Sync with master

docs/Settings.md

@@ -2852,26 +2852,6 @@ When powering up, gyro bias is calculated. If the model is shaking/moving during
 
 ---
 
-### motor_accel_time
-
-Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
-### motor_decel_time
-
-Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 1000 |
-
----
-
 ### motor_direction_inverted
 
 Use if you need to inverse yaw motor direction.

src/main/CMakeLists.txt

@@ -164,6 +164,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_qmc5883l.h
     drivers/compass/compass_rm3100.c
     drivers/compass/compass_rm3100.h
+    drivers/compass/compass_vcm5883.c
+    drivers/compass/compass_vcm5883.h
     drivers/compass/compass_msp.c
     drivers/compass/compass_msp.h
 
@@ -230,8 +232,6 @@ main_sources(COMMON_SRC
     drivers/pinio.c
     drivers/pinio.h
 
-    drivers/rangefinder/rangefinder_hcsr04.c
-    drivers/rangefinder/rangefinder_hcsr04.h
     drivers/rangefinder/rangefinder_hcsr04_i2c.c
     drivers/rangefinder/rangefinder_hcsr04_i2c.h
     drivers/rangefinder/rangefinder_srf10.c
@@ -355,8 +355,6 @@ main_sources(COMMON_SRC
 
     io/beeper.c
     io/beeper.h
-    io/esc_serialshot.c
-    io/esc_serialshot.h
     io/servo_sbus.c
     io/servo_sbus.h
     io/frsky_osd.c

src/main/drivers/bus.h

@@ -120,6 +120,7 @@ typedef enum {
     DEVHW_MAG3110,
     DEVHW_LIS3MDL,
     DEVHW_RM3100,
+    DEVHW_VCM5883,
 
     /* Temp sensor chips */
     DEVHW_LM75_0,

src/main/drivers/compass/compass_vcm5883.c

@@ -0,0 +1,121 @@
+/*
+ * 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/.
+ */
+
+#include "platform.h"
+
+#ifdef USE_MAG_VCM5883
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/bus_i2c.h"
+
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#include "drivers/compass/compass_vcm5883.h"
+
+#include "build/debug.h"
+
+#define VCM5883_REGISTER_ADDR_CNTL1 0x0B
+#define VCM5883_REGISTER_ADDR_CNTL2 0x0A
+#define VCM5883_REGISTER_ADDR_CHIPID 0x0C
+#define VCM5883_REGISTER_ADDR_OUTPUT_X 0x00
+#define VCM5883_INITIAL_CONFIG 0b0100
+
+#define DETECTION_MAX_RETRY_COUNT   5
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        busWrite(mag->busDev, VCM5883_REGISTER_ADDR_CNTL2, 0b01000001);
+        delay(30);
+
+        uint8_t sig = 0;
+        bool ack = busRead(mag->busDev, VCM5883_REGISTER_ADDR_CHIPID, &sig);
+
+        if (ack && sig == 0x82) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool vcm5883Init(magDev_t * mag) {
+    UNUSED(mag);
+    return true;
+}
+
+static bool vcm5883Read(magDev_t * mag)
+{
+    uint8_t buf[6];
+
+    // set magData to zero for case of failed read
+    mag->magADCRaw[X] = 0;
+    mag->magADCRaw[Y] = 0;
+    mag->magADCRaw[Z] = 0;
+
+    bool ack = busReadBuf(mag->busDev, VCM5883_REGISTER_ADDR_OUTPUT_X, buf, 6);
+    if (!ack) {
+        return false;
+    }
+
+    mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]);
+    mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]);
+    mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]);
+
+    return true;
+}
+
+bool vcm5883Detect(magDev_t * mag)
+{
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_VCM5883, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(mag)) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, 7);
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+
+    mag->init = vcm5883Init;
+    mag->read = vcm5883Read;
+
+    return true;
+}
+
+#endif

src/main/drivers/compass/compass_vcm5883.h

@@ -1,5 +1,5 @@
 /*
- * This file is part of INAV Project.
+ * 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,
@@ -24,6 +24,4 @@
 
 #pragma once
 
-bool serialshotInitialize(void);
+bool vcm5883Detect(magDev_t *mag);
-void serialshotUpdateMotor(int index, uint16_t value);
-void serialshotSendUpdate(void);

src/main/drivers/io_pca9685.c

@@ -5,6 +5,8 @@
 
 #include "build/build_config.h"
 
+#ifdef USE_PWM_DRIVER_PCA9685
+
 #include "common/time.h"
 #include "common/maths.h"
 
@@ -141,3 +143,5 @@ bool pca9685Initialize(void)
 
     return true;
 }
+
+#endif

src/main/drivers/pwm_mapping.c

@@ -67,16 +67,13 @@ static const char * pwmInitErrorMsg[] = {
 };
 
 static const motorProtocolProperties_t motorProtocolProperties[] = {
-    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
+    [PWM_TYPE_STANDARD]     = { .usesHwTimer = true,    .isDSHOT = false },
-    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
+    [PWM_TYPE_ONESHOT125]   = { .usesHwTimer = true,    .isDSHOT = false },
-    [PWM_TYPE_ONESHOT42]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
+    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false },
-    [PWM_TYPE_MULTISHOT]    = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
+    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false },
-    [PWM_TYPE_BRUSHED]      = { .usesHwTimer = true,    .isDSHOT = false,   .isSerialShot = false },
+    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true },
-    [PWM_TYPE_DSHOT150]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
+    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true },
-    [PWM_TYPE_DSHOT300]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
+    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true },
-    [PWM_TYPE_DSHOT600]     = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_DSHOT1200]    = { .usesHwTimer = true,    .isDSHOT = true,    .isSerialShot = false },
-    [PWM_TYPE_SERIALSHOT]   = { .usesHwTimer = false,   .isDSHOT = false,   .isSerialShot = true  },
 };
 
 pwmInitError_e getPwmInitError(void)
@@ -199,17 +196,6 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 #endif
 #endif
 
-
-#ifdef USE_RANGEFINDER_HCSR04
-    // HC-SR04 has a dedicated connection to FC and require two pins
-    if (rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) {
-        const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-        if (rangefinderHardwarePins && (timHw->tag == rangefinderHardwarePins->triggerTag || timHw->tag == rangefinderHardwarePins->echoTag)) {
-            return true;
-        }
-    }
-#endif
-
     return false;
 }
 

src/main/drivers/pwm_mapping.h

@@ -39,14 +39,11 @@
 typedef enum {
     PWM_TYPE_STANDARD = 0,
     PWM_TYPE_ONESHOT125,
-    PWM_TYPE_ONESHOT42,
     PWM_TYPE_MULTISHOT,
     PWM_TYPE_BRUSHED,
     PWM_TYPE_DSHOT150,
     PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT600,
-    PWM_TYPE_DSHOT1200,
-    PWM_TYPE_SERIALSHOT,
 } motorPwmProtocolTypes_e;
 
 typedef enum {
@@ -73,7 +70,6 @@ typedef struct rangefinderIOConfig_s {
 typedef struct {
     bool usesHwTimer;
     bool isDSHOT;
-    bool isSerialShot;
 } motorProtocolProperties_t;
 
 bool pwmMotorAndServoInit(void);

src/main/drivers/pwm_output.c

@@ -37,7 +37,6 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/io_pca9685.h"
 
 #include "io/pwmdriver_i2c.h"
-#include "io/esc_serialshot.h"
 #include "io/servo_sbus.h"
 #include "sensors/esc_sensor.h"
 
@@ -50,7 +49,6 @@ FILE_COMPILE_FOR_SPEED
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_HZ * 20 / 1000000.0f / 1000.0f)
 
 #ifdef USE_DSHOT
-#define MOTOR_DSHOT1200_HZ    24000000
 #define MOTOR_DSHOT600_HZ     12000000
 #define MOTOR_DSHOT300_HZ     6000000
 #define MOTOR_DSHOT150_HZ     3000000
@@ -100,7 +98,7 @@ static pwmWriteFuncPtr         motorWritePtr = NULL;    // Function to write val
 static pwmOutputPort_t *       servos[MAX_SERVOS];
 static pwmWriteFuncPtr         servoWritePtr = NULL;    // Function to write value to motors
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static timeUs_t digitalMotorUpdateIntervalUs = 0;
 static timeUs_t digitalMotorLastUpdateUs;
 #endif
@@ -245,8 +243,6 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
     switch (pwmProtocolType) {
-        case(PWM_TYPE_DSHOT1200):
-            return MOTOR_DSHOT1200_HZ;
         case(PWM_TYPE_DSHOT600):
             return MOTOR_DSHOT600_HZ;
         case(PWM_TYPE_DSHOT300):
@@ -304,7 +300,7 @@ static uint16_t prepareDshotPacket(const uint16_t value, bool requestTelemetry)
 }
 #endif
 
-#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
+#if defined(USE_DSHOT)
 static void motorConfigDigitalUpdateInterval(uint16_t motorPwmRateHz)
 {
     digitalMotorUpdateIntervalUs = 1000000 / motorPwmRateHz;
@@ -325,14 +321,9 @@ bool isMotorProtocolDshot(void)
     return getMotorProtocolProperties(initMotorProtocol)->isDSHOT;
 }
 
-bool isMotorProtocolSerialShot(void)
-{
-    return getMotorProtocolProperties(initMotorProtocol)->isSerialShot;
-}
-
 bool isMotorProtocolDigital(void)
 {
-    return isMotorProtocolDshot() || isMotorProtocolSerialShot();
+    return isMotorProtocolDshot();
 }
 
 void pwmRequestMotorTelemetry(int motorIndex)
@@ -441,16 +432,6 @@ void pwmCompleteMotorUpdate(void) {
         }
     }
 #endif
-
-#ifdef USE_SERIALSHOT
-    if (isMotorProtocolSerialShot()) {
-        for (int index = 0; index < motorCount; index++) {
-            serialshotUpdateMotor(index, motors[index].value);
-        }
-
-        serialshotSendUpdate();
-    }
-#endif
 }
 
 #else // digital motor protocol
@@ -481,13 +462,11 @@ void pwmMotorPreconfigure(void)
         case PWM_TYPE_STANDARD:
         case PWM_TYPE_BRUSHED:
         case PWM_TYPE_ONESHOT125:
-        case PWM_TYPE_ONESHOT42:
         case PWM_TYPE_MULTISHOT:
             motorWritePtr = pwmWriteStandard;
             break;
 
 #ifdef USE_DSHOT
-        case PWM_TYPE_DSHOT1200:
         case PWM_TYPE_DSHOT600:
         case PWM_TYPE_DSHOT300:
         case PWM_TYPE_DSHOT150:
@@ -495,15 +474,6 @@ void pwmMotorPreconfigure(void)
             motorWritePtr = pwmWriteDigital;
             break;
 #endif
-
-#ifdef USE_SERIALSHOT
-        case PWM_TYPE_SERIALSHOT:
-            // Kick off SerialShot driver initalization
-            serialshotInitialize();
-            motorConfigDigitalUpdateInterval(motorConfig()->motorPwmRate);
-            motorWritePtr = pwmWriteDigital;
-            break;
-#endif
     }
 }
 
@@ -518,16 +488,11 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
 
-    case PWM_TYPE_ONESHOT42:
-        motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 42e-6f, 42e-6f, motorConfig()->motorPwmRate, enableOutput);
-        break;
-
     case PWM_TYPE_MULTISHOT:
         motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, motorConfig()->motorPwmRate, enableOutput);
         break;
 
 #ifdef USE_DSHOT
-    case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:

src/main/drivers/rangefinder/rangefinder.h

@@ -27,13 +27,6 @@
 
 struct rangefinderDev_s;
 
-typedef struct rangefinderHardwarePins_s {
-    ioTag_t triggerTag;
-    ioTag_t echoTag;
-} rangefinderHardwarePins_t;
-
-struct rangefinderDev_s;
-
 typedef void (*rangefinderOpInitFuncPtr)(struct rangefinderDev_s * dev);
 typedef void (*rangefinderOpStartFuncPtr)(struct rangefinderDev_s * dev);
 typedef int32_t (*rangefinderOpReadFuncPtr)(struct rangefinderDev_s * dev);

src/main/drivers/rangefinder/rangefinder_hcsr04.c

@@ -1,221 +0,0 @@
-/*
- * 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 <stdint.h>
-
-#include <platform.h>
-
-#if defined(USE_RANGEFINDER_HCSR04)
-
-#include "build/build_config.h"
-
-#include "common/time.h"
-
-#include "drivers/time.h"
-#include "drivers/exti.h"
-#include "drivers/io.h"
-#include "drivers/nvic.h"
-#include "drivers/rcc.h"
-
-#include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
-
-#define HCSR04_MAX_RANGE_CM 400 // 4m, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_DECIDEGREES 300 // recommended cone angle30 degrees, from HC-SR04 spec sheet
-#define HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES 450 // in practice 45 degrees seems to work well
-
-
-/* HC-SR04 consists of ultrasonic transmitter, receiver, and control circuits.
- * When triggered it sends out a series of 40KHz ultrasonic pulses and receives
- * echo from an object. The distance between the unit and the object is calculated
- * by measuring the traveling time of sound and output it as the width of a TTL pulse.
- *
- * *** Warning: HC-SR04 operates at +5V ***
- *
- */
-
-static volatile timeDelta_t hcsr04SonarPulseTravelTime = 0;
-static volatile timeMs_t lastMeasurementReceivedAt;
-static volatile int32_t lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-static timeMs_t lastMeasurementStartedAt = 0;
-
-#ifdef USE_EXTI
-static extiCallbackRec_t hcsr04_extiCallbackRec;
-#endif
-
-static IO_t echoIO;
-static IO_t triggerIO;
-
-#if !defined(UNIT_TEST)
-void hcsr04_extiHandler(extiCallbackRec_t* cb)
-{
-    static timeUs_t timing_start;
-    UNUSED(cb);
-
-    if (IORead(echoIO) != 0) {
-        timing_start = micros();
-    } else {
-        const timeUs_t timing_stop = micros();
-        if (timing_stop > timing_start) {
-            lastMeasurementReceivedAt = millis();
-            hcsr04SonarPulseTravelTime = timing_stop - timing_start;
-        }
-    }
-}
-#endif
-
-void hcsr04_init(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-}
-
-#define HCSR04_MinimumFiringIntervalMs 60
-
-/*
- * Start a range reading
- * Called periodically by the scheduler
- * Measurement reading is done asynchronously, using interrupt
- */
-void hcsr04_start_reading(void)
-{
-#if !defined(UNIT_TEST)
-#ifdef RANGEFINDER_HCSR04_TRIG_INVERTED
-    IOLo(triggerIO);
-    delayMicroseconds(11);
-    IOHi(triggerIO);
-#else
-    IOHi(triggerIO);
-    delayMicroseconds(11);
-    IOLo(triggerIO);
-#endif
-#endif
-}
-
-void hcsr04_update(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    const timeMs_t timeNowMs = millis();
-
-    // the firing interval of the trigger signal should be greater than 60ms
-    // to avoid interference between consecutive measurements
-    if (timeNowMs > lastMeasurementStartedAt + HCSR04_MinimumFiringIntervalMs) {
-        // We should have a valid measurement within 60ms of trigger
-        if ((lastMeasurementReceivedAt - lastMeasurementStartedAt) <= HCSR04_MinimumFiringIntervalMs) {
-            // The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
-            // The ping travels out and back, so to find the distance of the
-            // object we take half of the distance traveled.
-            // 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
-
-            lastCalculatedDistance = hcsr04SonarPulseTravelTime / 59;
-            if (lastCalculatedDistance > HCSR04_MAX_RANGE_CM) {
-                lastCalculatedDistance = RANGEFINDER_OUT_OF_RANGE;
-            }
-        }
-        else {
-            // No measurement within reasonable time - indicate failure
-            lastCalculatedDistance = RANGEFINDER_HARDWARE_FAILURE;
-        }
-
-        // Trigger a new measurement
-        lastMeasurementStartedAt = timeNowMs;
-        hcsr04_start_reading();
-    }
-
-}
-
-/**
- * Get the distance that was measured by the last pulse, in centimeters.
- */
-int32_t hcsr04_get_distance(rangefinderDev_t *dev)
-{
-    UNUSED(dev);
-    return lastCalculatedDistance;
-}
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins)
-{
-    bool detected = false;
-
-#if defined(STM32F3) || defined(STM32F4)
-    RCC_ClockCmd(RCC_APB2(SYSCFG), ENABLE);
-#endif
-
-    triggerIO = IOGetByTag(rangefinderHardwarePins->triggerTag);
-    echoIO = IOGetByTag(rangefinderHardwarePins->echoTag);
-
-    if (IOGetOwner(triggerIO) != OWNER_FREE) {
-        return false;
-    }
-
-    if (IOGetOwner(echoIO) != OWNER_FREE) {
-        return false;
-    }
-
-    // trigger pin
-    IOInit(triggerIO, OWNER_RANGEFINDER, RESOURCE_OUTPUT, 0);
-    IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
-    IOLo(triggerIO);
-    delay(100);
-
-    // echo pin
-    IOInit(echoIO, OWNER_RANGEFINDER, RESOURCE_INPUT, 0);
-    IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
-
-    // HC-SR04 echo line should be low by default and should return a response pulse when triggered
-    if (IORead(echoIO) == false) {
-        for (int i = 0; i < 5 && !detected; i++) {
-            timeMs_t requestTime = millis();
-            hcsr04_start_reading();
-
-            while ((millis() - requestTime) < HCSR04_MinimumFiringIntervalMs) {
-                if (IORead(echoIO) == true) {
-                    detected = true;
-                    break;
-                }
-            }
-        }
-    }
-
-    if (detected) {
-        // Hardware detected - configure the driver
-#ifdef USE_EXTI
-        EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
-        EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
-        EXTIEnable(echoIO, true);
-#endif
-
-        dev->delayMs = 100;
-        dev->maxRangeCm = HCSR04_MAX_RANGE_CM;
-        dev->detectionConeDeciDegrees = HCSR04_DETECTION_CONE_DECIDEGREES;
-        dev->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
-
-        dev->init = &hcsr04_init;
-        dev->update = &hcsr04_update;
-        dev->read = &hcsr04_get_distance;
-
-        return true;
-    }
-    else {
-        // Not detected - free resources
-        IORelease(triggerIO);
-        IORelease(echoIO);
-        return false;
-    }
-}
-
-#endif

src/main/drivers/rangefinder/rangefinder_hcsr04.h

@@ -1,24 +0,0 @@
-/*
- * 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
-
-#include "drivers/rangefinder/rangefinder.h"
-
-#define RANGEFINDER_HCSR04_TASK_PERIOD_MS 70
-
-bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins);

src/main/fc/config.c

@@ -265,9 +265,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_ONESHOT125:   // Limited to 3900 Hz
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
         break;
-    case PWM_TYPE_ONESHOT42:    // 2-8 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000);
-        break;
     case PWM_TYPE_MULTISHOT:    // 2-16 kHz
         motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
         break;
@@ -287,14 +284,6 @@ void validateAndFixConfig(void)
     case PWM_TYPE_DSHOT600:
         motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
         break;
-    case PWM_TYPE_DSHOT1200:
-        motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 32000);
-        break;
-#endif
-#ifdef USE_SERIALSHOT
-    case PWM_TYPE_SERIALSHOT:   // 2-4 kHz
-        motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 4000);
-        break;
 #endif
     }
 #endif

src/main/fc/fc_core.c

@@ -929,7 +929,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 #endif
 
-    mixTable(dT);
+    mixTable();
 
     if (isMixerUsingServos()) {
         servoMixer(dT);

src/main/fc/fc_init.c

@@ -364,20 +364,6 @@ void init(void)
     updateHardwareRevision();
 #endif
 
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
-#if defined(FURYF3) || defined(OMNIBUS) || defined(SPRACINGF3MINI)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
-    }
-#endif
-#endif
-
-#if defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2) && defined(SPRACINGF3)
-    if ((rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) && feature(FEATURE_SOFTSERIAL)) {
-        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
-    }
-#endif
-
 #ifdef USE_USB_MSC
     /* MSC mode will start after init, but will not allow scheduler to run,
      * so there is no bottleneck in reading and writing data

src/main/fc/settings.yaml

@@ -7,13 +7,13 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
+    values: ["NONE", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
@@ -35,7 +35,7 @@ tables:
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol
-    values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
+    values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
   - name: servo_protocol
     values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
@@ -861,18 +861,6 @@ groups:
         field: motorPwmRate
         min: 50
         max: 32000
-      - name: motor_accel_time
-        description: "Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorAccelTimeMs
-        min: 0
-        max: 1000
-      - name: motor_decel_time
-        description: "Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]"
-        default_value: 0
-        field: motorDecelTimeMs
-        min: 0
-        max: 1000
       - name: motor_pwm_protocol
         description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
         default_value: "ONESHOT125"

src/main/flight/mixer.c

@@ -102,15 +102,13 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
 
 #define DEFAULT_MAX_THROTTLE    1850
 
-PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 8);
+PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
     .motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
     .maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
     .mincommand = SETTING_MIN_COMMAND_DEFAULT,
-    .motorAccelTimeMs = SETTING_MOTOR_ACCEL_TIME_DEFAULT,
-    .motorDecelTimeMs = SETTING_MOTOR_DECEL_TIME_DEFAULT,
     .motorPoleCount = SETTING_MOTOR_POLES_DEFAULT,            // Most brushless motors that we use are 14 poles
 );
 
@@ -118,9 +116,6 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTO
 
 #define CRASH_OVER_AFTER_CRASH_FLIP_STICK_MIN 0.15f
 
-typedef void (*motorRateLimitingApplyFnPtr)(const float dT);
-static EXTENDED_FASTRAM motorRateLimitingApplyFnPtr motorRateLimitingApplyFn;
-
 int getThrottleIdleValue(void)
 {
     if (!throttleIdleValue) {
@@ -201,44 +196,6 @@ void nullMotorRateLimiting(const float dT)
     UNUSED(dT);
 }
 
-void applyMotorRateLimiting(const float dT)
-{
-    static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
-
-    if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-        // FIXME: Don't apply rate limiting in 3D mode
-        for (int i = 0; i < motorCount; i++) {
-            motorPrevious[i] = motor[i];
-        }
-    }
-    else {
-        // Calculate max motor step
-        const uint16_t motorRange = motorConfig()->maxthrottle - throttleIdleValue;
-        const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
-        const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
-
-        for (int i = 0; i < motorCount; i++) {
-            // Apply motor rate limiting
-            motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
-
-            // Handle throttle below min_throttle (motor start/stop)
-            if (motorPrevious[i] < throttleIdleValue) {
-                if (motor[i] < throttleIdleValue) {
-                    motorPrevious[i] = motor[i];
-                }
-                else {
-                    motorPrevious[i] = throttleIdleValue;
-                }
-            }
-        }
-    }
-
-    // Update motor values
-    for (int i = 0; i < motorCount; i++) {
-        motor[i] = motorPrevious[i];
-    }
-}
-
 void mixerInit(void)
 {
     computeMotorCount();
@@ -253,12 +210,6 @@ void mixerInit(void)
 
     mixerResetDisarmedMotors();
 
-    if (motorConfig()->motorAccelTimeMs || motorConfig()->motorDecelTimeMs) {
-        motorRateLimitingApplyFn = applyMotorRateLimiting;
-    } else {
-        motorRateLimitingApplyFn = nullMotorRateLimiting;
-    }
-
     if (mixerConfig()->motorDirectionInverted) {
         motorYawMultiplier = -1;
     } else {
@@ -516,7 +467,7 @@ static int getReversibleMotorsThrottleDeadband(void)
     return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue;
 }
 
-void FAST_CODE mixTable(const float dT)
+void FAST_CODE mixTable()
 {
 #ifdef USE_DSHOT
     if (FLIGHT_MODE(TURTLE_MODE)) {
@@ -649,9 +600,6 @@ void FAST_CODE mixTable(const float dT)
             motor[i] = motor_disarmed[i];
         }
     }
-
-    /* Apply motor acceleration/deceleration limit */
-    motorRateLimitingApplyFn(dT);
 }
 
 int16_t getThrottlePercent(void)

src/main/flight/mixer.h

@@ -80,8 +80,6 @@ typedef struct motorConfig_s {
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;
-    uint16_t motorAccelTimeMs;              // Time limit for motor to accelerate from 0 to 100% throttle [ms]
-    uint16_t motorDecelTimeMs;              // Time limit for motor to decelerate from 0 to 100% throttle [ms]
     uint16_t digitalIdleOffsetValue;
     uint8_t motorPoleCount;                 // Magnetic poles in the motors for calculating actual RPM from eRPM provided by ESC telemetry
 } motorConfig_t;
@@ -115,7 +113,7 @@ void writeAllMotors(int16_t mc);
 void mixerInit(void);
 void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
-void mixTable(const float dT);
+void mixTable(void);
 void writeMotors(void);
 void processServoAutotrim(const float dT);
 void processServoAutotrimMode(void);

src/main/io/esc_serialshot.c

@@ -1,116 +0,0 @@
-/*
- * This file is part of INAV Project.
- *
- * 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/.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <ctype.h>
-#include <math.h>
-
-#include "platform.h"
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "common/maths.h"
-#include "common/crc.h"
-
-#include "io/serial.h"
-#include "io/esc_serialshot.h"
-
-#if defined(USE_SERIALSHOT)
-
-#define SERIALSHOT_UART_BAUD            921600
-#define SERIALSHOT_PKT_DEFAULT_HEADER   (0x00)  // Default header (motors 1-4, regular 4-in-1 ESC)
-
-
-typedef struct __attribute__((packed)) {
-    uint8_t hdr;            // Header/version marker
-    uint8_t motorData[6];   // 12 bit per motor
-    uint8_t crc;            // CRC8/DVB-T of hdr & motorData
-} serialShortPacket_t;
-
-
-static serialShortPacket_t txPkt;
-static uint16_t motorValues[4];
-static serialPort_t * escPort = NULL;
-static serialPortConfig_t * portConfig;
-
-bool serialshotInitialize(void)
-{
-    // Avoid double initialization
-    if (escPort) {
-        return true;
-    }
-
-    portConfig = findSerialPortConfig(FUNCTION_ESCSERIAL);
-    if (!portConfig) {
-        return false;
-    }
-
-    escPort = openSerialPort(portConfig->identifier, FUNCTION_ESCSERIAL, NULL, NULL, SERIALSHOT_UART_BAUD, MODE_RXTX, SERIAL_NOT_INVERTED | SERIAL_UNIDIR);
-    if (!escPort) {
-        return false;
-    }
-
-    return true;
-}
-
-void serialshotUpdateMotor(int index, uint16_t value)
-{
-    if (index < 0 || index > 3) {
-        return;
-    }
-
-    motorValues[index] = value;
-}
-
-void serialshotSendUpdate(void)
-{
-    // Check if the port is initialized
-    if (!escPort) {
-        return;
-    }
-
-    // Skip update if previous one is not yet fully sent
-    // This helps to avoid buffer overflow and evenyually the data corruption
-    if (!isSerialTransmitBufferEmpty(escPort)) {
-        return;
-    }
-
-    txPkt.hdr = SERIALSHOT_PKT_DEFAULT_HEADER;
-
-    txPkt.motorData[0] = motorValues[0] & 0x00FF;
-    txPkt.motorData[1] = motorValues[1] & 0x00FF;
-    txPkt.motorData[2] = motorValues[2] & 0x00FF;
-    txPkt.motorData[3] = motorValues[3] & 0x00FF;
-    txPkt.motorData[4] = (((motorValues[0] & 0xF00) >> 8) << 0) | (((motorValues[1] & 0xF00) >> 8) << 4);
-    txPkt.motorData[5] = (((motorValues[2] & 0xF00) >> 8) << 0) | (((motorValues[3] & 0xF00) >> 8) << 4);
-
-    txPkt.crc = crc8_dvb_s2(0x00, txPkt.hdr);
-    txPkt.crc = crc8_dvb_s2_update(txPkt.crc, txPkt.motorData, sizeof(txPkt.motorData));
-
-    serialWriteBuf(escPort, (const uint8_t *)&txPkt, sizeof(txPkt));
-}
-
-#endif

src/main/io/pwmdriver_i2c.c

@@ -7,6 +7,9 @@
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"
+#include "platform.h"
+
+#ifdef USE_PWM_SERVO_DRIVER
 
 #define PWM_DRIVER_IMPLEMENTATION_COUNT 1
 #define PWM_DRIVER_MAX_CYCLE 4
@@ -63,3 +66,5 @@ void pwmDriverSync(void) {
         cycle = 0;
     }
 }
+
+#endif

src/main/sensors/compass.c

@@ -41,6 +41,7 @@
 #include "drivers/compass/compass_mpu9250.h"
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_rm3100.h"
+#include "drivers/compass/compass_vcm5883.h"
 #include "drivers/compass/compass_msp.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -62,7 +63,7 @@ mag_t mag;                   // mag access functions
 
 #ifdef USE_MAG
 
-PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 5);
 
 PG_RESET_TEMPLATE(compassConfig_t, compassConfig,
     .mag_align = SETTING_ALIGN_MAG_DEFAULT,
@@ -246,6 +247,19 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_VCM5883:
+#ifdef USE_MAG_VCM5883
+        if (vcm5883Detect(dev)) {
+            magHardware = MAG_VCM5883;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {

src/main/sensors/compass.h

@@ -42,7 +42,8 @@ typedef enum {
     MAG_LIS3MDL = 11,
     MAG_MSP = 12,
     MAG_RM3100 = 13,
-    MAG_FAKE = 14,
+    MAG_VCM5883 = 14,
+    MAG_FAKE = 15,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 

src/main/sensors/rangefinder.c

@@ -36,7 +36,6 @@
 #include "drivers/io.h"
 #include "drivers/time.h"
 #include "drivers/rangefinder/rangefinder.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
 #include "drivers/rangefinder/rangefinder_srf10.h"
 #include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
 #include "drivers/rangefinder/rangefinder_vl53l0x.h"
@@ -65,28 +64,13 @@ rangefinder_t rangefinder;
 #define RANGEFINDER_DYNAMIC_FACTOR              75
 
 #ifdef USE_RANGEFINDER
-PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig, PG_RANGEFINDER_CONFIG, 2);
 
 PG_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig,
     .rangefinder_hardware = SETTING_RANGEFINDER_HARDWARE_DEFAULT,
     .use_median_filtering = SETTING_RANGEFINDER_MEDIAN_FILTER_DEFAULT,
 );
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void)
-{
-    static rangefinderHardwarePins_t rangefinderHardwarePins;
-
-#if defined(RANGEFINDER_HCSR04_TRIGGER_PIN)
-    rangefinderHardwarePins.triggerTag = IO_TAG(RANGEFINDER_HCSR04_TRIGGER_PIN);
-    rangefinderHardwarePins.echoTag = IO_TAG(RANGEFINDER_HCSR04_ECHO_PIN);
-#else
-    // No Trig/Echo hardware rangefinder
-    rangefinderHardwarePins.triggerTag = IO_TAG(NONE);
-    rangefinderHardwarePins.echoTag = IO_TAG(NONE);
-#endif
-    return &rangefinderHardwarePins;
-}
-
 /*
  * Detect which rangefinder is present
  */
@@ -96,18 +80,6 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
     requestedSensors[SENSOR_INDEX_RANGEFINDER] = rangefinderHardwareToUse;
 
     switch (rangefinderHardwareToUse) {
-        case RANGEFINDER_HCSR04:
-#ifdef USE_RANGEFINDER_HCSR04
-            {
-                const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
-                if (hcsr04Detect(dev, rangefinderHardwarePins)) {   // FIXME: Do actual detection if HC-SR04 is plugged in
-                    rangefinderHardware = RANGEFINDER_HCSR04;
-                    rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_TASK_PERIOD_MS));
-                }
-            }
-#endif
-            break;
-
         case RANGEFINDER_SRF10:
 #ifdef USE_RANGEFINDER_SRF10
             if (srf10Detect(dev)) {

src/main/sensors/rangefinder.h

@@ -23,16 +23,14 @@
 
 typedef enum {
     RANGEFINDER_NONE        = 0,
-    RANGEFINDER_HCSR04      = 1,
+    RANGEFINDER_SRF10       = 1,
-    RANGEFINDER_SRF10       = 2,
+    RANGEFINDER_HCSR04I2C   = 2,
-    RANGEFINDER_HCSR04I2C   = 3,
+    RANGEFINDER_VL53L0X     = 3,
-    RANGEFINDER_VL53L0X     = 4,
+    RANGEFINDER_MSP         = 4,
-    RANGEFINDER_MSP         = 5,
+    RANGEFINDER_BENEWAKE    = 5,
-    RANGEFINDER_UNUSED      = 6,    // Was UIB
+    RANGEFINDER_VL53L1X     = 6,
-    RANGEFINDER_BENEWAKE    = 7,
+    RANGEFINDER_US42        = 7,
-    RANGEFINDER_VL53L1X     = 8,
+    RANGEFINDER_TOF10102I2C = 8,
-    RANGEFINDER_US42        = 9,
-    RANGEFINDER_TOF10102I2C = 10,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
@@ -52,8 +50,6 @@ typedef struct rangefinder_s {
 
 extern rangefinder_t rangefinder;
 
-const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void);
-
 bool rangefinderInit(void);
 
 int32_t rangefinderGetLatestAltitude(void);

src/main/target/BETAFPVF722/target.h

@@ -163,4 +163,3 @@
 // ESC-related features
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT

src/main/target/CLRACINGF4AIR/target.h

@@ -115,6 +115,7 @@
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define BNO055_I2C_BUS          BUS_I2C2
+#define MAG_I2C_BUS             BUS_I2C2
 #endif
 
 #define USE_ADC

src/main/target/COLIBRI/target.h

@@ -124,9 +124,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C3
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN      PB8
-#define RANGEFINDER_HCSR04_ECHO_PIN         PB9
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 

src/main/target/DALRCF722DUAL/target.h

@@ -138,7 +138,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS    6
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/FALCORE/target.h

@@ -117,9 +117,6 @@
 #define BIND_PIN                PA3
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA7
-#define RANGEFINDER_HCSR04_ECHO_PIN          PA2
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_VBAT | FEATURE_GPS | FEATURE_TELEMETRY | FEATURE_LED_STRIP)
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL

src/main/target/FF_F35_LIGHTNING/target.h

@@ -42,6 +42,7 @@
 
 #define USE_MAG
 #define USE_MAG_MPU9250
+#define MAG_I2C_BUS            BUS_I2C1
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/FISHDRONEF4/target.h

@@ -147,9 +147,6 @@
 
 // *************** RANGEFINDER *****************************
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PB10
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB11
 // #define USE_RANGEFINDER_SRF10
 
 // *************** NAV *****************************

src/main/target/FLYWOOF411/target.h

@@ -165,7 +165,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/FRSKY_ROVERF7/target.h

@@ -150,4 +150,3 @@
 #define MAX_PWM_OUTPUT_PORTS        5
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT

src/main/target/FURYF3/target.h

@@ -128,9 +128,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM

src/main/target/HGLRCF722/target.h

@@ -175,6 +175,5 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 

src/main/target/KAKUTEF4/target.h

@@ -171,7 +171,6 @@
 #define TARGET_IO_PORTD        (BIT(2))
 
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #ifdef KAKUTEF4V2

src/main/target/KAKUTEF7MINIV3/target.h

@@ -160,7 +160,6 @@
 #define MAX_PWM_OUTPUT_PORTS            6
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS         BUS_I2C1

src/main/target/MAMBAF405US/target.h

@@ -191,7 +191,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/MAMBAF722/target.h

@@ -193,7 +193,6 @@
 
 // ESC-related features
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/MATEKF405/target.h

@@ -199,7 +199,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS       6
 

src/main/target/MATEKF411/target.h

@@ -160,7 +160,6 @@
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/MATEKF411SE/target.h

@@ -163,7 +163,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/MATEKF722/target.h

@@ -157,6 +157,5 @@
 #define MAX_PWM_OUTPUT_PORTS        7
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define BNO055_I2C_BUS          BUS_I2C1

src/main/target/MATEKF722PX/target.h

@@ -170,5 +170,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR

src/main/target/MATEKF722SE/target.h

@@ -191,7 +191,6 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
 #define BNO055_I2C_BUS          BUS_I2C1

src/main/target/MATEKF765/target.h

@@ -229,4 +229,3 @@
 #define MAX_PWM_OUTPUT_PORTS        16
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT

src/main/target/MATEKH743/target.h

@@ -205,5 +205,4 @@
 #define MAX_PWM_OUTPUT_PORTS        15
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 

src/main/target/OMNIBUSF7NXT/target.h

@@ -169,7 +169,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    6

src/main/target/RCEXPLORERF3/target.h

@@ -90,9 +90,6 @@
 #define WS2811_PIN                      PB8 // TIM16_CH1
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PA6   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
 

src/main/target/REVO/target.h

@@ -31,7 +31,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 // MPU6000 interrupts
 #define USE_EXTI

src/main/target/RUSH_BLADE_F7/target.h

@@ -142,5 +142,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        10
 #define USE_DSHOT
-#define USE_SERIALSHOT
 #define USE_ESC_SENSOR

src/main/target/SKYSTARSF405HD/target.h

@@ -161,6 +161,5 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 
 #define MAX_PWM_OUTPUT_PORTS    4

src/main/target/SPARKY/target.h

@@ -92,9 +92,7 @@
 #define BIND_PIN                PA3
 
 // #define USE_RANGEFINDER
-// #define USE_RANGEFINDER_HCSR04
+
-// #define RANGEFINDER_HCSR04_TRIGGER_PIN       PA2   // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
-// #define RANGEFINDER_HCSR04_ECHO_PIN          PB1   // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
 
 #define DEFAULT_RX_TYPE         RX_TYPE_PPM
 

src/main/target/SPRACINGF3/target.h

@@ -96,9 +96,6 @@
 #define WS2811_PIN                      PA8
 
 #define USE_RANGEFINDER
-#define USE_RANGEFINDER_HCSR04
-#define RANGEFINDER_HCSR04_TRIGGER_PIN       PB0
-#define RANGEFINDER_HCSR04_ECHO_PIN          PB1
 #define USE_RANGEFINDER_HCSR04_I2C
 #define RANGEFINDER_I2C_BUS             BUS_I2C1
 

src/main/target/ZEEZF7/target.h

@@ -231,4 +231,3 @@
 #endif
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-#define USE_SERIALSHOT

src/main/target/common.h

@@ -79,10 +79,14 @@
 #endif
 
 #if (MCU_FLASH_SIZE > 256)
+
+#if defined(MAG_I2C_BUS) || defined(VCM5883_I2C_BUS)    
+#define USE_MAG_VCM5883
+#endif
+
 #define USE_MR_BRAKING_MODE
 #define USE_PITOT
 #define USE_PITOT_ADC
-#define USE_PITOT_VIRTUAL
 
 #define USE_ALPHA_BETA_GAMMA_FILTER
 #define USE_DYNAMIC_FILTERS
@@ -90,7 +94,6 @@
 #define USE_SMITH_PREDICTOR
 #define USE_RATE_DYNAMICS
 #define USE_EXTENDED_CMS_MENUS
-#define USE_HOTT_TEXTMODE
 
 // NAZA GPS support for F4+ only
 #define USE_GPS_PROTO_NAZA
@@ -127,8 +130,6 @@
 #define DASHBOARD_ARMED_BITMAP
 #define USE_OLED_UG2864
 
-#define USE_PWM_DRIVER_PCA9685
-
 #define USE_OSD
 #define USE_FRSKYOSD
 #define USE_DJI_HD_OSD
@@ -147,14 +148,10 @@
 #define USE_GPS_PROTO_MTK
 
 #define USE_TELEMETRY_SIM
-#define USE_TELEMETRY_HOTT
 #define USE_TELEMETRY_MAVLINK
 #define USE_MSP_OVER_TELEMETRY
 
 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
-#define USE_SERIALRX_SUMD
-#define USE_SERIALRX_SUMH
-#define USE_SERIALRX_XBUS
 #define USE_SERIALRX_JETIEXBUS
 #define USE_SERIALRX_MAVLINK
 #define USE_TELEMETRY_SRXL
@@ -194,7 +191,6 @@
 #define USE_RX_MSP
 //#define USE_MSP_RC_OVERRIDE
 #define USE_SERIALRX_CRSF
-#define USE_PWM_SERVO_DRIVER
 #define USE_SERIAL_PASSTHROUGH
 #define NAV_MAX_WAYPOINTS       60
 #define USE_RCDEVICE
@@ -203,7 +199,6 @@
 #define USE_VTX_CONTROL
 #define USE_VTX_SMARTAUDIO
 #define USE_VTX_TRAMP
-#define USE_VTX_FFPV
 
 #ifndef STM32F3 //F3 series does not have enoug RAM to support logic conditions
 #define USE_PROGRAMMING_FRAMEWORK
@@ -220,3 +215,19 @@
 #define SKIP_TASK_STATISTICS
 
 #endif
+
+//Designed to free space of F722 and F411 MCUs
+#if (MCU_FLASH_SIZE > 512)
+
+#define USE_VTX_FFPV
+#define USE_PITOT_VIRTUAL
+#define USE_PWM_DRIVER_PCA9685
+#define USE_PWM_SERVO_DRIVER
+
+#define USE_SERIALRX_SUMD
+#define USE_SERIALRX_SUMH
+#define USE_SERIALRX_XBUS
+#define USE_TELEMETRY_HOTT
+#define USE_HOTT_TEXTMODE
+
+#endif

src/main/target/common_hardware.c

@@ -248,6 +248,14 @@
     BUSDEV_REGISTER_SPI(busdev_rm3100,      DEVHW_RM3100,       RM3100_SPI_BUS,     RM3100_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
     #endif
 #endif
+
+#if defined(USE_MAG_VCM5883)
+    #if !defined(VCM5883_I2C_BUS)
+        #define VCM5883_I2C_BUS MAG_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_vcm5883,     DEVHW_VCM5883,      VCM5883_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
+#endif
+
 #endif
 
 

src/main/target/common_post.h

@@ -58,7 +58,6 @@ extern uint8_t __config_end;
 #undef USE_SERIALRX_SUMH
 #undef USE_SERIALRX_XBUS
 #undef USE_SERIALRX_JETIEXBUS
-#undef USE_PWM_SERVO_DRIVER
 #endif
 
 #ifndef BEEPER_PWM_FREQUENCY

src/test/unit/sonar_unittest.cc.txt

@@ -1,107 +0,0 @@
-/*
- * 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 <math.h>
-
-extern "C" {
-    #include "build_config.h"
-    #include "drivers/rangefinder_hcsr04.h"
-    #include "sensors/sonar.h"
-    extern int32_t measurement;
-    extern int16_t sonarMaxTiltDeciDegrees;
-    void sonarInit(const sonarHardware_t *sonarHardware);
-}
-
-#include "unittest_macros.h"
-#include "gtest/gtest.h"
-
-#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
-
-TEST(SonarUnittest, TestConstants)
-{
-    sonarInit(0);
-    // SONAR_OUT_OF_RANGE must be negative
-    EXPECT_LE(SONAR_OUT_OF_RANGE, 0);
-    // Check against gross errors in max range constants
-    EXPECT_GT(HCSR04_MAX_RANGE_CM, 100);
-}
-
-TEST(SonarUnittest, TestSonarInit)
-{
-    sonarInit(0);
-    // Check against gross errors in max range values
-    EXPECT_GE(sonarCfAltCm, 100);
-    EXPECT_LE(sonarCfAltCm, HCSR04_MAX_RANGE_CM);
-    // Check reasonable values for maximum tilt
-    EXPECT_GE(sonarMaxTiltDeciDegrees, 0);
-    EXPECT_LE(sonarMaxTiltDeciDegrees, 450);
-}
-
-TEST(SonarUnittest, TestDistance)
-{
-    // Check sonar pulse time converted correctly to cm
-    const int echoMicroSecondsPerCm = 59;
-    measurement =  0;
-    EXPECT_EQ(hcsr04_get_distance(), 0);
-
-    measurement =  echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 1);
-
-    measurement =  10 * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), 10);
-
-    measurement =  HCSR04_MAX_RANGE_CM * echoMicroSecondsPerCm;
-    EXPECT_EQ(hcsr04_get_distance(), HCSR04_MAX_RANGE_CM);
-}
-
-TEST(SonarUnittest, TestAltitude)
-{
-    sonarInit(0);
-    // Check distance not modified if no tilt
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(0))), 0);
-    EXPECT_EQ(sonarGetLatestAltitude(), 0);
-    EXPECT_EQ(sonarCalculateAltitude(100, cosf(DECIDEGREES_TO_RADIANS(0))), 100);
-    EXPECT_EQ(sonarGetLatestAltitude(), 100);
-
-    // Check that out of range is returned if tilt is too large
-    EXPECT_EQ(sonarCalculateAltitude(0, cosf(DECIDEGREES_TO_RADIANS(sonarMaxTiltDeciDegrees+1))), SONAR_OUT_OF_RANGE);
-    EXPECT_EQ(sonarGetLatestAltitude(), SONAR_OUT_OF_RANGE);
-
-    // Check distance at various roll angles
-    // distance 400, 5 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(50))), 398);
-    EXPECT_EQ(sonarGetLatestAltitude(), 398);
-    // distance 400, 10 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(100))), 393);
-    EXPECT_EQ(sonarGetLatestAltitude(), 393);
-    // distance 400, 15 degrees of roll, this corresponds to HC-SR04 specified max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(150))), 386);
-    EXPECT_EQ(sonarGetLatestAltitude(), 386);
-    // distance 400, 20 degrees of roll
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(200))), 375);
-    EXPECT_EQ(sonarGetLatestAltitude(), 375);
-    // distance 400, 22.4 degrees of roll, this corresponds to HC-SR04 effective max detection angle
-    EXPECT_EQ(sonarCalculateAltitude(400, cosf(DECIDEGREES_TO_RADIANS(224))), 369);
-    EXPECT_EQ(sonarGetLatestAltitude(), 369);
-}
-
-// STUBS
-extern "C" {
-void sensorsSet(uint32_t mask) {UNUSED(mask);}
-}
-