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Merge pull request #10948 from sensei-hacker/maintenance-8.x.x
Merge Maintenance 8.x.x to master
2 parents 6ee683a + 188550f commit c28a468

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Lines changed: 657 additions & 157 deletions

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‎CMakeLists.txt‎

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@@ -51,8 +51,10 @@ else()
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endif()
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endif()
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project(INAV VERSION 9.0.0)
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enable_language(ASM)
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if(MACOSX AND SITL)

‎docs/OSD.md‎

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@@ -26,6 +26,7 @@ Not all OSDs are created equally. This table shows the differences between the d
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| DJI O3 Goggles V2 + WTFOS | 53 x 20 | X | | X | YES |
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| DJI Goggles 2 and newer | 53 x 20 (HD) | X | | X | YES (no custom fonts) |
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## OSD Elements
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Here are the OSD Elements provided by INAV.
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‎docs/development/serial_printf_debugging.md‎

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@@ -147,4 +147,6 @@ log) by defining USE_BOOTLOG:
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Then `make clean` and `make`.
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Then in the CLI you can run `bootlog` to see the buffered log.
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Note bootlog also requires that a serial port be defined for serial debugging.
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‎src/main/common/lulu.c‎

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@@ -16,164 +16,108 @@
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#endif /* __ARM_ACLE */
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#include <fenv.h>
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19-
void luluFilterInit(luluFilter_t *filter, int N)
20-
{
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filter->N = constrain(N, 1, 15);
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filter->windowSize = filter->N * 2 + 1;
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filter->windowBufIndex = 0;
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memset(filter->luluInterim, 0, sizeof(float) * (filter->windowSize));
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memset(filter->luluInterimB, 0, sizeof(float) * (filter->windowSize));
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}
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void luluFilterInit(luluFilter_t *filter, int N) {
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filter->N = constrain(N, 1, 15);
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filter->windowSize = filter->N * 2 + 1;
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filter->windowBufIndex = 0;
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29-
FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize)
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{
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float curVal = 0;
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float curValB = 0;
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for (int N = 1; N <= filterN; N++)
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{
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int indexNeg = (index + windowSize - 2 * N) % windowSize;
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int curIndex = (indexNeg + 1) % windowSize;
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float prevVal = series[indexNeg];
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float prevValB = seriesB[indexNeg];
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int indexPos = (curIndex + N) % windowSize;
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for (int i = windowSize - 2 * N; i < windowSize - N; i++)
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{
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if (indexPos >= windowSize)
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{
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indexPos = 0;
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}
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if (curIndex >= windowSize)
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{
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curIndex = 0;
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}
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// curIndex = (2 - 1) % 3 = 1
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curVal = series[curIndex];
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curValB = seriesB[curIndex];
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float nextVal = series[indexPos];
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float nextValB = seriesB[indexPos];
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// onbump (s, 1, 1, 3)
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// if(onBump(series, curIndex, N, windowSize))
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if (prevVal < curVal && curVal > nextVal)
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{
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float maxValue = MAX(prevVal, nextVal);
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series[curIndex] = maxValue;
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int k = curIndex;
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for (int j = 1; j < N; j++)
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{
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if (++k >= windowSize)
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{
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k = 0;
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}
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series[k] = maxValue;
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}
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}
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if (prevValB < curValB && curValB > nextValB)
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{
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float maxValue = MAX(prevValB, nextValB);
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curVal = maxValue;
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seriesB[curIndex] = maxValue;
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int k = curIndex;
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for (int j = 1; j < N; j++)
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{
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if (++k >= windowSize)
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{
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k = 0;
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}
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seriesB[k] = maxValue;
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}
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}
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prevVal = curVal;
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prevValB = curValB;
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curIndex++;
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indexPos++;
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}
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curIndex = (indexNeg + 1) % windowSize;
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prevVal = series[indexNeg];
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prevValB = seriesB[indexNeg];
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indexPos = (curIndex + N) % windowSize;
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for (int i = windowSize - 2 * N; i < windowSize - N; i++)
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{
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if (indexPos >= windowSize)
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{
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indexPos = 0;
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}
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if (curIndex >= windowSize)
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{
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curIndex = 0;
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}
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// curIndex = (2 - 1) % 3 = 1
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curVal = series[curIndex];
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curValB = seriesB[curIndex];
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float nextVal = series[indexPos];
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float nextValB = seriesB[indexPos];
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116-
if (prevVal > curVal && curVal < nextVal)
117-
{
118-
float minValue = MIN(prevVal, nextVal);
119-
120-
curVal = minValue;
121-
series[curIndex] = minValue;
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int k = curIndex;
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for (int j = 1; j < N; j++)
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{
125-
if (++k >= windowSize)
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{
127-
k = 0;
128-
}
129-
series[k] = minValue;
130-
}
131-
}
132-
133-
if (prevValB > curValB && curValB < nextValB)
134-
{
135-
float minValue = MIN(prevValB, nextValB);
136-
curValB = minValue;
137-
seriesB[curIndex] = minValue;
138-
int k = curIndex;
139-
for (int j = 1; j < N; j++)
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{
141-
if (++k >= windowSize)
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{
143-
k = 0;
144-
}
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seriesB[k] = minValue;
146-
}
147-
}
148-
prevVal = curVal;
149-
prevValB = curValB;
150-
curIndex++;
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indexPos++;
152-
}
153-
}
154-
return (curVal - curValB) / 2;
24+
memset(filter->luluInterim, 0, sizeof(float) * (filter->windowSize));
25+
memset(filter->luluInterimB, 0, sizeof(float) * (filter->windowSize));
15526
}
15627

157-
FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input)
158-
{
159-
// This is the value N of the LULU filter.
160-
int filterN = filter->N;
161-
// This is the total window size for the rolling buffer
162-
int filterWindow = filter->windowSize;
163-
164-
int windowIndex = filter->windowBufIndex;
165-
float inputVal = input;
166-
int newIndex = (windowIndex + 1) % filterWindow;
167-
filter->windowBufIndex = newIndex;
168-
filter->luluInterim[windowIndex] = inputVal;
169-
filter->luluInterimB[windowIndex] = -inputVal;
170-
return fixRoad(filter->luluInterim, filter->luluInterimB, windowIndex, filterN, filterWindow);
28+
FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize) {
29+
float curVal = 0;
30+
float curValB = 0;
31+
for (int N = 1; N <= filterN; N++) {
32+
int indexNeg = (index + windowSize - 2 * N) % windowSize;
33+
int curIndex = (indexNeg + 1) % windowSize;
34+
float prevVal = series[indexNeg];
35+
float prevValB = seriesB[indexNeg];
36+
int indexPos = (curIndex + N) % windowSize;
37+
for (int i = windowSize - 2 * N; i < windowSize - N; i++) {
38+
if (indexPos >= windowSize) {
39+
indexPos = 0;
40+
}
41+
if (curIndex >= windowSize) {
42+
curIndex = 0;
43+
}
44+
45+
curVal = series[curIndex];
46+
curValB = seriesB[curIndex];
47+
float nextVal = series[indexPos];
48+
float nextValB = seriesB[indexPos];
49+
50+
if (prevVal < curVal && curVal > nextVal) {
51+
float maxValue = MAX(prevVal, nextVal);
52+
series[curIndex] = maxValue;
53+
}
54+
55+
if (prevValB < curValB && curValB > nextValB) {
56+
float maxValue = MAX(prevValB, nextValB);
57+
seriesB[curIndex] = maxValue;
58+
}
59+
prevVal = curVal;
60+
prevValB = curValB;
61+
curIndex++;
62+
indexPos++;
63+
}
64+
65+
curIndex = (indexNeg + 1) % windowSize;
66+
prevVal = series[indexNeg];
67+
prevValB = seriesB[indexNeg];
68+
indexPos = (curIndex + N) % windowSize;
69+
for (int i = windowSize - 2 * N; i < windowSize - N; i++) {
70+
if (indexPos >= windowSize) {
71+
indexPos = 0;
72+
}
73+
if (curIndex >= windowSize) {
74+
curIndex = 0;
75+
}
76+
77+
curVal = series[curIndex];
78+
curValB = seriesB[curIndex];
79+
float nextVal = series[indexPos];
80+
float nextValB = seriesB[indexPos];
81+
82+
if (prevVal > curVal && curVal < nextVal) {
83+
float minValue = MIN(prevVal, nextVal);
84+
series[curIndex] = minValue;
85+
}
86+
87+
if (prevValB > curValB && curValB < nextValB) {
88+
float minValue = MIN(prevValB, nextValB);
89+
seriesB[curIndex] = minValue;
90+
}
91+
prevVal = curVal;
92+
prevValB = curValB;
93+
curIndex++;
94+
indexPos++;
95+
}
96+
}
97+
int finalIndex = (index + windowSize - filterN) % windowSize;
98+
curVal = series[finalIndex];
99+
curValB = seriesB[finalIndex];
100+
return (curVal - curValB) / 2;
171101
}
172102

173-
FAST_CODE float luluFilterApply(luluFilter_t *filter, float input)
174-
{
175-
// This is the UL filter
176-
float resultA = luluFilterPartialApply(filter, input);
177-
// We use the median interpretation of this filter to remove bias in the output
178-
return resultA;
103+
FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input) {
104+
// This is the value N of the LULU filter.
105+
int filterN = filter->N;
106+
// This is the total window size for the rolling buffer
107+
int filterWindow = filter->windowSize;
108+
109+
int windowIndex = filter->windowBufIndex;
110+
float inputVal = input;
111+
int newIndex = (windowIndex + 1) % filterWindow;
112+
filter->windowBufIndex = newIndex;
113+
filter->luluInterim[windowIndex] = inputVal;
114+
filter->luluInterimB[windowIndex] = -inputVal;
115+
return fixRoad(filter->luluInterim, filter->luluInterimB, windowIndex, filterN, filterWindow);
179116
}
117+
118+
FAST_CODE float luluFilterApply(luluFilter_t *filter, float input) {
119+
// This is the UL filter
120+
float resultA = luluFilterPartialApply(filter, input);
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// We use the median interpretation of this filter to remove bias in the output
122+
return resultA;
123+
}

‎src/main/common/lulu.h‎

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11
#pragma once
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33
// Max N = 15
4-
typedef struct
5-
{
4+
typedef struct {
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int windowSize;
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int windowBufIndex;
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int N;

‎src/main/target/TBS_LUCID_H7_WING/CMakeLists.txt‎

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1+
target_stm32h743xi(TBS_LUCID_H7_WING)

‎src/main/target/TBS_LUCID_H7_WING/config.c‎

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/*
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* This file is part of INAV Project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
5+
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
6+
* You can obtain one at http://mozilla.org/MPL/2.0/.
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*
8+
* Alternatively, the contents of this file may be used under the terms
9+
* of the GNU General Public License Version 3, as described below:
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*
11+
* This file is free software: you may copy, redistribute and/or modify
12+
* it under the terms of the GNU General Public License as published by the
13+
* Free Software Foundation, either version 3 of the License, or (at your
14+
* option) any later version.
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*
16+
* This file is distributed in the hope that it will be useful, but
17+
* WITHOUT ANY WARRANTY; without even the implied warranty of
18+
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
19+
* Public License for more details.
20+
*
21+
* You should have received a copy of the GNU General Public License
22+
* along with this program. If not, see http://www.gnu.org/licenses/.
23+
*/
24+
25+
#include "fc/config.h"
26+
27+
#include <stdint.h>
28+
29+
#include "fc/fc_msp_box.h"
30+
#include "io/piniobox.h"
31+
#include "platform.h"
32+
33+
void targetConfiguration(void)
34+
{
35+
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
36+
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
37+
}

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