Merge pull request #11662 from iNavFlight/release/9.1

Release/9.1 to master

Author: sensei-hacker

docs/Display.md

@@ -40,7 +40,6 @@ Links to displays:
  * [banggood.com](https://inavflight.com/shop/s/bg/969147) 0.96 Inch 4Pin IIC I2C Blue OLED Display Module For Arduino
  * [wide.hk](http://www.wide.hk/products.php?product=I2C-0.96%22-OLED-display-module-%28-compatible-Arduino-%29) I2C 0.96" OLED display module
  * [witespyquad.gostorego.com](http://witespyquad.gostorego.com/accessories/readytofly-1-oled-128x64-pid-tuning-display-i2c.html) ReadyToFlyQuads 1" OLED Display
- * [multiwiicopter.com](http://www.multiwiicopter.com/products/1-oled) PARIS 1" OLED 128x64 PID tuning screen AIR
 
 The banggood.com display is the cheapest at the time of writing and will correctly send I2C ACK signals.
 

lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c

@@ -506,8 +506,6 @@ HAL_StatusTypeDef USB_ActivateEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTy
   */
 HAL_StatusTypeDef USB_ActivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep)
 {
-  static __IO uint32_t debug = 0;
-
   /* Read DEPCTLn register */
   if (ep->is_in == 1)
   {
@@ -517,10 +515,6 @@ HAL_StatusTypeDef USB_ActivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB
         ((ep->num) << 22 ) | (USB_OTG_DIEPCTL_SD0PID_SEVNFRM) | (USB_OTG_DIEPCTL_USBAEP));
     }
 
-
-    debug  |= ((ep->maxpacket & USB_OTG_DIEPCTL_MPSIZ ) | (ep->type << 18 ) |\
-        ((ep->num) << 22 ) | (USB_OTG_DIEPCTL_SD0PID_SEVNFRM) | (USB_OTG_DIEPCTL_USBAEP));
-
    USBx_DEVICE->DEACHMSK |= USB_OTG_DAINTMSK_IEPM & ((1 << (ep->num)));
   }
   else
@@ -529,11 +523,6 @@ HAL_StatusTypeDef USB_ActivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB
     {
       USBx_OUTEP(ep->num)->DOEPCTL |= ((ep->maxpacket & USB_OTG_DOEPCTL_MPSIZ ) | (ep->type << 18 ) |\
         ((ep->num) << 22 ) | (USB_OTG_DOEPCTL_USBAEP));
-
-      debug = (uint32_t)(((uint32_t )USBx) + USB_OTG_OUT_ENDPOINT_BASE + (0)*USB_OTG_EP_REG_SIZE);
-      debug = (uint32_t )&USBx_OUTEP(ep->num)->DOEPCTL;
-      debug |= ((ep->maxpacket & USB_OTG_DOEPCTL_MPSIZ ) | (ep->type << 18 ) |\
-        ((ep->num) << 22 ) | (USB_OTG_DOEPCTL_USBAEP));
     }
 
      USBx_DEVICE->DEACHMSK |= USB_OTG_DAINTMSK_OEPM & ((1 << (ep->num)) << 16);

src/main/io/serial_4way_avrootloader.c

@@ -195,7 +195,7 @@ uint8_t BL_ConnectEx(uint8_32_u *pDeviceInfo)
 
     //DeviceInfo.dword=0; is set before
     uint8_t BootInfo[9];
-    uint8_t BootMsg[BootMsgLen-1] = "471";
+    uint8_t BootMsg[BootMsgLen-1] = {'4','7','1'};
     // x * 0 + 9
 #if defined(USE_SERIAL_4WAY_SK_BOOTLOADER)
     uint8_t BootInit[] = {0,0,0,0,0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};

src/main/navigation/navigation.c

@@ -4228,6 +4228,7 @@ void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t *pos)
         posControl.activeWaypoint.bearing = calculateBearingToDestination(pos);
     }
     posControl.activeWaypoint.nextTurnAngle = -1;     // no turn angle set (-1), will be set by WP mode as required
+    posControl.flags.wpTurnSmoothingActive = false;   // a freshly activated WP (e.g. JUMP target) must not inherit the previous WP's smoothing-reached state
 
     posControl.activeWaypoint.pos = *pos;
 

src/main/navigation/navigation_fixedwing.c

@@ -454,6 +454,13 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
     }
 
     if (isWaypointNavTrackingActive()) {
+        /* Cross-track controller state. Scoped here, not in the control branch, so the
+         * else branch can re-seed it while the controller is disengaged. */
+        static float crossTrackErrorRate;
+        static timeUs_t previousCrossTrackErrorUpdateTime;
+        static float previousCrossTrackError = 0.0f;
+        static pt1Filter_t fwCrossTrackErrorRateFilterState;
+
         /* Calculate cross track error */
         posControl.wpDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
 
@@ -466,11 +473,6 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
 
         /* If waypoint tracking enabled force craft toward and closely track along waypoint course line */
         if (navConfig()->fw.wp_tracking_accuracy && !needToCalculateCircularLoiter) {
-            static float crossTrackErrorRate;
-            static timeUs_t previousCrossTrackErrorUpdateTime;
-            static float previousCrossTrackError = 0.0f;
-            static pt1Filter_t fwCrossTrackErrorRateFilterState;
-
             if ((currentTimeUs - previousCrossTrackErrorUpdateTime) >= HZ2US(20) && fabsf(previousCrossTrackError - navCrossTrackError) > 10.0f) {
                 const float crossTrackErrorDtSec =  US2S(currentTimeUs - previousCrossTrackErrorUpdateTime);
                 if (fabsf(previousCrossTrackError - navCrossTrackError) < 500.0f) {
@@ -497,6 +499,13 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
                 adjustmentFactor = constrainf(adjustmentFactor, -limit, limit);
                 virtualTargetBearing = wrap_36000(posControl.activeWaypoint.bearing - adjustmentFactor);
             }
+        } else {
+            /* Keep state synced to the current error while not steering, so the
+             * controller re-engages cleanly on the next leg (no stale-data kick). */
+            previousCrossTrackError = navCrossTrackError;
+            previousCrossTrackErrorUpdateTime = currentTimeUs;
+            crossTrackErrorRate = 0.0f;
+            pt1FilterReset(&fwCrossTrackErrorRateFilterState, 0.0f);
         }
     }
     /*

src/main/rx/fport.c

@@ -149,8 +149,6 @@ static serialPort_t *fportPort;
 
 static void reportFrameError(uint8_t errorReason) {
     UNUSED(errorReason);
-    static volatile uint16_t frameErrors = 0;
-    frameErrors++;
 }
 
 // Receive ISR callback

src/main/target/AEDROXH7/target.c

@@ -42,8 +42,8 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3, PE13, TIM_USE_OUTPUT_AUTO, 0, 6),  // M7
     DEF_TIM(TIM1, CH4, PE14, TIM_USE_OUTPUT_AUTO, 0, 7),  // M8
 
-    // LED strip: TIM2_CH1 on PA5 (AF1) — separate timer from motors
-    DEF_TIM(TIM2, CH1, PA5,  TIM_USE_LED,         0, 0),  // LED strip
+    // LED strip: TIM2_CH1 on PA5 (AF1) — dmavar=8 selects DMA2 S0, clear of motor streams 0-7
+    DEF_TIM(TIM2, CH1, PA5,  TIM_USE_LED,         0, 8),  // LED strip
 
     // Beeper PWM: TIM3_CH2 on PA7 (AF2)
     DEF_TIM(TIM3, CH2, PA7,  TIM_USE_BEEPER,      0, 0),  // Beeper

src/main/target/SITL/sim/xplane.c

@@ -169,7 +169,7 @@ typedef enum
     DREF_XITL_BATTERY_CURRENT,
     DREF_XITL_RSSI,
     DREF_XITL_FAILSAFE,
-    
+
     DREF_LAST
 } dref_t;
 
@@ -560,8 +560,8 @@ static void exchangeDataWithXPlane(void)
     }
 
     gpsFakeSet(
-        fixType, 
-        numSats, 
+        fixType,
+        numSats,
         (int32_t)roundf(lattitude * 10000000),
         (int32_t)roundf(longitude * 10000000),
         (int32_t)roundf(elevation * 100),
@@ -687,7 +687,7 @@ static void* listenWorker(void* arg)
                 // calibration of the accelerometer
                 ENABLE_STATE(ACCELEROMETER_CALIBRATED);
                 connectionState = CONNECTED;
-                
+
                 break;
             }
             case CONNECTED:

src/main/target/TBS_LUCID_H7/target.c

@@ -34,8 +34,10 @@
 
 BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_mpu6000,  DEVHW_MPU6000,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_MPU6000_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42688,  DEVHW_ICM42605,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm45686,  DEVHW_ICM45686,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_ICM42605_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_mpu6000,  DEVHW_MPU6000,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_MPU6000_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42688,  DEVHW_ICM42605,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm45686,  DEVHW_ICM45686,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1

src/main/target/TBS_LUCID_H7/target.h

@@ -105,6 +105,7 @@
 #define IMU_2_MPU6000_ALIGN       CW0_DEG_FLIP
 
 #define USE_IMU_ICM42605
+#define USE_IMU_ICM45686
 #define IMU_1_ICM42605_ALIGN      CW90_DEG_FLIP
 #define IMU_2_ICM42605_ALIGN      CW0_DEG_FLIP
 
@@ -186,4 +187,4 @@
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_CRSF
-#define SERIALRX_UART           SERIAL_PORT_USART6
+#define SERIALRX_UART           SERIAL_PORT_USART6