Merge remote-tracking branch 'refs/remotes/origin/betaflight' into ra…

…ceflight_merge_bf

# Conflicts:
#	Makefile
#	src/main/config/config.c
#	src/main/drivers/accgyro_mpu.c
#	src/main/drivers/accgyro_mpu6500.c
#	src/main/drivers/gyro_sync.c
#	src/main/flight/imu.c
#	src/main/io/serial_1wire.c
#	src/main/io/serial_cli.c
#	src/main/sensors/gyro.c
#	src/main/sensors/gyro.h

.gitignore

@@ -8,7 +8,7 @@
 .project
 .settings
 .cproject
-obj/main
+obj/
 patches/
 startup_stm32f10x_md_gcc.s
 

.travis.sh

@@ -8,6 +8,7 @@ TARGET_FILE=obj/cleanflight_${TARGET}
 TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG:=$USER/undefined}
 BUILDNAME=${BUILDNAME:=travis}
 TRAVIS_BUILD_NUMBER=${TRAVIS_BUILD_NUMBER:=undefined}
+MAKEFILE="-f Makefile"
 
 CURL_BASEOPTS=(
 	"--retry" "10"
@@ -51,7 +52,7 @@ elif [ $PUBLISHMETA ] ; then
 
 else
 	if [ $PUBLISH_URL ] ; then
-		make -j2
+		make -j2 $MAKEFILE
 		if   [ -f ${TARGET_FILE}.bin ] ; then
 			TARGET_FILE=${TARGET_FILE}.bin
 		elif [ -f ${TARGET_FILE}.hex ] ; then
@@ -64,6 +65,6 @@ else
 		curl -k "${CURL_BASEOPTS[@]}" "${CURL_PUB_BASEOPTS[@]}" --form "file=@${TARGET_FILE}" ${PUBLISH_URL} || true
 		exit 0;
 	else
-		make -j2
+		make -j2 $MAKEFILE
 	fi
 fi

.travis.yml

@@ -3,7 +3,9 @@ env:
   - PUBLISHMETA=True
   - PUBLISHDOCS=True
   - TARGET=CC3D
-  - TARGET=CC3D OPBL=yes
+  - TARGET=CC3D_OPBL
+  - TARGET=CC3D_BP6
+  - TARGET=CC3D_OPBL_BP6
   - TARGET=COLIBRI_RACE
   - TARGET=CHEBUZZF3
   - TARGET=CJMCU

Vagrantfile

@@ -0,0 +1,26 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+# All Vagrant configuration is done below. The "2" in Vagrant.configure
+# configures the configuration version (we support older styles for
+# backwards compatibility). Please don't change it unless you know what
+# you're doing.
+Vagrant.configure(2) do |config|
+  # The most common configuration options are documented and commented below.
+  # For a complete reference, please see the online documentation at
+  # https://docs.vagrantup.com.
+
+  # Every Vagrant development environment requires a box. You can search for
+  # boxes at https://atlas.hashicorp.com/search.
+  config.vm.box = "ubuntu/trusty64"
+
+  # Enable provisioning with a shell script. Additional provisioners such as
+  # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
+  # documentation for more information about their specific syntax and use.
+  config.vm.provision "shell", inline: <<-SHELL
+    apt-get remove -y binutils-arm-none-eabi gcc-arm-none-eabi
+    add-apt-repository ppa:terry.guo/gcc-arm-embedded
+    apt-get update
+    apt-get install -y git gcc-arm-none-eabi=4.9.3.2015q3-1trusty1
+  SHELL
+end

docs/1wire.md

@@ -12,9 +12,15 @@ Currently supported on the SPRACINGF3, STM32F3DISCOVERY, NAZE32 (including clone
 
 ## Wiring
 
-  - For the NAZE, no external wiring is necessary. Simply plugin the board via USB cable.
+  - For the NAZE, no external wiring is necessary. Simply plug in the board via USB cable.
 
-  - For the CC3D, connect [a USB to UART adapter](http://bit.ly/cf-cp2102) to the main port. If you need one, I prefer the [CP2102](http://bit.ly/cf-cp2102) as it is cheap and [the driver](https://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx) is readily available.
+  - For the CC3D, connect [a USB to UART adapter](http://bit.ly/cf-cp2102) to the flex port.
+
+    - Ensure MSP is enabled on the flex port. Unfortunatly the main port cannot be used in the current configuration due to the inverter on this port.
+
+    - You'll only need this connection to the CC3D, do not plug in the normal USB connection.
+
+    - If you need one, I prefer the [CP2102](http://bit.ly/cf-cp2102) as it is cheap and [the driver](https://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx) is readily available.
 
   - In the case that your board does not power on fully without a battery attached, it is OK to attach the battery before following the steps below. However, it may not be necessary in all cases.
 

docs/Board - RMDO.md

@@ -4,7 +4,7 @@ The DoDo board is a clone of the SPRacingF3 board in terms of CPU pin mappings.
 
 Hardware differences compared to SPRacingF3 are as follows:
 
-* The CPU is the cheaper version of the F3 with only 128KB FLASH.
+* Rev 1 and Rev 2: the CPU is the cheaper version of the F3 with only 128KB FLASH. Rev 3: the CPU is a F3 version with 256KB FLASH.
 * The external flash rom is the same size as found on the Naze32 (2MBit)
 * The barometer is the cheaper BMP280.
 * It does not have any compass sensor.

docs/USB Flashing.md

@@ -0,0 +1,26 @@
+# USB Flashing
+Some newer boards with full USB support must be flashed in USB DFU mode. This is a straightforward process in Configurator versions 0.67 and newer. The standard flashing procedure should work successfully with the caveat of some platform specific problems as noted below. The "No reboot sequence" checkbox has no effect as the device will automatically be detected when already in bootloader mode (a DFU device will appear in the connect dropdown if this is the case). The Full chip erase checkbox operates as normal. The baudrate checkbox is ignored as it has no relevance to USB.
+
+## Platform Specific: Linux
+Linux requires udev rules to allow write access to USB devices for users. An example shell command to acheive this on Ubuntu is shown here:
+```
+(echo '# DFU (Internal bootloader for STM32 MCUs)'
+ echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0664", GROUP="plugdev"') | sudo tee /etc/udev/rules.d/45-stdfu-permissions.rules > /dev/null
+```
+
+This assigns the device to the plugdev group(a standard group in Ubuntu). To check that your account is in the plugdev group type `groups` in the shell and ensure plugdev is listed. If not you can add yourself as shown (replacing `<username>` with your username):
+```
+sudo usermod -a -G plugdev <username>
+```
+
+## Platform Specific: Windows
+Chrome can have problems accessing USB devices on Windows. A driver should be automatically installed by Windows for the ST Device in DFU Mode but this doesn't always allow access for Chrome. The solution is to replace the ST driver with a libusb driver. The easiest way to do that is to download [Zadig](http://zadig.akeo.ie/). 
+With the board connected and in bootloader mode (reset it by sending the character R via serial, or simply attempt to flash it with the correct serial port selected in Configurator): 
+* Open Zadig
+* Choose Options > List All Devices
+* Select `STM32 BOOTLOADER` in the device list
+* Choose `WinUSB (v6.x.x.x)` in the right hand box
+![Zadig Driver Procedure](assets/images/zadig-dfu.png)
+* Click Replace Driver
+* Restart Chrome (make sure it is completely closed, logout and login if unsure)
+* Now the DFU device should be seen by Configurator

fake_travis_build.sh

@@ -3,7 +3,9 @@
 targets=("PUBLISHMETA=True" \
     "RUNTESTS=True" \
     "TARGET=CC3D" \
-    "TARGET=CC3D OPBL=yes" \
+    "TARGET=CC3D_OPBL" \
+    "TARGET=CC3D_BP6" \
+    "TARGET=CC3D_OPBL_BP6" \
     "TARGET=CHEBUZZF3" \
     "TARGET=CJMCU" \
     "TARGET=COLIBRI_RACE" \
@@ -28,8 +30,8 @@ export TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG:=$USER/simulated}
 
 for target in "${targets[@]}"
 do
-	unset RUNTESTS PUBLISHMETA TARGET OPBL
+	unset RUNTESTS PUBLISHMETA TARGET
 	eval "export $target"
-	make clean
+	make -f Makefile clean
 	./.travis.sh
 done

src/main/blackbox/blackbox.c

@@ -206,6 +206,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"accSmooth",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"accSmooth",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"accSmooth",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"attitude",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"attitude",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"attitude",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
     {"motor",      0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
     /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
@@ -275,6 +278,7 @@ typedef struct blackboxMainState_s {
     int16_t rcCommand[4];
     int16_t gyroADC[XYZ_AXIS_COUNT];
     int16_t accSmooth[XYZ_AXIS_COUNT];
+    int16_t attitude[XYZ_AXIS_COUNT];
     int16_t motor[MAX_SUPPORTED_MOTORS];
     int16_t servo[MAX_SUPPORTED_SERVOS];
 
@@ -549,6 +553,7 @@ static void writeIntraframe(void)
 
     blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
     blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
+    blackboxWriteSigned16VBArray(blackboxCurrent->attitude, XYZ_AXIS_COUNT);
 
     //Motors can be below minthrottle when disarmed, but that doesn't happen much
     blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
@@ -675,6 +680,7 @@ static void writeInterframe(void)
     //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
     blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC),   XYZ_AXIS_COUNT);
     blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
+    blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
     blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor),     motorCount);
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
@@ -923,6 +929,10 @@ static void loadMainState(void)
         blackboxCurrent->accSmooth[i] = accSmooth[i];
     }
 
+    blackboxCurrent->attitude[0] = attitude.values.roll;
+    blackboxCurrent->attitude[1] = attitude.values.pitch;
+    blackboxCurrent->attitude[2] = attitude.values.yaw;
+
     for (i = 0; i < motorCount; i++) {
         blackboxCurrent->motor[i] = motor[i];
     }

src/main/common/filter.c

@@ -10,8 +10,10 @@
 #include <stdlib.h>
 #include <math.h>
 
+#include "common/axis.h"
 #include "common/filter.h"
 #include "common/axis.h"
+#include "common/maths.h"
 
 
 // PT1 Low Pass filter (when no dT specified it will be calculated from the cycleTime)
@@ -27,23 +29,35 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
     return filter->state;
 }
 
-// 7 Tap FIR filter as described here:
-// Thanks to Qcopter
-void filterApply7TapFIR(int16_t data[]) {
-    int16_t FIRcoeff[7] = { 12, 23, 40, 51, 52, 40, 38 }; // TODO - More coefficients needed. Now fixed to 1khz
-    static int16_t gyro_delay[3][7] = { {0}, {0}, {0} };
+/**
+ * Typical quadcopter motor noise frequency (at 50% throttle):
+ *  450-sized, 920kv, 9.4x4.3 props, 3S : 4622rpm = 77Hz
+ *  250-sized, 2300kv, 5x4.5 props, 4S : 14139rpm = 235Hz
+ */
+static int8_t gyroFIRCoeff_1000[3][9] = { { 0, 0, 12, 23, 40, 51, 52, 40, 38 },    // 1khz; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz
+                                          { 18, 30, 42, 46, 40, 34, 22, 8, 8},     // 1khz; group delay 3ms;   -0.5db = 18Hz ; -1db = 33Hz; -5db = 81Hz; -10db = 113Hz
+                                          { 18, 12, 28, 40, 44, 40, 32, 22, 20} }; // 1khz; group delay 4ms;   -0.5db = 23Hz ; -1db = 35Hz; -5db = 75Hz; -10db = 103Hz
+
+int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level)
+{
+    return gyroFIRCoeff_1000[filter_level];
+}
+
+// 9 Tap FIR filter as described here:
+// Thanks to Qcopter & BorisB & DigitalEntity
+void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9])
+{
     int32_t FIRsum;
     int axis, i;
 
-    // 7 tap FIR, <-20dB at >170Hz with looptime 1ms, groupdelay = 2.5ms
     for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         FIRsum = 0;
-        for (i = 0; i <= 5; i++) {    
-            gyro_delay[axis][i] = gyro_delay[axis][i + 1];
-            FIRsum += gyro_delay[axis][i] * FIRcoeff[i];
+        for (i = 0; i <= 7; i++) {
+            state[axis][i] = state[axis][i + 1];
+            FIRsum += state[axis][i] * (int16_t)coeff[i];
         }
-        gyro_delay[axis][6] = data[axis];
-        FIRsum += gyro_delay[axis][6] * FIRcoeff[6];
+        state[axis][8] = data[axis];
+        FIRsum += state[axis][8] * coeff[8];
         data[axis] = FIRsum / 256;
     }
 }

src/main/common/filter.h

@@ -5,13 +5,13 @@
  *      Author: borisb
  */
 
-#define YAW_PTERM_FILTER 30
+
 
 typedef struct filterStatePt1_s {
 	float state;
 	float RC;
 } filterStatePt1_t;
 
 float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float dt);
-
-void filterApply7TapFIR(int16_t data[]);
+int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level);
+void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9]);