Merge branch 'master' into RP2350

src/config

@@ -1 +1 @@
-Subproject commit 7db4179ef7159138deebf5f671373e7a46a8a162
+Subproject commit 17892ac1bd9bc74f77870c14a2da386a1c614dd3

src/main/flight/imu.c

@@ -625,7 +625,7 @@ static void updateGpsHeadingUsable(float groundspeedGain, float imuCourseError,
         gpsHeadingConfidence += fmaxf(groundspeedGain - fabsf(imuCourseError), 0.0f) * dt;
         // recenter at 2.5s time constant
         // TODO: intent is to match IMU time constant, approximately, but I don't exactly know how to do that
-        gpsHeadingConfidence -= 0.4 * dt * gpsHeadingConfidence; 
+        gpsHeadingConfidence -= 0.4f * dt * gpsHeadingConfidence;
         // if we accumulate enough 'points' over time, the IMU probably is OK
         // will need to reaccumulate after a disarm (will be retained partly for very brief disarms)
         canUseGPSHeading = gpsHeadingConfidence > 2.0f;

src/main/flight/mixer.c

@@ -219,7 +219,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             throttle = 0;
             currentThrottleInputRange = rcCommandThrottleRange3dHigh;
         }
-        if (currentTimeUs - reversalTimeUs < 250000) {
+        if (cmpTimeUs(currentTimeUs, reversalTimeUs) < 250000) {
             // keep iterm zero for 250ms after motor reversal
             pidResetIterm();
         }

src/main/msp/msp.c

@@ -343,16 +343,13 @@ static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessF
     }
 }
 
-// TODO: Remove the pragma once this is called from unconditional code
+MAYBE_UNUSED static void configRebootUpdateCheckU8(uint8_t *parm, uint8_t value)
-#pragma GCC diagnostic ignored "-Wunused-function"
-static void configRebootUpdateCheckU8(uint8_t *parm, uint8_t value)
 {
     if (*parm != value) {
         setRebootRequired();
     }
     *parm = value;
 }
-#pragma GCC diagnostic pop
 
 static void mspRebootFn(serialPort_t *serialPort)
 {

src/main/osd/osd.c

@@ -1243,7 +1243,7 @@ STATIC_UNIT_TESTED bool osdProcessStats1(timeUs_t currentTimeUs)
 
     if (ARMING_FLAG(ARMED)) {
         osdUpdateStats();
-        timeUs_t deltaT = currentTimeUs - lastTimeUs;
+        int deltaT = cmpTimeUs(currentTimeUs, lastTimeUs);
         osdFlyTime += deltaT;
         stats.armed_time += deltaT;
 #ifdef USE_LAUNCH_CONTROL

src/main/osd/osd_warnings.c

@@ -115,12 +115,10 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
 
 #ifdef USE_DSHOT
     if (isTryingToArm() && !ARMING_FLAG(ARMED)) {
-        int armingDelayTime = (getLastDshotBeaconCommandTimeUs() + DSHOT_BEACON_GUARD_DELAY_US - currentTimeUs) / 1e5;
+        const int beaconGuard = cmpTimeUs(currentTimeUs, getLastDshotBeaconCommandTimeUs());
-        if (armingDelayTime < 0) {
+        const int armingDelayTime = MAX(DSHOT_BEACON_GUARD_DELAY_US - beaconGuard, 0) / 100000;  // time remaining until BEACON_GUARD_DELAY, in tenths of second
-            armingDelayTime = 0;
+        if (beaconGuard < 500 * 1000) {   // first 0.5s since beacon
-        }
+            tfp_sprintf(warningText, " BEACON ON");
-        if (armingDelayTime >= (DSHOT_BEACON_GUARD_DELAY_US / 1e5 - 5)) {
-            tfp_sprintf(warningText, " BEACON ON"); // Display this message for the first 0.5 seconds
         } else {
             tfp_sprintf(warningText, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
         }

src/main/rx/rc_stats.c

@@ -44,7 +44,7 @@ int8_t previousThrottlePercent = 0;
 
 void rcStatsUpdate(timeUs_t currentTimeUs)
 {
-    uint32_t deltaT = currentTimeUs - previousTimeUs;
+    uint32_t deltaT = cmpTimeUs(currentTimeUs, previousTimeUs);
     previousTimeUs = currentTimeUs;
     const int8_t throttlePercent = calculateThrottlePercent();