Update INAV master

AUTHORS

@@ -7,6 +7,7 @@ Alberto García Hierro
 Alex Gorbatchev
 Alex Zaitsev
 Alexander Fedorov
+Alexander van Saase
 Alexey Stankevich
 Andre Bernet
 Andreas Tacke

CMakeLists.txt

@@ -29,7 +29,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 2.7.0)
+project(INAV VERSION 3.0.0)
 
 enable_language(ASM)
 

README.md

@@ -39,7 +39,7 @@ Tool for Blackbox logs analysis is available [here](https://github.com/iNavFligh
 
 ### Telemetry screen for OpenTX
 
-Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
+Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)
 
 ## Installation
 

cmake/stm32f7.cmake

@@ -97,8 +97,6 @@ function(target_stm32f7xx)
         VCP_SOURCES ${STM32F7_USB_SRC} ${STM32F7_VCP_SRC}
         VCP_INCLUDE_DIRECTORIES ${STM32F7_USB_INCLUDE_DIRS} ${STM32F7_VCP_DIR}
 
-        OPTIMIZATION -O2
-
         OPENOCD_TARGET stm32f7x
 
         BOOTLOADER
@@ -112,6 +110,11 @@ macro(define_target_stm32f7 subfamily size)
         set(func_ARGV ARGV)
         string(TOUPPER ${size} upper_size)
         get_stm32_flash_size(flash_size ${size})
+        if(flash_size GREATER 512)
+            set(opt -O2)
+        else()
+            set(opt -Os)
+        endif()
         set(definitions
             STM32F7
             STM32F7${subfamily}xx
@@ -123,6 +126,8 @@ macro(define_target_stm32f7 subfamily size)
             STARTUP startup_stm32f7${subfamily}xx.s
             COMPILE_DEFINITIONS ${definitions}
             LINKER_SCRIPT stm32_flash_f7${subfamily}x${size}
+            OPTIMIZATION ${opt}
+
             ${${func_ARGV}}
         )
     endfunction()

docs/Buzzer.md

@@ -43,6 +43,8 @@ Sequences:
     14   DISARM_REPEAT         0, 100, 10		Stick held in disarm position (after pause)
     15   ARMED                 0, 245, 10, 5	Board is armed (after pause ; repeats until board is disarmed or throttle is increased)
 
+You can use [this tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/helpful-inav-buzzer-code-checker/) to hear current buzzer sequences or enter custom sequences.
+
 ## Controlling buzzer usage
 
 The usage of the buzzer can be controlled by the CLI `beeper` command.

docs/Programming Framework.md

@@ -71,6 +71,9 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 35            | TAN                | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
 | 36            | MAP_INPUT          | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
 | 37            | MAP_OUTPUT         | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
+| 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
+| 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
+| 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
 
 
 ### Operands
@@ -93,8 +96,8 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 1             | HOME_DISTANCE | in `meters`                           |
 | 2             | TRIP_DISTANCE | in `meters`                           |
 | 3             | RSSI          |                                       |
-| 4             | VBAT          | in `Volts * 10`, eg. `12.1V` is `121` |
-| 5             | CELL_VOLTAGE  | in `Volts * 10`, eg. `12.1V` is `121` |
+| 4             | VBAT          | in `Volts * 100`, eg. `12.1V` is `1210` |
+| 5             | CELL_VOLTAGE  | in `Volts * 100`, eg. `12.1V` is `1210` |
 | 6             | CURRENT       | in `Amps * 100`, eg. `9A` is `900`    |
 | 7             | MAH_DRAWN     | in `mAh`                              |
 | 8             | GPS_SATS      |                                       |
@@ -122,7 +125,8 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 30            | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
 | 31            | 3D HOME_DISTANCE      | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
-| 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   | 
+| 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
+| 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
 
 #### ACTIVE_WAYPOINT_ACTION
 
@@ -258,4 +262,4 @@ Steps:
 1. Normalize range [1000:2000] to [0:1000] by substracting `1000`
 2. Scale range [0:1000] to [0:3]
 3. Increase range by `1` to have the range of [1:4]
-4. Assign LC#2 to VTX power function
+4. Assign LC#2 to VTX power function