Merge pull request #8957 from iNavFlight/release_6.1.0

Release 6.1.0 mergeback

Author: DzikuVx

CMakeLists.txt

@@ -15,6 +15,9 @@ option(SITL "SITL build for host system" OFF)
 set(TOOLCHAIN_OPTIONS none arm-none-eabi host)
 if (SITL)
     set(TOOLCHAIN "host" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
+    if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+        set(MACOSX TRUE)
+    endif()
 else()
     set(TOOLCHAIN "arm-none-eabi" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
 endif()
@@ -52,7 +55,11 @@ project(INAV VERSION 7.0.0)
 
 enable_language(ASM)
 
-set(CMAKE_C_STANDARD 99)
+if(MACOSX AND SITL)
+    set(CMAKE_C_STANDARD 11)
+else()
+    set(CMAKE_C_STANDARD 99)
+endif()
 set(CMAKE_C_EXTENSIONS ON)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 11)

cmake/main.cmake

@@ -9,14 +9,27 @@ set(MAIN_DEFINITIONS
     __REVISION__="${GIT_REV}"
 )
 
-set(MAIN_COMPILE_OPTIONS
-    -Wall
-    -Wextra
-    -Wunsafe-loop-optimizations
-    -Wdouble-promotion
-    -Wstrict-prototypes
-    -Werror=switch
-)
+
+# Can't check for OSX yet at this point
+if(SITL)
+    set(MAIN_COMPILE_OPTIONS
+        -Wall
+        -Wextra
+        -Wdouble-promotion
+        -Wstrict-prototypes
+        -Werror=switch
+        #-Wno-unknown-warning-option
+    )
+else()
+    set(MAIN_COMPILE_OPTIONS
+        -Wall
+        -Wextra
+        -Wunsafe-loop-optimizations
+        -Wdouble-promotion
+        -Wstrict-prototypes
+        -Werror=switch
+    )
+endif()
 
 macro(main_sources var) # list-var src-1...src-n
     set(${var} ${ARGN})

cmake/sitl.cmake

@@ -25,56 +25,65 @@ main_sources(SITL_SRC
     target/SITL/sim/xplane.h
 )
 
+
+if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  set(MACOSX ON)
+endif()
+
 set(SITL_LINK_OPTIONS
-    -lrt
     -Wl,-L${STM32_LINKER_DIR}
-    -Wl,--cref
-    -static-libgcc # Required for windows build under cygwin
 )
 
+if(${WIN32} OR ${CYGWIN})
+    set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-static-libgcc")
+endif()
+
 set(SITL_LINK_LIBRARIS
     -lpthread
     -lm
     -lc
 )
 
+if(NOT MACOSX)
+    set(SITL_LINK_LIBRARIS ${SITL_LINK_LIBRARIS} -lrt)
+endif()
+
 set(SITL_COMPILE_OPTIONS
     -Wno-format #Fixme: Compile for 32bit, but settings.rb has to be adjusted
-    -Wno-return-local-addr
-    -Wno-error=maybe-uninitialized
-    -fsingle-precision-constant
     -funsigned-char
 )
 
+if(NOT MACOSX)
+    set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
+        -Wno-return-local-addr
+        -Wno-error=maybe-uninitialized
+        -fsingle-precision-constant
+    )
+endif()
+
 set(SITL_DEFINITIONS
     SITL_BUILD
 )
 
-function(generate_map_file target)
-    if(CMAKE_VERSION VERSION_LESS 3.15)
-        set(map "$<TARGET_FILE:${target}>.map")
-    else()
-        set(map "$<TARGET_FILE_DIR:${target}>/$<TARGET_FILE_BASE_NAME:${target}>.map")
-    endif()
-    target_link_options(${target} PRIVATE "-Wl,-gc-sections,-Map,${map}")
-endfunction()
-
 function (target_sitl name)
+    if(CMAKE_VERSION VERSION_GREATER 3.22)
+        set(CMAKE_C_STANDARD 17)
+    endif()
 
     if(NOT host STREQUAL TOOLCHAIN)
         return()
     endif()
-    
+
     exclude(COMMON_SRC "${SITL_COMMON_SRC_EXCLUDES}")
 
     set(target_sources)
     list(APPEND target_sources ${SITL_SRC})
     file(GLOB target_c_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
     file(GLOB target_h_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
     list(APPEND target_sources ${target_c_sources} ${target_h_sources})
-    
+
     set(target_definitions ${COMMON_COMPILE_DEFINITIONS})
-    
+
     set(hse_mhz ${STM32_DEFAULT_HSE_MHZ})
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
@@ -92,35 +101,33 @@ function (target_sitl name)
     target_include_directories(${exe_target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
     target_compile_definitions(${exe_target} PRIVATE ${target_definitions})
 
-    
+
     if(WARNINGS_AS_ERRORS)
         target_compile_options(${exe_target} PRIVATE -Werror)
     endif()
-    
+
     target_compile_options(${exe_target} PRIVATE ${SITL_COMPILE_OPTIONS})
-  
+
     target_link_libraries(${exe_target} PRIVATE ${SITL_LINK_LIBRARIS})
     target_link_options(${exe_target} PRIVATE ${SITL_LINK_OPTIONS})
-    
-    generate_map_file(${exe_target})
-    
+
     set(script_path ${MAIN_SRC_DIR}/target/link/sitl.ld)
     if(NOT EXISTS ${script_path})
         message(FATAL_ERROR "linker script ${script_path} doesn't exist")
     endif()
     set_target_properties(${exe_target} PROPERTIES LINK_DEPENDS ${script_path})
-    target_link_options(${exe_target} PRIVATE -T${script_path})
+    if(NOT MACOSX)
+        target_link_options(${exe_target} PRIVATE -T${script_path})
+    endif()
 
     if(${WIN32} OR ${CYGWIN})
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name}.exe)
     else()
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name})
     endif()
-    
+
     add_custom_target(${name} ALL
-        cmake -E env PATH="$ENV{PATH}"
-        ${CMAKE_OBJCOPY} $<TARGET_FILE:${exe_target}> ${exe_filename}
-        BYPRODUCTS ${hex}
+        cmake -E copy $<TARGET_FILE:${exe_target}> ${exe_filename}
     )
 
     setup_firmware_target(${exe_target} ${name} ${ARGN})

cmake/stm32h7.cmake

@@ -185,7 +185,7 @@ function(target_stm32h7xx)
         VCP_SOURCES ${STM32H7_USB_SRC} ${STM32H7_VCP_SRC}
         VCP_INCLUDE_DIRECTORIES ${STM32H7_USB_INCLUDE_DIRS} ${STM32H7_VCP_DIR}
 
-        OPTIMIZATION -Ofast
+        OPTIMIZATION -O2
 
         OPENOCD_TARGET stm32h7x
 

docs/LedStrip.md

@@ -237,6 +237,12 @@ The mapping between modes led placement and colors is currently fixed and cannot
 
 #### Indicator
 
+##### For fixed wing (INAV 6.1 onwards)
+
+This mode flashes LEDs that correspond to the roll stick position. Rolling left will flash any `indicator` LED on the left half of the grid. Rolling right will flash any `indicator` on the right side of the grid.
+
+##### For other platforms (all platforms pre INAV 6.1)
+
 This mode flashes LEDs that correspond to roll and pitch stick positions.  i.e.  they indicate the direction the craft is going to turn.
 
 | Mode | Direction | LED Color |

docs/SITL/SITL.md

@@ -12,6 +12,7 @@ The sensors are replaced by data provided by a simulator.
 Currently supported are
 - RealFlight  https://www.realflight.com/
 - X-Plane https://www.x-plane.com/
+- fl2sim [replay Blackbox Log via SITL](https://github.com/stronnag/bbl2kml/wiki/fl2sitl), uses the X-Plane protocol.
 
 INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options.
 
@@ -30,25 +31,38 @@ The following sensors are emulated:
 Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
 
 ## Serial ports+
-UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 6761, ...
-By default, UART1 and UART2 are available as MSP connections.
-To connect the Configurator to SITL: Select TCP and connect to ```127.0.0.1:5760``` (if SITL is running on the same machine).
-IPv4 and IPv6 are supported, either raw addresses of hostname lookup.
+UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 5761, ...
+By default, UART1 and UART2 are available as MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned.
+To connect the Configurator to SITL: Select TCP and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine).
+IPv4 and IPv6 are supported, either raw addresses or host-name lookup.
 
 The assignment and status of user UART/TCP connections is displayed on the console.
 
-![STL-Output](assets/SITL-UART-TCP-Connecion.png)
+```
+INAV 6.1.0 SITL
+[SYSTEM] Init...
+[SIM] No interface specified. Configurator only.
+[EEPROM] Loaded 'eeprom.bin' (32768 of 32768 bytes)
+[SOCKET] Bind TCP :: port 5760 to UART1
+[SOCKET] Bind TCP :: port 5761 to UART2
+[SOCKET] ::1 connected to UART1
+```
 
 All other interfaces (I2C, SPI, etc.) are not emulated.
 
 ## Remote control
-Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
+MSP_RX (TCP/IP) or joystick (via simulator) or serial receiver via USB/Serial interface are supported.
+
+### MSP_RX
+
+MSP_RX is the default, 18 channels are supported over TCP/IP serial emulation.
 
 ### Joystick interface
 Only 8 channels are supported.
 Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators.
 
 ### Serial Receiver via USB
+
 Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual.
 
 The Configurator offers a built-in option for forwarding the serial data to the SITL TCP port, if SITL is started manually the following option can be used:
@@ -65,7 +79,11 @@ For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/)
 For SBUS, the command line arguments of the python script are:
 ```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
 
-Note: Telemetry via return channel through the receiver is not supported by SITL (yet).
+### Telemtry
+
+LTM and MAVLink telemetry are supported, either as a discrete function or shared with MSP.
+
+RX Telemetry via a return channel through the receiver is not yet supported by SITL.
 
 ## OSD
 For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
@@ -74,20 +92,22 @@ For this, activate MSP-Displayport on a UART/TCP port and connect to the corresp
 Note: INAV-Sim-OSD only works if the simulator is in window mode.
 
 ## Command line
-The command line options are only necessary if the SITL executable is started by hand, e.g. when debugging.
-For normal use, please use the SITL tab in the configurator.
+
+The command line options are only necessary if the SITL executable is started by hand.
+
+There is also a SITL tab in the  INAV Configurator (6.1.0 and later).
 
 The following SITL specific command line options are available:
 
 If SITL is started without command line options, only a serial MSP / CLI connection can be used (e.g. Configurator or other application) can be used.
 
-```--path``` Full path and file name to config file, if not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```
+```--path``` Path and file name to config file. If not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```, ```/home/user/sitl-eeproms/test-eeprom.bin```.
 
 ```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```
 
-```--simip=[ip]``` IP address of the simulator, if you specify a simulator with "--sim" and omit this option localhost (127.0.0.1) will be used. Example: ```--simip=172.65.21.15```
+```--simip=[ip]``` Hostname or IP address of the simulator, if you specify a simulator with "--sim" and omit this option IPv4 localhost (`127.0.0.1`) will be used. Example: ```--simip=172.65.21.15```, ```--simip acme-sims.org```, ```--sim ::1```.
 
-```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```
+```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```. For the X-Plane protocol, the default port is `49000`.
 
 ```--useimu``` Use IMU sensor data from the simulator instead of using attitude data directly from the simulator. Not recommended, use only for debugging.
 
@@ -100,6 +120,8 @@ Please also read the documentation of the individual simulators.
 
 ```--help``` Displays help for the command line options.
 
+For options that take an argument, either form `--flag=value` or `--flag value` may be used.
+
 ## Running SITL
 It is recommended to start the tools in the following order:
 1. Simulator, aircraft should be ready for take-off
@@ -124,6 +146,8 @@ make
 Compile under cygwin, then as in Linux.
 Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
 
+If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help.
+
 #### Build manager
 
 `ninja` may also be used (parallel builds without `-j $(nproc)`):
@@ -135,12 +159,12 @@ ninja
 
 ### Compiler requirements
 
-* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work.
+* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to work.
 * Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
 * Pthreads
 
 ## Supported environments
 
-* Linux on x86_64, Aarch64 (e.g. Rpi4), RISC-V (e.g. VisionFive2)
+* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2)
 * Windows on x86_64
 * FreeBSD (x86_64 at least).

src/main/cms/cms_menu_osd.c

@@ -190,8 +190,8 @@ static const OSD_Entry menuOsdElemsEntries[] =
     OSD_ELEMENT_ENTRY("TIME (HOUR)", OSD_RTC_TIME),
     OSD_ELEMENT_ENTRY("FLY MODE", OSD_FLYMODE),
     OSD_ELEMENT_ENTRY("NAME", OSD_CRAFT_NAME),
-    OSD_ELEMENT_ENTRY("THR. (MANU)", OSD_THROTTLE_POS),
-    OSD_ELEMENT_ENTRY("THR. (MANU/AUTO)", OSD_THROTTLE_POS_AUTO_THR),
+    OSD_ELEMENT_ENTRY("THR. ", OSD_THROTTLE_POS),
+    OSD_ELEMENT_ENTRY("THR. (SCALED)", OSD_SCALED_THROTTLE_POS),
     OSD_ELEMENT_ENTRY("SYS MESSAGES", OSD_MESSAGES),
     OSD_ELEMENT_ENTRY("VTX CHAN", OSD_VTX_CHANNEL),
     OSD_ELEMENT_ENTRY("CURRENT (A)", OSD_CURRENT_DRAW),

src/main/common/encoding.c

@@ -17,8 +17,6 @@
 
 #include "platform.h"
 
-FILE_COMPILE_FOR_SPEED
-
 #include "encoding.h"
 
 /**

src/main/common/filter.c

@@ -22,8 +22,6 @@
 
 #include "platform.h"
 
-FILE_COMPILE_FOR_SPEED
-
 #include "common/filter.h"
 #include "common/maths.h"
 #include "common/utils.h"
@@ -318,7 +316,6 @@ FAST_CODE void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint
     filter->y2 = y2;
 }
 
-FUNCTION_COMPILE_FOR_SIZE
 void initFilter(const uint8_t filterType, filter_t *filter, const float cutoffFrequency, const uint32_t refreshRate) {
     const float dT = US2S(refreshRate);
 
@@ -335,7 +332,6 @@ void initFilter(const uint8_t filterType, filter_t *filter, const float cutoffFr
     }
 }
 
-FUNCTION_COMPILE_FOR_SIZE
 void assignFilterApplyFn(uint8_t filterType, float cutoffFrequency, filterApplyFnPtr *applyFn) {
     *applyFn = nullFilterApply;
     if (cutoffFrequency) {

src/main/common/fp_pid.c

@@ -24,8 +24,6 @@
 
 #include "platform.h"
 
-FILE_COMPILE_FOR_SPEED
-
 #include <math.h>
 #include "common/fp_pid.h"