breadoven · breadoven · Nov 15, 2020 · Jun 24, 2020 · Jul 14, 2020 · Jul 16, 2020
diff --git a/docs/Cli.md b/docs/Cli.md
@@ -145,5 +145,4 @@ For targets that have a flash data chip, typically used for blackbox logs, the f
 | `flash_write <address> <data>` | Writes `data` to `address` |
 
 ## CLI Variable Reference
-
 See [Settings.md](Settings.md).
diff --git a/docs/Controls.md b/docs/Controls.md
@@ -2,9 +2,9 @@
 
 ## Arming
 
-When armed, the aircraft is ready to fly and the motors will spin when throttle is applied.  The motors will spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons, that is not recommended).
+When armed, the aircraft is ready to fly and the motors will spin when throttle is applied.  With multirotors, the motors will spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons, that is not recommended).
 
-By default, arming and disarming is done using stick positions.  (NOTE: this feature is disabled when using a switch to arm.)
+Arming and disarming is done using a switch, set up on the modes page.  (NOTE: Stick arming was removed in iNav 2.2)
 
 ## Stick Positions
 

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
@@ -116,6 +116,9 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 28            | STABILIZED_YAW        | Yaw PID controller output `[-500:500]`    |
 | 29            | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
 | 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   | 
 
 ##### ACTIVE_WAYPOINT_ACTION
 
@@ -143,6 +146,8 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 6             | ANGLE         |                                       |
 | 7             | HORIZON       |                                       |
 | 8             | AIR           |                                       |
+| 9             | USER1         |                                       |
+| 10            | USER2         |                                       |
 
 
 ### Flags

diff --git a/docs/Rx.md b/docs/Rx.md
@@ -33,6 +33,8 @@ http://www.frsky-rc.com/product/pro.php?pro_id=21
 
 ### Spektrum
 
+This section describes the legacy Spektrum satellite capability; the newer SRXL2 protocol is described [later in this document](#srxl2) .
+
 8 channels via serial currently supported.
 
 These receivers are reported working:
@@ -47,10 +49,10 @@ As of iNav 1.6, a pseudo RSSI, based on satellite fade count is supported and re
 
 * Bind the satellite receiver using a physical RX; the bind function provided by the flight controller is not sufficient.
 * The CLI variable `rssi_channel` is set to channel 9:
-````
+```
 set rssi_channel = 9
-````
-This pseudo-RSSI should work on all makes of Spektrum satellite RX; it is tested as working on Lemon RX satellites http://www.lemon-rx.com/index.php?route=product/product&path=72&product_id=109 and http://www.lemon-rx.com/index.php?route=product/product&path=72&product_id=135 (recommended).
+```
+This pseudo-RSSI should work on all makes of Spektrum satellite RX; it is tested as working on [Lemon RX satellites](http://www.lemon-rx.com/index.php?route=product/product&path=72&product_id=109 and http://www.lemon-rx.com/index.php?route=product/product&path=72&product_id=135) (recommended).
 
 ### S.BUS
 
@@ -170,6 +172,46 @@ After flash "10ch Timer Mod i6 Updater", it is passible to get RSSI signal on se
 
 It is possible to use IBUS RX and IBUS telemetry on only one port of the hardware UART. More information in Telemetry.md.obj/inav_2.2.2_SPRACINGF3EVO.hex
 
+### SRXL2
+
+SRXL2 is a newer Spektrum protocol that provides a bidirectional link between the FC and the receiver, allowing the user to get FC telemetry data and basic settings on Spektrum Gen 2 airware TX. SRXL2 is supported in inav 2.6 and later. It offers improved performance and features compared to earlier Spektrum RX.
+
+#### Wiring
+
+Signal pin on receiver (labeled "S") must be wired to a **UART TX** pin on the FC. Voltage can be 3.3V (4.0V for SPM4651T) to 8.4V. On some F4 FCs, the TX pin may have a signal inverter (such as for S.Port). Make sure this isn't the case for the pin you intend to use.
+
+#### Configuration
+
+Selection of SXRL2 is provided in the inav 2.6 and later configurators. It is necessary to complete the configuration via the CLI; the following settings are recommended:
+
+```
+feature TELEMETRY
+feature -RSSI_ADC
+map TAER
+set receiver_type = SERIAL
+set serialrx_provider = SRXL2
+set serialrx_inverted = OFF
+set srxl2_unit_id = 1
+set srxl2_baud_fast = ON
+set rssi_source = PROTOCOL
+set rssi_channel = 0
+```
+
+#### Notes:
+
+* RSSI_ADC is disabled, as this would override the value provided through SRXL2
+* `rssi_channel = 0` is required, unlike earlier Spektrum devices (e.g. SPM4649T).
+
+Setting these values differently may have an adverse effects on RSSI readings.
+
+#### CLI Bind Command
+
+This command will put the receiver into bind mode without the need to reboot the FC as it was required with the older `spektrum_sat_bind` command.
+
+```
+bind_rx
+```
+
 ## MultiWii serial protocol (MSP)
 
 Allows you to use MSP commands as the RC input.  Only 8 channel support to maintain compatibility with MSP.
@@ -215,21 +257,20 @@ To setup spectrum in the GUI:
 2. Move to the "Configuration" page and in the upper lefthand corner choose Serial RX as the receiver type.
 3. Below that choose the type of serial receiver that you are using.  Save and reboot.
 
-Using CLI:
-For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` CLI setting as follows.
-
-| Serial RX Provider | Value |
-| ------------------ | ----- |
-| SPEKTRUM1024       | 0     |
-| SPEKTRUM2048       | 1     |
-| SBUS               | 2     |
-| SUMD               | 3     |
-| SUMH               | 4     |
-| XBUS_MODE_B        | 5     |
-| XBUS_MODE_B_RJ01   | 6     |
-| SERIALRX_IBUS      | 7     |
-| SERIALRX_JETIEXBUS | 8     |
-| SERIALRX_CRSF      | 9     |
+#### Using CLI:
+
+For Serial RX set the `receiver_type` and `serialrx_provider` setting as appropriate for your RX.
+
+```
+# get rec
+receiver_type = SERIAL
+Allowed values: NONE, PPM, SERIAL, MSP, SPI, UIB
+
+# get serialrx
+serialrx_provider = SBUS
+Allowed values: SPEK1024, SPEK2048, SBUS, SUMD, SUMH, XB-B, XB-B-RJ01, IBUS, JETIEXBUS, CRSF, FPORT, SBUS_FAST, FPORT2, SRXL2
+
+```
 
 ### PPM/PWM input filtering.
 

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -264,13 +264,16 @@
 | nav_fw_launch_min_time | 0 | Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. |
 | nav_fw_launch_motor_delay | 500 | Delay between detected launch and launch sequence start and throttling up (ms) |
 | nav_fw_launch_spinup_time | 100 | Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller |
+| nav_fw_launch_end_time | 3000 | Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms] |
 | nav_fw_launch_thr | 1700 | Launch throttle - throttle to be set during launch sequence (pwm units) |
 | nav_fw_launch_timeout | 5000 | Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms) |
 | nav_fw_launch_velocity | 300 | Forward velocity threshold for swing-launch detection [cm/s] |
 | nav_fw_loiter_radius | 5000 | PosHold radius. 3000 to 7500 is a good value (30-75m) [cm] |
 | nav_fw_max_thr | 1700 | Maximum throttle for flying wing in GPS assisted modes |
 | nav_fw_min_thr | 1200 | Minimum throttle for flying wing in GPS assisted modes |
 | nav_fw_pitch2thr | 10 | Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr) |
+| nav_fw_pitch2thr_smoothing | 0 | How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by nav_fw_pitch2thr_threshold |
+| nav_fw_pitch2thr_threshold | 0 | Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees] |
 | nav_fw_pos_hdg_d | 0 | D gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
 | nav_fw_pos_hdg_i | 0 | I gain of heading trajectory PID controller. (Fixedwing, rovers, boats) |
 | nav_fw_pos_hdg_p | 60 | P gain of heading PID controller. (Fixedwing, rovers, boats) |
@@ -485,4 +488,4 @@
 | yaw_lpf_hz | 30 | Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below) |
 | yaw_rate | 20 | Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. |
 
-> Note: this table is autogenerated. Do not edit it manually.
+> Note: this table is autogenerated. Do not edit it manually.
diff --git a/docs/development/Building in Windows 10 with Linux Subsystem.md b/docs/development/Building in Windows 10 with Linux Subsystem.md
@@ -41,6 +41,18 @@ Mount MS windows C drive and clone iNav
 You are ready!
 You now have a folder called inav in the root of C drive that you can edit in windows
 
+### If you get a cloning error
+
+On some installations, you may see the following error:
+```
+Cloning into 'inav'...
+error: chmod on /mnt/c/inav/.git/config.lock failed: Operation not permitted
+fatal: could not set 'core.filemode' to 'false'
+```
+
+You can fix this with by remounting the drive using the following commands
+1. `sudo umount /mnt/c`
+2. `sudo mount -t drvfs C: /mnt/c -o metadata`
 
 ## Building (example):
 
@@ -84,12 +96,39 @@ make[1]: *** [CMakeFiles/Makefile2:33290: src/main/target/MATEKF722SE/CMakeFiles
 make: *** [Makefile:13703: MATEKF722SE] Error 2
 ```
 
-This error can be triggered by a Windows PATHs included in the Linux Subsystem. The solution is to:
+This error can be triggered by a Windows PATHs included in the Linux Subsystem. The solution is:
+
+#### For WSL V1 - Flags set as 7 by default
 
 1. Open Windows RegEdit tool
 1. Find `HKEY_CURRENT_USER\Software\Microsoft\Windows\CurrentVersion\Lxss\{GUID}\Flags`
 1. Change `Flags` from `7` to `5`
 1. Restart WSL and Windows preferably
 1. `cd build`
 1. `cmake ..`
-1. `make {TARGET}` should be working again 
+1. `make {TARGET}` should be working again 
+
+#### For WSL V2 - Flags set as 0x0000000f (15) by default
+1. Open Windows RegEdit tool
+1. Find `HKEY_CURRENT_USER\Software\Microsoft\Windows\CurrentVersion\Lxss\{GUID}\Flags`
+1. Change `Flags` from `f` to `d`, it is stored as Base Hexadecimal
+1. Restart WSL and Windows preferably
+1. `cd build`
+1. `cmake ..`
+1. `make {TARGET}` should be working again 
+
+#### Or, for either version
+1. In the Linux Subsystem, `cd /etc/`
+2. Create a new file with `sudo nano wsl.conf`
+3. Enter the following in to the new file:
+```
+[Interop]
+appendWindowsPath=false
+```
+4. Save the file by holding `Ctrl` and pressing `o`
+5. Press `Enter` to confirm the wsl.conf filename.
+6. Hit `Ctrl`+`x` to exit nano
+7. Restart WSL and Windows preferably
+8. `cd build`
+9. `cmake ..`
+9. `make {TARGET}` should be working again 
diff --git a/docs/development/IDE - Visual Studio Code with Windows 10.md b/docs/development/IDE - Visual Studio Code with Windows 10.md
@@ -104,13 +104,13 @@ Edit `./.vscode/tasks.json` to enable Building with `Ctrl + Shift + B` keyboard
         }
         ,
         {
-            "label": "CMAKE Update",
+            "label": "Install/Update CMAKE",
             "type": "shell",
-            "command": "cmake ..",
+            "command": "mkdir -p build && cd build && cmake ..",
             "group": "build",
             "problemMatcher": [],
             "options": {
-                "cwd": "${workspaceFolder}/build"
+                "cwd": "${workspaceFolder}"
             }
         }
     ]

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -118,6 +118,8 @@ main_sources(COMMON_SRC
     drivers/barometer/barometer_ms56xx.h
     drivers/barometer/barometer_spl06.c
     drivers/barometer/barometer_spl06.h
+    drivers/barometer/barometer_msp.c
+    drivers/barometer/barometer_msp.h
 
     drivers/buf_writer.c
     drivers/buf_writer.h
@@ -148,6 +150,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_mpu9250.h
     drivers/compass/compass_qmc5883l.c
     drivers/compass/compass_qmc5883l.h
+    drivers/compass/compass_msp.c
+    drivers/compass/compass_msp.h
 
     drivers/display.c
     drivers/display.h
@@ -195,12 +199,14 @@ main_sources(COMMON_SRC
     drivers/osd.h
     drivers/persistent.c
     drivers/persistent.h
-    drivers/pitotmeter_adc.c
-    drivers/pitotmeter_adc.h
-    drivers/pitotmeter_ms4525.c
-    drivers/pitotmeter_ms4525.h
-    drivers/pitotmeter_virtual.c
-    drivers/pitotmeter_virtual.h
+    drivers/pitotmeter/pitotmeter_adc.c
+    drivers/pitotmeter/pitotmeter_adc.h
+    drivers/pitotmeter/pitotmeter_ms4525.c
+    drivers/pitotmeter/pitotmeter_ms4525.h
+    drivers/pitotmeter/pitotmeter_msp.c
+    drivers/pitotmeter/pitotmeter_msp.h
+    drivers/pitotmeter/pitotmeter_virtual.c
+    drivers/pitotmeter/pitotmeter_virtual.h
     drivers/pwm_esc_detect.c
     drivers/pwm_esc_detect.h
     drivers/pwm_mapping.c
@@ -401,6 +407,8 @@ main_sources(COMMON_SRC
     rx/sbus_channels.h
     rx/spektrum.c
     rx/spektrum.h
+    rx/srxl2.c
+    rx/srxl2.h
     rx/sumd.c
     rx/sumd.h
     rx/sumh.c
@@ -486,6 +494,8 @@ main_sources(COMMON_SRC
     io/displayport_msp.h
     io/displayport_oled.c
     io/displayport_oled.h
+    io/displayport_srxl.c
+    io/displayport_srxl.h
     io/displayport_hott.c
     io/displayport_hott.h
     io/flashfs.c
@@ -495,6 +505,7 @@ main_sources(COMMON_SRC
     io/gps_ublox.c
     io/gps_nmea.c
     io/gps_naza.c
+    io/gps_msp.c
     io/gps_private.h
     io/ledstrip.c
     io/ledstrip.h
@@ -547,6 +558,8 @@ main_sources(COMMON_SRC
 
     telemetry/crsf.c
     telemetry/crsf.h
+    telemetry/srxl.c
+    telemetry/srxl.h
     telemetry/frsky.c
     telemetry/frsky.h
     telemetry/frsky_d.c
Original file line number	Diff line number	Diff line change
Expand Up		@@ -145,5 +145,4 @@ For targets that have a flash data chip, typically used for blackbox logs, the f
		\| `flash_write <address> <data>` \| Writes `data` to `address` \|

		## CLI Variable Reference

		See [Settings.md](Settings.md).