Maintenance 9.x to master

cmake/sitl.cmake

@@ -64,7 +64,11 @@ if(NOT MACOSX)
         -Wno-error=maybe-uninitialized
         -fsingle-precision-constant
     )
-    if (CMAKE_COMPILER_IS_GNUCC AND NOT CMAKE_C_COMPILER_VERSION VERSION_LESS 12.0)
+    include(CheckLinkerFlag OPTIONAL)
+    if(COMMAND check_linker_flag)
+        check_linker_flag(C "-Wl,--no-warn-rwx-segments" LINKER_SUPPORTS_NO_RWX_WARNING)
+    endif()
+    if(LINKER_SUPPORTS_NO_RWX_WARNING)
         set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-Wl,--no-warn-rwx-segments")
     endif()
 else()

docs/Cli.md

@@ -27,17 +27,17 @@ Disconnect main power, connect to cli via USB/FTDI.
 dump using cli
 
 ```
-profile 0
+control_profile 0
 dump
 ```
 
-dump profiles using cli if you use them
+dump control_profiles using cli if you use them
 
 ```
-profile 1
-dump profile
-profile 2
-dump profile
+control_profile 1
+dump control_profile
+control_profile 2
+dump control_profile
 ```
 
 copy screen output to a file and save it.
@@ -100,7 +100,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `osd_layout` | Get or set the layout of OSD items |
 | `pid` | Configurable PID controllers |
 | `play_sound` | `<index>`, or none for next item |
-| `profile` | Change profile |
+| `control_profile` | Change profile |
 | `resource` | View currently used resources |
 | `rxrange` | Configure rx channel ranges |
 | `safehome` | Define safe home locations. See the [safehome documentation](Safehomes.md) for usage information. |

docs/development/msp/format.md

@@ -40,6 +40,7 @@
 **variable_len**: Optional boolean, if true, message does not have a predefined fixed length and needs appropriate handling\
 **variants**: Optional special case, message has different cases of reply/request. Key/description is not a strict expression or code; just a readable condition\
 **not_implemented**: Optional special case, message is not implemented (never or deprecated)\
+**replaced_by**: Optional array of MSP message names that replace this command. Present when a command is deprecated and scheduled for removal. Empty array if no replacement is needed\
 **notes**: String with details of message
 
 ## Data dict fields:

docs/development/msp/msp_messages.json

@@ -673,6 +673,7 @@
     "MSP_POSITION_ESTIMATION_CONFIG": {
         "code": 16,
         "mspv": 1,
+        "replaced_by": ["MSP2_COMMON_SETTING"],
         "request": null,
         "reply": {
             "payload": [
@@ -727,6 +728,7 @@
     "MSP_SET_POSITION_ESTIMATION_CONFIG": {
         "code": 17,
         "mspv": 1,
+        "replaced_by": ["MSP2_COMMON_SET_SETTING"],
         "request": {
             "payload": [
                 {
@@ -2360,6 +2362,7 @@
     "MSP_BLACKBOX_CONFIG": {
         "code": 80,
         "mspv": 1,
+        "replaced_by": ["MSP2_BLACKBOX_CONFIG"],
         "request": null,
         "reply": {
             "payload": [
@@ -2399,6 +2402,7 @@
     "MSP_SET_BLACKBOX_CONFIG": {
         "code": 81,
         "mspv": 1,
+        "replaced_by": ["MSP2_SET_BLACKBOX_CONFIG"],
         "not_implemented": true,
         "request": null,
         "reply": null,
@@ -2426,6 +2430,7 @@
     "MSP_OSD_CONFIG": {
         "code": 84,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_OSD_LAYOUTS", "MSP2_INAV_OSD_ALARMS", "MSP2_INAV_OSD_PREFERENCES"],
         "request": null,
         "reply": {
             "payload": [
@@ -2504,6 +2509,7 @@
     "MSP_SET_OSD_CONFIG": {
         "code": 85,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_OSD_SET_LAYOUT_ITEM", "MSP2_INAV_OSD_SET_ALARMS", "MSP2_INAV_OSD_SET_PREFERENCES"],
         "request": null,
         "reply": null,
         "notes": "Requires `USE_OSD`. Distinguishes formats based on the first byte. Format 1 requires at least 10 bytes. Format 2 requires 3 bytes. Triggers an OSD redraw. See `MSP2_INAV_OSD_SET_*` for more advanced control.",
@@ -3134,6 +3140,7 @@
     "MSP_FILTER_CONFIG": {
         "code": 92,
         "mspv": 1,
+        "replaced_by": ["MSP2_COMMON_SETTING"],
         "request": null,
         "reply": {
             "payload": [
@@ -3217,6 +3224,7 @@
     "MSP_SET_FILTER_CONFIG": {
         "code": 93,
         "mspv": 1,
+        "replaced_by": ["MSP2_COMMON_SET_SETTING"],
         "request": {
             "payload": [
                 {
@@ -3293,6 +3301,7 @@
     "MSP_PID_ADVANCED": {
         "code": 94,
         "mspv": 1,
+        "replaced_by": ["MSP_INAV_PID"],
         "request": null,
         "reply": {
             "payload": [
@@ -3370,6 +3379,7 @@
     "MSP_SET_PID_ADVANCED": {
         "code": 95,
         "mspv": 1,
+        "replaced_by": ["MSP_SET_INAV_PID"],
         "request": {
             "payload": [
                 {
@@ -3599,6 +3609,7 @@
     "MSP_STATUS": {
         "code": 101,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_STATUS"],
         "request": null,
         "reply": {
             "payload": [
@@ -3914,6 +3925,7 @@
     "MSP_ANALOG": {
         "code": 110,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_ANALOG"],
         "request": null,
         "reply": {
             "payload": [
@@ -4039,6 +4051,7 @@
     "MSP_MISC": {
         "code": 114,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_MISC"],
         "request": null,
         "reply": {
             "payload": [
@@ -4168,6 +4181,7 @@
     "MSP_PIDNAMES": {
         "code": 117,
         "mspv": 1,
+        "replaced_by": [],
         "request": null,
         "reply": {
             "payload": [
@@ -4644,6 +4658,7 @@
     "MSP_STATUS_EX": {
         "code": 150,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_STATUS"],
         "request": null,
         "reply": {
             "payload": [
@@ -4701,7 +4716,7 @@
                 }
             ]
         },
-        "notes": "Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements.",
+        "notes": "Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements. The `accCalibAxisFlags` field is not present in `MSP2_INAV_STATUS` but is available via `MSP_CALIBRATION_DATA`.",
         "description": "Provides extended flight controller status, including CPU load, arming flags, and calibration status, in addition to `MSP_STATUS` fields."
     },
     "MSP_SENSOR_STATUS": {
@@ -5135,6 +5150,7 @@
     "MSP_SET_MISC": {
         "code": 207,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_SET_MISC"],
         "request": {
             "payload": [
                 {
@@ -5588,6 +5604,7 @@
     "MSP_SERVO_MIX_RULES": {
         "code": 241,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_SERVO_MIXER"],
         "request": null,
         "reply": {
             "payload": [
@@ -5644,6 +5661,7 @@
     "MSP_SET_SERVO_MIX_RULE": {
         "code": 242,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_SET_SERVO_MIXER"],
         "request": {
             "payload": [
                 {
@@ -5803,6 +5821,7 @@
     "MSP_DEBUG": {
         "code": 254,
         "mspv": 1,
+        "replaced_by": ["MSP2_INAV_DEBUG"],
         "request": null,
         "reply": {
             "payload": [

src/main/common/maths.c

@@ -526,7 +526,7 @@ bool sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
 }
 
 float gaussian(const float x, const float mu, const float sigma) {
-    return exp(-pow((double)(x - mu), 2) / (2 * pow((double)sigma, 2)));
+    return expf(-((x - mu) * (x - mu)) / (2.0f * sigma * sigma));
 }
 
 float bellCurve(const float x, const float curveWidth)

src/main/common/time.h

@@ -58,7 +58,7 @@ typedef uint32_t timeUs_t;
 #define MS2S(ms)    ((ms) * 1e-3f)
 #define S2MS(s)     ((s) * MILLISECS_PER_SEC)
 #define DS2MS(ds)   ((ds) * 100)
-#define HZ2S(hz)    US2S(HZ2US(hz))
+#define HZ2S(hz)    (1.0f / (hz))
 
 // Use this function only to get small deltas (difference overflows at ~35 minutes)
 static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }