[Enhancement]: Add support for HD OSD (canvas mode)

.github/workflows/build.yml

@@ -39,7 +39,7 @@ jobs:
     runs-on: ubuntu-22.04
     strategy:
       matrix:
-        targets: [ EMSRPROTO1, EMSRPROTO2, EMSRPROTO3, EMSRPROTO4, NEUTRONRCF435MINI, NEUTRONRCF435SE ]
+        targets: [    GREATMOUNTAINRCF435,BETAFPVF435, NEUTRONRCF435MINI, NEUTRONRCF435SE ]
     steps:
       - name: Code Checkout
         uses: actions/checkout@v2

Makefile

@@ -56,7 +56,7 @@ RELEASE ?= no
 # Things that need to be maintained as the source changes
 #
 
-FORKNAME      = betaflight
+FORKNAME      = ATbetaflight
 
 # Working directories
 ROOT            := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))

make/source.mk

@@ -151,6 +151,7 @@ COMMON_SRC = \
             cms/cms_menu_vtx_rtc6705.c \
             cms/cms_menu_vtx_smartaudio.c \
             cms/cms_menu_vtx_tramp.c \
+            cms/cms_menu_vtx_msp.c\
             cms/cms_menu_persistent_stats.c \
             drivers/display_ug2864hsweg01.c \
             drivers/light_ws2811strip.c \
@@ -163,6 +164,7 @@ COMMON_SRC = \
             io/displayport_frsky_osd.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \
+            io/vtx_msp.c\
             io/displayport_oled.c \
             io/displayport_srxl.c \
             io/displayport_crsf.c \
@@ -355,12 +357,14 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             cms/cms_menu_vtx_rtc6705.c \
             cms/cms_menu_vtx_smartaudio.c \
             cms/cms_menu_vtx_tramp.c \
+            cms/cms_menu_vtx_msp.c\
             cms/cms_menu_persistent_stats.c \
             io/vtx.c \
             io/vtx_rtc6705.c \
             io/vtx_smartaudio.c \
             io/vtx_tramp.c \
             io/vtx_control.c \
+            io/vtx_msp.c\
             io/spektrum_vtx_control.c \
             osd/osd.c \
             osd/osd_elements.c \

src/main/blackbox/blackbox.h

@@ -59,10 +59,11 @@ typedef enum FlightLogEvent {
 } FlightLogEvent;
 
 typedef struct blackboxConfig_s {
+    uint32_t fields_disabled_mask;
     uint8_t sample_rate; // sample rate
     uint8_t device;
-    uint32_t fields_disabled_mask;
     uint8_t mode;
+    uint8_t high_resolution;
 } blackboxConfig_t;
 
 PG_DECLARE(blackboxConfig_t, blackboxConfig);

src/main/build/debug.h

@@ -20,7 +20,7 @@
 
 #pragma once
 
-#define DEBUG16_VALUE_COUNT 4
+#define DEBUG16_VALUE_COUNT 8
 extern int16_t debug[DEBUG16_VALUE_COUNT];
 extern uint8_t debugMode;
 
@@ -93,14 +93,27 @@ typedef enum {
     DEBUG_D_LPF,
     DEBUG_VTX_TRAMP,
     DEBUG_GHST,
+    DEBUG_GHST_MSP,
     DEBUG_SCHEDULER_DETERMINISM,
     DEBUG_TIMING_ACCURACY,
     DEBUG_RX_EXPRESSLRS_SPI,
     DEBUG_RX_EXPRESSLRS_PHASELOCK,
     DEBUG_RX_STATE_TIME,
+    DEBUG_GPS_RESCUE_VELOCITY,
+    DEBUG_GPS_RESCUE_HEADING,
+    DEBUG_GPS_RESCUE_TRACKING,
+    DEBUG_ATTITUDE,
+    DEBUG_VTX_MSP,
+    DEBUG_GPS_DOP,
+    DEBUG_FAILSAFE,
+    DEBUG_GYRO_CALIBRATION,
+    DEBUG_ANGLE_MODE,
+    DEBUG_ANGLE_TARGET,
+    DEBUG_CURRENT_ANGLE,
+    DEBUG_DSHOT_TELEMETRY_COUNTS,
     DEBUG_SMITH_PREDICTOR,
-    // DEBUG_BMI270_GYRO,
     DEBUG_COUNT
 } debugType_e;
 
 extern const char * const debugModeNames[DEBUG_COUNT];
+

src/main/build/version.h

@@ -26,7 +26,7 @@
 #define FC_FIRMWARE_IDENTIFIER      "BTFL"
 #define FC_VERSION_MAJOR            4  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            3  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      2  // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      3  // increment when a bug is fixed
 
 #define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)
 

src/main/cli/cli.c

@@ -3125,10 +3125,10 @@ static void cliSimplifiedTuning(const char *cmdName, char *cmdline)
 }
 #endif
 
-static void printName(dumpFlags_t dumpMask, const pilotConfig_t *pilotConfig)
+static void printCraftName(dumpFlags_t dumpMask, const pilotConfig_t *pilotConfig)
 {
-    const bool equalsDefault = strlen(pilotConfig->name) == 0;
-    cliDumpPrintLinef(dumpMask, equalsDefault, "\r\n# name: %s", equalsDefault ? emptyName : pilotConfig->name);
+    const bool equalsDefault = strlen(pilotConfig->craftName) == 0;
+    cliDumpPrintLinef(dumpMask, equalsDefault, "\r\n# name: %s", equalsDefault ? emptyName : pilotConfig->craftName);
 }
 
 #if defined(USE_BOARD_INFO)
@@ -5104,10 +5104,10 @@ const cliResourceValue_t resourceTable[] = {
 #ifdef USE_SERVOS
     DEFA( OWNER_SERVO,         PG_SERVO_CONFIG, servoConfig_t, dev.ioTags[0], MAX_SUPPORTED_SERVOS ),
 #endif
-#if defined(USE_PPM)
+#if defined(USE_RX_PPM)
     DEFS( OWNER_PPMINPUT,      PG_PPM_CONFIG, ppmConfig_t, ioTag ),
 #endif
-#if defined(USE_PWM)
+#if defined(USE_RX_PWM)
     DEFA( OWNER_PWMINPUT,      PG_PWM_CONFIG, pwmConfig_t, ioTags[0], PWM_INPUT_PORT_COUNT ),
 #endif
 #ifdef USE_RANGEFINDER_HCSR04
@@ -6156,6 +6156,8 @@ static void cliResource(const char *cmdName, char *cmdline)
 #endif
 
 #ifdef USE_DSHOT_TELEMETRY
+
+
 static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
 {
     UNUSED(cmdName);
@@ -6170,27 +6172,45 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
         cliPrintLinefeed();
 
 #ifdef USE_DSHOT_TELEMETRY_STATS
-        cliPrintLine("Motor      eRPM      RPM      Hz   Invalid");
-        cliPrintLine("=====   =======   ======   =====   =======");
+        cliPrintLine("Motor    Type   eRPM    RPM     Hz Invalid   TEMP    VCC   CURR  ST/EV   DBG1   DBG2   DBG3");
+        cliPrintLine("=====  ====== ====== ====== ====== ======= ====== ====== ====== ====== ====== ====== ======");
 #else
-        cliPrintLine("Motor      eRPM      RPM      Hz");
-        cliPrintLine("=====   =======   ======   =====");
+        cliPrintLine("Motor    Type   eRPM    RPM     Hz   TEMP    VCC   CURR  ST/EV   DBG1   DBG2   DBG3");
+        cliPrintLine("=====  ====== ====== ====== ====== ====== ====== ====== ====== ====== ====== ======");
 #endif
+
         for (uint8_t i = 0; i < getMotorCount(); i++) {
-            cliPrintf("%5d   %7d   %6d   %5d   ", i,
-                      (int)getDshotTelemetry(i) * 100,
-                      (int)getDshotTelemetry(i) * 100 * 2 / motorConfig()->motorPoleCount,
-                      (int)getDshotTelemetry(i) * 100 * 2 / motorConfig()->motorPoleCount / 60);
+            const uint16_t erpm = getDshotTelemetry(i);
+            const uint16_t rpm = erpmToRpm(erpm);
+
+            cliPrintf("%5d   %c%c%c%c%c %6d %6d %6d",
+                    i + 1,
+                    ((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_eRPM)) ? 'R' : '-'),
+                    ((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_TEMPERATURE)) ? 'T' : '-'),
+                    ((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_VOLTAGE)) ? 'V' : '-'),
+                    ((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_CURRENT)) ? 'C' : '-'),
+                    ((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS)) ? 'S' : '-'),
+                    erpm * 100, rpm, rpm / 60);
+
 #ifdef USE_DSHOT_TELEMETRY_STATS
             if (isDshotMotorTelemetryActive(i)) {
-                const int calcPercent = getDshotTelemetryMotorInvalidPercent(i);
-                cliPrintLinef("%3d.%02d%%", calcPercent / 100, calcPercent % 100);
+                int32_t calcPercent = getDshotTelemetryMotorInvalidPercent(i);
+                cliPrintf(" %3d.%02d%%", calcPercent / 100, calcPercent % 100);
             } else {
-                cliPrintLine("NO DATA");
+                cliPrint(" NO DATA");
             }
-#else
-            cliPrintLinefeed();
 #endif
+
+            cliPrintLinef(" %6d %3d.%02d %6d %6d %6d %6d %6d",
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_TEMPERATURE],
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_VOLTAGE] / 4,
+                    25 * (dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_VOLTAGE] % 4),
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_CURRENT],
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_STATE_EVENTS],
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG1],
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG2],
+                    dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG3]
+            );
         }
         cliPrintLinefeed();
 
@@ -6214,6 +6234,7 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
         cliPrintLine("Dshot telemetry not enabled");
     }
 }
+
 #endif
 
 static void printConfig(const char *cmdName, char *cmdline, bool doDiff)
@@ -6280,7 +6301,7 @@ static void printConfig(const char *cmdName, char *cmdline, bool doDiff)
         }
 
         if (!(dumpMask & HARDWARE_ONLY)) {
-            printName(dumpMask, &pilotConfig_Copy);
+            printCraftName(dumpMask, &pilotConfig_Copy);
         }
 
 #ifdef USE_RESOURCE_MGMT