PlatformIO

Author: qqqlab

extras/PlatformIO_madflight/platformio.ini

@@ -1,36 +1,38 @@
-; PlatformIO Project Configuration File
+;============================================================
+; madflight PlatformIO Project Configuration File
 ;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
+; Please visit documentation for options and examples
 ; https://docs.platformio.org/page/projectconf.html
-;
-;
-; MADFLIGHT NOTES
-; ===============
-;
-; For the latest madflight release version use
-; lib_deps = qqqlab/madflight
-;
-; For the latest madflight development version use
-; lib_deps = https://github.com/qqqlab/madflight.git
-;
-; For a particular madflight branch/tag use
-; lib_deps = https://github.com/qqqlab/madflight.git#v2.0.1
-;
-; RP2040/RP2350 is not merged into mainline PlatformIO, see 
-; https://arduino-pico.readthedocs.io/en/latest/platformio.html
-; on Windows you need to enable long path names, see above link for instructions
+;============================================================
+
+[env]
+; Include madflight library from PlatformIO Registry
+;lib_deps = qqqlab/madflight 
+
+; Other options to include the madflight library: (you might need to execute "Clean" or delete the .pio folder when you change lib_deps)
+
+; Latest madflight development version
+;lib_deps = https://github.com/qqqlab/madflight.git 
+
+; Particular madflight branch/tag
+;lib_deps = https://github.com/qqqlab/madflight.git#v2.1.0 
+
+; Folder on local drive
+;lib_deps = symlink://C:/path/to/lib/madflight
+
+; Copy from folder on local drive
+;lib_deps = file://C:/path/to/lib/madflight
+
+; Default monitor speed for madflight
+monitor_speed = 115200
 
 [platformio]
-default_envs = esp32s3
+; Optionally set the default env(s) to compile, instead of "all environments"
+;default_envs = esp32s3
 
-[env]
-lib_deps = qqqlab/madflight ; Include madflight library
-monitor_speed = 115200      ; Default monitor speed for madflight
+;============================================================
+; ESP32 TARGETS
+;============================================================
 
 [env:esp32]
 board = esp32dev
@@ -46,6 +48,13 @@ build_flags =
     -DARDUINO_USB_MODE=1
     -DARDUINO_USB_CDC_ON_BOOT=1
 
+;============================================================
+; RP2040/RP2350 TARGETS
+;============================================================
+; RP2040/RP2350 is not merged into mainline PlatformIO, see 
+; https://arduino-pico.readthedocs.io/en/latest/platformio.html
+; on Windows you need to enable long path names, see above link for instructions
+
 [env:rp2040]
 board = pico
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git
@@ -64,12 +73,14 @@ platform = https://github.com/maxgerhardt/platform-raspberrypi.git
 framework = arduino
 board_build.core = earlephilhower
 
+;============================================================
+; STM32 TARGETS
+;============================================================
+
 [env:stm32f411]
 board = blackpill_f411ce
 platform = ststm32
 framework = arduino
-
-[env:stm32h743]
-board = weact_mini_h743vitx
-platform = ststm32
-framework = arduino
+lib_deps = 
+    ${env.lib_deps}
+    stm32duino/STM32duino FreeRTOS

extras/PlatformIO_madflight/src/madflight_hello_world.cpp

@@ -9,6 +9,7 @@ See http://madflight.com for detailed description
 MIT license
 Copyright (c) 2023-2025 https://madflight.com
 ##########################################################################################################################*/
+
 #include <Arduino.h>
 
 #include "madflight_config.h" //Edit this header file to setup the pins, hardware, radio, etc. for madflight

src/nav/mathlib/math/Functions.hpp

@@ -258,14 +258,14 @@ const T lerp(const T &a, const T &b, const T &s)
 }
 
 template<typename T>
-constexpr T negate(T value)
+T negate(T value)
 {
 	static_assert(sizeof(T) > 2, "implement for T");
 	return -value;
 }
 
 template<>
-constexpr int16_t negate<int16_t>(int16_t value)
+int16_t negate<int16_t>(int16_t value)
 {
 	if (value == INT16_MAX) {
 		return INT16_MIN;

src/rcl/RclGizmoMavlink.h

@@ -90,6 +90,7 @@ class RclGizmoMavlink : public RclGizmo {
     typedef bool (RclGizmoMavlink::*sched_func_t)();
 
     struct telem_sched_t {
+      constexpr telem_sched_t(sched_func_t func, uint32_t interval_ms) : func(func), interval_ms(interval_ms), last_ms(0) {}
       sched_func_t func;
       uint32_t interval_ms;
       uint32_t last_ms = 0;