Merge remote-tracking branch 'origin/master' into shota_master

Author: shota3527

.github/workflows/ci.yml

@@ -12,7 +12,7 @@ jobs:
           id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Setup environment
@@ -47,7 +47,7 @@ jobs:
     needs: [build]
     runs-on: ubuntu-18.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install ninja-build
       - name: Run Tests

.github/workflows/docs.yml

@@ -14,7 +14,7 @@ jobs:
     runs-on: ubuntu-18.04
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get -y install python3-yaml
       - name: Check that Settings.md is up to date

docs/Cli.md

@@ -89,7 +89,6 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `gpspassthrough` | Passthrough gps to serial |
 | `gvar` | Configure global variables |
 | `help` | Displays CLI help and command parameters / options |
-| `imu2` | Secondary IMU |
 | `led` | Configure leds |
 | `logic` | Configure logic conditions |
 | `map` | Configure rc channel order |
@@ -155,7 +154,7 @@ A shorter form is also supported to enable and disable a single function using `
 | DJI_HD_OSD            | 21            | 2097152 |
 | SERVO_SERIAL          | 22            | 4194304 |
 | TELEMETRY_SMARTPORT_MASTER | 23       | 8388608 |
-| IMU2                  | 24            | 16777216 |
+| UNUSED                | 24            | 16777216 |
 | MSP_DISPLAYPORT       | 25            | 33554432 |
 
 Thus, to enable MSP and LTM on a port, one would use the function **value** of 17 (1 << 0)+(1<<4), aka 1+16, aka 17.

docs/Settings.md

@@ -1622,156 +1622,6 @@ Power draw at zero throttle used for remaining flight time/distance estimation i
 
 ---
 
-### imu2_align_pitch
-
-Pitch alignment for Secondary IMU. 1/10 of a degree
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -1800 | 3600 |
-
----
-
-### imu2_align_roll
-
-Roll alignment for Secondary IMU. 1/10 of a degree
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -1800 | 3600 |
-
----
-
-### imu2_align_yaw
-
-Yaw alignment for Secondary IMU. 1/10 of a degree
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -1800 | 3600 |
-
----
-
-### imu2_gain_acc_x
-
-Secondary IMU ACC calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_gain_acc_y
-
-Secondary IMU ACC calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_gain_acc_z
-
-Secondary IMU ACC calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_gain_mag_x
-
-Secondary IMU MAG calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_gain_mag_y
-
-Secondary IMU MAG calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_gain_mag_z
-
-Secondary IMU MAG calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_hardware
-
-Selection of a Secondary IMU hardware type. NONE disables this functionality
-
-| Default | Min | Max |
-| --- | --- | --- |
-| NONE |  |  |
-
----
-
-### imu2_radius_acc
-
-Secondary IMU MAG calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_radius_mag
-
-Secondary IMU MAG calibration data
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | -32768 | 32767 |
-
----
-
-### imu2_use_for_osd_ahi
-
-If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
-### imu2_use_for_osd_heading
-
-If set to ON, Secondary IMU data will be used for Analog OSD heading
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
-### imu2_use_for_stabilized
-
-If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH)
-
-| Default | Min | Max |
-| --- | --- | --- |
-| OFF | OFF | ON |
-
----
-
 ### imu_acc_ignore_rate
 
 Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy

docs/boards/SPEEDYBEEF405V3.md

@@ -0,0 +1,3 @@
+# SpeedyBee F405 V3
+
+> Notice: At the moment, DSHOT is not supported on SpeedyBe F405 V3. Use Multishot instead

docs/development/IDE - Visual Studio Code with Windows 10.md

@@ -54,8 +54,6 @@ Edit file `./.vscode/c_cpp_properties.json` to setup enabled `defines`
                 "USE_RPM_FILTER",
                 "USE_GLOBAL_FUNCTIONS",
                 "USE_DYNAMIC_FILTERS",
-                "USE_IMU_BNO055",
-                "USE_SECONDARY_IMU",
                 "USE_DSHOT",
                 "FLASH_SIZE 480",
                 "USE_I2C_IO_EXPANDER",

docs/development/Windows 11 - VS Code - WSL2 - Hardware Debugging.md

@@ -249,8 +249,6 @@ sudo udevadm control --reload-rules
                 "USE_RPM_FILTER",
                 "USE_GLOBAL_FUNCTIONS",
                 "USE_DYNAMIC_FILTERS",
-                "USE_IMU_BNO055",
-                "USE_SECONDARY_IMU",
                 "USE_DSHOT",
                 "FLASH_SIZE 480",
                 "USE_I2C_IO_EXPANDER",

src/main/CMakeLists.txt

@@ -92,8 +92,6 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_mpu6500.h
     drivers/accgyro/accgyro_mpu9250.c
     drivers/accgyro/accgyro_mpu9250.h
-    drivers/accgyro/accgyro_bno055_serial.c
-    drivers/accgyro/accgyro_bno055_serial.h
 
     drivers/adc.c
     drivers/adc.h
@@ -333,8 +331,6 @@ main_sources(COMMON_SRC
     flight/secondary_dynamic_gyro_notch.h
     flight/dynamic_lpf.c
     flight/dynamic_lpf.h
-    flight/secondary_imu.c
-    flight/secondary_imu.h
 
     io/beeper.c
     io/beeper.h

src/main/build/debug.h

@@ -66,7 +66,6 @@ typedef enum {
     DEBUG_PCF8574,
     DEBUG_DYNAMIC_GYRO_LPF,
     DEBUG_AUTOLEVEL,
-    DEBUG_IMU2,
     DEBUG_ALTITUDE,
     DEBUG_AUTOTRIM,
     DEBUG_AUTOTUNE,

src/main/config/parameter_group_ids.h

@@ -116,7 +116,7 @@
 #define PG_SAFE_HOME_CONFIG 1026
 #define PG_DJI_OSD_CONFIG 1027
 #define PG_PROGRAMMING_PID 1028
-#define PG_SECONDARY_IMU 1029
+#define PG_UNUSED_1 1029
 #define PG_POWER_LIMITS_CONFIG 1030
 #define PG_OSD_COMMON_CONFIG 1031
 #define PG_INAV_END 1031