Merge branch 'upstream_shared' into landinglights

Conflicts:
	config.h

Buzzer.pde

@@ -1,8 +1,11 @@
+static uint8_t buzzerIsOn = 0;
+
+uint8_t isBuzzerON() { return buzzerIsOn; } // returns true while buzzer is buzzing; returns 0 for silent periods
+
 void buzzer(uint8_t warn_vbat){
   static uint16_t ontime, offtime, beepcount, repeat, repeatcounter;
   static uint32_t buzzerLastToggleTime;
-  static uint8_t buzzerIsOn = 0,
-                 activateBuzzer,
+  static uint8_t activateBuzzer,
                  beeperOnBox,
                  i,
                  last_rcOptions[CHECKBOXITEMS], 

CREDITS.txt

@@ -91,10 +91,10 @@ E:
 W: http://fotoflygarn.blogspot.se/2012/04/multiwii-helicopter.html
 
 S: i2c LCD03
-D:
-N: 
+D: Support for the cheap i2c LCD03
+N: Th0rsten
 E:
-W:
+W: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1094
 
 S: i2c OLED  128x64 display
 D: support for OLED as alternatative to LCD
@@ -238,3 +238,27 @@ N: Stefan Tomanek
 N: Jevermeister (Nils Ivo von Aswege)
 E:
 W:http://ncopters.blogspot.com
+
+S: Atmega32u4 support
+D: so it works on Promicro, & Teensy20
+N: Felix Niessen (ronco)
+E: felix.niessen@googlemail.com
+W:
+
+S: 11-bit PWM
+D: Better Signal resolution for the ESC's on MEGA's and 32u4's
+N: Felix Niessen (ronco)
+E: felix.niessen@googlemail.com
+W:
+
+S: Hexa with Servos and Octo on Promini
+D: 
+N: Felix Niessen (ronco)
+E: felix.niessen@googlemail.com
+W:
+
+S: Faster Servo refreshrate & 11-bit PWM (for servos on the MEGA & 32u4)
+D: 
+N: Felix Niessen (ronco)
+E: felix.niessen@googlemail.com
+W:

EEPROM.pde

@@ -1,6 +1,7 @@
 #include <avr/eeprom.h>
 
-static uint8_t checkNewConf = 154;
+#define EEPROM_CONF_VERSION 155
+static uint8_t checkNewConf;
 
 struct eep_entry_t{
   void *  var;
@@ -11,7 +12,7 @@ struct eep_entry_t{
 // EEPROM Layout definition
 // ************************************************************************************************************
 static eep_entry_t eep_entry[] = {
-  {&checkNewConf, sizeof(checkNewConf)}
+  {&checkNewConf, sizeof(checkNewConf)} // this is only left here to keep the read/write logic intact
 , {&P8, sizeof(P8)}
 , {&I8, sizeof(I8)} 
 , {&D8, sizeof(D8)} 
@@ -34,7 +35,7 @@ static eep_entry_t eep_entry[] = {
 #ifdef TRI
 , {&tri_yaw_middle,  sizeof(tri_yaw_middle)}
 #endif
-
+, {&checkNewConf, sizeof(checkNewConf)} // this _must_ be the last entry always.
 };  
 #define EEBLOCK_SIZE sizeof(eep_entry)/sizeof(eep_entry_t)
 // ************************************************************************************************************
@@ -61,16 +62,26 @@ void readEEPROM() {
     pAlarm = (uint32_t) powerTrigger1 * (uint32_t) PLEVELSCALE * (uint32_t) PLEVELDIV; // need to cast before multiplying
   #endif
   #ifdef FLYING_WING
-    wing_left_mid  = constrain(wing_left_mid, WING_LEFT_MIN,  WING_LEFT_MAX); //LEFT 
-    wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
+    #ifdef LCD_CONF
+      wing_left_mid  = constrain(wing_left_mid, WING_LEFT_MIN,  WING_LEFT_MAX); //LEFT
+      wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
+    #else // w.o LCD support user may not find this value stored in eeprom, so always use the define value
+      wing_left_mid  = WING_LEFT_MID;
+      wing_right_mid = WING_RIGHT_MID;
+    #endif
   #endif
   #ifdef TRI
-    tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
+    #ifdef LCD_CONF
+      tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
+    #else // w.o LCD support user may not find this value stored in eeprom, so always use the define value
+      tri_yaw_middle = TRI_YAW_MIDDLE;
+    #endif
   #endif
 }
 
 void writeParams(uint8_t b) {
   uint8_t i, _address = 0;
+  checkNewConf = EEPROM_CONF_VERSION; // make sure we write the current version into eeprom
   for(i=0; i<EEBLOCK_SIZE; i++) {
     eeprom_write_block(eep_entry[i].var, (void*)(_address), eep_entry[i].size); _address += eep_entry[i].size;
   }  
@@ -79,8 +90,7 @@ void writeParams(uint8_t b) {
 }
 
 void checkFirstTime() {
-  uint8_t test_val; eeprom_read_block((void*)&test_val, (void*)(0), sizeof(test_val));
-  if (test_val == checkNewConf) return;
+  if (EEPROM_CONF_VERSION == checkNewConf) return;
   P8[ROLL] = 40; I8[ROLL] = 30; D8[ROLL] = 23;
   P8[PITCH] = 40; I8[PITCH] = 30; D8[PITCH] = 23;
   P8[YAW]  = 85; I8[YAW]  = 45;  D8[YAW]  = 0;
@@ -101,8 +111,12 @@ void checkFirstTime() {
     wing_left_mid  = WING_LEFT_MID; 
     wing_right_mid = WING_RIGHT_MID; 
   #endif
+  #ifdef FIXEDWING
+   dynThrPID = 50;
+   rcExpo8   =  0;
+  #endif
   #ifdef TRI
     tri_yaw_middle = TRI_YAW_MIDDLE; 
   #endif
-  writeParams(0);
-}
+  writeParams(0); // this will also (p)reset checkNewConf with the current version number again.
+}

GPS.pde

@@ -14,6 +14,7 @@ void GPS_NewData() {
        if (!GPS_fix_home) {        //if home is not set set home position to WP#0 and activate it
           i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_SET_WP);//Store current position to WP#0 (this is used for RTH)
           i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I2C_GPS_COMMAND);i2c_write(I2C_GPS_COMMAND_ACTIVATE_WP);//Set WP#0 as the active WP
+          GPS_altitude_home = GPS_altitude;                                           //Store Home altitude
           GPS_fix_home = 1;                                                           //Now we have a home   
        }
        if (_i2c_gps_status & I2C_GPS_STATUS_NEW_DATA) {                               //Check about new data
@@ -79,6 +80,8 @@ void GPS_NewData() {
             GPS_fix_home = 1;
             GPS_latitude_home  = GPS_latitude;
             GPS_longitude_home = GPS_longitude;
+            GPS_altitude_home  = GPS_altitude;
+
           }
           if (GPSModeHold == 1)
             GPS_distance(GPS_latitude_hold,GPS_longitude_hold,GPS_latitude,GPS_longitude, &GPS_distanceToHold, &GPS_directionToHold);
@@ -96,6 +99,7 @@ void GPS_NewData() {
           GPS_fix_home = 1;
           GPS_latitude_home  = GPS_latitude;
           GPS_longitude_home = GPS_longitude;
+          GPS_altitude_home  = GPS_altitude;
         }
         if (GPSModeHold == 1)
           GPS_distance(GPS_latitude_hold,GPS_longitude_hold,GPS_latitude,GPS_longitude, &GPS_distanceToHold, &GPS_directionToHold);
@@ -221,6 +225,7 @@ bool GPS_newFrame(char c) {
       else if (param == 9)                     {GPS_altitude = grab_fields(string,0);}	// altitude in meters added by Mis
     } else if (frame == FRAME_RMC) {
       if      (param == 7)                     {GPS_speed = ((uint32_t)grab_fields(string,1)*514444L)/100000L;}	// speed in cm/s added by Mis
+      if      (param == 8)                     {GPS_ground_course = grab_fields(string,0)*10 ;} // GPS_ground_course added by PatrikE
     }
     param++; offset = 0;
     if (c == '*') checksum_param=1;
@@ -241,4 +246,4 @@ bool GPS_newFrame(char c) {
 }
 
 #endif
-#endif
+#endif

IMU.pde

@@ -61,7 +61,8 @@ void computeIMU () {
     static uint8_t Smoothing[3]  = GYRO_SMOOTHING; // How much to smoothen with per axis
     static int16_t gyroSmooth[3] = {0,0,0};
     for (axis = 0; axis < 3; axis++) {
-      gyroData[axis] = (gyroSmooth[axis]*(Smoothing[axis]-1)+gyroData[axis])/Smoothing[axis];
+      gyroData[axis] = (int16_t) ( ( (int32_t)((int32_t)gyroSmooth[axis] * (Smoothing[axis]-1) )+gyroData[axis]+1 ) / Smoothing[axis]);
+      // was :gyroData[axis] = (gyroSmooth[axis]*(Smoothing[axis]-1)+gyroData[axis])/Smoothing[axis];
       gyroSmooth[axis] = gyroData[axis];
     }
   #elif defined(TRI)

LCD.pde

@@ -1163,7 +1163,7 @@ void fill_line2_AmaxA() {
 }
 void fill_line1_VmA() {
   strcpy_P(line1,PSTR("--.-V   -----mAh")); // uint8_t vbat, intPowerMeterSum
-  // 0123456789.12345
+  //                   0123456789.12345
 #ifdef VBAT
   line1[0] = digit100(vbat);
   line1[1] = digit10(vbat);
@@ -1176,7 +1176,7 @@ void fill_line1_VmA() {
   line1[11] = digit10(intPowerMeterSum);
   line1[12] = digit1(intPowerMeterSum);
 #endif
-  if (buzzerState) { // buzzer on? then add some blink for attention
+  if (isBuzzerON()) { // buzzer on? then add some blink for attention
     line1[5] = '+'; line1[6] = '+'; line1[7] = '+';
   }
   // set mark, if we had i2c errors, failsafes or annex650 overruns
@@ -1467,11 +1467,13 @@ void lcd_telemetry() {
       case 0:// V, mAh
       LCDsetLine(1);
       fill_line1_VmA();
+      if (isBuzzerON()) { LCDattributesReverse(); } // buzzer on? then add some blink for attention
       LCDprintChar(line1);
       break;
       case 1:// V, mAh bars
       LCDsetLine(2);
       output_VmAbars();
+      LCDattributesOff(); // turn Reverse off for rest of display
       break;
       case 2:// A, maxA
       LCDsetLine(3);

MultiWii.ino

@@ -11,7 +11,7 @@ March  2012     V2.0
 #include "config.h"
 #include "def.h"
 #include <avr/pgmspace.h>
-#define  VERSION  200
+#define  VERSION  201
 
 /*********** RC alias *****************/
 #define ROLL       0
@@ -74,7 +74,6 @@ static int32_t  EstAlt;             // in cm
 static int16_t  BaroPID = 0;
 static int32_t  AltHold;
 static int16_t  errorAltitudeI = 0;
-static uint8_t  buzzerState = 0;
 static uint8_t  toggleBeep = 0;
 static int16_t  debug1,debug2,debug3,debug4;
 static int16_t  sonarAlt; //to think about the unit
@@ -169,13 +168,13 @@ static uint16_t activate[CHECKBOXITEMS];
 // GPS
 // **********************
 static int32_t  GPS_latitude,GPS_longitude;
-static int32_t  GPS_latitude_home,GPS_longitude_home;
-static int32_t  GPS_latitude_hold,GPS_longitude_hold;
+static int32_t  GPS_latitude_home,GPS_longitude_home,GPS_altitude_home;
+static int32_t  GPS_latitude_hold,GPS_longitude_hold,GPS_altitude_hold;
 static uint8_t  GPS_fix , GPS_fix_home = 0;
 static uint8_t  GPS_numSat;
 static uint16_t GPS_distanceToHome,GPS_distanceToHold;       // distance to home or hold point in meters
 static int16_t  GPS_directionToHome,GPS_directionToHold;     // direction to home or hol point in degrees
-static uint16_t GPS_altitude,GPS_speed;                      // altitude in 0.1m and speed in 0.1m/s
+static int16_t  GPS_altitude,GPS_speed;                      // altitude in 0.1m and speed in 0.1m/s
 static uint8_t  GPS_update = 0;                              // it's a binary toogle to distinct a GPS position update
 static int16_t  GPS_angle[2] = { 0, 0};                      // it's the angles that must be applied for GPS correction
 
@@ -279,7 +278,7 @@ void annexCode() { // this code is excetuted at each loop and won't interfere wi
     #endif
                        )  || (NO_VBAT>vbat)                              ) // ToLuSe
     {                                          // VBAT ok AND powermeter ok, buzzer off
-      buzzerFreq = 0; buzzerState = 0;
+      buzzerFreq = 0;
     #if defined(POWERMETER)
     } else if (pMeter[PMOTOR_SUM] > pAlarm) {                             // sound alarm for powermeter
       buzzerFreq = 4;
@@ -520,14 +519,25 @@ void loop () {
 	  headFreeModeHold = heading;
         } else if (armed) armed = 0;
         rcDelayCommand = 0;
-      } else if ( (rcData[YAW] < MINCHECK || rcData[ROLL] < MINCHECK)  && armed == 1) {
+      #ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
+      } else if ( (rcData[YAW] < MINCHECK )  && armed == 1) {
         if (rcDelayCommand == 20) armed = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
-      } else if ( (rcData[YAW] > MAXCHECK || rcData[ROLL] > MAXCHECK) && rcData[PITCH] < MAXCHECK && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+      } else if ( (rcData[YAW] > MAXCHECK ) && rcData[PITCH] < MAXCHECK && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
         if (rcDelayCommand == 20) {
-	  armed = 1;
-	  headFreeModeHold = heading;
+          armed = 1;
+          headFreeModeHold = heading;
         }
-     #ifdef LCD_TELEMETRY_AUTO
+      #endif
+      #ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
+      } else if ( (rcData[ROLL] < MINCHECK)  && armed == 1) {
+        if (rcDelayCommand == 20) armed = 0; // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
+      } else if ( (rcData[ROLL] > MAXCHECK) && rcData[PITCH] < MAXCHECK && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+        if (rcDelayCommand == 20) {
+          armed = 1;
+          headFreeModeHold = heading;
+        }
+#endif
+      #ifdef LCD_TELEMETRY_AUTO
       } else if (rcData[ROLL] < MINCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
         if (rcDelayCommand == 20) {
            if (telemetry_auto) {
@@ -644,7 +654,11 @@ void loop () {
       }
     #endif
     if (rcOptions[BOXPASSTHRU]) {passThruMode = 1;}
-    else passThruMode = 0;
+    else {passThruMode = 0;}
+
+    #ifdef FIXEDWING 
+      headFreeMode = 0;
+    #endif
   } else { // not in rc loop
     static uint8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes
     switch (taskOrder++ % 5) {
@@ -767,4 +781,4 @@ void loop () {
   mixTable();
   writeServos();
   writeMotors();
-}
+}