Increase battery voltage resolution to 10mV

src/main/blackbox/blackbox.c

@@ -1362,12 +1362,12 @@ static bool blackboxWriteSysinfo(void)
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
-                blackboxPrintfHeaderLine("vbat_scale", "%u", batteryConfig()->vbatscale);
+                blackboxPrintfHeaderLine("vbat_scale", "%lu", batteryConfig()->vbatscale);
             } else {
                 xmitState.headerIndex += 2; // Skip the next two vbat fields too
             }
             );
-        BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u",           batteryConfig()->vbatmincellvoltage,
+        BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%lu,%lu,%lu",        batteryConfig()->vbatmincellvoltage,
                                                                             batteryConfig()->vbatwarningcellvoltage,
                                                                             batteryConfig()->vbatmaxcellvoltage);
         BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u",                         vbatReference);

src/main/fc/cli.c

@@ -2328,7 +2328,7 @@ static void cliStatus(char *cmdline)
     rtcGetDateTime(&dt);
     dateTimeFormatLocal(buf, &dt);
     cliPrintLinef("Current Time: %s", buf);
-    cliPrintLinef("Voltage: %d * 0.1V (%dS battery - %s)", vbat, batteryCellCount, getBatteryStateString());
+    cliPrintLinef("Voltage: %lu * 0.01V (%dS battery - %s)", vbat, batteryCellCount, getBatteryStateString());
     cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
 
 #if (FLASH_SIZE > 64)

src/main/fc/fc_msp.c

@@ -399,6 +399,53 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 
+    case MSP2_ANALOG:
+        sbufWriteU16(dst, vbat);
+        sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
+        sbufWriteU16(dst, rssi);
+        if (batteryConfig()->multiwiiCurrentMeterOutput) {
+            sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
+        } else
+            sbufWriteU16(dst, (int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
+        break;
+
+    case MSP2_MISC:
+        sbufWriteU16(dst, rxConfig()->midrc);
+
+        sbufWriteU16(dst, motorConfig()->minthrottle);
+        sbufWriteU16(dst, motorConfig()->maxthrottle);
+        sbufWriteU16(dst, motorConfig()->mincommand);
+
+        sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
+
+#ifdef USE_GPS
+        sbufWriteU8(dst, gpsConfig()->provider); // gps_type
+        sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
+        sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
+#else
+        sbufWriteU8(dst, 0); // gps_type
+        sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
+        sbufWriteU8(dst, 0); // gps_ubx_sbas
+#endif
+        sbufWriteU8(dst, batteryConfig()->multiwiiCurrentMeterOutput);
+        sbufWriteU8(dst, rxConfig()->rssi_channel);
+        sbufWriteU8(dst, 0);
+
+        sbufWriteU16(dst, compassConfig()->mag_declination / 10);
+
+        sbufWriteU16(dst, batteryConfig()->vbatscale);
+        sbufWriteU16(dst, batteryConfig()->vbatmincellvoltage);
+        sbufWriteU16(dst, batteryConfig()->vbatmaxcellvoltage);
+        sbufWriteU16(dst, batteryConfig()->vbatwarningcellvoltage);
+        break;
+
+    case MSP2_VOLTAGE_METER_CONFIG:
+        sbufWriteU16(dst, batteryConfig()->vbatscale);
+        sbufWriteU16(dst, batteryConfig()->vbatmincellvoltage);
+        sbufWriteU16(dst, batteryConfig()->vbatmaxcellvoltage);
+        sbufWriteU16(dst, batteryConfig()->vbatwarningcellvoltage);
+        break;
+
     case MSP_RAW_IMU:
         {
             // Hack scale due to choice of units for sensor data in multiwii
@@ -502,7 +549,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_ANALOG:
-        sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
+        sbufWriteU8(dst, (uint8_t)constrain(vbat / 10, 0, 255));
         sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
         sbufWriteU16(dst, rssi);
         if (batteryConfig()->multiwiiCurrentMeterOutput) {
@@ -608,10 +655,10 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
         sbufWriteU16(dst, compassConfig()->mag_declination / 10);
 
-        sbufWriteU8(dst, batteryConfig()->vbatscale);
-        sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
-        sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
-        sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
+        sbufWriteU8(dst, batteryConfig()->vbatscale / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage / 10);
         break;
 
     case MSP_MOTOR_PINS:
@@ -697,10 +744,10 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_VOLTAGE_METER_CONFIG:
-        sbufWriteU8(dst, batteryConfig()->vbatscale);
-        sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
-        sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
-        sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
+        sbufWriteU8(dst, batteryConfig()->vbatscale / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage / 10);
+        sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage / 10);
         break;
 
     case MSP_CURRENT_METER_CONFIG:
@@ -1394,10 +1441,46 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         sbufReadU16(src);
 #endif
 
-        batteryConfigMutable()->vbatscale = sbufReadU8(src);           // actual vbatscale as intended
-        batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src);  // vbatlevel_warn1 in MWC2.3 GUI
-        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src);  // vbatlevel_warn2 in MWC2.3 GUI
-        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src);  // vbatlevel when buzzer starts to alert
+        batteryConfigMutable()->vbatscale = sbufReadU8(src) * 10;           // actual vbatscale as intended
+        batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src) * 10;  // vbatlevel_warn1 in MWC2.3 GUI
+        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src) * 10;  // vbatlevel_warn2 in MWC2.3 GUI
+        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src) * 10;  // vbatlevel when buzzer starts to alert
+        break;
+
+    case MSP2_SET_MISC:
+        tmp = sbufReadU16(src);
+        if (tmp < 1600 && tmp > 1400)
+            rxConfigMutable()->midrc = tmp;
+
+        motorConfigMutable()->minthrottle = sbufReadU16(src);
+        motorConfigMutable()->maxthrottle = sbufReadU16(src);
+        motorConfigMutable()->mincommand = sbufReadU16(src);
+
+        failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
+
+#ifdef USE_GPS
+        gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
+        sbufReadU8(src); // gps_baudrate
+        gpsConfigMutable()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
+#else
+        sbufReadU8(src); // gps_type
+        sbufReadU8(src); // gps_baudrate
+        sbufReadU8(src); // gps_ubx_sbas
+#endif
+        batteryConfigMutable()->multiwiiCurrentMeterOutput = sbufReadU8(src);
+        rxConfigMutable()->rssi_channel = sbufReadU8(src);
+        sbufReadU8(src);
+
+#ifdef USE_MAG
+        compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
+#else
+        sbufReadU16(src);
+#endif
+
+        batteryConfigMutable()->vbatscale = sbufReadU16(src);           // actual vbatscale as intended
+        batteryConfigMutable()->vbatmincellvoltage = sbufReadU16(src);  // vbatlevel_warn1 in MWC2.3 GUI
+        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU16(src);  // vbatlevel_warn2 in MWC2.3 GUI
+        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU16(src);  // vbatlevel when buzzer starts to alert
         break;
 
     case MSP_SET_MOTOR:
@@ -1839,10 +1922,17 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP_SET_VOLTAGE_METER_CONFIG:
-        batteryConfigMutable()->vbatscale = sbufReadU8(src);           // actual vbatscale as intended
-        batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src);  // vbatlevel_warn1 in MWC2.3 GUI
-        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src);  // vbatlevel_warn2 in MWC2.3 GUI
-        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src);  // vbatlevel when buzzer starts to alert
+        batteryConfigMutable()->vbatscale = sbufReadU8(src) * 10;           // actual vbatscale as intended
+        batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src) * 10;  // vbatlevel_warn1 in MWC2.3 GUI
+        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src) * 10;  // vbatlevel_warn2 in MWC2.3 GUI
+        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src) * 10;  // vbatlevel when buzzer starts to alert
+        break;
+
+    case MSP2_SET_VOLTAGE_METER_CONFIG:
+        batteryConfigMutable()->vbatscale = sbufReadU16(src);           // actual vbatscale as intended
+        batteryConfigMutable()->vbatmincellvoltage = sbufReadU16(src);  // vbatlevel_warn1 in MWC2.3 GUI
+        batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU16(src);  // vbatlevel_warn2 in MWC2.3 GUI
+        batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU16(src);  // vbatlevel when buzzer starts to alert
         break;
 
     case MSP_SET_CURRENT_METER_CONFIG:

src/main/fc/settings.yaml

@@ -473,18 +473,18 @@ groups:
       - name: vbat_max_cell_voltage
         field: vbatmaxcellvoltage
         condition: USE_ADC
-        min: 10
-        max: 50
+        min: 100
+        max: 500
       - name: vbat_min_cell_voltage
         field: vbatmincellvoltage
         condition: USE_ADC
-        min: 10
-        max: 50
+        min: 100
+        max: 500
       - name: vbat_warning_cell_voltage
         field: vbatwarningcellvoltage
         condition: USE_ADC
-        min: 10
-        max: 50
+        min: 100
+        max: 500
       - name: current_meter_scale
         field: currentMeterScale
         min: -10000
@@ -1361,6 +1361,10 @@ groups:
         field: item_pos[OSD_MAIN_BATT_VOLTAGE]
         min: 0
         max: OSD_POS_MAX_CLI
+      - name: osd_main_voltage_decimals
+        field: main_voltage_decimals
+        min: 1
+        max: 2
       - name: osd_rssi_pos
         field: item_pos[OSD_RSSI_VALUE]
         min: 0

src/main/io/dashboard.c

@@ -357,7 +357,7 @@ static void showStatusPage(void)
 
     if (feature(FEATURE_VBAT)) {
         i2c_OLED_set_line(rowIndex++);
-        tfp_sprintf(lineBuffer, "V: %d.%1d ", vbat / 10, vbat % 10);
+        tfp_sprintf(lineBuffer, "V: %d.%1d ", vbat / 100, vbat % 100);
         padLineBufferToChar(12);
         i2c_OLED_send_string(lineBuffer);
 

src/main/io/osd.c

@@ -113,7 +113,7 @@ static timeUs_t flyTime = 0;
 
 typedef struct statistic_s {
     uint16_t max_speed;
-    int16_t min_voltage; // /10
+    uint16_t min_voltage; // /100
     int16_t max_current; // /10
     int16_t min_rssi;
     int32_t max_altitude;
@@ -821,9 +821,9 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_MAIN_BATT_VOLTAGE:
         osdFormatBatteryChargeSymbol(buff);
-        osdFormatCentiNumber(buff + 1, vbat * 10, 0, 1, 0, 3);
-        buff[4] = 'V';
-        buff[5] = '\0';
+        osdFormatCentiNumber(buff + 1, vbat, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2);
+        buff[osdConfig()->main_voltage_decimals + 3] = 'V';
+        buff[osdConfig()->main_voltage_decimals + 4] = '\0';
         osdUpdateBatteryTextAttributes(&elemAttr);
         break;
 
@@ -1248,7 +1248,7 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_POWER:
         {
             // TODO: SYM_WATTS?
-            tfp_sprintf(buff, "W%-3d", amperage * vbat / 1000);
+            tfp_sprintf(buff, "W%-3d", amperage * vbat / 10000);
             break;
         }
 
@@ -1360,9 +1360,9 @@ static bool osdDrawSingleElement(uint8_t item)
             // cells might yield more significant digits
             uint16_t cellBattCentiVolts = vbat * 10 / batteryCellCount;
             osdFormatBatteryChargeSymbol(buff);
-            osdFormatCentiNumber(buff + 1, cellBattCentiVolts, 0, 2, 0, 3);
-            buff[4] = 'V';
-            buff[5] = '\0';
+            osdFormatCentiNumber(buff + 1, cellBattCentiVolts, 0, osdConfig()->main_voltage_decimals, 0, 3);
+            buff[osdConfig()->main_voltage_decimals + 2] = 'V';
+            buff[osdConfig()->main_voltage_decimals + 3] = '\0';
             osdUpdateBatteryTextAttributes(&elemAttr);
             break;
         }
@@ -1571,6 +1571,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     osdConfig->sidebar_scroll_arrows = 0;
 
     osdConfig->units = OSD_UNIT_METRIC;
+    osdConfig->main_voltage_decimals = 1;
 }
 
 void osdInit(displayPort_t *osdDisplayPortToUse)
@@ -1608,7 +1609,7 @@ static void osdResetStats(void)
 {
     stats.max_current = 0;
     stats.max_speed = 0;
-    stats.min_voltage = 500;
+    stats.min_voltage = 5000;
     stats.max_current = 0;
     stats.min_rssi = 99;
     stats.max_altitude = 0;
@@ -1667,7 +1668,7 @@ static void osdShowStats(void)
     }
 
     displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY      :");
-    tfp_sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
+    tfp_sprintf(buff, "%d.%1dV", stats.min_voltage / 100, stats.min_voltage % 100);
     displayWrite(osdDisplayPort, statValuesX, top++, buff);
 
     displayWrite(osdDisplayPort, statNameX, top, "MIN RSSI         :");

src/main/io/osd.h

@@ -98,6 +98,7 @@ typedef struct osdConfig_s {
     uint8_t row_shiftdown;
 
     // Preferences
+    uint8_t main_voltage_decimals;
     uint8_t ahi_reverse_roll;
     osd_crosshairs_style_e crosshairs_style;
     osd_sidebar_scroll_e left_sidebar_scroll;

src/main/msp/msp_protocol_v2_inav.h

@@ -18,5 +18,10 @@
 // iNav specific IDs start from 0x2000
 // See https://github.com/iNavFlight/inav/wiki/MSP-V2#msp-v2-message-catalogue
 
-#define MSP2_INAV_STATUS            0x2000
-#define MSP2_INAV_OPTICAL_FLOW      0x2001
+#define MSP2_INAV_STATUS		0x2000
+#define MSP2_INAV_OPTICAL_FLOW		0x2001
+#define MSP2_ANALOG			0x2002
+#define MSP2_MISC			0x2003
+#define MSP2_SET_MISC			0x2004
+#define MSP2_VOLTAGE_METER_CONFIG	0x2005
+#define MSP2_SET_VOLTAGE_METER_CONFIG	0x2006

src/main/rx/eleres.c

@@ -294,7 +294,7 @@ static void telemetryRX(void)
         rfTxBuffer[0] = 0x54;
         rfTxBuffer[1] = localRssi;
         rfTxBuffer[2] = quality;
-        rfTxBuffer[3] = vbat;
+        rfTxBuffer[3] = vbat / 10;
         rfTxBuffer[4] = themp;
         rfTxBuffer[5] = curr & 0xff;
         rfTxBuffer[6] = pres>>8;

src/main/rx/jetiexbus.c

@@ -521,7 +521,7 @@ void handleJetiExBusTelemetry(void)
         }
 
         if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (calcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
-            jetiExSensors[EX_VOLTAGE].value = vbat;
+            jetiExSensors[EX_VOLTAGE].value = vbat / 10;
             jetiExSensors[EX_CURRENT].value = amperage;
             jetiExSensors[EX_ALTITUDE].value = baro.BaroAlt;
             jetiExSensors[EX_CAPACITY].value = mAhDrawn;

src/main/sensors/battery.c

@@ -65,9 +65,9 @@ PG_RESET_TEMPLATE(batteryConfig_t, batteryConfig,
         .vbatscale = VBAT_SCALE_DEFAULT,
         .vbatresdivval = VBAT_RESDIVVAL_DEFAULT,
         .vbatresdivmultiplier = VBAT_RESDIVMULTIPLIER_DEFAULT,
-        .vbatmaxcellvoltage = 43,
-        .vbatmincellvoltage = 33,
-        .vbatwarningcellvoltage = 35,
+        .vbatmaxcellvoltage = 430,
+        .vbatmincellvoltage = 330,
+        .vbatwarningcellvoltage = 350,
         .currentMeterOffset = 0,
         .currentMeterScale = CURRENT_METER_SCALE,
         .batteryCapacity = 0,
@@ -94,7 +94,7 @@ static void updateBatteryVoltage(uint32_t vbatTimeDelta)
 
 #define VBATTERY_STABLE_DELAY 40
 /* Batt Hysteresis of +/-100mV */
-#define VBATT_HYSTERESIS 1
+#define VBATT_HYSTERESIS 10
 
 void batteryUpdate(uint32_t vbatTimeDelta)
 {

src/main/sensors/battery.h

@@ -20,12 +20,12 @@
 #include "config/parameter_group.h"
 
 #ifndef VBAT_SCALE_DEFAULT
-#define VBAT_SCALE_DEFAULT 110
+#define VBAT_SCALE_DEFAULT 1100
 #endif
 #define VBAT_RESDIVVAL_DEFAULT 10
 #define VBAT_RESDIVMULTIPLIER_DEFAULT 1
 #define VBAT_SCALE_MIN 0
-#define VBAT_SCALE_MAX 255
+#define VBAT_SCALE_MAX 65535
 
 #ifndef CURRENT_METER_SCALE
 #define CURRENT_METER_SCALE 400 // for Allegro ACS758LCB-100U (40mV/A)
@@ -39,12 +39,12 @@ typedef enum {
 } currentSensor_e;
 
 typedef struct batteryConfig_s {
-    uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
+    uint16_t vbatscale;                      // adjust this to match battery voltage to reported value
     uint8_t vbatresdivval;                  // resistor divider R2 (default NAZE 10(K))
     uint8_t vbatresdivmultiplier;           // multiplier for scale (e.g. 2.5:1 ratio with multiplier of 4 can use '100' instead of '25' in ratio) to get better precision
-    uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
-    uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
-    uint8_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
+    uint16_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 430 (4.3V)
+    uint16_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.01V units, default is 330 (3.3V)
+    uint16_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.01V units, default is 350 (3.5V)
 
     int16_t currentMeterScale;             // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
     int16_t currentMeterOffset;            // offset of the current sensor in millivolt steps