Back marge of release 2.6.1

CMakeLists.txt

@@ -29,7 +29,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 2.6.0)
+project(INAV VERSION 2.6.1)
 
 enable_language(ASM)
 

docs/Settings.md

@@ -367,6 +367,7 @@
 | osd_gforce_alarm | 5 | Value above which the OSD g force indicator will blink (g) |
 | osd_gforce_axis_alarm_max | 5 | Value above which the OSD axis g force indicators will blink (g) |
 | osd_gforce_axis_alarm_min | -5 | Value under which the OSD axis g force indicators will blink (g) |
+| osd_home_position_arm_screen | ON | Should home position coordinates be displayed on the arming screen. |
 | osd_horizon_offset | 0 | To vertically adjust the whole OSD and AHI and scrolling bars |
 | osd_hud_homepoint | 0 | To 3D-display the home point location in the hud |
 | osd_hud_homing | 0 | To display little arrows around the crossair showing where the home point is in the hud |

src/main/CMakeLists.txt

@@ -375,6 +375,9 @@ main_sources(COMMON_SRC
     rx/fport.h
     rx/fport2.c
     rx/fport2.h
+    rx/ghst_protocol.h
+    rx/ghst.c
+    rx/ghst.h
     rx/ibus.c
     rx/ibus.h
     rx/jetiexbus.c
@@ -564,6 +567,8 @@ main_sources(COMMON_SRC
     telemetry/frsky.h
     telemetry/frsky_d.c
     telemetry/frsky_d.h
+    telemetry/ghst.c
+    telemetry/ghst.h
     telemetry/hott.c
     telemetry/hott.h
     telemetry/ibus_shared.c

src/main/build/version.h

@@ -17,7 +17,7 @@
 
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            6  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      1  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)

src/main/fc/cli.c

@@ -1337,7 +1337,7 @@ static void cliSafeHomes(char *cmdline)
     }
 }
 
-#endif 
+#endif
 #if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
 static void printWaypoints(uint8_t dumpMask, const navWaypoint_t *navWaypoint, const navWaypoint_t *defaultNavWaypoint)
 {
@@ -1460,7 +1460,7 @@ static void cliWaypoints(char *cmdline)
 
             if (!(validArgumentCount == 6 || validArgumentCount == 8)) {
                 cliShowParseError();
-            } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND) || (p1 < 0) || !(flag == 0 || flag == NAV_WP_FLAG_LAST)) {
+            } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST)) {
                 cliShowParseError();
             } else {
                 posControl.waypointList[i].action = action;
@@ -2594,15 +2594,15 @@ void cliRxBind(char *cmdline){
             break;
 #endif
         }
-    } 
+    }
 #if defined(USE_RX_SPI)
     else if (rxConfig()->receiverType == RX_TYPE_SPI) {
         switch (rxConfig()->rx_spi_protocol) {
         default:
             cliPrint("Not supported.");
             break;
         }
-    
+
     }
 #endif
 }
@@ -3307,7 +3307,7 @@ static void printConfig(const char *cmdline, bool doDiff)
 
 #if defined(USE_SAFE_HOME)
         cliPrintHashLine("safehome");
-        printSafeHomes(dumpMask, safeHomeConfig_CopyArray, safeHomeConfig(0)); 
+        printSafeHomes(dumpMask, safeHomeConfig_CopyArray, safeHomeConfig(0));
 #endif
 #ifdef USE_PROGRAMMING_FRAMEWORK
         cliPrintHashLine("logic");

src/main/fc/settings.yaml

@@ -25,7 +25,7 @@ tables:
     values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UIB"]
     enum: rxReceiverType_e
   - name: serial_rx
-    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2"]
+    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST"]
   - name: rx_spi_protocol
     values: ["V202_250K", "V202_1M", "SYMA_X", "SYMA_X5C", "CX10", "CX10A", "H8_3D", "INAV", "ELERES"]
     enum: rx_spi_protocol_e
@@ -2969,6 +2969,10 @@ groups:
         default_value: 0
         description: Same as left_sidebar_scroll_step, but for the right sidebar
 
+      - name: osd_home_position_arm_screen
+        type: bool
+        default_value: "ON"
+        description: Should home position coordinates be displayed on the arming screen.
 
   - name: PG_SYSTEM_CONFIG
     type: systemConfig_t

src/main/flight/servos.c

@@ -133,7 +133,7 @@ void servosInit(void)
 {
     // give all servos a default command
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-        servo[i] = DEFAULT_SERVO_MIDDLE;
+        servo[i] = servoParams(i)->middle;
     }
 
     /*

src/main/io/osd.c

@@ -185,7 +185,7 @@ static bool osdDisplayHasCanvas;
 
 #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
 
-PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 13);
+PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 14);
 PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 0);
 
 static int digitCount(int32_t value)
@@ -2581,6 +2581,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .left_sidebar_scroll = OSD_SIDEBAR_SCROLL_NONE,
     .right_sidebar_scroll = OSD_SIDEBAR_SCROLL_NONE,
     .sidebar_scroll_arrows = 0,
+    .osd_home_position_arm_screen = true,
 
     .units = OSD_UNIT_METRIC,
     .main_voltage_decimals = 1,
@@ -3048,13 +3049,15 @@ static void osdShowArmed(void)
 #if defined(USE_GPS)
     if (feature(FEATURE_GPS)) {
         if (STATE(GPS_FIX_HOME)) {
-            osdFormatCoordinate(buf, SYM_LAT, GPS_home.lat);
-            displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y, buf);
-            osdFormatCoordinate(buf, SYM_LON, GPS_home.lon);
-            displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y + 1, buf);
-            int digits = osdConfig()->plus_code_digits;
-            olc_encode(GPS_home.lat, GPS_home.lon, digits, buf, sizeof(buf));
-            displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y + 2, buf);
+            if (osdConfig()->osd_home_position_arm_screen){
+                osdFormatCoordinate(buf, SYM_LAT, GPS_home.lat);
+                displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y, buf);
+                osdFormatCoordinate(buf, SYM_LON, GPS_home.lon);
+                displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y + 1, buf);
+                int digits = osdConfig()->plus_code_digits;
+                olc_encode(GPS_home.lat, GPS_home.lon, digits, buf, sizeof(buf));
+                displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, y + 2, buf);
+            }
             y += 4;
 #if defined (USE_SAFE_HOME)
             if (isSafeHomeInUse()) {

src/main/io/osd.h

@@ -345,6 +345,7 @@ typedef struct osdConfig_s {
     int8_t sidebar_horizontal_offset;   // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
     uint8_t left_sidebar_scroll_step;   // How many units each sidebar step represents. 0 means the default value for the scroll type.
     uint8_t right_sidebar_scroll_step;  // Same as left_sidebar_scroll_step, but for the right sidebar.
+    bool osd_home_position_arm_screen;
 
     uint8_t crsf_lq_format;
 

src/main/navigation/navigation_pos_estimator.c

@@ -569,7 +569,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
         if (ctx->newFlags & EST_GPS_Z_VALID) {
             // Trust GPS velocity only if residual/error is less than 2.5 m/s, scale weight according to gaussian distribution
             const float gpsRocResidual = posEstimator.gps.vel.z - posEstimator.est.vel.z;
-            const float gpsRocScaler = bellCurve(gpsRocResidual, 2.5f);
+            const float gpsRocScaler = bellCurve(gpsRocResidual, 250.0f);
             ctx->estVelCorr.z += gpsRocResidual * positionEstimationConfig()->w_z_gps_v * gpsRocScaler * ctx->dt;
         }
 

src/main/programming/logic_condition.c

@@ -408,7 +408,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
             break;
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED: // cm/s
-            return constrain(getEstimatedActualVelocity(Z), 0, INT16_MAX);
+            return constrain(getEstimatedActualVelocity(Z), INT16_MIN, INT16_MAX);
             break;
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS: // %