Based on feedback from KISS and BLHeli developers the maximum delay for a beacon command is 1020ms. Since there is some built-in delay in sendint the DSHOT beacon command 10 times leaving a little margin for error at 1.2 seconds.
GPS_RESCUE and subsequent changes increased gpsSol.llh.alt from 0.1m per lsb UNIT16 to 0.01m per lsb INT32.
The transfer of altitude data via MSP had to be corrected by factor 10 rescalings to be backwards compatible.
Before GPS_RESCUE it was decimeter (0.1m per lsb) from ublox but meter (1m per lsb) from NMEA, stored as unit16.
Now both protocols should deliver centimeters (0.01m per lsb), stored as int32 in order to cover negative and high altitudes too.
Since introduction of GSP_RESCUE the altitude (from ublox receivers) is logged in cm (0.01m per lsb as int32).
Before that is was scaled in decimeters (0.1m per lsb as uint16) from ublox receivers. But with NMEA protocol it was in meters per lsb.
This will be harmonized in another commit to cm (0.01m per lsb).
Uses the OSD_WARN element rather than a separate separate screen before arming. The "BEACON ON" message will appear for the first 0.5 seconds and then "AM IN x.y" will countdown for the remaining delay.
Also fixed OSD_WARN element blinking related to battery warnings to only blink the warning element if the battery warnings are actually configured.
Provides a clear indication that arming is delayed for cases where DSHOT beacon is active.
Clears the OSD and displays "DISABLING BEACON" and "ARMING IN X.Y" with an active countdown in tenths of a second while arming is delayed due to DSHOT beacon. Once delay period is over the normal "ARMING" message appears.
If the DSHOT beacon is not active then this delay screen is not displayed.
Fixes underflows at negative altitude (below MSL) and overflows at altitude higher than 655.35m
Corrected parenthesis in maths.h avoid incorrect equations if arguments contain expressions.
Tries to prevent DSHOT beacon commands from interfering with commands to set the motor direction.
Adds a 2 second delay after disarming before DSHOT beacon commands will be sent. This attempts to prevent the beacon commands from interfering with the motor direction reset that happens after using crash flip mode.
During arming if a DSHOT beacon command has been sent within 2 seconds the arming will be delayed until the 2 seconds have passed. This attempts to prevent interference with the motor direction commands sent at arming.
