From f09a71a76dd151f0f855871a621b74c08dde58a8 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris@th.id.au>
Date: Mon, 14 Oct 2024 12:12:06 +1100
Subject: [PATCH] allow user to fly without mag only if they reverse the
 default

---
 src/main/blackbox/blackbox.c  | 3 ++-
 src/main/cli/settings.c       | 3 ++-
 src/main/fc/core.c            | 3 ++-
 src/main/fc/parameter_names.h | 4 ++++
 src/main/flight/pos_hold.c    | 6 ++++++
 src/main/flight/pos_hold.h    | 1 +
 src/main/pg/pos_hold.c        | 2 +-
 src/main/pg/pos_hold.h        | 2 +-
 8 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index ca58d25e73..2c13a13db0 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -70,6 +70,7 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
+#include "flight/pos_hold.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 #include "flight/imu.h"
@@ -1818,7 +1819,7 @@ static bool blackboxWriteSysinfo(void)
 #endif
 
 #ifdef USE_POS_HOLD_MODE
-    // nothing at present
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
 #endif
 
 #ifdef USE_WING
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 458093a430..4c3fe09096 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -64,6 +64,7 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
+#include "flight/pos_hold.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
@@ -1113,7 +1114,7 @@ const clivalue_t valueTable[] = {
 #endif
 
 #ifdef USE_POS_HOLD_MODE
-    // nothing at present
+    { PARAM_NAME_POS_HOLD_WITHOUT_MAG,    VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
 #endif
 
 // PG_PID_CONFIG
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index ade5a4e52f..da6eab11f0 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1064,7 +1064,8 @@ void processRxModes(timeUs_t currentTimeUs)
         // and we have Acc for self-levelling
         && sensors(SENSOR_ACC)
         // and we have altitude data
-        // TO DO: handle No Mag data depending on user choice to proceed with or without mag
+        && sensors(SENSOR_MAG || allowPosHoldWithoutMag())
+        // Need Mag unless a BRAVE user tries it without
         && isAltitudeAvailable()
         // prevent activation until after takeoff
         && wasThrottleRaised()) {
diff --git a/src/main/fc/parameter_names.h b/src/main/fc/parameter_names.h
index 1821fcdbb9..04ad4edc3b 100644
--- a/src/main/fc/parameter_names.h
+++ b/src/main/fc/parameter_names.h
@@ -251,6 +251,10 @@
 #define PARAM_NAME_ALT_HOLD_ADJUST_RATE "alt_hold_adjust_rate"
 #endif // USE_ALT_HOLD_MODE
 
+#ifdef USE_POS_HOLD_MODE
+#define PARAM_NAME_POS_HOLD_WITHOUT_MAG "position_hold_without_mag"
+#endif // USE_POS_HOLD_MODE
+
 #define PARAM_NAME_IMU_DCM_KP "imu_dcm_kp"
 #define PARAM_NAME_IMU_DCM_KI "imu_dcm_ki"
 #define PARAM_NAME_IMU_SMALL_ANGLE "small_angle"
diff --git a/src/main/flight/pos_hold.c b/src/main/flight/pos_hold.c
index b94cd58e82..f48ded974e 100644
--- a/src/main/flight/pos_hold.c
+++ b/src/main/flight/pos_hold.c
@@ -104,4 +104,10 @@ bool showPosHoldWarning(void) {
     return (posHold.isPosHoldRequested && !posHold.posHoldIsOK);
 }
 
+bool allowPosHoldWithoutMag(void) {
+    return (posHoldConfig()->pos_hold_without_mag);
+}
+
+
+
 #endif // USE_POS_HOLD
diff --git a/src/main/flight/pos_hold.h b/src/main/flight/pos_hold.h
index 9945a9c4d1..dd62b60141 100644
--- a/src/main/flight/pos_hold.h
+++ b/src/main/flight/pos_hold.h
@@ -36,5 +36,6 @@ void posHoldInit(void);
 void updatePosHoldState(timeUs_t currentTimeUs);
 
 bool showPosHoldWarning(void);
+bool allowPosHoldWithoutMag(void);
 
 #endif
diff --git a/src/main/pg/pos_hold.c b/src/main/pg/pos_hold.c
index efc156656a..861833f4fe 100644
--- a/src/main/pg/pos_hold.c
+++ b/src/main/pg/pos_hold.c
@@ -32,6 +32,6 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 1);
 
 PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
-    .unused = 33,     // position hold within this percentage stick deflection
+    .pos_hold_without_mag = false,     // position hold within this percentage stick deflection
 );
 #endif
diff --git a/src/main/pg/pos_hold.h b/src/main/pg/pos_hold.h
index dac6a3c6de..65d49ae25b 100644
--- a/src/main/pg/pos_hold.h
+++ b/src/main/pg/pos_hold.h
@@ -25,7 +25,7 @@
 #include "pg/pg.h"
 
 typedef struct posHoldConfig_s {
-    uint8_t unused;
+    bool pos_hold_without_mag;
 } posHoldConfig_t;
 
 PG_DECLARE(posHoldConfig_t, posHoldConfig);