Sync with master

js/fc.js

@@ -29,6 +29,7 @@ var CONFIG,
     MOTOR_DATA,
     SERVO_DATA,
     GPS_DATA,
+    ADSB_VEHICLES,
     MISSION_PLANNER,
     ANALOG,
     ARMING_CONFIG,
@@ -252,6 +253,12 @@ var FC = {
             packetCount: 0
         };
         
+        DSB_VEHICLES = {
+            vehiclesCount: 0,
+            callsignLength: 0,
+            vehicles: []
+        };
+
         MISSION_PLANNER = new WaypointCollection();
 
         ANALOG = {
@@ -1238,6 +1245,12 @@ var FC = {
                 hasOperand: [true, false],
                 output: "raw"
             },
+            54: {
+                name: "Mag calibration",
+                operandType: "Set Flight Parameter",
+                hasOperand: [false, false],
+                output: "boolean"
+            },
         }
     },
     getOperandTypes: function () {

js/msp/MSPCodes.js

@@ -245,5 +245,7 @@ var MSPCodes = {
     MSP2_INAV_EZ_TUNE:                  0x2070,
     MSP2_INAV_EZ_TUNE_SET:              0x2071,
 
-    MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080
+    MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080,
+
+    MSP2_ADSB_VEHICLE_LIST:             0x2090,
 };

js/msp/MSPHelper.js

@@ -189,6 +189,34 @@ var mspHelper = (function (gui) {
                 GPS_DATA.eph = data.getUint16(16, true);
                 GPS_DATA.epv = data.getUint16(18, true);
                 break;
+            case MSPCodes.MSP2_ADSB_VEHICLE_LIST:
+                var byteOffsetCounter = 0;
+                ADSB_VEHICLES.vehicles = [];
+                ADSB_VEHICLES.vehiclesCount = data.getUint8(byteOffsetCounter++);
+                ADSB_VEHICLES.callsignLength = data.getUint8(byteOffsetCounter++);
+
+                for(i = 0; i < ADSB_VEHICLES.vehiclesCount; i++){
+
+                    var vehicle = {callSignByteArray: [], callsign: "", icao: 0, lat: 0, lon: 0, alt: 0, heading: 0, ttl: 0, tslc: 0, emitterType: 0};
+
+                    for(ii = 0; ii < ADSB_VEHICLES.callsignLength; ii++){
+                        vehicle.callSignByteArray.push(data.getUint8(byteOffsetCounter++));
+                    }
+
+                    vehicle.callsign = (String.fromCharCode(...vehicle.callSignByteArray)).replace(/[^\x20-\x7E]/g, '');
+                    vehicle.icao = data.getUint32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.lat = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.lon = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.altCM = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.headingDegrees = data.getUint16(byteOffsetCounter, true); byteOffsetCounter += 2;
+                    vehicle.tslc = data.getUint8(byteOffsetCounter++);
+                    vehicle.emitterType = data.getUint8(byteOffsetCounter++);
+                    vehicle.ttl = data.getUint8(byteOffsetCounter++);
+
+                    ADSB_VEHICLES.vehicles.push(vehicle);
+                }
+                break;
+                
             case MSPCodes.MSP_ATTITUDE:
                 SENSOR_DATA.kinematics[0] = data.getInt16(0, true) / 10.0; // x
                 SENSOR_DATA.kinematics[1] = data.getInt16(2, true) / 10.0; // y

js/port_handler.js

@@ -24,7 +24,16 @@ PortHandler.initialize = function () {
 PortHandler.check = function () {
     var self = this;
 
-    ConnectionSerial.getDevices(function(current_ports) {
+    ConnectionSerial.getDevices(function(all_ports) {
+
+        // filter out ports that are not serial
+        let current_ports = [];
+        for (var i = 0; i < all_ports.length; i++) {
+            if (all_ports[i].indexOf(':') === -1) {
+                current_ports.push(all_ports[i]);
+            }
+        }
+        
         // port got removed or initial_ports wasn't initialized yet
         if (self.array_difference(self.initial_ports, current_ports).length > 0 || !self.initial_ports) {
             var removed_ports = self.array_difference(self.initial_ports, current_ports);

tabs/advanced_tuning.html

@@ -155,7 +155,11 @@
                             <label for="maxBankAngle"><span data-i18n="maxBankAngle"></span></label>
                             <div for="maxBankAngle" class="helpicon cf_tip" data-i18n_title="maxBankAngleHelp"></div>
                         </div>
-
+                        <div class="number">
+                            <input type="number" id="navManualClimbRate" data-unit="v-cms" data-setting="nav_fw_manual_climb_rate" data-setting-multiplier="1" step="1" min="10" max="2000" />
+                            <label for="navManualClimbRate"><span data-i18n="navManualClimbRate"></span></label>
+                            <div for="navManualClimbRate" class="helpicon cf_tip" data-i18n_title="navManualClimbRateHelp"></div>
+                        </div>
                         <div class="number">
                             <input id="maxClimbAngle" type="number" data-unit="deg" data-setting="nav_fw_climb_angle" data-setting-multiplier="1" step="1" min="5" max="80" />
                             <label for="maxClimbAngle"><span data-i18n="maxClimbAngle"></span></label>
@@ -238,6 +242,16 @@
                             <label for="max-manual-speed"><span data-i18n="posholdMaxManualSpeed"></span></label>
                             <div for="max-manual-speed" class="helpicon cf_tip" data-i18n_title="posholdMaxManualSpeedHelp"></div>
                         </div>
+                        <div class="number">
+                            <input type="number" id="navAutoClimbRate" data-unit="v-cms" data-setting="nav_mc_auto_climb_rate" data-setting-multiplier="1" step="1" min="10" max="2000" />
+                            <label for="navAutoClimbRate"><span data-i18n="navAutoClimbRate"></span></label>
+                            <div for="navAutoClimbRate" class="helpicon cf_tip" data-i18n_title="navAutoClimbRateHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input type="number" id="navManualClimbRate" data-unit="v-cms" data-setting="nav_mc_manual_climb_rate" data-setting-multiplier="1" step="1" min="10" max="2000" />
+                            <label for="navManualClimbRate"><span data-i18n="navManualClimbRate"></span></label>
+                            <div for="navManualClimbRate" class="helpicon cf_tip" data-i18n_title="navManualClimbRateHelp"></div>
+                        </div>
                         <div class="number">
                             <input id="max-bank-angle" type="number" data-unit="deg" data-setting="nav_mc_bank_angle" data-setting-multiplier="1" step="1" min="15" max="45" />
                             <label for="max-bank-angle"><span data-i18n="posholdMaxBankAngle"></span></label>
@@ -465,17 +479,6 @@
                         <div class="spacer_box_title" data-i18n="generalNavigationSettings"></div>
                     </div>
                     <div class="spacer_box">
-                        <div class="number">
-                            <input type="number" id="navManualClimbRate" data-unit="v-cms" data-setting="nav_manual_climb_rate" data-setting-multiplier="1" step="1" min="10" max="2000" />
-                            <label for="navManualClimbRate"><span data-i18n="navManualClimbRate"></span></label>
-                            <div for="navManualClimbRate" class="helpicon cf_tip" data-i18n_title="navManualClimbRateHelp"></div>
-                        </div>
-
-                        <div class="number">
-                            <input type="number" id="navAutoClimbRate" data-unit="v-cms" data-setting="nav_auto_climb_rate" data-setting-multiplier="1" step="1" min="10" max="2000" />
-                            <label for="navAutoClimbRate"><span data-i18n="navAutoClimbRate"></span></label>
-                            <div for="navAutoClimbRate" class="helpicon cf_tip" data-i18n_title="navAutoClimbRateHelp"></div>
-                        </div>
 
                         <div class="number">
                             <input type="number" id="navMaxAltitude" data-unit="cm" data-setting="nav_max_altitude" data-setting-multiplier="1" step="1" min="0" max="65000" />

tabs/gps.js

@@ -8,6 +8,30 @@ TABS.gps.initialize = function (callback) {
         GUI.active_tab = 'gps';
     }
 
+    // mavlink ADSB_EMITTER_TYPE
+    const ADSB_VEHICLE_TYPE = {
+        0: 'adsb_14.png', // ADSB_EMITTER_TYPE_NO_INFO
+        1: 'adsb_1.png', // ADSB_EMITTER_TYPE_LIGHT
+        2: 'adsb_1.png', // ADSB_EMITTER_TYPE_SMALL
+        3: 'adsb_2.png', // ADSB_EMITTER_TYPE_LARGE
+        4: 'adsb_14.png', // ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
+        5: 'adsb_5.png', // ADSB_EMITTER_TYPE_HEAVY
+        6: 'adsb_14.png', // ADSB_EMITTER_TYPE_HIGHLY_MANUV
+        7: 'adsb_13.png', // ADSB_EMITTER_TYPE_ROTOCRAFT
+        8: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSIGNED
+        9: 'adsb_6.png', // ADSB_EMITTER_TYPE_GLIDER
+        10: 'adsb_7.png', // ADSB_EMITTER_TYPE_LIGHTER_AIR
+        11: 'adsb_15.png', // ADSB_EMITTER_TYPE_PARACHUTE
+        12: 'adsb_1.png', // ADSB_EMITTER_TYPE_ULTRA_LIGHT
+        13: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSIGNED2
+        14: 'adsb_8.png', // ADSB_EMITTER_TYPE_UAV
+        15: 'adsb_14.png', // ADSB_EMITTER_TYPE_SPACE
+        16: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSGINED3
+        17: 'adsb_9.png', // ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
+        18: 'adsb_10.png', // ADSB_EMITTER_TYPE_SERVICE_SURFACE
+        19: 'adsb_12.png', // ADSB_EMITTER_TYPE_POINT_OBSTACLE
+    };
+
     var loadChainer = new MSPChainerClass();
 
     var loadChain = [
@@ -57,6 +81,9 @@ TABS.gps.initialize = function (callback) {
     let iconGeometry;
     let iconFeature;
 
+    let vehicleVectorSource;
+    let vehiclesCursorInitialized = false;
+
     function process_html() {
        localization.localize();;
 
@@ -130,6 +157,36 @@ TABS.gps.initialize = function (callback) {
             view: mapView
         });
 
+        TABS.gps.toolboxAdsbVehicle = new jBox('Mouse', {
+            position: {
+                x: "right",
+                y: "bottom"
+            },
+            offset: {
+                x: -5,
+                y: 20,
+            },
+        });
+
+        mapHandler.on('pointermove', function(evt) {
+            var feature = mapHandler.forEachFeatureAtPixel(mapHandler.getEventPixel(evt.originalEvent), function(feature, layer) {
+                return feature;
+            });
+
+            if (feature) {
+                TABS.gps.toolboxAdsbVehicle.setContent(
+                    `icao: <strong>` + feature.get('name') + `</strong><br />`
+                    + `lat: <strong>`+ (feature.get('data').lat / 10000000) + `</strong><br />`
+                    + `lon: <strong>`+ (feature.get('data').lon / 10000000) + `</strong><br />`
+                    + `ASL: <strong>`+ (feature.get('data').altCM ) / 100 + `m</strong><br />`
+                    + `heading: <strong>`+ feature.get('data').headingDegrees + `°</strong><br />`
+                    + `type: <strong>`+ feature.get('data').emitterType + `</strong>`
+                ).open();
+            }else{
+                TABS.gps.toolboxAdsbVehicle.close();
+            }
+        });
+
         let center = ol.proj.fromLonLat([0, 0]);
         mapView.setCenter(center);
         mapView.setZoom(2);
@@ -220,6 +277,65 @@ TABS.gps.initialize = function (callback) {
                 iconGeometry.setCoordinates(center);
 
             }
+
+            if (semver.gte(CONFIG.flightControllerVersion, "7.1.0")) {
+                MSP.send_message(MSPCodes.MSP2_ADSB_VEHICLE_LIST, false, false, function () {
+                    //ADSB vehicles
+
+                    if (vehiclesCursorInitialized) {
+                        vehicleVectorSource.clear();
+                    }
+
+                    for (let key in ADSB_VEHICLES.vehicles) {
+                        let vehicle = ADSB_VEHICLES.vehicles[key];
+
+                        if (!vehiclesCursorInitialized) {
+                            vehiclesCursorInitialized = true;
+
+                            vehicleVectorSource = new ol.source.Vector({});
+
+                            let vehicleLayer = new ol.layer.Vector({
+                                source: vehicleVectorSource
+                            });
+
+                            mapHandler.addLayer(vehicleLayer);
+                        }
+
+                        if (vehicle.lat > 0 && vehicle.lon > 0 && vehicle.ttl > 0) {
+                            let vehicleIconStyle = new ol.style.Style({
+                                image: new ol.style.Icon(({
+                                    opacity: 1,
+                                    rotation: vehicle.headingDegrees * (Math.PI / 180),
+                                    scale: 0.8,
+                                    anchor: [0.5, 0.5],
+                                    src: '../resources/adsb/' + ADSB_VEHICLE_TYPE[vehicle.emitterType],
+                                })),
+                                text: new ol.style.Text(({
+                                    text: vehicle.callsign,
+                                    textAlign: 'center',
+                                    textBaseline: "bottom",
+                                    offsetY: +40,
+                                    padding: [2, 2, 2, 2],
+                                    backgroundFill: '#444444',
+                                    fill: new ol.style.Fill({color: '#ffffff'}),
+                                })),
+                            });
+
+
+                            let iconGeometry = new ol.geom.Point(ol.proj.fromLonLat([vehicle.lon / 10000000, vehicle.lat / 10000000]));
+                            let iconFeature = new ol.Feature({
+                                geometry: iconGeometry,
+                                name: vehicle.callsign,
+                                type: 'adsb',
+                                data: vehicle,
+                            });
+
+                            iconFeature.setStyle(vehicleIconStyle);
+                            vehicleVectorSource.addFeature(iconFeature);
+                        }
+                    }
+                });
+            }
         }
 
         /*
@@ -256,4 +372,7 @@ TABS.gps.initialize = function (callback) {
 
 TABS.gps.cleanup = function (callback) {
     if (callback) callback();
+    if (TABS.gps.toolboxAdsbVehicle){
+        TABS.gps.toolboxAdsbVehicle.close();
+    }
 };

tabs/mission_control.html

@@ -166,7 +166,7 @@
                         </div>
                     </div>
                     <div class="point" id="elevationEarthModelclass" style="display: none">
-                        <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionLevelEarthDEMModel"></label>
+                        <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionEllipsoidEarthDEMModel"></label>
                         <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" required>
                     </div>
                 </div>

tabs/mission_control.js

@@ -80,11 +80,6 @@ TABS.mission_control.initialize = function (callback) {
     let isOffline = false;
     let rthUpdateInterval = 0;
 
-    var $safehomesTable;
-    var $safehomesTableBody;
-    var $waypointOptionsTable;
-    var $waypointOptionsTableBody;
-
     if (GUI.active_tab != 'mission_control') {
         GUI.active_tab = 'mission_control';
     }
@@ -105,7 +100,7 @@ TABS.mission_control.initialize = function (callback) {
     }
 
     function loadHtml() {
-        GUI.load(path.join(__dirname, "tabs/mission_control.html"), process_html);
+        GUI.load("tabs/mission_control.html", process_html);
     }
 
     function process_html() {
@@ -368,24 +363,15 @@ TABS.mission_control.initialize = function (callback) {
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init parameters for default Settings
     //////////////////////////////////////////////////////////////////////////////////////////////
-    var vMaxDistSH = 0;
+    var settings = {speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : 0, bingDemModel : false};
-    var settings = {};
+
     if (CONFIGURATOR.connectionValid) {
         mspHelper.getSetting("safehome_max_distance").then(function (s) {
             if (s) {
-                vMaxDistSH = Number(s.value)/100;
+                settings.maxDistSH = Number(s.value)/100;
-                settings = { speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : vMaxDistSH};
-            }
-            else {
-                vMaxDistSH = 0;
-                settings = { speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : vMaxDistSH};
             }
         });
     }
-    else {
-        vMaxDistSH = 0;
-        settings = { speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : vMaxDistSH};
-    }
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init Waypoints parameters
@@ -683,6 +669,7 @@ TABS.mission_control.initialize = function (callback) {
 
         if (globalSettings.mapProviderType == 'bing') {
             $('#elevationEarthModelclass').fadeIn(300);
+            changeSwitchery($('#elevationEarthModel'), settings.bingDemModel);
         } else {
             $('#elevationEarthModelclass').fadeOut(300);
         }
@@ -1367,7 +1354,7 @@ TABS.mission_control.initialize = function (callback) {
 
         });
         GUI.switchery();
-       localization.localize();;
+        localization.localize();;
         return waypoint;
     }
 
@@ -2129,22 +2116,30 @@ TABS.mission_control.initialize = function (callback) {
                     const elevationAtWP = await selectedMarker.getElevation(globalSettings);
                     $('#elevationValueAtWP').text(elevationAtWP);
                     var altitude = Number($('#pointAlt').val());
+
                     if (P3Value != selectedMarker.getP3()) {
                         selectedMarker.setP3(P3Value);
 
+                        let groundClearance = 100 * Number($('#groundClearanceValueAtWP').text());
+                        if (isNaN(groundClearance)) {
+                            groundClearance = settings.alt; // use default altitude if no current ground clearance
+                        }
+
                         if ($('#pointP3Alt').prop("checked")) {
-                            if (altitude < 0) {
+                            selectedMarker.setAlt(groundClearance + elevationAtWP * 100);
-                                altitude = settings.alt;
-                            }
-                            selectedMarker.setAlt(altitude + elevationAtWP * 100);
                         } else {
-                            selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
+                            let elevationAtHome = HOME.getAlt();
+                            if (isNaN(elevationAtHome)) {
+                                elevationAtHome = elevationAtWP;
+                            }
+                            selectedMarker.setAlt(groundClearance + 100 * (elevationAtWP - elevationAtHome));
                         }
                     }
+
                     const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
                     selectedMarker.setAlt(returnAltitude);
                     $('#pointAlt').val(selectedMarker.getAlt());
-                    var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
+                    altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
                     $('#altitudeInMeters').text(` ${altitudeMeters}m`);
 
                     mission.updateWaypoint(selectedMarker);
@@ -2323,6 +2318,9 @@ TABS.mission_control.initialize = function (callback) {
                     redrawLayer();
                     plotElevation();
                 })()
+
+                settings.bingDemModel = $('#elevationEarthModel').prop("checked") ? true : false;
+                saveSettings();
             }
         });
 
@@ -2474,13 +2472,19 @@ TABS.mission_control.initialize = function (callback) {
         /////////////////////////////////////////////
         $('#saveSettings').on('click', function () {
             let oldSafeRadiusSH = settings.safeRadiusSH;
-            settings = { speed: Number($('#MPdefaultPointSpeed').val()), alt: Number($('#MPdefaultPointAlt').val()), safeRadiusSH: Number($('#MPdefaultSafeRangeSH').val()), maxDistSH : vMaxDistSH};
+
+            settings.speed = Number($('#MPdefaultPointSpeed').val());
+            settings.alt = Number($('#MPdefaultPointAlt').val());
+            settings.safeRadiusSH = Number($('#MPdefaultSafeRangeSH').val());
+
             saveSettings();
+
             if (settings.safeRadiusSH != oldSafeRadiusSH  && $('#showHideSafehomeButton').is(":visible")) {
                 cleanSafehomeLayers();
                 renderSafehomesOnMap();
                 $('#SafeHomeSafeDistance').text(settings.safeRadiusSH);
             }
+
             closeSettingsPanel();
         });
 
@@ -2838,7 +2842,11 @@ TABS.mission_control.initialize = function (callback) {
                     alert(localization.getMessage('MissionPlannerAltitudeChangeReset'));
                     altitude = selectedMarker.getAlt();
                 } else {
-                    altitude = settings.alt + 100 * (elevation - elevationAtHome);
+                    let currentGroundClearance = 100 * Number($('#groundClearanceValueAtWP').text());
+                    if (isNaN(currentGroundClearance) || selectedMarker == null) {
+                        currentGroundClearance = settings.alt;  // use default altitude if no current ground clearance
+                    }
+                    altitude = currentGroundClearance + 100 * (elevation - elevationAtHome);
                 }
             }
             groundClearance = altitude / 100 + (elevationAtHome - elevation);

tabs/mixer.js

@@ -424,7 +424,7 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
     function labelMotorNumbers() {
 
         let index = 0;
-        var rules
+        var rules;
 
         if (currentMixerPreset.id == loadedMixerPresetID) {
             rules = MOTOR_RULES.get();

tabs/osd.html

@@ -242,6 +242,16 @@
                             <input id="osd_gforce_axis_alarm_max" data-setting="osd_gforce_axis_alarm_max" data-setting-multiplier="1" type="number" data-step="0.1" />
                             <span data-i18n="osd_gforce_axis_alarm_max"></span>
                         </label>
+                        <div for="adsb_distance_warning" class="helpicon cf_tip" data-i18n_title="osdAlarmADSB_MAX_DISTANCE_WARNING"></div>
+                        <label for="adsb_distance_warning">
+                            <input id="adsb_distance_warning" data-setting="osd_adsb_distance_warning" data-unit="m" data-setting-multiplier="1" type="number" data-step="1" />
+                            <span data-i18n="osd_adsb_distance_warning"></span>
+                        </label>
+                        <div for="adsb_distance_alert" class="helpicon cf_tip" data-i18n_title="osdAlarmADSB_MAX_DISTANCE_ALERT"></div>
+                        <label for="adsb_distance_alert">
+                            <input id="adsb_distance_alert" data-setting="osd_adsb_distance_alert" data-unit="m" data-setting-multiplier="1" type="number" data-step="1" />
+                            <span data-i18n="osd_adsb_distance_alert"></span>
+                        </label>
                     </div>
                 </div>
                 <div class="gui_box grey dji-hd-container" id="dji_settings">

tabs/osd.js

@@ -116,6 +116,7 @@ SYM.FLIGHT_DIST_REMAINING = 0x167;
 SYM.GROUND_COURSE = 0xDC;
 SYM.ALERT = 0xDD;
 SYM.CROSS_TRACK_ERROR = 0xFC;
+SYM.ADSB = 0xFD;
 SYM.PAN_SERVO_IS_OFFSET_L = 0x1C7;
 SYM.ODOMETER = 0X168;
 SYM.PILOT_LOGO_SML_L = 0x1D5;
@@ -482,6 +483,8 @@ OSD.initData = function () {
             imu_temp_alarm_max: null,
             baro_temp_alarm_min: null,
             baro_temp_alarm_max: null,
+            adsb_distance_warning: null,
+            adsb_distance_alert: null,
         },
         layouts: [],
         layout_count: 1, // This needs to be 1 for compatibility with < 2.0
@@ -783,6 +786,24 @@ OSD.constants = {
             min: -55,
             max: 125
         },
+        {
+            name: 'ADSB_MAX_DISTANCE_WARNING',
+            field: 'adsb_distance_warning',
+            step: 1,
+            unit: "meters",
+            min: 1,
+            max: 64000,
+            min_version: '7.1.0',
+        },
+        {
+            name: 'ADSB_MAX_DISTANCE_ALERT',
+            field: 'adsb_distance_alert',
+            step: 1,
+            unit: "meters",
+            min: 1,
+            max: 64000,
+            min_version: '7.1.0',
+        },
     ],
 
     // All display fields, from every version, do not remove elements, only add!
@@ -1656,6 +1677,18 @@ OSD.constants = {
                     min_version: '6.0.0',
                     preview: FONT.symbol(SYM.GROUND_COURSE) + '245' + FONT.symbol(SYM.DEGREES)
                 },
+                {
+                    name: 'ADSB_WARNING_MESSAGE',
+                    id: 147,
+                    min_version: '7.1.0',
+                    preview: FONT.symbol(SYM.ADSB) + '19.25' + FONT.symbol(SYM.DIR_TO_HOME+1) + '2.75',
+                },
+                {
+                    name: 'ADSB_INFO',
+                    id: 148,
+                    min_version: '7.1.0',
+                    preview: FONT.symbol(SYM.ADSB) + '2',
+                },
                 {
                     name: 'CROSS TRACK ERROR',
                     id: 141,
@@ -2266,6 +2299,8 @@ OSD.msp = {
         result.push16(OSD.data.alarms.imu_temp_alarm_max);
         result.push16(OSD.data.alarms.baro_temp_alarm_min);
         result.push16(OSD.data.alarms.baro_temp_alarm_max);
+        result.push16(OSD.data.alarms.adsb_distance_warning);
+        result.push16(OSD.data.alarms.adsb_distance_alert);
         return result;
     },
 
@@ -2285,6 +2320,8 @@ OSD.msp = {
         OSD.data.alarms.imu_temp_alarm_max = alarms.read16();
         OSD.data.alarms.baro_temp_alarm_min = alarms.read16();
         OSD.data.alarms.baro_temp_alarm_max = alarms.read16();
+        OSD.data.alarms.adsb_distance_warning = alarms.read16();
+        OSD.data.alarms.adsb_distance_alert = alarms.read16();
     },
 
     encodePreferences: function() {