdConfig_s {
float gforce_axis_alarm_min;
float gforce_axis_alarm_max;
#ifdef USE_SERIALRX_CRSF
- int16_t snr_alarm; //CRSF SNR alarm in dB
+ int8_t snr_alarm; //CRSF SNR alarm in dB
int8_t link_quality_alarm;
#endif
#ifdef USE_BARO
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 70e394ccb3..d3e7d14585 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -63,6 +63,7 @@
#define MSP2_INAV_GVAR_STATUS 0x2027
#define MSP2_INAV_PROGRAMMING_PID 0x2028
#define MSP2_INAV_SET_PROGRAMMING_PID 0x2029
+#define MSP2_INAV_PROGRAMMING_PID_STATUS 0x202A
#define MSP2_PID 0x2030
#define MSP2_SET_PID 0x2031
@@ -79,4 +80,3 @@
#define MSP2_INAV_SET_SAFEHOME 0x2039
#define MSP2_INAV_MISC2 0x203A
-
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index 94f612afa5..50ffb70fb7 100755
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -569,7 +569,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
if (ctx->newFlags & EST_GPS_Z_VALID) {
// Trust GPS velocity only if residual/error is less than 2.5 m/s, scale weight according to gaussian distribution
const float gpsRocResidual = posEstimator.gps.vel.z - posEstimator.est.vel.z;
- const float gpsRocScaler = bellCurve(gpsRocResidual, 2.5f);
+ const float gpsRocScaler = bellCurve(gpsRocResidual, 250.0f);
ctx->estVelCorr.z += gpsRocResidual * positionEstimationConfig()->w_z_gps_v * gpsRocScaler * ctx->dt;
}
diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index d4465c4cec..84e3b4607c 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -418,7 +418,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED: // cm/s
- return constrain(getEstimatedActualVelocity(Z), 0, INT16_MAX);
+ return constrain(getEstimatedActualVelocity(Z), INT16_MIN, INT16_MAX);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS: // %
diff --git a/src/main/programming/pid.c b/src/main/programming/pid.c
index 09916fbb1b..8b284087eb 100644
--- a/src/main/programming/pid.c
+++ b/src/main/programming/pid.c
@@ -110,7 +110,7 @@ void programmingPidInit(void)
}
}
-int programmingPidGetOutput(uint8_t i) {
+int32_t programmingPidGetOutput(uint8_t i) {
return programmingPidState[constrain(i, 0, MAX_PROGRAMMING_PID_COUNT)].output;
}
diff --git a/src/main/programming/pid.h b/src/main/programming/pid.h
index 8645de8f13..0d55b952c6 100644
--- a/src/main/programming/pid.h
+++ b/src/main/programming/pid.h
@@ -51,4 +51,4 @@ typedef struct programmingPidState_s {
void programmingPidUpdateTask(timeUs_t currentTimeUs);
void programmingPidInit(void);
void programmingPidReset(void);
-int programmingPidGetOutput(uint8_t i);
\ No newline at end of file
+int32_t programmingPidGetOutput(uint8_t i);
\ No newline at end of file
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 3506e9361a..bb1325aeeb 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -56,7 +56,7 @@
baro_t baro; // barometer access functions
-PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 3);
#ifdef USE_BARO
#define BARO_HARDWARE_DEFAULT BARO_AUTODETECT
@@ -65,7 +65,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER
#endif
PG_RESET_TEMPLATE(barometerConfig_t, barometerConfig,
.baro_hardware = BARO_HARDWARE_DEFAULT,
- .use_median_filtering = 0,
+ .use_median_filtering = 1,
.baro_calibration_tolerance = 150
);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 90a108109d..adfc8e79a3 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -350,7 +350,7 @@ void compassUpdate(timeUs_t currentTimeUs)
static sensorCalibrationState_t calState;
static timeUs_t calStartedAt = 0;
static int16_t magPrev[XYZ_AXIS_COUNT];
- static int magGain[XYZ_AXIS_COUNT] = {-4096, -4096, -4096};
+ static int magAxisDeviation[XYZ_AXIS_COUNT];
// Check magZero
if (
@@ -381,6 +381,7 @@ void compassUpdate(timeUs_t currentTimeUs)
compassConfigMutable()->magZero.raw[axis] = 0;
compassConfigMutable()->magGain[axis] = 1024;
magPrev[axis] = 0;
+ magAxisDeviation[axis] = 0; // Gain is based on the biggest absolute deviation from the mag zero point. Gain computation starts at 0
}
beeper(BEEPER_ACTION_SUCCESS);
@@ -400,9 +401,9 @@ void compassUpdate(timeUs_t currentTimeUs)
diffMag += (mag.magADC[axis] - magPrev[axis]) * (mag.magADC[axis] - magPrev[axis]);
avgMag += (mag.magADC[axis] + magPrev[axis]) * (mag.magADC[axis] + magPrev[axis]) / 4.0f;
- const int32_t sample = ABS(mag.magADC[axis]);
- if (sample > magGain[axis]) {
- magGain[axis] = sample;
+ // Find the biggest sample deviation together with sample' sign
+ if (ABS(mag.magADC[axis]) > ABS(magAxisDeviation[axis])) {
+ magAxisDeviation[axis] = mag.magADC[axis];
}
}
@@ -429,7 +430,7 @@ void compassUpdate(timeUs_t currentTimeUs)
* It is dirty, but worth checking if this will solve the problem of changing mag vector when UAV is tilted
*/
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
- compassConfigMutable()->magGain[axis] = magGain[axis] - compassConfig()->magZero.raw[axis];
+ compassConfigMutable()->magGain[axis] = ABS(magAxisDeviation[axis] - compassConfig()->magZero.raw[axis]);
}
calStartedAt = 0;
diff --git a/src/main/target/RUSH_BLADE_F7/CMakeLists.txt b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt
new file mode 100644
index 0000000000..5d612d6c68
--- /dev/null
+++ b/src/main/target/RUSH_BLADE_F7/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(RUSH_BLADE_F7 SKIP_RELEASES)
\ No newline at end of file
diff --git a/src/main/target/RUSH_BLADE_F7/target.c b/src/main/target/RUSH_BLADE_F7/target.c
new file mode 100644
index 0000000000..c56197a99e
--- /dev/null
+++ b/src/main/target/RUSH_BLADE_F7/target.c
@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV. If not, see .
+ */
+
+#include
+#include "platform.h"
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const timerHardware_t timerHardware[] = {
+
+ DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S1 UP2-1 D(2, 4, 7)
+ DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S2 UP2-1 D(2, 7, 7)
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S6 UP1-2 D(1, 2, 5)
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S5 UP1-2 D(1, 7, 5)
+ DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S5 D(2, 3, 7)
+ DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S6 D(1, 4, 5)
+
+ DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/RUSH_BLADE_F7/target.h b/src/main/target/RUSH_BLADE_F7/target.h
new file mode 100644
index 0000000000..ca0175f10d
--- /dev/null
+++ b/src/main/target/RUSH_BLADE_F7/target.h
@@ -0,0 +1,147 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV. If not, see .
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "RBF7"
+#define USBD_PRODUCT_STRING "RUSH_BLADE_F7"
+
+#define LED0 PB10 //Blue SWCLK
+// #define LED1 PA13 //Green SWDIO
+
+#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_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define GYRO_INT_EXTI PA4
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN CW270_DEG
+#define MPU6000_CS_PIN PC4
+#define MPU6000_SPI_BUS BUS_SPI1
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define USE_BARO
+#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
+#define USE_MAG_AK8975
+#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 TEMPERATURE_I2C_BUS BUS_I2C1
+
+#define PITOT_I2C_BUS BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** SPI2 Flash ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS BUS_SPI2
+#define M25P16_CS_PIN PB12
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN PC14
+#define USE_USB_DETECT
+
+#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 USE_UART3
+#define UART3_TX_PIN PC10
+#define UART3_RX_PIN PC11
+
+#define USE_UART4
+#define UART4_TX_PIN PA0
+#define UART4_RX_PIN PA1
+
+#define USE_UART5
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define SERIAL_PORT_COUNT 6
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+#define ADC1_DMA_STREAM DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN PC0
+#define ADC_CHANNEL_2_PIN PC1
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL)
+#define CURRENT_METER_SCALE 179
+
+#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 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 10
+#define USE_OSD
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR