Merge remote-tracking branch 'upstream/master'

docs/Telemetry.md

@@ -107,6 +107,9 @@ Use the latest Graupner firmware for your transmitter and receiver.
 
 Older HoTT transmitters required the EAM and GPS modules to be enabled in the telemetry menu of the transmitter. (e.g. on MX-20)
 
+You can connect HoTT-Telemetry in two ways:
+
+#### Old way: 
 Serial ports use two wires but HoTT uses a single wire so some electronics are required so that the signals don't get mixed up.  The TX  and RX pins of
 a serial port should be connected using a diode and a single wire to the `T` port on a HoTT receiver.
 
@@ -123,6 +126,11 @@ The diode should be arranged to allow the data signals to flow the right way
 
 1N4148 diodes have been tested and work with the GR-24.
  
+When using the diode disable `tlm_halfduplex`, go to CLI and type `set tlm_halfduplex = OFF`, don't forget a `save` afterwards.
+
+#### New way:
+You can use a single connection, connect HoTT RX/TX only to serial TX, leave serial RX open and make sure `tlm_halfduplex` is ON.
+
 As noticed by Skrebber the GR-12 (and probably GR-16/24, too) are based on a PIC 24FJ64GA-002, which has 5V tolerant digital pins.
 
 Note: The SoftSerial ports may not be 5V tolerant on your board.  Verify if you require a 5v/3.3v level shifters.

src/main/fc/config.c

@@ -213,16 +213,6 @@ static void validateAndFixConfig(void)
 
     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
         featureClear(FEATURE_RX_SERIAL | FEATURE_RX_MSP | FEATURE_RX_PPM | FEATURE_RX_SPI);
-#if defined(STM32F10X)
-        // rssi adc needs the same ports
-        featureClear(FEATURE_RSSI_ADC);
-        // current meter needs the same ports
-        if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
-            batteryConfigMutable()->currentMeterSource = CURRENT_METER_NONE;
-        }
-#endif // STM32F10X
-        // software serial needs free PWM ports
-        featureClear(FEATURE_SOFTSERIAL);
     }
 
 #ifdef USE_SOFTSPI

src/main/flight/gps_rescue.c

@@ -303,6 +303,11 @@ void idleTasks()
         return;
     }
 
+    // Don't update any rescue flight statistics if we haven't applied a proper altitude offset yet
+    if (!isAltitudeOffset()) {
+        return;
+    }
+
     gpsRescueAngle[AI_PITCH] = 0;
     gpsRescueAngle[AI_ROLL] = 0;
 

src/main/flight/position.c

@@ -44,12 +44,13 @@ static int32_t estimatedAltitude = 0;                // in cm
 
 
 #if defined(USE_BARO) || defined(USE_GPS)
+static bool altitudeOffsetSet = false;
+
 void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 {
     static timeUs_t previousTimeUs = 0;
     static int32_t baroAltOffset = 0;
     static int32_t gpsAltOffset = 0;
-    static bool altitudeOffsetSet = false;
 
     const uint32_t dTime = currentTimeUs - previousTimeUs;
     if (dTime < BARO_UPDATE_FREQUENCY_40HZ) {
@@ -109,8 +110,12 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
     DEBUG_SET(DEBUG_ALTITUDE, 1, baroAlt);
     DEBUG_SET(DEBUG_ALTITUDE, 2, gpsAlt);
 }
-#endif
 
+bool isAltitudeOffset(void)
+{
+    return altitudeOffsetSet;
+}
+#endif
 
 int32_t getEstimatedAltitude(void)
 {

src/main/flight/position.h

@@ -22,6 +22,7 @@
 
 #include "common/time.h"
 
+bool isAltitudeOffset(void);
 void calculateEstimatedAltitude(timeUs_t currentTimeUs);
 int32_t getEstimatedAltitude(void);
 int16_t getEstimatedVario(void);