Merge branch 'master' into HDZeroVTX

src/main/navigation/navigation.c

@@ -1642,11 +1642,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigatio
 {
     UNUSED(previousState);
 
-    const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) ||
-                          (posControl.activeWaypointIndex >= (posControl.waypointCount - 1));
-
-    if (isLastWaypoint) {
-        // Last waypoint reached
+    if (isLastMissionWaypoint()) {      // Last waypoint reached
         return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
     }
     else {
@@ -3059,37 +3055,21 @@ static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
     calculateAndSetActiveWaypointToLocalPosition(&localPos);
 }
 
-/**
- * Returns TRUE if we are in WP mode and executing last waypoint on the list, or in RTH mode, or in PH mode
- *  In RTH mode our only and last waypoint is home
- *  In PH mode our waypoint is hold position */
-bool isApproachingLastWaypoint(void)
+/* Checks if active waypoint is last in mission */
+bool isLastMissionWaypoint(void)
 {
-    if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
-        if (posControl.waypointCount == 0) {
-            /* No waypoints */
-            return true;
-        }
-        else if ((posControl.activeWaypointIndex == (posControl.waypointCount - 1)) ||
-                 (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST)) {
-            return true;
-        }
-        else {
-            return false;
-        }
-    }
-    else if (navGetStateFlags(posControl.navState) & NAV_CTL_POS) {
-        // If POS controller is active we are in Poshold or RTH mode - assume last waypoint
-        return true;
-    }
-    else {
-        return false;
-    }
+    return FLIGHT_MODE(NAV_WP_MODE) && (posControl.activeWaypointIndex >= (posControl.waypointCount - 1) ||
+            (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST));
 }
 
-bool isWaypointWait(void)
+/* Checks if Nav hold position is active */
+bool isNavHoldPositionActive(void)
 {
-    return NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
+    if (FLIGHT_MODE(NAV_WP_MODE)) {     // WP mode last WP hold and Timed hold positions
+        return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
+    }
+    // RTH spiral climb and Home positions and POSHOLD position
+    return FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_POSHOLD_MODE);
 }
 
 float getActiveWaypointSpeed(void)

src/main/navigation/navigation_fixedwing.c

@@ -277,10 +277,9 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
 
     // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target
     #define TAN_15DEG    0.26795f
-    bool needToCalculateCircularLoiter = (isApproachingLastWaypoint() || isWaypointWait())
-                                            && (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG))
-                                            && (distanceToActualTarget > 50.0f)
-                                            && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
+    bool needToCalculateCircularLoiter = isNavHoldPositionActive() &&
+                                            (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) &&
+                                            (distanceToActualTarget > 50.0f);
 
     // Calculate virtual position for straight movement
     if (needToCalculateCircularLoiter) {

src/main/navigation/navigation_multicopter.c

@@ -446,7 +446,7 @@ static void updatePositionVelocityController_MC(const float maxSpeed)
      */
     if (
         (navGetCurrentStateFlags() & NAV_AUTO_WP &&
-        !isApproachingLastWaypoint() &&
+        !isNavHoldPositionActive() &&
         newVelTotal < maxSpeed &&
         !navConfig()->mc.slowDownForTurning
         ) || newVelTotal > maxSpeed

src/main/navigation/navigation_private.h

@@ -418,8 +418,8 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti
 
 bool isWaypointReached(const navWaypointPosition_t * waypoint, const bool isWaypointHome);
 bool isWaypointMissed(const navWaypointPosition_t * waypoint);
-bool isWaypointWait(void);
-bool isApproachingLastWaypoint(void);
+bool isNavHoldPositionActive(void);
+bool isLastMissionWaypoint(void);
 float getActiveWaypointSpeed(void);
 
 void updateActualHeading(bool headingValid, int32_t newHeading);

src/main/target/MAMBAH743/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(MAMBAH743)

src/main/target/MAMBAH743/config.c

@@ -0,0 +1,30 @@
+/*
+ * 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 <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}

src/main/target/MAMBAH743/target.c

@@ -0,0 +1,49 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.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"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   MPU6000_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+
+const timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S1  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),   // S2
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S6
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 6),   // S7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 7),   // S8
+
+    
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 8),    // LED_2812
+    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_BEEPER, 0, 0),  // BEEPER PWM
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/MAMBAH743/target.h

@@ -0,0 +1,186 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "M743"
+#define USBD_PRODUCT_STRING     "MAMBAH743"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PE5
+#define LED1                    PE4
+
+#define BEEPER                  PA15
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** SPI1 IMU0 MPU6000 ****************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+// SPI4 is used on the second MPU6000 gyro, we do not use it at the moment
+// #define USE_SPI_DEVICE_4
+// #define SPI4_SCK_PIN            PE12
+// #define SPI4_MISO_PIN           PE13
+// #define SPI4_MOSI_PIN           PE14
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB6
+#define I2C1_SDA                PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#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_VCM5883
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
+#define USE_UART3
+#define UART3_TX_PIN            PD8
+#define UART3_RX_PIN            PD9
+
+#define USE_UART4
+#define UART4_TX_PIN            PD1
+#define UART4_RX_PIN            PD0
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_UART7
+#define UART7_TX_PIN            PE8
+#define UART7_RX_PIN            PE7
+
+#define USE_UART8
+#define UART8_TX_PIN            PE1
+#define UART8_RX_PIN            PE0
+
+#define SERIAL_PORT_COUNT       9
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+
+#define ADC_CHANNEL_1_PIN           PC1
+#define ADC_CHANNEL_2_PIN           PC3
+#define ADC_CHANNEL_3_PIN           PC2
+#define ADC_CHANNEL_4_PIN           PC0
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC5
+
+// *************** 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         250
+
+#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 TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+