Merge pull request #783 from iNavFlight/development

Release version 1.4

.gitignore

@@ -12,6 +12,7 @@ obj/
 patches/
 startup_stm32f10x_md_gcc.s
 .vagrant/
+cov-int*
 
 # script-generated files
 docs/Manual.pdf

Makefile

@@ -355,6 +355,9 @@ else
 .DEFAULT_GOAL := hex
 endif
 
+INCLUDE_DIRS    := $(INCLUDE_DIRS) \
+                   $(ROOT)/lib/main/MAVLink
+
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(TARGET_DIR)
 
@@ -411,10 +414,12 @@ COMMON_SRC = \
             flight/servos.c \
             flight/pid.c \
             io/beeper.c \
-            fc/msp_fc.c \
+            fc/fc_init.c \
+            fc/fc_tasks.c \
+            fc/fc_hardfaults.c \
+            fc/fc_msp.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
-            fc/fc_tasks.c \
             io/serial.c \
             io/serial_4way.c \
             io/serial_4way_avrootloader.c \
@@ -459,6 +464,7 @@ HIGHEND_SRC = \
             flight/navigation_rewrite.c \
             flight/navigation_rewrite_multicopter.c \
             flight/navigation_rewrite_fixedwing.c \
+            flight/navigation_rewrite_fw_launch.c \
             flight/navigation_rewrite_pos_estimator.c \
             flight/navigation_rewrite_geo.c \
             flight/gps_conversion.c \
@@ -468,9 +474,10 @@ HIGHEND_SRC = \
             io/gps_naza.c \
             io/gps_i2cnav.c \
             io/ledstrip.c \
-            io/display.c \
+            io/dashboard.c \
             sensors/rangefinder.c \
             sensors/barometer.c \
+            sensors/pitotmeter.c \
             telemetry/telemetry.c \
             telemetry/frsky.c \
             telemetry/hott.c \

docs/Board - Airbot F4 and Flip32 F4.md

@@ -0,0 +1,78 @@
+# Board -  Airbot F4 / Flip32 F4 / Generic F4 Flight Controller from Banggood and Aliexpress
+
+![Airbot F4](https://quadmeup.com/wp-content/uploads/2016/10/Flip32-F4-Flight-Controller-pinout.jpg)
+
+> This target supports both MPU6000 and MPU6500 versions of this board
+
+## Features
+
+* STM32F405 CPU
+* Integrated Accelerometer/Gyro MPU6000 or MPU6500 via SPI bus
+* 6 motor outputs
+* 3 UART ports (UART1, UART3, UART6)
+* External I2C bus, pins shared with UART3, can not be used simultaneously
+* Only UART1 is equipped with inverter
+* Onboard 128Mbit (16MB) flash
+* BLHeli Passthrough
+* Integrated voltage stabilizer
+* Buzzer connector
+
+## **NOT** supported
+
+* Sonar
+* SoftwareSerial
+* ServoTilt
+* Channel Forwarding
+
+## Radio Receivers
+
+This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported.
+
+SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ connector above _Motor 1_. MSP receivers should be connected to one of UARTs configured as MSP.
+
+## Motors
+
+| Motor     | pin   |   Shared with |
+| ----      | ----  |   ----        |
+| 1         | PB0   |               |
+| 2         | PB1   |               |
+| 3         | PA3   |               |
+| 4         | PA2   |               |
+| 5         | PA1   | LED Strip     |
+| 6         | PA8   |               |
+
+## USB
+
+This board uses STM32 VCP and _not_ utilizes UART when USB is connected. STM32 VCP drivers might be required!
+
+Flashing requires DFU mode and STM32 DFU drivers. Use [Zadig](http://zadig.akeo.ie) tool to install WinUSB driver on Windows.
+
+## Buzzer / Beeper
+
+5V piezo buzzer should be connected directly to dedicated pins _BUZ +_ and _BUZ -_. No additional hardware is required.
+
+## RSSI ADC
+
+* Connected to pin PA0
+* 3.3V tolerant, do not supply 5V
+
+## Current Meter ADC
+
+* Connected to pin PC1
+* 3.3V tolerant, do not supply 5V
+
+## Voltage monitoring
+
+* Connected to pin PC2
+* Connected to VBAT pins (both are the same) and integrated Voltage Stabilizer (LM7805M)
+
+### Integrated voltage stabilizer
+
+It is integrated with voltage monitoring and always powered when VBAT is connected to battery.
+Because this is **Linear Stabilizer**, it has a tendency to overheat, especially on 4S. Because of that,
+avoid powering too many devices directly to 5V pins on the board. RX receiver is (and board itself) is rather all
+it can do without overeating (150mA on 4S gives 1.5W of waste heat!). OSD, LED Strip and other devices should powered from separate BEC if voltage monitoring is to be enabled.
+
+### LED Strip
+
+Right now, LED strip is not functioning correctly on this target. It is a known bug. When bug will be fixed, LED Strip should be connected to **MOTOR 5** output, not dedicated "LED" connector.

docs/Board - Revolution.md

@@ -0,0 +1,120 @@
+# Board - OpenPilot Revolution also known as CC3D Revo
+
+## Features
+
+* STM32F405 CPU
+* Integrated Accelerometer/Gyro MPU6000 via SPI bus
+* Integrated Magnetometer HMC5883
+* Integrated Barometer MS5611
+* Integrated 433MHz OPlink Modem -> Not supported
+* 6 motor outputs
+* 3 UART ports (UART1, UART3, UART6)
+* External I2C bus, pins shared with UART3, can not be used simultaneously
+* Only UART1 is equipped with inverter
+* Onboard 128Mbit (16MB) flash
+* BLHeli Passthrough
+
+## **NOT** supported
+
+* Sonar
+* SoftwareSerial
+* ServoTilt
+* Channel Forwarding
+
+## USB
+
+This board uses STM32 VCP and _not_ utilizes UART when USB is connected. STM32 VCP drivers might be required!
+
+Flashing requires DFU mode and STM32 DFU drivers. Use [Zadig](http://zadig.akeo.ie) tool to install WinUSB driver on Windows.
+
+## Pinout
+
+Following section is ported from [RaceFlight](https://github.com/rs2k/raceflight/blob/master/docs/Board%20-%20Revo.md) with edits
+
+### RC_Input connector
+
+#### RX_PPM and RX_SERIAL
+
+| Pin | Function  | Notes                            |
+| --- | --------- | -------------------------------- |
+| 1   | Ground    |                                  |
+| 2   | +5V       |                                  |
+| 3   | PPM Input | Enable `feature RX_PPM`     |
+| 4   | UART6 TX | |
+| 5   | UART6 RX    | |
+| 6   | Current   | Enable `feature CURRENT_METER`.  Connect to the output of a current sensor, 0v-3.3v input |
+| 7   | Battery Voltage sensor | Enable `feature VBAT`. Connect to main battery using a voltage divider, 0v-3.3v input |
+| 8   | RSSI      | Enable `feature RSSI_ADC`.  Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input |
+
+#### RX_PARALLEL_PWM
+
+| Pin | Function | Notes |
+| --- | ---------| ------|
+| 1   | Ground   |       |
+| 2   | +5V      |       |
+| 3   | Unused   |       |
+| 4   | CH1      |       |
+| 5   | CH2      |       |
+| 6   | CH3      |       |
+| 7   | CH4/Battery Voltage sensor      | CH4 if battery voltage sensor is disabled |
+| 8   | CH5/CH4  | CH4 if battery voltage monitor is enabled|
+
+### RC_Output connector
+
+#### RX_PPM and RX_SERIAL
+
+| Pin | Pin     | Function              | Notes |
+| --- | ----    |----------             | ------|
+| 1   | PB0     | MOTOR 1               |       |
+| 2   | PB1     | MOTOR 2               |       |
+| 3   | PA3     | MOTOR 3               |       |
+| 4   | PA2     | MOTOR 4               |       |
+| 5   | PA1     | MOTOR 5 / LED Strip   |       |
+| 6   | PA8     | MOTOR 6               |       |
+
+## Serial Ports
+
+| Value | Identifier   | Board Markings | Notes                                     |
+| ----- | ------------ | -------------- | ------------------------------------------|
+| 1     | VCP          | USB PORT       |                                           |
+| 2     | UART1        | MAIN PORT      | Connected to an MCU controllable inverter |
+| 3     | UART3        | FLEX PORT      |                                           |
+| 4     | UART6        | RC connector   | Pins 4 and 5 (Tx and Rx respectively)     |
+
+The UART6 port is not available when RX_PARALLEL_PWM is used.
+
+### Main Port
+
+The main port is connected to an inverter which is automatically enabled as required.  For example, if the main port is used for SBus Serial RX then an external inverter is not required.
+
+| Pin | Signal             | Notes                   |
+| --- | ------------------ | ----------------------- |
+| 1   | GND                |                         |
+| 2   | VCC unregulated    |                         |
+| 3   | UART1 TX           | 3.3v level              |
+| 4   | UART1 RX           | 3.3v level (5v tolerant)|
+
+### Flex Port
+
+The flex port will be enabled in I2C mode unless UART3 is used.  You can connect external I2C sensors and displays to this port.
+
+You cannot use USART3 and I2C at the same time.
+
+| Pin | Signal             | Notes                    |
+| --- | ------------------ | -----------------------  |
+| 1   | GND                |                          |
+| 2   | VCC unregulated    |                          |
+| 3   | I2C SCL / UART3 TX | 3.3v level               |
+| 4   | I2C SDA / UART3 RX | 3.3v level (5v tolerant) |
+
+## Buzzer
+
+External buzzer should be wired to PB4 CPU pin using a transistor circuit
+
+## Notes
+
+* At this moment LED Strip is not functional on this target
+* Motor out put 5 and 6 needs testing
+* Servo output might not be working at the moment of writing this documentation
+* I2C might not be working at the moment of writing this documentation
+* LED Strip might not be working at the moment of writing this documentation

docs/Boards.md

@@ -11,6 +11,7 @@ The core set of supported flyable boards are:
 * Naze32
 * Sparky
 * SPRacingF3
+* [OpenPilot Revolution](Board%20-%20Revolution.md)
 
 INAV also runs on the following developer boards: