Merge pull request #310 from iNavFlight/development

v1.7.1

Author: teckel12

Diff for: .gitattributes

@@ -0,0 +1,4 @@
+*.luac -diff
+*.png -diff
+*.wav -diff
+dist/SCRIPTS/TELEMETRY/iNav.lua -diff

Diff for: .gitignore

@@ -3,4 +3,5 @@ dist/SCRIPTS/TELEMETRY/iNav/*.lua
 *.dat
 *.zip
 desktop.ini
-dist/THEMES/
+dist/THEMES/
+obj/

Diff for: README.md

@@ -1,4 +1,4 @@
-## INAV Lua Telemetry Flight Status for Taranis/Horus/Jumper T16 - v1.7.0
+## INAV Lua Telemetry Flight Status for Taranis/Horus/Jumper T16 - v1.7.1
 
 ### FrSky SmartPort(S.Port), D-series, F.Port & TBS Crossfire telemetry on Taranis, Horus & Jumper T16 transmitters
 
@@ -35,13 +35,13 @@
 ## Features
 
 * Works with all FrSky telemetry receivers (X, R9 and D series), all TBS Crossfire receivers, all FrSky Taranis and Horus transmitters, and the Jumper T16 transmitter
-* Compatible with Betaflight using FrSky X or R9 series receivers (with reduced functionality) and TBS Crossfire support with Betaflight >3.5.5
+* Compatible with Betaflight using FrSky X or R9 series receivers (with reduced functionality) and TBS Crossfire support with Betaflight 4.0.0+
 * Launch/pilot-based model orientation and location indicators (great for lost orientation/losing sight of your model)
 * Compass-based direction indicator (with magnetometer sensor on multirotor or fixed-wing with GPS)
 * Pilot (glass cockpit) view which includes attitude indicator as well as pilot-familiar layout of additional data
 * Radar (map) view shows model in relationship to home position, can be displayed either as launch/pilot-based or compass-based orientation
 * Altitude graph view shows altitude for the last 1-6 minutes
-* Horus and Jumper T16 transmitters show all views at the same time, and include additional features like roll indicator and uncaged pitch ladder
+* Horus and Jumper T16 transmitters show all views at the same time, and include additional features like roll scale
 * Bar gauges for Fuel (% battery mAh capacity remaining), Battery voltage, RSSI strength, Transmitter battery, GPS accuracy (HDOP), Variometer (and Altitude for X9D, X9D+ and X9E transmitters)
 * Display and voice alerts for flight modes and flight mode modifiers (altitude hold, heading hold, home reset, etc.)
 * Voice notifications for % battery remaining (based on current), voltage low/critical, high altitude, lost GPS, ready to arm, armed, disarmed, etc.
@@ -55,7 +55,7 @@
 
 ## Requirements
 
-* [OpenTX v2.2.2+](http://www.open-tx.org/) running on Taranis Q X7/Q X7S, X9D/X9D+, X9E, X-Lite, Horus X10/X10S or X12S (OpenTX v2.2.3+ is suggested)
+* [OpenTX v2.2.2+](http://www.open-tx.org/) running on Taranis Q X7/Q X7S, X9D/X9D+, X9E, X9 Lite, X-Lite/X-Lite Pro, Horus X10/X10S or X12S (OpenTX v2.2.3+ is suggested)
 * Jumper T16 requires [JumperTX 2.2.3+](https://www.jumper.xyz/jumpertx-t16) (May 23, 2019 or after release)
 * FrSky X, R9 or D series telemetry receiver: X4RSB, X8R, XSR, R-XSR, XSR-M, XSR-E, RX4R, RX6R, XM, XM+, R9, R9 Slim, R9 Slim+, R9 Mini, R9 MM, D8R-II plus, D8R-XP, D4R-II, etc. or any TBS Crossfire receiver: Micro, Nano, Diversity, etc.
 * [INAV v1.7.3+](https://github.com/iNavFlight/inav/releases) running on your flight controller (INAV v2.1.0+ is suggested for full functionality) - Also compatible with Betaflight (with reduced functionality)
@@ -90,6 +90,7 @@
 * [Download latest release](https://github.com/iNavFlight/LuaTelemetry/releases/latest)
 * [Installation Instructions](https://github.com/iNavFlight/LuaTelemetry/wiki/Installation)
 * [Upgrade Instructions](https://github.com/iNavFlight/LuaTelemetry/wiki/Upgrade)
+* [Download Options](https://github.com/iNavFlight/LuaTelemetry/wiki/Download-Options)
 
 ## Information & Settings
 

Diff for: assets/iNavConfigHorus.png

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+echo
+echo Compiling INAV Lua Telemetry...
+echo
+
+mkdir obj
+
+luac52 -s -o obj/main.luac dist/WIDGETS/iNav/main.lua
+luac52 -s -o obj/iNav.luac src/iNav.lua
+luac52 -s -o obj/alt.luac src/iNav/alt.lua
+luac52 -s -o obj/config.luac src/iNav/config.lua
+luac52 -s -o obj/crsf.luac src/iNav/crsf.lua
+luac52 -s -o obj/data.luac src/iNav/data.lua
+luac52 -s -o obj/func_h.luac src/iNav/func_h.lua
+luac52 -s -o obj/func_t.luac src/iNav/func_t.lua
+luac52 -s -o obj/horus.luac src/iNav/horus.lua
+luac52 -s -o obj/lang.luac src/iNav/lang.lua
+luac52 -s -o obj/lang_de.luac src/iNav/lang_de.lua
+luac52 -s -o obj/lang_es.luac src/iNav/lang_es.lua
+luac52 -s -o obj/lang_fr.luac src/iNav/lang_fr.lua
+luac52 -s -o obj/load.luac src/iNav/load.lua
+luac52 -s -o obj/menu.luac src/iNav/menu.lua
+luac52 -s -o obj/modes.luac src/iNav/modes.lua
+luac52 -s -o obj/other.luac src/iNav/other.lua
+luac52 -s -o obj/pilot.luac src/iNav/pilot.lua
+luac52 -s -o obj/radar.luac src/iNav/radar.lua
+luac52 -s -o obj/reset.luac src/iNav/reset.lua
+luac52 -s -o obj/view.luac src/iNav/view.lua
+
+rm -fR obj/
+
+echo
+echo Complete

Diff for: assets/iNavX9Dalt.png

@@ -24,6 +24,7 @@ end
 -- This function allow updates when you change widgets settings
 local function update(iNavZone, options)
 	iNavZone.options = options
+	return
 end
 
 -- Called periodically when custom telemetry screen containing widget is visible.

Diff for: build

@@ -1,5 +1,6 @@
 #!/bin/bash
 
+echo
 echo -n Packaging release files
 
 rm LuaTelemetry-Taranis-en.zip > /dev/null 2>&1
@@ -10,13 +11,13 @@ echo -n .
 
 cd dist
 
-zip -9 -q -r ../LuaTelemetry-Taranis-en.zip SCRIPTS/* -x *.lua -x *.dat -x */pics/* -x */de/* -x */es/* -x */fr/*
+zip -9 -q -r ../LuaTelemetry-Taranis-en.zip SCRIPTS/* -x *.lua -x *.dat -x */pics/* -x */horus.luac -x */func_h.luac -x */de/* -x */es/* -x */fr/* -x */lang*.luac
 echo -n .
-zip -9 -q -r ../LuaTelemetry-Taranis.zip SCRIPTS/* -x *.lua -x *.dat -x */pics/*
+zip -9 -q -r ../LuaTelemetry-Taranis.zip SCRIPTS/* -x *.lua -x *.dat -x */pics/* -x */horus.luac -x */func_h.luac
 echo -n .
-zip -9 -q -r ../LuaTelemetry-Horus-en.zip SCRIPTS/* WIDGETS/* -x *.lua -x *.dat -x */de/* -x */es/* -x */fr/*
+zip -9 -q -r ../LuaTelemetry-Horus-en.zip SCRIPTS/* WIDGETS/* -x *.lua -x *.dat -x */de/* -x */es/* -x */fr/* -x */lang*.luac -x */alt.luac -x */func_t.luac -x */pilot.luac -x */radar.luac -x */view.luac
 echo -n .
-zip -9 -q -r ../LuaTelemetry-Horus.zip SCRIPTS/* WIDGETS/* -x *.lua -x *.dat
+zip -9 -q -r ../LuaTelemetry-Horus.zip SCRIPTS/* WIDGETS/* -x *.lua -x *.dat -x */alt.luac -x */func_t.luac -x */pilot.luac -x */radar.luac -x */view.luac
 echo -n .
 zip -9 -q -r ../LuaTelemetry.zip SCRIPTS/* WIDGETS/* -x *.lua -x *.dat
 echo -n .

Diff for: dist/SCRIPTS/TELEMETRY/iNav.lua

@@ -3,29 +3,33 @@
 -- Docs: https://github.com/iNavFlight/LuaTelemetry
 
 local buildMode = ...
-local VERSION = "1.7.0"
+local VERSION = "1.7.1"
 local FILE_PATH = "/SCRIPTS/TELEMETRY/iNav/"
 local SMLCD = LCD_W < 212
 local HORUS = LCD_W >= 480
 local FLASH = HORUS and WARNING_COLOR or 3
 local tmp, view, lang
+local env = "bx"
 
--- Build with Companion
+-- Build with Companion and allow debugging
 local v, r, m, i, e = getVersion()
-if string.sub(r, -4) == "simu" and buildMode ~= false then
-	loadScript(FILE_PATH .. "build", "tx")(buildMode)
+if string.sub(r, -4) == "simu" then
+	env = "tx"
+	if buildMode ~= false then
+		loadScript(FILE_PATH .. "build", "tx")(buildMode)
+	end
 end
 
-local config = loadfile(FILE_PATH .. "config.luac")(SMLCD)
+local config = loadScript(FILE_PATH .. "config", env)(SMLCD)
 collectgarbage()
 
-local modes, units, labels = loadfile(FILE_PATH .. "modes.luac")()
+local modes, units, labels = loadScript(FILE_PATH .. "modes", env)()
 collectgarbage()
 
-local data, getTelemetryId, getTelemetryUnit, PREV, INCR, NEXT, DECR, MENU = loadfile(FILE_PATH .. "data.luac")(r, m, i, HORUS)
+local data, getTelemetryId, getTelemetryUnit, PREV, INCR, NEXT, DECR, MENU = loadScript(FILE_PATH .. "data", env)(r, m, i, HORUS)
 collectgarbage()
 
-loadfile(FILE_PATH .. "load.luac")(config, data, FILE_PATH)
+loadScript(FILE_PATH .. "load", env)(config, data, FILE_PATH)
 collectgarbage()
 
 --[[ Simulator language testing
@@ -34,15 +38,17 @@ data.voice = "es"
 ]]
 
 if data.lang ~= "en" or data.voice ~= "en" then
-	lang = loadfile(FILE_PATH .. "lang.luac")(modes, labels, data, FILE_PATH)
+	lang = loadScript(FILE_PATH .. "lang", env)(modes, labels, data, FILE_PATH, env)
 	collectgarbage()
 end
 
-loadfile(FILE_PATH .. "reset.luac")(data)
-local crsf = loadfile(FILE_PATH .. "other.luac")(config, data, units, getTelemetryId, getTelemetryUnit, FILE_PATH)
+loadScript(FILE_PATH .. "reset", env)(data)
+collectgarbage()
+
+local crsf, distCalc = loadScript(FILE_PATH .. "other", env)(config, data, units, getTelemetryId, getTelemetryUnit, FILE_PATH, env)
 collectgarbage()
 
-local title, gpsDegMin, hdopGraph, icons, widgetEvt = loadfile(FILE_PATH .. (HORUS and "func_h.luac" or "func_t.luac"))(config, data, FILE_PATH)
+local title, gpsDegMin, hdopGraph, icons, widgetEvt = loadScript(FILE_PATH .. (HORUS and "func_h" or "func_t"), env)(config, data, FILE_PATH)
 collectgarbage()
 
 local function playAudio(f, a)
@@ -51,24 +57,15 @@ local function playAudio(f, a)
 	end
 end
 
-local function calcTrig(gps1, gps2, deg)
-	local o1 = math.rad(gps1.lat)
-	local a1 = math.rad(gps1.lon)
-	local o2 = math.rad(gps2.lat)
-	local a2 = math.rad(gps2.lon)
-	if deg then
-		local x = (math.cos(o1) * math.sin(o2)) - (math.sin(o1) * math.cos(o2) * math.cos(a2 - a1))
-		local y = math.sin(a2 - a1) * math.cos(o2)
-		return math.deg(math.atan2(y, x))
-	else
-		--[[ Spherical-Earth math: More accurate but only at extreme distances
-		return math.acos(math.sin(o1) * math.sin(o2) + math.cos(o1) * math.cos(o2) * math.cos(a2 - a1)) * 6371009;
-		]]
-		-- Flat-Earth math
-		local x = (a2 - a1) * math.cos((o1 + o2) / 2)
-		local y = o2 - o1
-		return math.sqrt(x * x + y * y) * 6371009
-	end
+local function calcBearing(gps1, gps2)
+	--[[ Spherical-Earth math: More accurate if the Earth was a sphere, but obviously it's not
+	local x = (math.cos(o1) * math.sin(o2)) - (math.sin(o1) * math.cos(o2) * math.cos(a2 - a1))
+	local y = math.sin(a2 - a1) * math.cos(o2)
+	return math.deg(math.atan2(y, x))
+	]]
+	-- Flat-Earth math
+	local x = (gps2.lon - gps1.lon) * math.cos(math.rad(gps1.lat))
+	return math.deg(1.5708 - math.atan2(gps2.lat - gps1.lat, x))
 end
 
 local function calcDir(r1, r2, r3, x, y, r)
@@ -82,11 +79,11 @@ local function calcDir(r1, r2, r3, x, y, r)
 end
 
 local function background()
-	data.rssi = getValue(data.rssi_id)
+	data.rssi, data.rssiLow, data.rssiCrit = getRSSI()
 	if data.rssi > 0 then
 		data.telem = true
 		data.telemFlags = 0
-		data.rssiMin = getValue(data.rssiMin_id) > 0 and getValue(data.rssiMin_id) or data.rssiMin
+		data.rssiMin = math.min(data.rssiMin, data.rssi)
 		data.satellites = getValue(data.sat_id)
 		if data.showFuel then
 			data.fuel = getValue(data.fuel_id)
@@ -146,16 +143,8 @@ local function background()
 			if data.satellites > 1000 and gpsTemp.lat ~= 0 and gpsTemp.lon ~= 0 then
 				data.gpsFix = true
 				data.lastLock = gpsTemp
-				-- Calculate distance to home if sensor is missing or in simlulator
-				if data.gpsHome ~= false and (data.dist_id == -1 or data.simu) then
-					data.distance = calcTrig(data.gpsHome, data.gpsLatLon, false)
-					data.distanceMax = math.max(data.distMaxCalc, data.distance)
-					data.distMaxCalc = data.distanceMax
-					-- If distance is in feet, convert
-					if data.dist_unit == 10 then
-						data.distance = math.floor(data.distance * 3.28084 + 0.5)
-						data.distanceMax = data.distanceMax * 3.28084
-					end
+				if data.gpsHome ~= false and distCalc ~= nil then
+					distCalc(data)
 				end
 			end
 		end
@@ -230,6 +219,7 @@ local function background()
 		data.showMax = false
 		data.showDir = config[32].v == 1 and true or false
 		data.configStatus = 0
+		data.configSelect = 0
 		if not data.gpsAltBase and data.gpsFix then
 			data.gpsAltBase = data.gpsAlt
 		end
@@ -381,7 +371,7 @@ local function background()
 		-- Initalize variables on flight reset (uses timer3)
 		tmp = model.getTimer(2)
 		if tmp.value == 0 then
-			loadfile(FILE_PATH .. "reset.luac")(data)
+			loadScript(FILE_PATH .. "reset", env)(data)
 			tmp.value = 3600
 			model.setTimer(2, tmp)
 		end
@@ -431,19 +421,20 @@ local function run(event)
 	end
 
 	-- Display error if Horus widget isn't full screen
-	if data.widget then
-		if (iNavZone.zone.w < 450 or iNavZone.zone.h < 250) and data.msg ~= false then
-			lcd.drawText(iNavZone.zone.x + 14, iNavZone.zone.y + 16, data.msg, SMLSIZE + WARNING_COLOR)
-			data.startupTime = math.huge -- Never timeout
-			return 0
-		end
-		event = data.armed and 0 or widgetEvt(data)
+	if data.widget and data.msg ~= false and (iNavZone.zone.w < 450 or iNavZone.zone.h < 250) then
+		lcd.drawText(iNavZone.zone.x + 14, iNavZone.zone.y + 16, data.msg, SMLSIZE + WARNING_COLOR)
+		data.startupTime = math.huge -- Never timeout
+		return 0
 	end
 
 	-- Clear screen
 	if HORUS then
 		lcd.setColor(CUSTOM_COLOR, 264) --lcd.RGB(0, 32, 65)
 		lcd.clear(CUSTOM_COLOR)
+		-- On Horus use sticks to control the menu
+		if event == 0 or event == nil then
+			event = widgetEvt(data)
+		end
 	else
 		lcd.clear()
 	end
@@ -459,7 +450,7 @@ local function run(event)
 		if data.v ~= 9 then
 			view = nil
 			collectgarbage()
-			view = loadfile(FILE_PATH .. "menu.luac")()
+			view = loadScript(FILE_PATH .. "menu", env)()
 			data.v = 9
 		end
 		tmp = config[30].v
@@ -472,6 +463,10 @@ local function run(event)
 			if data.configStatus == 27 and data.configSelect ~= 0 then
 				icons.sym(icons.fg)
 			end
+			-- Return throttle stick to bottom center
+			if data.stickMsg ~= nil and not data.armed then
+				icons.alert()
+			end
 		end
 	else
 		-- User input
@@ -494,10 +489,10 @@ local function run(event)
 		if data.v ~= config[25].v then
 			view = nil
 			collectgarbage()
-			view = loadfile(FILE_PATH .. (HORUS and "horus.luac" or (config[25].v == 0 and "view.luac" or (config[25].v == 1 and "pilot.luac" or (config[25].v == 2 and "radar.luac" or "alt.luac")))))()
+			view = loadScript(FILE_PATH .. (HORUS and "horus" or (config[25].v == 0 and "view" or (config[25].v == 1 and "pilot" or (config[25].v == 2 and "radar" or "alt")))), env)()
 			data.v = config[25].v
 		end
-		view(data, config, modes, units, labels, gpsDegMin, hdopGraph, icons, calcTrig, calcDir, VERSION, SMLCD, FLASH, FILE_PATH)
+		view(data, config, modes, units, labels, gpsDegMin, hdopGraph, icons, calcBearing, calcDir, VERSION, SMLCD, FLASH, FILE_PATH)
 	end
 	collectgarbage()
 

Diff for: dist/SCRIPTS/TELEMETRY/iNav.luac

@@ -1,4 +1,4 @@
-local function view(data, config, modes, units, labels, gpsDegMin, hdopGraph, icons, calcTrig, calcDir, VERSION, SMLCD, FLASH, FILE_PATH)
+local function view(data, config, modes, units, labels, gpsDegMin, hdopGraph, icons, calcBearing, calcDir, VERSION, SMLCD, FLASH, FILE_PATH)
 
 	local LEFT_DIV = 36
 	local LEFT_POS = SMLCD and LEFT_DIV or 73
@@ -61,15 +61,15 @@ local function view(data, config, modes, units, labels, gpsDegMin, hdopGraph, ic
 		-- Altitude graph
 		local BOTTOM = SMLCD and 47 or 63
 		tmp = (SMLCD and 30 or 40) / (data.altMax - data.altMin)
-		lcd.drawLine(RIGHT_POS - 60, BOTTOM,  RIGHT_POS - 1, BOTTOM, SOLID, FORCE)
+		lcd.drawLine(RIGHT_POS - 60, BOTTOM,  RIGHT_POS - 1, BOTTOM, SOLID, SMLCD and FORCE or GREY_DEFAULT + FORCE)
 		for i = 1, 60 do
 			local cx = RIGHT_POS - 61 + i
 			local cy = math.floor(BOTTOM - (data.alt[((data.altCur - 2 + i) % 60) + 1] - data.altMin) * tmp)
 			if cy < BOTTOM then
-				lcd.drawLine(cx, cy, cx, BOTTOM - 1, SOLID, FORCE)
+				lcd.drawLine(cx, cy, cx, BOTTOM - 1, SOLID, SMLCD and FORCE or GREY_DEFAULT + FORCE)
 			end
 			if (i ~= 1 or not SMLCD) and (i - 1) % (60 / config[28].v) == 0 then
-				lcd.drawLine(cx, BOTTOM - (SMLCD and 30 or 40), cx, BOTTOM, DOTTED, SMLCD and 0 or GREY_DEFAULT)
+				lcd.drawLine(cx, BOTTOM - (SMLCD and 30 or 40), cx, BOTTOM, DOTTED, 0)
 			end
 		end
 		if data.altMin < -1 then
@@ -82,7 +82,7 @@ local function view(data, config, modes, units, labels, gpsDegMin, hdopGraph, ic
 
 		-- Orientation
 		if not SMLCD and data.telem then
-			if data.showDir or data.headingRef < 0 then
+			if data.showDir or data.headingRef == -1 then
 				lcd.drawText(LEFT_POS + 12, 29, "N", SMLSIZE)
 				lcd.drawText(LEFT_POS + 25 - (data.heading < 100 and 3 or 0) - (data.heading < 10 and 3 or 0), 57, math.floor(data.heading + 0.5) % 360 .. "\64", SMLSIZE + RIGHT + data.telemFlags)
 				tmp = data.heading
@@ -150,14 +150,14 @@ local function view(data, config, modes, units, labels, gpsDegMin, hdopGraph, ic
 	lcd.drawLine(LEFT_DIV, 8, LEFT_DIV, 63, SOLID, FORCE)
 	tmp = (not data.telem or data.cell < config[3].v or (data.showFuel and config[23].v == 0 and data.fuel <= config[17].v)) and FLASH or 0
 	if data.showFuel then
-		if config[23].v == 0 then
+		if config[23].v > 0 or (data.crsf and data.showMax) then
+			lcd.drawText(LEFT_DIV, data.showCurr and 8 or 10, (data.crsf and data.fuelRaw or data.fuel), MIDSIZE + RIGHT + tmp)
+			lcd.drawText(LEFT_DIV, data.showCurr and 20 or 23, data.fUnit[data.crsf and 1 or config[23].v], SMLSIZE + RIGHT + tmp)
+		else
 			lcd.drawText(LEFT_DIV - 5, data.showCurr and 8 or 12, data.fuel, DBLSIZE + RIGHT + tmp)
 			lcd.drawText(LEFT_DIV, data.showCurr and 17 or 21, "%", SMLSIZE + RIGHT + tmp)
-		else
-			lcd.drawText(LEFT_DIV, data.showCurr and 8 or 10, data.fuel, MIDSIZE + RIGHT + tmp)
-			lcd.drawText(LEFT_DIV, data.showCurr and 20 or 23, data.fUnit[config[23].v], SMLSIZE + RIGHT + tmp)
 		end
-	end
+end
 	lcd.drawText(LEFT_DIV - 5, data.showCurr and 25 or 32, string.format(config[1].v == 0 and "%.2f" or "%.1f", config[1].v == 0 and (data.showMax and data.cellMin or data.cell) or (data.showMax and data.battMin or data.batt)), DBLSIZE + RIGHT + tmp)
 	lcd.drawText(LEFT_DIV, data.showCurr and 34 or 41, "V", SMLSIZE + RIGHT + tmp)
 	if data.showCurr then