Merge remote-tracking branch 'origin/master' into dzikuvx-new-mixer-approach

_locales/en/messages.json

@@ -313,6 +313,9 @@
     "communitySlackSupport": {
         "message": "Slack Support Live Chat"
     },
+    "communityTelegramSupport": {
+        "message": "Telegram Channel"
+    },
     "initialSetupBackupAndRestoreApiVersion": {
         "message": "<span style=\"color: red\">Backup and restore functionality disabled.</span>  You have firmware with API version <span style=\"color: red\">$1</span>, backup and restore requires <span style=\"color: #37a8db\">$2</span>.  Please backup your settings via the CLI, see INAV documentation for procedure."
     },
@@ -406,6 +409,42 @@
     "initialSetupBattery": {
         "message": "Battery voltage:"
     },
+    "initialSetupBatteryDetectedCells": {
+        "message": "Battery detected cell count:"
+    },
+    "initialSetupBatteryDetectedCellsValue": {
+        "message": "$1"
+    },
+    "initialSetupBatteryPercentage": {
+        "message": "Battery left:"
+    },
+    "initialSetupBatteryPercentageValue": {
+        "message": "$1 %"
+    },
+    "initialSetupBatteryRemainingCapacity": {
+        "message": "Battery remaining capacity"
+    },
+    "initialSetupBatteryRemainingCapacityValue": {
+        "message": "$1 $2"
+    },
+    "initialSetupBatteryFull": {
+        "message": "Battery full when plugged in"
+    },
+    "initialSetupBatteryFullValue": {
+        "message": "$1"
+    },
+    "initialSetupBatteryThresholds": {
+        "message": "Battery use cap thresholds"
+    },
+    "initialSetupBatteryThresholdsValue": {
+        "message": "$1"
+    },
+    "initialSetup_Wh_drawn": {
+        "message": "Capacity drawn:"
+    },
+    "initialSetup_Wh_drawnValue": {
+        "message": "$1 Wh"
+    },
     "initialSetupBatteryValue": {
         "message": "$1 V"
     },
@@ -483,6 +522,9 @@
     "featureVBAT": {
         "message": "Battery voltage monitoring"
     },
+    "featureTX_PROF_SEL": {
+        "message": "Profile selection with TX stick command"
+    },
     "featureINFLIGHT_ACC_CAL": {
         "message": "In-flight level calibration"
     },
@@ -573,6 +615,9 @@
     "featureAIRMODE": {
         "message": "Permanently enable AIRMODE"
     },
+    "featureFW_LAUNCH": {
+        "message": "Permanently enable Launch Mode for Fixed Wing"
+    },
     "configurationFeatureEnabled": {
         "message": "Enabled"
     },
@@ -637,16 +682,10 @@
         "message": "Magnetometer Declination [deg]"
     },
     "configurationAutoDisarmDelay": {
-        "message": "Disarm delay [Seconds]"
+        "message": "Seconds until disarm due to low THR"
     },
     "configurationAutoDisarmDelayHelp": {
-        "message": "Requires MOTOR_STOP feature"
+        "message": "Only used for stick arming (i.e. not using a switch)"
-    },
-    "configurationDisarmKillSwitch": {
-        "message": "Disarm regardless of throttle value"
-    },
-    "configurationDisarmKillSwitchHelp": {
-        "message": "When arming via radio channel"
     },
     "configurationThrottleMinimum": {
         "message": "Minimum Throttle"
@@ -690,6 +729,21 @@
     "configurationBatteryMultiwiiCurrent": {
         "message": "Enable support for legacy Multiwii MSP current output"
     },
+    "configurationBatteryCapacity": {
+        "message": "Battery Capacity"
+    },
+    "configurationBatteryCapacityValue": {
+        "message": "Capacity"
+    },
+    "configurationBatteryCapacityWarning": {
+        "message": "Warning Capacity (%)"
+    },
+    "configurationBatteryCapacityCritical": {
+        "message": "Critical Capacity (%)"
+    },
+    "configurationBatteryCapacityUnit": {
+        "message": "Battery Capacity Unit"
+    },
     "configuration3d": {
         "message": "3D"
     },
@@ -832,6 +886,15 @@
     "pidTuningYawRate": {
         "message": "YAW rate"
     },
+    "pidTuningManualRollRate": {
+        "message": "Manual ROLL rate"
+    },
+    "pidTuningManualPitchRate": {
+        "message": "Manual PITCH rate"
+    },
+    "pidTuningManualYawRate": {
+        "message": "Manual YAW rate"
+    },
     "magHoldYawRate": {
         "message": "MagHold rate"
     },
@@ -893,6 +956,12 @@
     "receiverRcYawExpo": {
         "message": "RC Yaw Expo"
     },
+    "receiverManualRcExpo": {
+        "message": "Manual RC Expo"
+    },
+    "receiverManualRcYawExpo": {
+        "message": "Manual RC Yaw Expo"
+    },
     "receiverChannelMap": {
         "message": "Channel Map"
     },
@@ -1052,37 +1121,37 @@
         "message": "Roll D Adjustment"
     },
     "adjustmentsFunction21": {
-        "message": "Alt P Adjustment"
+        "message": "RC Yaw Expo Adjustment"
     },
     "adjustmentsFunction22": {
-        "message": "Alt I Adjustment"
+        "message": "Manual RC Expo Adjustment"
     },
     "adjustmentsFunction23": {
-        "message": "Alt D Adjustment"
+        "message": "Manual RC Yaw Expo Adjustment"
     },
     "adjustmentsFunction24": {
-        "message": "Vel P Adjustment"
+        "message": "Manual Pitch & Roll Rate Adjustment"
     },
     "adjustmentsFunction25": {
-        "message": "Vel I Adjustment"
+        "message": "Manual Roll Rate Adjustment"
     },
     "adjustmentsFunction26": {
-        "message": "Vel D Adjustment"
+        "message": "Manual Pitch Rate Adjustment"
     },
     "adjustmentsFunction27": {
-        "message": "MAG P Adjustment"
+        "message": "Manual Yaw Rate Adjustment"
     },
     "adjustmentsFunction28": {
-        "message": "Pos P Adjustment"
+        "message": "Navigation FW Cruise Throttle Adjustment"
     },
     "adjustmentsFunction29": {
-        "message": "Pos I Adjustment"
+        "message": "Navigation FW Pitch To Throttle Adjustment"
     },
     "adjustmentsFunction30": {
-        "message": "PosR P Adjustment"
+        "message": "Board Roll Alignment Adjustment"
     },
     "adjustmentsFunction31": {
-        "message": "PosR I Adjustment"
+        "message": "Board Pitch Alignment Adjustment"
     },
     "adjustmentsFunction32": {
         "message": "PosR D Adjustment"
@@ -2249,9 +2318,24 @@
     "osdElement_MAIN_BATT_CELL_VOLTAGE": {
         "message": "Battery Cell Voltage"
     },
+    "osdElement_MAIN_BATT_REMAINING_PERCENTAGE": {
+        "message": "Battery Remaining Percentage"
+    },
+    "osdElement_MAIN_BATT_REMAINING_CAPACITY": {
+        "message": "Battery Remaining Capacity"
+    },
     "osdElement_MAIN_BATT_CELL_VOLTAGE_HELP": {
         "message": "Shows the average cell voltage from the main battery"
     },
+    "osdElement_MAH_DRAWN": {
+        "message": "mAh drawn"
+    },
+    "osdElement_EFFICIENCY_MAH": {
+        "message": "Efficiency mAh/Km"
+    },
+    "osdElement_EFFICIENCY_WH": {
+        "message": "Efficiency Wh/Km"
+    },
     "osdElement_THROTTLE_POSITION_AUTO_THR": {
         "message": "Throttle Position / Auto Throttle"
     },
@@ -2276,6 +2360,9 @@
     "osdElement_GPS_HDOP_HELP": {
         "message": "Shows the Horizontal Dilution Of Precission from the GPS. The lower, the most accurate the GPS fix is."
     },
+    "osdElement_TRIP_DIST": {
+        "message": "Trip distance"
+    },
     "osdElement_VARIO_HELP": {
         "message": "Shows vertical speed using up or down arrows. Each arrow represents 10cm (~4 inches) per second."
     },
@@ -2324,6 +2411,51 @@
     "downloadUpdatesBtn": {
         "message": "Download new app"
     },
+    "tabMissionControl": {
+        "message": "Mission Control"
+    },
+    "loadMissionButton": {
+        "message": "Load mission from FC"
+    },
+    "saveMissionButton": {
+        "message": "Save mission to FC"
+    },
+    "loadEepromMissionButton": {
+        "message": "Load Eeprom mission"
+    },
+    "saveEepromMissionButton": {
+        "message": "Save Eeprom mission"
+    },
+    "editPointHead": {
+        "message": "Edit point"
+    },
+    "editPointButtonSave": {
+        "message": "Save"
+    },
+    "editPointButtonRemove": {
+        "message": "Remove"
+    },
+    "removeAllPointButtonSave": {
+        "message": "Remove all points"
+    },
+    "missionTotalInformationHead": {
+        "message": "Total information"
+    },
+    "missionRTHsettingsTitle": {
+        "message": "RTH settings"
+    },
+    "missionDefaultSettingsHead": {
+        "message": "Default settings"
+    },
+    "useOnlyStandalone": {
+        "message": "Use stand-alone application.<br> Please visit the <a href=\"https://github.com/iNavFlight/inav-configurator/releases\" target=\"_blank\">website</a> to read the release notes and download."
+    },
+    "eeprom_load_ok": {
+        "message": "EEPROM <span style=\"color: #37a8db\">loaded</span>"
+    },
+    "confirm_delete_all_points": {
+        "message": "Do you really want to delete all points?"
+    },
     "servoMixer": {
         "message": "Servo mixer"
     },

gulpfile.js

@@ -56,6 +56,7 @@ sources.js = [
     './js/libraries/google-analytics-bundle.js',
     './node_modules/jquery/dist/jquery.min.js',
     './node_modules/jquery-ui-npm/jquery-ui.min.js',
+    './node_modules/marked/lib/marked.js',
     './js/libraries/d3.min.js',
     './js/libraries/jquery.nouislider.all.min.js',
     './node_modules/three/three.min.js',
@@ -128,6 +129,10 @@ sources.receiverJs = [
     './tabs/receiver_msp.js'
 ];
 
+sources.debugTraceJs = [
+    './js/debug_trace.js'
+];
+
 sources.hexParserJs = [
     './js/workers/hex_parser.js',
 ];
@@ -139,6 +144,7 @@ var output = {
     mapJs: 'map.js',
     receiverCss: 'receiver-msp.css',
     receiverJs: 'receiver-msp.js',
+    debugTraceJs: 'debug-trace.js',
     hexParserJs: 'hex_parser.js',
 };
 

js/debug_trace.js

@@ -0,0 +1,9 @@
+function debugTraceOnLoad()
+{
+    var output = document.getElementById('debug-trace');
+    setInterval(function() {
+        output.innerText = getDebugTrace();
+    }, 100);
+}
+
+window.onload = debugTraceOnLoad;

js/fc.js

@@ -24,10 +24,12 @@ var CONFIG,
     MOTOR_DATA,
     SERVO_DATA,
     GPS_DATA,
+    MISSION_PLANER,
     ANALOG,
     ARMING_CONFIG,
     FC_CONFIG,
     MISC,
+    VOLTMETER_CONFIG,
     _3D,
     DATAFLASH,
     SDCARD,
@@ -48,7 +50,8 @@ var CONFIG,
     CALIBRATION_DATA,
     POSITION_ESTIMATOR,
     RTH_AND_LAND_CONFIG,
-    FW_CONFIG;
+    FW_CONFIG,
+    DEBUG_TRACE;
 
 var FC = {
     MAX_SERVO_RATE: 125,
@@ -141,7 +144,12 @@ var FC = {
             throttle_MID: 0,
             throttle_EXPO: 0,
             dynamic_THR_breakpoint: 0,
-            RC_YAW_EXPO: 0
+            RC_YAW_EXPO: 0,
+            manual_RC_EXPO: 0,
+            manual_RC_YAW_EXPO: 0,
+            manual_roll_rate: 0,
+            manual_pitch_rate: 0,
+            manual_yaw_rate: 0,
         };
 
         AUX_CONFIG = [];
@@ -171,6 +179,7 @@ var FC = {
             altitude: 0,
             barometer: 0,
             sonar: 0,
+            air_speed: 0,
             kinematics: [0.0, 0.0, 0.0],
             debug: [0, 0, 0, 0]
         };
@@ -198,11 +207,34 @@ var FC = {
             packetCount: 0
         };
 
+        MISSION_PLANER = {
+            maxWaypoints: 0,
+            isValidMission: 0,
+            countBusyPoints: 0,
+            bufferPoint: {
+                number: 0,
+                action: 0,
+                lat: 0,
+                lon: 0,
+                alt: 0,
+                endMission: 0,
+                p1: 0
+            }
+        };
+
         ANALOG = {
             voltage: 0,
             mAhdrawn: 0,
+            mWhdrawn: 0,
             rssi: 0,
-            amperage: 0
+            amperage: 0,
+            power: 0,
+            cell_count: 0,
+            battery_percentage: 0,
+            battery_full_when_plugged_in: false,
+            use_capacity_thresholds: false,
+            battery_remaining_capacity: 0,
+            battery_flags: 0
         };
 
         ARMING_CONFIG = {
@@ -230,7 +262,24 @@ var FC = {
             vbatscale: 0,
             vbatmincellvoltage: 0,
             vbatmaxcellvoltage: 0,
-            vbatwarningcellvoltage: 0
+            vbatwarningcellvoltage: 0,
+            battery_capacity: 0,
+            battery_capacity_warning: 0,
+            battery_capacity_critical: 0,
+            battery_capacity_unit: 'mAh'
+        };
+
+        BATTERY_CONFIG = {
+            vbatscale: 0,
+            vbatmincellvoltage: 0,
+            vbatmaxcellvoltage: 0,
+            vbatwarningcellvoltage: 0,
+            current_offset: 0,
+            current_scale: 0,
+            capacity: 0,
+            capacity_warning: 0,
+            capacity_critical: 0,
+            capacity_unit: 0
         };
 
         ADVANCED_CONFIG = {
@@ -500,6 +549,13 @@ var FC = {
             );
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+            features.push(
+                {bit: 30, group: 'other', name: 'FW_LAUNCH', haveTip: false, showNameInTip: false},
+                {bit: 2, group: 'other', name: 'TX_PROF_SEL', haveTip: false, showNameInTip: false}
+            );
+        }
+
         return features.reverse();
     },
     isFeatureEnabled: function (featureName, features) {
@@ -720,6 +776,10 @@ var FC = {
             data.push('TBS Crossfire');
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, "1.9.1")) {
+            data.push('FPort');
+        }
+
         return data;
     },
     getSPIProtocolTypes: function () {
@@ -837,13 +897,13 @@ var FC = {
         }
     },
     getOsdDisabledFields: function () {
-        return ['CRAFT_NAME'];
+        return [];
     },
     getAccelerometerNames: function () {
         return [ "NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"];
     },
     getMagnetometerNames: function () {
-        return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"];
+        return ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "FAKE"];
     },
     getBarometerNames: function () {
         if (semver.gte(CONFIG.flightControllerVersion, "1.6.2")) {
@@ -862,7 +922,7 @@ var FC = {
         }
     },
     getRangefinderNames: function () {
-        return [ "NONE", "HCSR04", "SRF10"];
+        return [ "NONE", "HCSR04", "SRF10", "HCSR04I2C", "VL53L0X", "UIB"];
     },
     getArmingFlags: function () {
         return {
@@ -936,8 +996,31 @@ var FC = {
         }
     },
     getRcMapLetters: function () {
+        if (semver.gte(CONFIG.flightControllerVersion, '1.9.1'))
+            return ['A', 'E', 'R', 'T'];
+        else
             return ['A', 'E', 'R', 'T', '5', '6', '7', '8'];
     },
+    isRcMapValid: function (val) {
+        var strBuffer = val.split(''),
+            duplicityBuffer = [];
+
+        if (val.length != FC.getRcMapLetters().length)
+            return false;
+
+        // check if characters inside are all valid, also check for duplicity
+        for (var i = 0; i < val.length; i++) {
+            if (FC.getRcMapLetters().indexOf(strBuffer[i]) < 0)
+                return false;
+
+            if (duplicityBuffer.indexOf(strBuffer[i]) < 0)
+                duplicityBuffer.push(strBuffer[i]);
+            else
+                return false;
+        }
+
+        return true;
+    },
     getServoMixInputNames: function () {
         return [
             'Stabilised Roll',

js/gui.js

@@ -38,7 +38,8 @@ var GUI_control = function () {
         'setup',
         'osd',
         'profiles',
-        'advanced_tuning'
+        'advanced_tuning',
+        'mission_control'
     ];
     this.allowedTabs = this.defaultAllowedTabsWhenDisconnected;
 

js/msp/MSPCodes.js

@@ -20,7 +20,9 @@ var MSPCodes = {
 
     MSP_POSITION_ESTIMATION_CONFIG: 16,
     MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
-
+    MSP_WP_MISSION_LOAD: 18,
+    MSP_WP_MISSION_SAVE: 19,
+    MSP_WP_GETINFO: 20,
     MSP_RTH_AND_LAND_CONFIG:     21,
     MSP_SET_RTH_AND_LAND_CONFIG: 22,
     MSP_FW_CONFIG:              23,
@@ -155,5 +157,16 @@ var MSPCodes = {
     MSPV2_SET_SETTING:                  0x1004,
 
     MSP2_COMMON_MOTOR_MIXER:            0x1005,
-    MSP2_COMMON_SET_MOTOR_MIXER:    0x1006
+    MSP2_COMMON_SET_MOTOR_MIXER:        0x1006,
+
+    MSPV2_INAV_STATUS:                  0x2000,
+    MSPV2_INAV_OPTICAL_FLOW:            0x2001,
+    MSPV2_INAV_ANALOG:                  0x2002,
+    MSPV2_INAV_MISC:                    0x2003,
+    MSPV2_INAV_SET_MISC:                0x2004,
+    MSPV2_INAV_BATTERY_CONFIG:          0x2005,
+    MSPV2_INAV_SET_BATTERY_CONFIG:      0x2006,
+    MSPV2_INAV_RATE_PROFILE:            0x2007,
+    MSPV2_INAV_SET_RATE_PROFILE:        0x2008,
+    MSPV2_INAV_AIR_SPEED:               0x2009,
 };

js/msp/MSPHelper.js

@@ -47,6 +47,12 @@ var mspHelper = (function (gui) {
         'IRC_TRAMP': 12
     };
 
+    // Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
+    // the newline at the end, so we keep the pending message here until we find a
+    // '\0', then print it. Messages sent by MSP_DEBUGMSG are guaranteed to
+    // always finish with a '\0'.
+    var debugMsgBuffer = '';
+
     /**
      *
      * @param {MSP} dataHandler
@@ -225,11 +231,36 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSP_SONAR:
                 SENSOR_DATA.sonar = data.getInt32(0, true);
                 break;
+            case MSPCodes.MSPV2_INAV_AIR_SPEED:
+                SENSOR_DATA.air_speed = data.getInt32(0, true);
+                break;
             case MSPCodes.MSP_ANALOG:
                 ANALOG.voltage = data.getUint8(0) / 10.0;
                 ANALOG.mAhdrawn = data.getUint16(1, true);
                 ANALOG.rssi = data.getUint16(3, true); // 0-1023
                 ANALOG.amperage = data.getInt16(5, true) / 100; // A
+                break;
+            case MSPCodes.MSPV2_INAV_ANALOG:
+                ANALOG.voltage = data.getUint16(offset, true) / 100.0;
+                offset += 2;
+                ANALOG.cell_count = data.getUint8(offset++);
+                ANALOG.battery_percentage = data.getUint8(offset++);
+                ANALOG.power = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.mAhdrawn = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.mWhdrawn = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.rssi = data.getUint16(offset, true); // 0-1023
+                offset += 2;
+                ANALOG.amperage = data.getInt16(offset, true) / 100; // A
+                offset += 2;
+                var battery_flags = data.getUint8(offset++);
+                ANALOG.battery_full_when_plugged_in = (battery_flags & 1 ? true : false);
+                ANALOG.use_capacity_thresholds = ((battery_flags & 2) >> 1 ? true : false);
+                ANALOG.battery_state = (battery_flags & 12) >> 2;
+                ANALOG.battery_remaining_capacity = data.getUint32(offset, true);
+                offset += 4;
                 //noinspection JSValidateTypes
                 dataHandler.analog_last_received_timestamp = Date.now();
                 break;
@@ -255,6 +286,32 @@ var mspHelper = (function (gui) {
                 offset += 2;
                 RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
                 break;
+            case MSPCodes.MSPV2_INAV_RATE_PROFILE:
+                // compat
+                RC_tuning.RC_RATE = 100;
+                RC_tuning.roll_pitch_rate = 0;
+
+                // throttle
+                RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
+                RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
+                offset += 2;
+
+                // stabilized
+                RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.roll_rate = data.getUint8(offset++) * 10;
+                RC_tuning.pitch_rate = data.getUint8(offset++) * 10;
+                RC_tuning.yaw_rate = data.getUint8(offset++) * 10;
+
+                // manual
+                RC_tuning.manual_RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.manual_RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
+                RC_tuning.manual_roll_rate = data.getUint8(offset++);
+                RC_tuning.manual_pitch_rate = data.getUint8(offset++);
+                RC_tuning.manual_yaw_rate = data.getUint8(offset++);
+                break;
             case MSPCodes.MSP_PID:
                 // PID data arrived, we need to scale it and save to appropriate bank / array
                 for (i = 0, needle = 0; i < (dataHandler.message_length_expected / 3); i++, needle += 3) {
@@ -294,6 +351,60 @@ var mspHelper = (function (gui) {
                 MISC.vbatmaxcellvoltage = data.getUint8(offset++) / 10; // 10-50
                 MISC.vbatwarningcellvoltage = data.getUint8(offset++) / 10; // 10-50
                 break;
+            case MSPCodes.MSPV2_INAV_MISC:
+                MISC.midrc = data.getInt16(offset, true);
+                offset += 2;
+                MISC.minthrottle = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.mincommand = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
+                offset += 2;
+                MISC.gps_type = data.getUint8(offset++);
+                MISC.sensors_baudrate = data.getUint8(offset++);
+                MISC.gps_ubx_sbas = data.getInt8(offset++);
+                MISC.rssi_channel = data.getUint8(offset++);
+                MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
+                offset += 2;
+                MISC.vbatscale = data.getUint16(offset, true);
+                offset += 2;
+                MISC.vbatmincellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.battery_capacity = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_warning = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_critical = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
+                break;
+            case MSPCodes.MSPV2_INAV_BATTERY_CONFIG:
+                BATTERY_CONFIG.vbatscale = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.vbatmincellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.current_offset = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.current_scale = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.capacity = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.capacity_warning = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.capacity_critical = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
+                break;
             case MSPCodes.MSP_3D:
                 _3D.deadband3d_low = data.getUint16(offset, true);
                 offset += 2;
@@ -340,7 +451,13 @@ var mspHelper = (function (gui) {
                 }
                 break;
             case MSPCodes.MSP_WP:
-                console.log(data);
+                MISSION_PLANER.bufferPoint.number = data.getUint8(0);
+                MISSION_PLANER.bufferPoint.action = data.getUint8(1);
+                MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
+                MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000;
+                MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true);
+                MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true);
+
                 break;
             case MSPCodes.MSP_BOXIDS:
                 //noinspection JSUndeclaredVariable
@@ -462,6 +579,19 @@ var mspHelper = (function (gui) {
                 console.log('Settings Saved in EEPROM');
                 break;
             case MSPCodes.MSP_DEBUGMSG:
+                for (var ii = 0; ii < data.byteLength; ii++) {
+                    var c = data.readU8();
+                    if (c == 0) {
+                        // End of message
+                        if (debugMsgBuffer.length > 1) {
+                            console.log('[DEBUG] ' + debugMsgBuffer);
+                            DEBUG_TRACE = (DEBUG_TRACE || '') + debugMsgBuffer;
+                        }
+                        debugMsgBuffer = '';
+                        continue;
+                    }
+                    debugMsgBuffer += String.fromCharCode(c);
+                }
                 break;
             case MSPCodes.MSP_DEBUG:
                 for (i = 0; i < 4; i++)
@@ -503,7 +633,7 @@ var mspHelper = (function (gui) {
                 BF_CONFIG.board_align_pitch = data.getInt16(8, true); // -180 - 360
                 BF_CONFIG.board_align_yaw = data.getInt16(10, true); // -180 - 360
                 BF_CONFIG.currentscale = data.getInt16(12, true);
-                BF_CONFIG.currentoffset = data.getUint16(14, true);
+                BF_CONFIG.currentoffset = data.getInt16(14, true);
                 break;
             case MSPCodes.MSP_SET_BF_CONFIG:
                 console.log('BF_CONFIG saved');
@@ -1147,6 +1277,23 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSPV2_SET_SETTING:
                 console.log("Setting set");
                 break;
+            case MSPCodes.MSP_WP_GETINFO:
+                // Reserved for waypoint capabilities data.getUint8(0);
+                MISSION_PLANER.maxWaypoints = data.getUint8(1);
+                MISSION_PLANER.isValidMission = data.getUint8(2);
+                MISSION_PLANER.countBusyPoints = data.getUint8(3);
+                break;
+            case MSPCodes.MSP_SET_WP:
+                console.log('Point saved');
+                break;
+            case MSPCodes.MSP_WP_MISSION_SAVE:
+                // buffer.push(0);
+                console.log(data);
+
+                break;
+            case MSPCodes.MSP_WP_MISSION_LOAD:
+                console.log('Mission load');
+                break;
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -1231,6 +1378,28 @@ var mspHelper = (function (gui) {
                 buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
                 buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
                 break;
+            case MSPCodes.MSPV2_INAV_SET_RATE_PROFILE:
+                // throttle
+                buffer.push(Math.round(RC_tuning.throttle_MID * 100));
+                buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
+                buffer.push(RC_tuning.dynamic_THR_PID);
+                buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
+                buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
+
+                // stabilized
+                buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
+                buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
+                buffer.push(Math.round(RC_tuning.roll_rate / 10));
+                buffer.push(Math.round(RC_tuning.pitch_rate / 10));
+                buffer.push(Math.round(RC_tuning.yaw_rate / 10));
+
+                // manual
+                buffer.push(Math.round(RC_tuning.manual_RC_EXPO * 100));
+                buffer.push(Math.round(RC_tuning.manual_RC_YAW_EXPO * 100));
+                buffer.push(RC_tuning.manual_roll_rate);
+                buffer.push(RC_tuning.manual_pitch_rate);
+                buffer.push(RC_tuning.manual_yaw_rate);
+                break;
 
             case MSPCodes.MSP_SET_RX_MAP:
                 for (i = 0; i < RC_MAP.length; i++) {
@@ -1275,6 +1444,60 @@ var mspHelper = (function (gui) {
                 buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
                 buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
                 break;
+            case MSPCodes.MSPV2_INAV_SET_MISC:
+                buffer.push(lowByte(MISC.midrc));
+                buffer.push(highByte(MISC.midrc));
+                buffer.push(lowByte(MISC.minthrottle));
+                buffer.push(highByte(MISC.minthrottle));
+                buffer.push(lowByte(MISC.maxthrottle));
+                buffer.push(highByte(MISC.maxthrottle));
+                buffer.push(lowByte(MISC.mincommand));
+                buffer.push(highByte(MISC.mincommand));
+                buffer.push(lowByte(MISC.failsafe_throttle));
+                buffer.push(highByte(MISC.failsafe_throttle));
+                buffer.push(MISC.gps_type);
+                buffer.push(MISC.sensors_baudrate);
+                buffer.push(MISC.gps_ubx_sbas);
+                buffer.push(MISC.rssi_channel);
+                buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
+                buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
+                buffer.push(lowByte(MISC.vbatscale));
+                buffer.push(highByte(MISC.vbatscale));
+                buffer.push(lowByte(Math.round(MISC.vbatmincellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatmincellvoltage * 100)));
+                buffer.push(lowByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
+                buffer.push(lowByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity_warning, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity_critical, byte_index));
+                buffer.push((MISC.battery_capacity_unit == 'mAh') ? 0 : 1);
+                break;
+            case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
+                buffer.push(lowByte(BATTERY_CONFIG.vbatscale));
+                buffer.push(highByte(BATTERY_CONFIG.vbatscale));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
+                buffer.push(lowByte(BATTERY_CONFIG.current_offset));
+                buffer.push(highByte(BATTERY_CONFIG.current_offset));
+                buffer.push(lowByte(BATTERY_CONFIG.current_scale));
+                buffer.push(highByte(BATTERY_CONFIG.current_scale));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity_warning, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity_critical, byte_index));
+                buffer.push(BATTERY_CONFIG.capacity_unit);
+                break;
 
             case MSPCodes.MSP_SET_RX_CONFIG:
                 buffer.push(RX_CONFIG.serialrx_provider);
@@ -1627,6 +1850,44 @@ var mspHelper = (function (gui) {
                 buffer.push(SENSOR_CONFIG.opflow);
                 break;
 
+            case MSPCodes.MSP_SET_WP:
+                buffer.push(MISSION_PLANER.bufferPoint.number);    // sbufReadU8(src);    // number
+                buffer.push(MISSION_PLANER.bufferPoint.action);    // sbufReadU8(src);    // action
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 0));    // sbufReadU32(src);      // lat
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 1));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 2));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lat, 3));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 0));    // sbufReadU32(src);      // lon
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 1));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 2));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.lon, 3));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 0));    // sbufReadU32(src);      // to set altitude (cm)
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 1));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 2));
+                buffer.push(specificByte(MISSION_PLANER.bufferPoint.alt, 3));
+                buffer.push(lowByte(MISSION_PLANER.bufferPoint.p1)); //sbufReadU16(src);       // P1 speed or landing
+                buffer.push(highByte(MISSION_PLANER.bufferPoint.p1));
+                buffer.push(lowByte(0)); //sbufReadU16(src);       // P2
+                buffer.push(highByte(0));
+                buffer.push(lowByte(0)); //sbufReadU16(src);       // P3
+                buffer.push(highByte(0));
+                buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src);      // future: to set nav flag
+                break;
+            case MSPCodes.MSP_WP:
+                console.log(MISSION_PLANER.bufferPoint.number);
+                buffer.push(MISSION_PLANER.bufferPoint.number+1);
+
+                break;
+            case MSPCodes.MSP_WP_MISSION_SAVE:
+                // buffer.push(0);
+                console.log(buffer);
+
+                break;
+            case MSPCodes.MSP_WP_MISSION_LOAD:
+                // buffer.push(0);
+                console.log(buffer);
+
+                break;
             default:
                 return false;
         }
@@ -2189,6 +2450,10 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_RC_TUNING, false, false, callback);
     };
 
+    self.loadRateProfileData = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_RATE_PROFILE, false, false, callback);
+    };
+
     self.loadPidData = function (callback) {
         MSP.send_message(MSPCodes.MSP_PID, false, false, callback);
     };
@@ -2213,6 +2478,14 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_MISC, false, false, callback);
     };
 
+    self.loadMiscV2 = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_MISC, false, false, callback);
+    };
+
+    self.loadBatteryConfig = function (callback) {
+	MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
+    };
+
     self.loadArmingConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, callback);
     };
@@ -2309,6 +2582,10 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, callback);
     };
 
+    self.saveRateProfileData = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, callback);
+    };
+
     self.savePidAdvanced = function (callback) {
         if (semver.gte(CONFIG.flightControllerVersion, "1.4.0")) {
             MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, callback);
@@ -2325,6 +2602,14 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, callback);
     };
 
+    self.saveMiscV2 = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_SET_MISC, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_MISC), false, callback);
+    };
+
+    self.saveBatteryConfig = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_SET_BATTERY_CONFIG, mspHelper.crunch(MSPCodes.MSPV2_SET_BATTERY_CONFIG), false, callback);
+    };
+
     self.save3dConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, callback);
     };
@@ -2437,6 +2722,14 @@ var mspHelper = (function (gui) {
         }
     };
 
+    self.getMissionInfo = function (callback) {
+        if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
+            MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
+        } else {
+            callback();
+        }
+    };
+
     self._getSetting = function (name) {
         var promise;
         if (this._settings) {

js/periodicStatusUpdater.js

@@ -61,18 +61,31 @@ helper.periodicStatusUpdater = (function () {
         }
 
         if (ANALOG != undefined) {
-            var nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
+            var nbCells;
+
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                nbCells = ANALOG.cell_count;
+            } else {
+                nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
                 if (ANALOG.voltage == 0)
                     nbCells = 1;
+            }
 
             var min = MISC.vbatmincellvoltage * nbCells;
             var max = MISC.vbatmaxcellvoltage * nbCells;
             var warn = MISC.vbatwarningcellvoltage * nbCells;
 
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                $(".battery-status").css({
+                    width: ANALOG.battery_percentage + "%",
+                    display: 'inline-block'
+                });
+            } else {
                 $(".battery-status").css({
                     width: ((ANALOG.voltage - min) / (max - min) * 100) + "%",
                     display: 'inline-block'
                 });
+            }
 
             if (active) {
                 $(".linkicon").css({
@@ -84,7 +97,7 @@ helper.periodicStatusUpdater = (function () {
                 });
             }
 
-            if (ANALOG.voltage < warn) {
+            if (((semver.gte(CONFIG.flightControllerVersion, '1.8.1')) && (((ANALOG.use_capacity_thresholds) && (ANALOG.battery_remaining_capacity <= (MISC.battery_capacity_warning - MISC.battery_capacity_critical))) || ((!ANALOG.use_capacity_thresholds) && (ANALOG.voltage < warn))) || (ANALOG.voltage < min)) || ((semver.lt(CONFIG.flightControllerVersion, '1.8.1')) && (ANALOG.voltage < warn))) {
                 $(".battery-status").css('background-color', '#D42133');
             } else {
                 $(".battery-status").css('background-color', '#59AA29');
@@ -123,7 +136,11 @@ helper.periodicStatusUpdater = (function () {
                 MSP.send_message(MSPCodes.MSP_STATUS, false, false);
             }
 
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                MSP.send_message(MSPCodes.MSPV2_INAV_ANALOG, false, false);
+            } else {
                 MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
+            }
 
             privateScope.updateView();
         }

main.css

@@ -1107,6 +1107,17 @@ dialog {
     opacity: 0.5;
 }
 
+.content_toolbar .btn-danger a {
+    background-color: #db250e;
+    border: 1px solid #b5480e;
+}
+
+.content_toolbar .btn-danger a:hover {
+    background-color: #b5480e;
+    transition: all ease 0.2s;
+}
+
+
 .toolbar_scroll_bottom .content_wrapper {
     /*  content wrapper in view with toolbar in scroll bottom
       leave 50px space for the toolbar
@@ -1658,7 +1669,7 @@ dialog {
     color: white;
     font-size: 10px;
     margin-top: 20px;
-    width: 90px;
+    width: 100px;
     float: right;
     margin-right: 20px;
     line-height: 12px;
@@ -1750,6 +1761,7 @@ dialog {
 .bottomStatusIcons {
     background-color: #272727;
     height: 31px;
+    margin-left: 5px;
     margin-top: 2px;
     border-bottom-left-radius: 5px;
     border-bottom-right-radius: 5px;

main.html

@@ -1,9 +1,11 @@
-<!DOCTYPE html>
+<!DOCTYPE html>
 <html>
 <head>
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8"/>
     <link type="text/css" rel="stylesheet" href="./build/styles.css" media="all"/>
     <script type="text/javascript" src="./build/script.js"></script>
+    <link type="text/css" rel="stylesheet" href="./build/map.css" media="all"/>
+    <script type="text/javascript" src="./build/map.js"></script>
     <title></title>
 </head>
 <body>
@@ -14,7 +16,8 @@
             <div class="modal__text" data-i18n="appUpdateNotificationDescription"></div>
         </div>
         <div class="modal__buttons modal__buttons--upbottom">
-            <a href="https://github.com/iNavFlight/inav-configurator/releases" target="_blank" id="update-notification-download" class="modal__button modal__button--main modal__button--main--inline" data-i18n="downloadUpdatesBtn"></a>
+            <a href="https://github.com/iNavFlight/inav-configurator/releases" target="_blank" id="update-notification-download"
+               class="modal__button modal__button--main modal__button--main--inline" data-i18n="downloadUpdatesBtn"></a>
             <a id="update-notification-close" class="modal__button modal__button--main modal__button--main--inline" data-i18n="closeUpdateBtn"></a>
         </div>
     </div>
@@ -185,6 +188,7 @@
                 <li class="tab_servos"><a href="#" data-i18n="tabServos" class="tabicon ic_servo" title="Servos"></a>
                 </li>
                 <li class="tab_gps"><a href="#" data-i18n="tabGPS" class="tabicon ic_gps" title="GPS"></a></li>
+                <li class="tab_mission_control"><a href="#" data-i18n="tabMissionControl" class="tabicon ic_mission" title="Mission Control"></a></li>
                 <li class="tab_motors"><a href="#" data-i18n="tabMotorTesting" class="tabicon ic_motor"
                                           title="Motors"></a></li>
                 <li class="tab_osd"><a href="#" data-i18n="tabOSD" class="tabicon ic_osd" title="OSD"></a></li>
@@ -199,7 +203,6 @@
                                                    title="Onboard Logging"></a></li>
                 <li class="tab_cli"><a href="#" data-i18n="tabCLI" class="tabicon ic_cli" title="CLI"></a></li>
 
-                <!--<li class=""><a href="#" class="tabicon ic_mission">Mission (spare icon)</a></li>-->
                 <!--<li class=""><a href="#" class="tabicon ic_advanced">Advanced (spare icon)</a></li>-->
                 <!--<li class=""><a href="#" class="tabicon ic_wizzard">Wizzard (spare icon)</a></li>-->
             </ul>

main.js

@@ -59,9 +59,20 @@ $(document).ready(function () {
             }
         });
 
+        win.setMinimumSize(1024, 800);
+
         win.on('close', function () {
             //Save window size and position
-            var currentWin = this;
+            // var height = win.height;
+            // var width = win.width;
+            //
+            // if (height < 400) {
+            //     height = 400
+            // }
+            // if (width < 512) {
+            //     width = 512
+            // }
+
             chrome.storage.local.set({'windowSize': {height: win.height, width: win.width, x: win.x, y: win.y}}, function () {
                 // Notify that we saved.
                 console.log('Settings saved');
@@ -189,6 +200,9 @@ $(document).ready(function () {
                     case 'gps':
                         TABS.gps.initialize(content_ready);
                         break;
+                    case 'mission_control':
+                        TABS.mission_control.initialize(content_ready);
+                        break;
                     case 'motors':
                         TABS.motors.initialize(content_ready);
                         break;

manifest.json

@@ -1,7 +1,7 @@
 {
     "manifest_version": 2,
     "minimum_chrome_version": "38",
-    "version": "1.8.1",
+    "version": "1.9.3",
     "author": "Several",
     "name": "INAV - Configurator",
     "short_name": "INAV",

package.json

@@ -1,7 +1,7 @@
 {
   "name": "inav-configurator",
   "description": "INAV Configurator",
-  "version": "1.8.1",
+  "version": "1.9.3",
   "main": "main.html",
   "default_locale": "en",
   "scripts": {
@@ -29,8 +29,9 @@
     "inflection": "1.12.0",
     "jquery": "2.1.4",
     "jquery-ui-npm": "1.12.0",
-    "nw": "^0.25.4",
+    "marked": "^0.3.17",
-    "nw-builder": "^3.5.1",
+    "nw": "^0.25.4-sdk",
+    "nw-builder": "^3.4.1",
     "openlayers": "^4.6.4",
     "run-sequence": "^2.2.0",
     "temp": "^0.8.3",

resources/osd/bold.mcm

@@ -2179,49 +2179,49 @@ MAX7456
 01010101
 01010101
 01010101
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@@ -10946,10 +10946,54 @@ MAX7456
 01010101
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@@ -10964,21 +11008,56 @@ MAX7456
 01010101
 01010101
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+01010001
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+01001000
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@@ -10992,135 +11071,56 @@ MAX7456
 01010101
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resources/osd/default.mcm

@@ -2179,49 +2179,49 @@ MAX7456
 01010101
 01010101
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+00010101
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@@ -10946,15 +10946,53 @@ MAX7456
 01010101
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@@ -10970,21 +11008,56 @@ MAX7456
 01010101
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@@ -10998,129 +11071,56 @@ MAX7456
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resources/osd/large.mcm

@@ -2179,49 +2179,49 @@ MAX7456
 01010101
 01010101
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+00010101
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+01010100
+10000001
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+10001000
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@@ -10946,15 +10946,53 @@ MAX7456
 01010101
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@@ -10970,21 +11008,56 @@ MAX7456
 01010101
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@@ -10998,129 +11071,56 @@ MAX7456
 01010101
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src/css/tabs/mission_planer.css

@@ -0,0 +1,127 @@
+.tab-mission-control .btn a {
+    /*  common styles for content toolbar buttons */
+    /*margin-top: 0;*/
+    /*margin-bottom: 0;*/
+    /*margin-right: 20px;*/
+    background-color: #37a8db;
+    border-radius: 3px;
+    border: 1px solid #3394b5;
+    color: #fff;
+    /*float: right;*/
+    font-family: 'open_sansbold', Arial, serif;
+    font-size: 12px;
+    text-shadow: 0 1px rgba(0, 0, 0, 0.25);
+    display: block;
+    cursor: pointer;
+    transition: all ease 0.2s;
+    padding: 0 9px;
+    line-height: 28px;
+    margin: 5px;
+    float: left;
+    width: 130px;
+    text-align: center;
+}
+
+.tab-mission-control .btn a:hover {
+    background-color: #3394b5;
+    transition: all ease 0.2s;
+}
+
+.tab-mission-control .btn a:active {
+    background-color: #37a8db;
+    transition: all ease 0.0s;
+    box-shadow: inset 0 1px 5px rgba(0, 0, 0, 0.35);
+}
+
+.tab-mission-control .btn a.disabled {
+    cursor: default;
+    color: #fff;
+    background-color: #AFAFAF;
+    border: 1px solid #AFAFAF;
+    pointer-events: none;
+    text-shadow: none;
+    opacity: 0.5;
+}
+
+.tab-mission-control .btn-danger a {
+    background-color: #db250e;
+    border: 1px solid #b5480e;
+}
+
+.tab-mission-control .btn-danger a:hover {
+    background-color: #b5480e;
+    transition: all ease 0.2s;
+}
+
+.tab-mission-control .checksfail {
+    /*float: right;*/
+    margin-top: 3px;
+    height: 15px;
+    width: 15px;
+    background-image:url(../../../images/icons/nopass.svg);
+    background-size:contain;
+    background-position:center;
+    background-repeat:no-repeat;
+}
+
+.tab-mission-control .content_wrapper {
+    display: flex;
+    /*height: 150px;*/
+    height: 90%;
+    /*width: 75%;*/
+    flex-direction: row;
+    justify-content: space-between;
+    flex-wrap: wrap;
+    padding-bottom: 5px;
+    padding-top: 5px;
+}
+
+.tab-mission-control {
+    height: 100%;
+}
+
+#missionMap {
+    height: 100%;
+}
+
+.tab-mission-control input {
+    width: 115px;
+    padding-left: 3px;
+    height: 20px;
+    line-height: 20px;
+    text-align: left;
+    border: 1px solid silver;
+    border-radius: 3px;
+    font-size: 12px;
+    font-weight: normal;
+}
+
+.tab-mission-control select {
+    width: 118px;
+    padding-left: 3px;
+    height: 20px;
+    line-height: 20px;
+    text-align: left;
+    border: 1px solid silver;
+    border-radius: 3px;
+    font-size: 12px;
+    font-weight: normal;
+}
+
+.tab-mission-control .point {
+    display: block;
+    margin-bottom: 5px;
+    margin-left: 5px;
+}
+.tab-mission-control .point-label {
+    width: 60px;
+    display: inline-block;
+}
+
+.mission-control-settings {
+    top: 65px;
+    left: .5em;
+}
+.ol-touch .mission-control-settings {
+    top: 80px;
+}

src/css/tabs/receiver.css

@@ -176,6 +176,7 @@
     color: white;
     border-right: 1px solid silver;
     font-weight: normal;
+    width: 50%;
 }
 
 .tab-receiver .tunings table th:first-child {

src/css/tabs/sensors.css

@@ -167,3 +167,13 @@
 .tab-sensors .legend .item:nth-child(4) {
     fill: #4DA74D;
 }
+
+.tab-sensors a.debug-trace {
+    float: right;
+    margin-right: 1em;
+    font-size: 90%;
+}
+
+.tab-sensors a.debug-trace:hover {
+    text-decoration: underline;
+}

tabs/adjustments.js

@@ -70,6 +70,10 @@ TABS.adjustments.initialize = function (callback) {
            availableFunctionCount = 21;
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+           availableFunctionCount = 32;
+        }
+
         var functionListOptions = $(functionListOptions).slice(0,availableFunctionCount);
         functionList.empty().append(functionListOptions);
 

tabs/calibration.html

@@ -64,8 +64,8 @@
                                         <tr>
                                             <td data-i18n="accGain"></td>
                                             <td><label for="accGainX"><span>X</span></label><input type="number" name="accGainX" min="0" max="2000"></td>
-                                            <td><label for="accGainX"><span>Y</span></label><input type="number" name="accGainX" min="0" max="2000"></td>
+                                            <td><label for="accGainY"><span>Y</span></label><input type="number" name="accGainY" min="0" max="2000"></td>
-                                            <td><label for="accGainX"><span>Z</span></label><input type="number" name="accGainX" min="0" max="2000"></td>
+                                            <td><label for="accGainZ"><span>Z</span></label><input type="number" name="accGainZ" min="0" max="2000"></td>
                                         </tr>
                                     </table>
                                 </div>

tabs/calibration.js

@@ -55,6 +55,7 @@ TABS.calibration.initialize = function (callback) {
     if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
         loadChainer.setChain([
             mspHelper.loadStatus,
+            mspHelper.loadSensorConfig,
             mspHelper.loadCalibrationData
         ]);
         loadChainer.setExitPoint(loadHtml);
@@ -111,7 +112,7 @@ TABS.calibration.initialize = function (callback) {
         var pos = ['X', 'Y', 'Z'];
         pos.forEach(function (item) {
             $('[name=accGain' + item + ']').val(CALIBRATION_DATA.accGain[item]);
-            $('[name=accZero' + item + ']').val(CALIBRATION_DATA.accGain[item]);
+            $('[name=accZero' + item + ']').val(CALIBRATION_DATA.accZero[item]);
             $('[name=Mag' + item + ']').val(CALIBRATION_DATA.magZero[item]);
         });
         updateCalibrationSteps();

tabs/configuration.html

@@ -271,14 +271,6 @@
                     <div class="features esc"></div>
                     <!--list of generated features goes here-->
 
-                    <div class="checkbox">
-                            <input type="checkbox" id="disarmkillswitch" name="disarmkillswitch" class="toggle" />
-                        <label for="disarmkillswitch">
-                            <span data-i18n="configurationDisarmKillSwitch"></span>
-                        </label>
-                        <div class="helpicon cf_tip" data-i18n_title="configurationDisarmKillSwitchHelp"></div>
-                    </div>
-
                     <div class="number disarmdelay" style="display: none; margin-bottom: 5px;">
                         <input type="number" id="autodisarmdelay" name="autodisarmdelay" min="0" max="60" />
                         <label for="autodisarmdelay">
@@ -295,7 +287,7 @@
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="midthrottle" name="midthrottle" min="0" max="2000" />
+                        <input type="number" id="midthrottle" name="midthrottle" min="1200" max="1700" />
                         <label for="midthrottle">
                             <span data-i18n="configurationThrottleMid"></span>
                         </label>
@@ -382,23 +374,23 @@
                     <!--list of generated features goes here-->
 
                     <div class="number">
-                        <input type="number" id="mincellvoltage" name="mincellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="mincellvoltage" name="mincellvoltage" step="0.01" min="1" max="5" />
                         <label for="mincellvoltage"><span data-i18n="configurationBatteryMinimum"></span></label>
                     </div>
                     <div class="number">
-                        <input type="number" id="maxcellvoltage" name="maxcellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="maxcellvoltage" name="maxcellvoltage" step="0.01" min="1" max="5" />
                         <label for="maxcellvoltage">
                             <span data-i18n="configurationBatteryMaximum"></span>
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="warningcellvoltage" name="warningcellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="warningcellvoltage" name="warningcellvoltage" step="0.01" min="1" max="5" />
                         <label for="warningcellvoltage">
                             <span data-i18n="configurationBatteryWarning"></span>
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="voltagescale" name="voltagescale" step="1" min="10" max="255" />
+                        <input type="number" id="voltagescale" name="voltagescale" step="1" min="10" max="65535" />
                         <label for="voltagescale">
                             <span data-i18n="configurationBatteryScale"></span>
                         </label>
@@ -426,7 +418,7 @@
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="currentoffset" name="currentoffset" step="1" min="0" max="3300" />
+                        <input type="number" id="currentoffset" name="currentoffset" step="1" min="-3300" max="3300" />
                         <label for="currentoffset">
                             <span data-i18n="configurationCurrentOffset"></span>
                         </label>
@@ -437,10 +429,35 @@
                             <span data-i18n="configurationBatteryCurrent"></span>
                         </label>
                     </div>
-                    <div class="checkbox">
+                </div>
-                        <input type="checkbox" id="multiwiicurrentoutput" name="multiwiicurrentoutput" class="toggle" />
+            </div>
-                        <label for="multiwiicurrentoutput">
+            <div class="config-section gui_box grey requires-v1_8_1">
-                            <span data-i18n="configurationBatteryMultiwiiCurrent"></span>
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" data-i18n="configurationBatteryCapacity"></div>
+                </div>
+                <div class="spacer_box">
+                    <div class="select">
+                        <select id="battery_capacity_unit">
+                            <option value="mAh">mAh</option>
+                            <option value="mWh">mWh</option>
+                        </select>
+                    </div>
+                    <div class="number">
+                        <input type="number" id="battery_capacity" name="battery_capacity" step="1" min="0" max="4294967296" />
+                        <label for="battery_capacity">
+                            <span data-i18n="configurationBatteryCapacityValue"></span>
+                        </label>
+                    </div>
+                    <div class="number">
+                        <input type="number" id="battery_capacity_warning" name="battery_capacity_warning" step="1" min="0" max="100" />
+                        <label for="battery_capacity_warning">
+                            <span data-i18n="configurationBatteryCapacityWarning"></span>
+                        </label>
+                    </div>
+                    <div class="number">
+                        <input type="number" id="battery_capacity_critical" name="battery_capacity_critical" step="1" min="0" max="100" />
+                        <label for="battery_capacity_critical">
+                            <span data-i18n="configurationBatteryCapacityCritical"></span>
                         </label>
                     </div>
                 </div>

tabs/configuration.js

@@ -24,9 +24,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
     var loadChainer = new MSPChainerClass();
 
-    loadChainer.setChain([
+    var loadChain = [
         mspHelper.loadBfConfig,
-        mspHelper.loadMisc,
         mspHelper.loadArmingConfig,
         mspHelper.loadLoopTime,
         mspHelper.loadRxConfig,
@@ -36,15 +35,22 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.loadINAVPidConfig,
         mspHelper.loadSensorConfig,
         loadCraftName
-    ]);
+    ];
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        loadChain.push(mspHelper.loadMiscV2);
+    } else {
+        loadChain.push(mspHelper.loadMisc);
+    }
+
+    loadChainer.setChain(loadChain);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
     var saveChainer = new MSPChainerClass();
 
-    saveChainer.setChain([
+    var saveChain = [
         mspHelper.saveBfConfig,
-        mspHelper.saveMisc,
         mspHelper.save3dConfig,
         mspHelper.saveSensorAlignment,
         mspHelper.saveAccTrim,
@@ -55,8 +61,17 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.saveINAVPidConfig,
         mspHelper.saveSensorConfig,
         saveCraftName,
-        mspHelper.saveToEeprom
+    ];
-    ]);
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        saveChain.push(mspHelper.saveMiscV2);
+    } else {
+        saveChain.push(mspHelper.saveMisc);
+    }
+
+    saveChain.push(mspHelper.saveToEeprom);
+
+    saveChainer.setChain(saveChain);
     saveChainer.setExitPoint(reboot);
 
     function reboot() {
@@ -295,7 +310,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
         //fill motor disarm params and FC loop time
         $('input[name="autodisarmdelay"]').val(ARMING_CONFIG.auto_disarm_delay);
-        $('input[name="disarmkillswitch"]').prop('checked', ARMING_CONFIG.disarm_kill_switch);
         $('div.disarm').show();
         if(bit_check(BF_CONFIG.features, 4)) {//MOTOR_STOP
             $('div.disarmdelay').show();
@@ -309,7 +323,15 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         $('#maxthrottle').val(MISC.maxthrottle);
         $('#mincommand').val(MISC.mincommand);
 
-        // fill battery
+        // Battery thresholds resolution is 100mV and voltage scale max is 255 before 1.8.1
+        if (semver.lt(CONFIG.flightControllerVersion, '1.8.1')) {
+            $('#mincellvoltage').attr('step', '0.1');
+            $('#maxcellvoltage').attr('step', '0.1');
+            $('#warningcellvoltage').attr('step', '0.1');
+            $('#voltagescale').attr('max', '255');
+        }
+
+        // fill battery voltage
         $('#mincellvoltage').val(MISC.vbatmincellvoltage);
         $('#maxcellvoltage').val(MISC.vbatmaxcellvoltage);
         $('#warningcellvoltage').val(MISC.vbatwarningcellvoltage);
@@ -318,7 +340,12 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         // fill current
         $('#currentscale').val(BF_CONFIG.currentscale);
         $('#currentoffset').val(BF_CONFIG.currentoffset);
-        $('#multiwiicurrentoutput').prop('checked', MISC.multiwiicurrentoutput);
+
+        // fill battery capacity
+        $('#battery_capacity').val(MISC.battery_capacity);
+        $('#battery_capacity_warning').val(MISC.battery_capacity_warning * 100 / MISC.battery_capacity);
+        $('#battery_capacity_critical').val(MISC.battery_capacity_critical * 100 / MISC.battery_capacity);
+        $('#battery_capacity_unit').val(MISC.battery_capacity_unit);
 
         var escProtocols = FC.getEscProtocols();
         var servoRates = FC.getServoRates();
@@ -564,6 +591,12 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             $(".requires-v1_7").hide();
         }
 
+        if (semver.gte(CONFIG.flightControllerVersion, "1.8.1")) {
+            $(".requires-v1_8_1").show();
+        } else {
+            $(".requires-v1_8_1").hide();
+        }
+
         $('#3ddeadbandlow').val(_3D.deadband3d_low);
         $('#3ddeadbandhigh').val(_3D.deadband3d_high);
         $('#3dneutral').val(_3D.neutral3d);
@@ -629,7 +662,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             MISC.mag_declination = parseFloat($('#mag_declination').val());
 
             ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
-            ARMING_CONFIG.disarm_kill_switch = ~~$('input[name="disarmkillswitch"]').is(':checked'); // ~~ boolean to decimal conversion
 
             MISC.minthrottle = parseInt($('#minthrottle').val());
             MISC.midrc = parseInt($('#midthrottle').val());
@@ -641,9 +673,13 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             MISC.vbatwarningcellvoltage = parseFloat($('#warningcellvoltage').val());
             MISC.vbatscale = parseInt($('#voltagescale').val());
 
+            MISC.battery_capacity = parseInt($('#battery_capacity').val());
+            MISC.battery_capacity_warning = parseInt($('#battery_capacity_warning').val() * MISC.battery_capacity / 100);
+            MISC.battery_capacity_critical = parseInt($('#battery_capacity_critical').val() * MISC.battery_capacity / 100);
+            MISC.battery_capacity_unit = $('#battery_capacity_unit').val();
+
             BF_CONFIG.currentscale = parseInt($('#currentscale').val());
             BF_CONFIG.currentoffset = parseInt($('#currentoffset').val());
-            MISC.multiwiicurrentoutput = ~~$('#multiwiicurrentoutput').is(':checked'); // ~~ boolean to decimal conversion
 
             _3D.deadband3d_low = parseInt($('#3ddeadbandlow').val());
             _3D.deadband3d_high = parseInt($('#3ddeadbandhigh').val());
@@ -713,7 +749,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         });
 
         helper.interval.add('config_load_analog', function () {
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                $('#batteryvoltage').val([ANALOG.voltage.toFixed(2)]);
+            } else {
                 $('#batteryvoltage').val([ANALOG.voltage.toFixed(1)]);
+            }
             $('#batterycurrent').val([ANALOG.amperage.toFixed(2)]);
         }, 100, true); // 10 fps
         GUI.content_ready(callback);

tabs/debug_trace.html

@@ -0,0 +1,9 @@
+<html>
+<head>
+<title>Debug Trace</title>
+    <script type="text/javascript" src="/build/debug-trace.js"></script>
+</head>
+<body>
+    <pre><code id="debug-trace"></code></pre>
+</body>
+</html>

tabs/firmware_flasher.js

@@ -319,8 +319,12 @@ TABS.firmware_flasher.initialize = function (callback) {
                         $('div.release_info .status').text(summary.status);
                         $('div.release_info .file').text(summary.file).prop('href', summary.url);
 
-                        var formattedNotes = summary.notes.trim('\r').replace(/\r/g, '<br />');
+                        var formattedNotes = marked(summary.notes);
                         $('div.release_info .notes').html(formattedNotes);
+                        // Make links in the release notes open in a new window
+                        $('div.release_info .notes a').each(function () {
+                            $(this).attr('target', '_blank');
+                        });
 
                         $('div.release_info').slideDown();
 

tabs/landing.html

@@ -7,6 +7,7 @@
             </div>
         </div>
         <div class="community">
+            <ul class="communityTelegramSupport"><a href="https://t.me/INAVFlight" target="_blank"><i class="fa fa-telegram" aria-hidden="true"></i><span i18n="communityTelegramSupport"></span></a></ul>
             <ul class="communitySlackSupport"><a href="https://inavflight.signup.team/" target="_blank"><i class="fa fa-slack" aria-hidden="true"></i><span i18n="communitySlackSupport"></span></a></ul>
             <ul class="communityRCGroupsSupport"><a href="https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-%28navigation-rewrite%29-project" target="_blank"><i class="fa fa-users" aria-hidden="true"></i><span i18n="communityRCGroupsSupport"></span></a></ul>
         </div>

tabs/mission_control.html

@@ -0,0 +1,119 @@
+<div class="tab-mission-control">
+    <div style="padding-top: 20px;padding-left: 20px; padding-right: 20px;position: relative;">
+        <div class="tab_title" data-i18n="tabMissionControl">Mission planer</div>
+        <div class="cf_doc_version_bt">
+            <a id="button-documentation" href="https://github.com/iNavFlight/inav/releases" target="_blank"></a>
+        </div>
+    </div>
+    <div class="content_wrapper">
+        <div class="cf_column fourth" id="missionControls">
+            <div class="spacer_right">
+                <div id="missionPlanerSettings" class="gui_box grey" style="display: none">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title i18n-replaced" data-i18n="missionDefaultSettingsHead">Default settings</div>
+                    </div>
+                    <div class="spacer">
+                        <div class="point">
+                            <label class="point-label" for="pointAlt">Alt (cm): </label>
+                            <input id="MPdefaultPointAlt" type="text" value="0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="pointSpeed">Speed (cm/s): </label>
+                            <input id="MPdefaultPointSpeed" type="text" value="0" required>
+                        </div>
+                        <div>
+                            <div id="saveSettings" class="btn save_btn" style="padding-top: 10px; display: inline-block">
+                                <a class="save" href="#" data-i18n="editPointButtonSave" style="float: left">Save</a>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+                <div id="missionPalnerTotalInfo" class="gui_box grey">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title i18n-replaced" data-i18n="missionTotalInformationHead">Total information</div>
+                    </div>
+                    <div class="spacer">
+                        <div style="padding-bottom: 2px;">
+                            <span>Distance (m):</span>
+                            <span id="missionDistance"></span>
+                        </div>
+                        <div style="padding-bottom: 2px;">
+                            <span>Available Points</span>
+                            <span id="availablePoints">0/0</span>
+                        </div>
+                        <div style="padding-bottom: 2px;">
+                            <span>Mission valid</span>
+                            <div id="missionValid" style="display: inline-block"></div>
+                        </div>
+                        <br>
+                        <div style="display: flex;">
+                            <input type="checkbox" style="width: 18px;margin-left: 5px;" id="rthEndMission">
+                            <label for="rthEndMission" style="padding: 2px;">RTH at the end of the mission</label>
+                        </div>
+                        <div id="rthSettings" style="display: none">
+                            <div style="display: flex">
+                                <input type="checkbox" id="rthLanding" style="width: 18px;margin-left: 5px;">
+                                <label for="rthLanding" style="padding: 2px">Landing</label>
+                            </div>
+                        </div>
+                        <hr>
+                        <div class="btn save_btn">
+                            <a id="loadMissionButton" class="save" href="#" data-i18n="loadMissionButton">Load mission from FC</a>
+                            <a id="saveMissionButton" class="save" href="#" data-i18n="saveMissionButton">Save mission to FC</a>
+                            <a id="loadEepromMissionButton" class="save" href="#" data-i18n="loadEepromMissionButton">Load Eeprom mission</a>
+                            <a id="saveEepromMissionButton" class="save" href="#" data-i18n="saveEepromMissionButton">Save Eeprom mission</a>
+                        </div>
+                        <hr>
+                        <div id="removeAllPoints" class="btn btn-danger" style="padding-top: 10px; display: inline-block">
+                            <a class="save" href="#" data-i18n="removeAllPointButtonSave" style="float: left">Remove all points</a>
+                        </div>
+                    </div>
+                </div>
+                <div class="gui_box grey" id="MPeditPoint" style="display: none">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title i18n-replaced" data-i18n="editPointHead">Edit point</div>
+                    </div>
+                    <div class="spacer">
+                        <input type="hidden" name="pointNumber" value="">
+                        <div class="point">
+                            <label class="point-label" for="pointType">Type: </label>
+                            <select name="type" id="pointType">
+                                <!--<option value="1">Home</option>-->
+                                <option value="1">Waypoint</option>
+                                <!--<option value="4">RTH</option>-->
+                            </select>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="pointLat">Lat: </label>
+                            <input id="pointLat" type="text" value="0.0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="pointLon">Lon: </label>
+                            <input id="pointLon" type="text" value="0.0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="pointAlt">Alt (cm): </label>
+                            <input id="pointAlt" type="text" value="0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="pointSpeed">Speed (cm/s): </label>
+                            <input id="pointSpeed" type="text" value="0" required>
+                        </div>
+                        <div>
+                            <div id="savePoint" class="btn save_btn" style="padding-top: 10px; display: inline-block">
+                                <a class="save" href="#" data-i18n="editPointButtonSave" style="float: left">Save</a>
+                            </div>
+                            <div id="removePoint" class="btn btn-danger" style="padding-top: 10px; display: inline-block;">
+                                <a class="save" href="#" data-i18n="editPointButtonRemove" style="float: left">Remove</a>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
+        <div class="cf_column threefourth_left">
+            <div id="missionMap"></div>
+            <div id="notLoadMap" data-i18n="useOnlyStandalone" style="display: none;"></div>
+        </div>
+    </div>
+</div>

tabs/mission_control.js

@@ -0,0 +1,602 @@
+'use strict';
+
+TABS.mission_control = {};
+TABS.mission_control.isYmapLoad = false;
+TABS.mission_control.initialize = function (callback) {
+
+    if (GUI.active_tab != 'mission_control') {
+        GUI.active_tab = 'mission_control';
+        googleAnalytics.sendAppView('Mission Control');
+    }
+
+    var loadChainer = new MSPChainerClass();
+    loadChainer.setChain([
+        mspHelper.getMissionInfo
+    ]);
+    loadChainer.setExitPoint(loadHtml);
+    loadChainer.execute();
+
+    function updateTotalInfo() {
+        $('#availablePoints').text(MISSION_PLANER.countBusyPoints + '/' + MISSION_PLANER.maxWaypoints);
+        $('#missionValid').html(MISSION_PLANER.isValidMission ? chrome.i18n.getMessage('armingCheckPass') : chrome.i18n.getMessage('armingCheckFail'));
+    }
+
+    function loadHtml() {
+        $('#content').load("./tabs/mission_control.html", process_html);
+    }
+
+    function process_html() {
+        if (typeof require !== "undefined") {
+            chrome.storage.local.get('missionPlanerSettings', function (result) {
+                if (result.missionPlanerSettings) {
+                    $('#MPdefaultPointAlt').val(result.missionPlanerSettings.alt);
+                    $('#MPdefaultPointSpeed').val(result.missionPlanerSettings.speed);
+                } else {
+                    chrome.storage.local.set({'missionPlanerSettings': {speed: 0, alt: 5000}});
+                    $('#MPdefaultPointAlt').val(5000);
+                    $('#MPdefaultPointSpeed').val(0);
+                }
+            });
+
+
+            initMap();
+        } else {
+            $('#missionMap, #missionControls').hide();
+            $('#notLoadMap').show();
+        }
+        localize();
+
+        GUI.content_ready(callback);
+    }
+
+    var markers = [];
+    var lines = [];
+    var map;
+    var selectedMarker = null;
+    var pointForSend = 0;
+
+    function clearEditForm() {
+        $('#pointLat').val('');
+        $('#pointLon').val('');
+        $('#pointAlt').val('');
+        $('#pointSpeed').val('');
+        $('[name=pointNumber]').val('');
+        $('#MPeditPoint').fadeOut(300);
+    }
+
+    function repaint() {
+        var oldPos;
+        for (var i in lines) {
+            map.removeLayer(lines[i]);
+        }
+        lines = [];
+        $('#missionDistance').text(0);
+
+        map.getLayers().forEach(function (t) {
+            //feature.getGeometry().getType()
+            if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined') {
+                var geometry = t.getSource().getFeatures()[0].getGeometry();
+                if (typeof oldPos !== 'undefined') {
+                    paintLine(oldPos, geometry.getCoordinates());
+                }
+
+                oldPos = geometry.getCoordinates();
+            }
+        });
+    }
+
+    function paintLine(pos1, pos2) {
+        var line = new ol.geom.LineString([pos1, pos2]);
+
+        var feature = new ol.Feature({
+            geometry: line
+        });
+        feature.setStyle(new ol.style.Style({
+            stroke: new ol.style.Stroke({
+                color: '#1497f1',
+                width: 3
+            })
+        }));
+
+        var vectorSource = new ol.source.Vector({
+            features: [feature]
+        });
+
+        var vectorLayer = new ol.layer.Vector({
+            source: vectorSource
+        });
+
+        lines.push(vectorLayer);
+
+        var length = ol.Sphere.getLength(line) + parseFloat($('#missionDistance').text());
+        $('#missionDistance').text(length.toFixed(3));
+
+        map.addLayer(vectorLayer);
+    }
+
+    function getPointIcon(isEdit) {
+        return new ol.style.Style({
+            image: new ol.style.Icon(({
+                anchor: [0.5, 1],
+                opacity: 1,
+                scale: 0.5,
+                src: '../images/icons/cf_icon_position' + (isEdit ? '_edit' : '') + '.png'
+            }))
+//            text: new ol.style.Text({
+//                text: '10',
+//                offsetX: -1,
+//                offsetY: -30,
+//                overflow: true,
+//                scale: 2,
+//                fill: new ol.style.Fill({
+//                    color: 'black'
+//                })
+//            })
+        });
+    }
+
+    function addMarker(_pos, _alt, _action, _speed) {
+        var iconFeature = new ol.Feature({
+            geometry: new ol.geom.Point(_pos),
+            name: 'Null Island',
+            population: 4000,
+            rainfall: 500
+        });
+
+        iconFeature.setStyle(getPointIcon());
+
+        var vectorSource = new ol.source.Vector({
+            features: [iconFeature]
+        });
+
+        var vectorLayer = new ol.layer.Vector({
+            source: vectorSource
+        });
+
+        vectorLayer.alt = _alt;
+        vectorLayer.number = markers.length;
+        vectorLayer.action = _action;
+        vectorLayer.speedValue = _speed;
+
+        markers.push(vectorLayer);
+
+        return vectorLayer;
+    }
+
+    function initMap() {
+        var app = {};
+
+        /**
+         * @constructor
+         * @extends {ol.interaction.Pointer}
+         */
+        app.Drag = function () {
+
+            ol.interaction.Pointer.call(this, {
+                handleDownEvent: app.Drag.prototype.handleDownEvent,
+                handleDragEvent: app.Drag.prototype.handleDragEvent,
+                handleMoveEvent: app.Drag.prototype.handleMoveEvent,
+                handleUpEvent: app.Drag.prototype.handleUpEvent
+            });
+
+            /**
+             * @type {ol.Pixel}
+             * @private
+             */
+            this.coordinate_ = null;
+
+            /**
+             * @type {string|undefined}
+             * @private
+             */
+            this.cursor_ = 'pointer';
+
+            /**
+             * @type {ol.Feature}
+             * @private
+             */
+            this.feature_ = null;
+
+            /**
+             * @type {string|undefined}
+             * @private
+             */
+            this.previousCursor_ = undefined;
+
+        };
+        ol.inherits(app.Drag, ol.interaction.Pointer);
+
+        /**
+         * @constructor
+         * @extends {ol.control.Control}
+         * @param {Object=} opt_options Control options.
+         */
+        app.PlannerSettingsControl = function (opt_options) {
+            var options = opt_options || {};
+            var button = document.createElement('button');
+
+            button.innerHTML = ' ';
+            button.style = 'background: url(\'../images/CF_settings_white.svg\') no-repeat 1px -1px;background-color: rgba(0,60,136,.5);';
+
+            var handleShowSettings = function () {
+                $('#MPeditPoint, #missionPalnerTotalInfo').hide();
+                $('#missionPlanerSettings').fadeIn(300);
+            };
+
+            button.addEventListener('click', handleShowSettings, false);
+            button.addEventListener('touchstart', handleShowSettings, false);
+
+            var element = document.createElement('div');
+            element.className = 'mission-control-settings ol-unselectable ol-control';
+            element.appendChild(button);
+            element.title = 'MP Settings';
+
+            ol.control.Control.call(this, {
+                element: element,
+                target: options.target
+            });
+
+        };
+        ol.inherits(app.PlannerSettingsControl, ol.control.Control);
+
+        /**
+         * @param {ol.MapBrowserEvent} evt Map browser event.
+         * @return {boolean} `true` to start the drag sequence.
+         */
+        app.Drag.prototype.handleDownEvent = function (evt) {
+            var map = evt.map;
+
+            var feature = map.forEachFeatureAtPixel(evt.pixel,
+                function (feature, layer) {
+                    return feature;
+                });
+
+            if (feature) {
+                this.coordinate_ = evt.coordinate;
+                this.feature_ = feature;
+            }
+
+            return !!feature;
+        };
+
+        /**
+         * @param {ol.MapBrowserEvent} evt Map browser event.
+         */
+        app.Drag.prototype.handleDragEvent = function (evt) {
+            var map = evt.map;
+
+            var feature = map.forEachFeatureAtPixel(evt.pixel,
+                function (feature, layer) {
+                    return feature;
+                });
+
+            var deltaX = evt.coordinate[0] - this.coordinate_[0];
+            var deltaY = evt.coordinate[1] - this.coordinate_[1];
+
+            var geometry = /** @type {ol.geom.SimpleGeometry} */
+                (this.feature_.getGeometry());
+            geometry.translate(deltaX, deltaY);
+
+            this.coordinate_[0] = evt.coordinate[0];
+            this.coordinate_[1] = evt.coordinate[1];
+            repaint();
+        };
+
+        /**
+         * @param {ol.MapBrowserEvent} evt Event.
+         */
+        app.Drag.prototype.handleMoveEvent = function (evt) {
+            if (this.cursor_) {
+                var map = evt.map;
+                var feature = map.forEachFeatureAtPixel(evt.pixel,
+                    function (feature, layer) {
+                        return feature;
+                    });
+                var element = evt.map.getTargetElement();
+                if (feature) {
+                    if (element.style.cursor != this.cursor_) {
+                        this.previousCursor_ = element.style.cursor;
+                        element.style.cursor = this.cursor_;
+                    }
+                } else if (this.previousCursor_ !== undefined) {
+                    element.style.cursor = this.previousCursor_;
+                    this.previousCursor_ = undefined;
+                }
+            }
+        };
+
+        /**
+         * @param {ol.MapBrowserEvent} evt Map browser event.
+         * @return {boolean} `false` to stop the drag sequence.
+         */
+        app.Drag.prototype.handleUpEvent = function (evt) {
+            this.coordinate_ = null;
+            this.feature_ = null;
+            return false;
+        };
+
+        var lat = GPS_DATA.lat / 10000000;
+        var lon = GPS_DATA.lon / 10000000;
+
+        map = new ol.Map({
+            controls: ol.control.defaults({
+                attributionOptions: {
+                    collapsible: false
+                }
+            }).extend([
+                new app.PlannerSettingsControl()
+            ]),
+            interactions: ol.interaction.defaults().extend([new app.Drag()]),
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.OSM()
+                })
+            ],
+            target: document.getElementById('missionMap'),
+            view: new ol.View({
+                center: ol.proj.fromLonLat([lon, lat]),
+                zoom: 14
+            })
+        });
+
+        map.on('click', function (evt) {
+            if (selectedMarker != null) {
+                try {
+                    selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon());
+                    selectedMarker = null;
+                    clearEditForm();
+                } catch (e) {
+                    GUI.log(e);
+                }
+            }
+
+            var selectedFeature = map.forEachFeatureAtPixel(evt.pixel,
+                function (feature, layer) {
+                    return feature;
+                });
+            selectedMarker = map.forEachFeatureAtPixel(evt.pixel,
+                function (feature, layer) {
+                    return layer;
+                });
+            if (selectedFeature) {
+                var geometry = selectedFeature.getGeometry();
+                var coord = ol.proj.toLonLat(geometry.getCoordinates());
+
+                selectedFeature.setStyle(getPointIcon(true));
+
+                $('#pointLon').val(coord[0]);
+                $('#pointLat').val(coord[1]);
+                $('#pointAlt').val(selectedMarker.alt);
+                $('#pointType').val(selectedMarker.action);
+                $('#pointSpeed').val(selectedMarker.speedValue);
+                $('#MPeditPoint').fadeIn(300);
+            } else {
+                map.addLayer(addMarker(evt.coordinate, $('#MPdefaultPointAlt').val(), 1, $('#MPdefaultPointSpeed').val()));
+                repaint();
+            }
+        });
+
+        // change mouse cursor when over marker
+        $(map.getViewport()).on('mousemove', function (e) {
+            var pixel = map.getEventPixel(e.originalEvent);
+            var hit = map.forEachFeatureAtPixel(pixel, function (feature, layer) {
+                return true;
+            });
+            if (hit) {
+                map.getTarget().style.cursor = 'pointer';
+            } else {
+                map.getTarget().style.cursor = '';
+            }
+        });
+
+        $('#removeAllPoints').on('click', function () {
+            if (confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) {
+                removeAllPoints();
+            }
+        });
+
+        $('#removePoint').on('click', function () {
+            if (selectedMarker) {
+
+                var tmp = [];
+                for (var i in markers) {
+                    if (markers[i] !== selectedMarker && typeof markers[i].action !== "undefined") {
+                        tmp.push(markers[i]);
+                    }
+                }
+                map.removeLayer(selectedMarker);
+                markers = tmp;
+                selectedMarker = null;
+
+                clearEditForm();
+                repaint();
+            }
+        });
+
+        $('#savePoint').on('click', function () {
+            if (selectedMarker) {
+                map.getLayers().forEach(function (t) {
+                    if (t === selectedMarker) {
+                        var geometry = t.getSource().getFeatures()[0].getGeometry();
+                        geometry.setCoordinates(ol.proj.fromLonLat([parseFloat($('#pointLon').val()), parseFloat($('#pointLat').val())]));
+                        t.alt = $('#pointAlt').val();
+                        t.action = $('#pointType').val();
+                        t.speedValue = $('#pointSpeed').val();
+                    }
+                });
+
+                selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon());
+                selectedMarker = null;
+                clearEditForm();
+                repaint();
+            }
+        });
+
+        $('#loadMissionButton').on('click', function () {
+            if (markers.length) {
+                if (!confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) {
+                    return;
+                }
+                removeAllPoints();
+            }
+            $(this).addClass('disabled');
+            GUI.log('Start get point');
+
+            pointForSend = 0;
+            getNextPoint();
+        });
+
+        $('#saveMissionButton').on('click', function () {
+            $(this).addClass('disabled');
+            GUI.log('Start send point');
+
+            pointForSend = 0;
+            sendNextPoint();
+        });
+
+        $('#loadEepromMissionButton').on('click', function () {
+            if (markers.length) {
+                if (!confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) {
+                    return;
+                }
+                removeAllPoints();
+            }
+            GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
+
+            MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, false, getPointsFromEprom);
+        });
+        $('#saveEepromMissionButton').on('click', function () {
+            GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+            MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, false, false);
+        });
+
+        $('#rthEndMission').on('change', function () {
+            if ($(this).is(':checked')) {
+                $('#rthSettings').fadeIn(300);
+            } else {
+                $('#rthSettings').fadeOut(300);
+            }
+        });
+
+        $('#saveSettings').on('click', function () {
+            chrome.storage.local.set({'missionPlanerSettings': {speed: $('#MPdefaultPointSpeed').val(), alt: $('#MPdefaultPointAlt').val()}});
+            $('#missionPlanerSettings').hide();
+            $('#missionPalnerTotalInfo').fadeIn(300);
+            if (selectedMarker !== null) {
+                $('#MPeditPoint').fadeIn(300);
+            }
+        });
+
+        updateTotalInfo();
+    }
+
+    function removeAllPoints() {
+        for (var i in markers) {
+            map.removeLayer(markers[i]);
+        }
+        markers = [];
+        clearEditForm();
+        repaint();
+    }
+
+    function getPointsFromEprom() {
+        pointForSend = 0;
+        MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getNextPoint);
+    }
+
+    function endGetPoint() {
+        GUI.log('End get point');
+        $('#loadMissionButton').removeClass('disabled');
+        repaint();
+        updateTotalInfo();
+    }
+
+    function getNextPoint() {
+        if (MISSION_PLANER.countBusyPoints == 0) {
+            endGetPoint();
+            return;
+        }
+
+        if (pointForSend > 0) {
+            // console.log(MISSION_PLANER.bufferPoint.lon);
+            // console.log(MISSION_PLANER.bufferPoint.lat);
+            // console.log(MISSION_PLANER.bufferPoint.alt);
+            // console.log(MISSION_PLANER.bufferPoint.action);
+            if (MISSION_PLANER.bufferPoint.action == 4) {
+                $('#rthEndMission').attr('checked', true);
+                $('#rthSettings').fadeIn(300);
+                if (MISSION_PLANER.bufferPoint.p1 > 0) {
+                    $('#rthLanding').attr('checked', true);
+                }
+            } else {
+                var coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
+                map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action, MISSION_PLANER.bufferPoint.p1));
+                if (pointForSend === 1) {
+                    map.getView().setCenter(coord);
+                }
+            }
+        }
+
+        if (pointForSend >= MISSION_PLANER.countBusyPoints) {
+            endGetPoint();
+            return;
+        }
+
+        MISSION_PLANER.bufferPoint.number = pointForSend;
+
+        pointForSend++;
+
+        MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, getNextPoint);
+    }
+
+    function sendNextPoint() {
+        var isRTH = $('#rthEndMission').is(':checked');
+
+        if (pointForSend >= markers.length) {
+            if (isRTH) {
+                MISSION_PLANER.bufferPoint.number = pointForSend + 1;
+                MISSION_PLANER.bufferPoint.action = 4;
+                MISSION_PLANER.bufferPoint.lon = 0;
+                MISSION_PLANER.bufferPoint.lat = 0;
+                MISSION_PLANER.bufferPoint.alt = 0;
+                MISSION_PLANER.bufferPoint.endMission = 0xA5;
+                MISSION_PLANER.bufferPoint.p1 = $('#rthLanding').is(':checked') ? 1 : 0;
+                MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, endSendPoint);
+            } else {
+                endSendPoint();
+            }
+
+            return;
+        }
+
+        var geometry = markers[pointForSend].getSource().getFeatures()[0].getGeometry();
+        var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
+
+        MISSION_PLANER.bufferPoint.number = pointForSend + 1;
+        MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
+        MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
+        MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
+        MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
+        MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].speedValue;
+        pointForSend++;
+        if (pointForSend >= markers.length && !isRTH) {
+            MISSION_PLANER.bufferPoint.endMission = 0xA5;
+        } else {
+            MISSION_PLANER.bufferPoint.endMission = 0;
+        }
+
+        MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
+    }
+
+    function endSendPoint() {
+        GUI.log('End send point');
+
+        MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, updateTotalInfo);
+
+        $('#saveMissionButton').removeClass('disabled');
+    }
+};
+
+TABS.mission_control.cleanup = function (callback) {
+    if (callback) callback();
+};

tabs/osd.js

@@ -17,8 +17,11 @@ SYM.AH_BAR9_0 = 0x80;
 SYM.AH_DECORATION = 0x13;
 SYM.AMP = 0x9A;
 SYM.MAH = 0x07;
+SYM.WH = 0xAB;
 SYM.MAH_KM_0 = 157;
 SYM.MAH_KM_1 = 158;
+SYM.WH_KM_0 = 172;
+SYM.WH_KM_1 = 173;
 SYM.GPS_SAT1 = 0x1E;
 SYM.GPS_SAT2 = 0x1F;
 SYM.GPS_HDP1 = 0xBD;
@@ -33,6 +36,7 @@ SYM.AIR = 151;
 SYM.DIR_TO_HOME = 0x60;
 SYM.DIST_KM = 182;
 SYM.DIST_MI = 184;
+SYM.TRIP_DIST = 0x22;
 SYM.HEADING1 = 0xA9;
 SYM.HEADING2 = 0xA8;
 SYM.HEADING_N = 24;
@@ -402,6 +406,12 @@ OSD.constants = {
                     min_version: '1.7.4',
                     preview: FONT.symbol(SYM.VOLT) + FONT.embed_dot('3.90V')
                 },
+                {
+                    name: 'MAIN_BATT_REMAINING_PERCENTAGE',
+                    id: 38,
+                    min_version: '1.8.1',
+                    preview: '100%'
+                },
                 {
                     name: 'THROTTLE_POSITION',
                     id: 9,
@@ -574,6 +584,12 @@ OSD.constants = {
                     id: 12,
                     preview: FONT.symbol(SYM.MAH) + '690 ' // 4 chars
                 },
+                {
+                    name: 'WH_DRAWN',
+                    id: 36,
+                    min_version: '1.8.1',
+                    preview: FONT.symbol(SYM.WH) + FONT.embed_dot('1.25')
+                },
                 {
                     name: 'POWER',
                     id: 19,
@@ -581,10 +597,22 @@ OSD.constants = {
                     preview: 'W50 ' // 3 chars
                 },
                 {
-                    name: 'EFFICIENCY',
+                    name: 'MAIN_BATT_REMAINING_CAPACITY',
+                    id: 37,
+                    min_version: '1.8.1',
+                    preview: FONT.symbol(SYM.MAH) + '690 ' // 4 chars
+                },
+                {
+                    name: 'EFFICIENCY_MAH',
                     id: 35,
                     min_version: '1.7.4',
                     preview: "123" + FONT.symbol(SYM.MAH_KM_0) + FONT.symbol(SYM.MAH_KM_1)
+                },
+                {
+                    name: 'EFFICIENCY_WH',
+                    id: 39,
+                    min_version: '1.8.1',
+                    preview: FONT.embed_dot('1.23') + FONT.symbol(SYM.WH_KM_0) + FONT.symbol(SYM.WH_KM_1)
                 }
             ]
         },
@@ -641,6 +669,18 @@ OSD.constants = {
                         return FONT.symbol(SYM.DIST_KM) + FONT.embed_dot('1.73');
                     }
                 },
+                {
+                    name: 'TRIP_DIST',
+                    id: 40,
+                    min_version: '1.9.1',
+                    preview: function(osd_data) {
+                        if (OSD.data.unit_mode === 0) {
+                            // Imperial
+                            return FONT.symbol(SYM.TRIP_DIST) + FONT.symbol(SYM.DIST_MI) + FONT.embed_dot('0.98');
+                        }
+                        return FONT.symbol(SYM.TRIP_DIST) + FONT.symbol(SYM.DIST_KM) + FONT.embed_dot('1.73');
+                    }
+                },
                 {
                     name: 'GPS_HDOP',
                     id: 31,
@@ -1010,6 +1050,24 @@ TABS.osd.initialize = function (callback) {
                         if (typeof alarm.step === 'function') {
                             step = alarm.step(OSD.data)
                         }
+                        var $input = $('<label/>');
+                        var tooltip, help = chrome.i18n.getMessage('osdAlarm' + alarm.name + '_HELP');
+                        if (help) {
+                            tooltip = $('<div class="helpicon cf_tip"></div>');
+                            tooltip
+                            .css('margin-top', '1px')
+                            .attr('title', help)
+                            .appendTo($input)
+                            .jBox('Tooltip', {
+                                delayOpen: 100,
+                                delayClose: 100,
+                                position: {
+                                    x: 'right',
+                                    y: 'center'
+                                },
+                                outside: 'x'
+                            });
+                        }
                         var alarmInput = $('<input name="alarm" type="number" step="' + step + '"/>' + label + '</label>');
                         alarmInput.data('alarm', alarm);
                         if (typeof alarm.to_display === 'function') {
@@ -1026,26 +1084,10 @@ TABS.osd.initialize = function (callback) {
                             OSD.data.alarms[alarm.name] = val;
                             MSP.promise(MSPCodes.MSP_SET_OSD_CONFIG, OSD.msp.encodeOther())
                                 .then(function () {
+                                    tooltip.close();
                                     updateOsdView();
                                 });
                         });
-                        var $input = $('<label/>');
-                        var help = chrome.i18n.getMessage('osdAlarm' + alarm.name + '_HELP');
-                        if (help) {
-                            $('<div class="helpicon cf_tip"></div>')
-                            .css('margin-top', '1px')
-                            .attr('title', help)
-                            .appendTo($input)
-                            .jBox('Tooltip', {
-                                delayOpen: 100,
-                                delayClose: 100,
-                                position: {
-                                    x: 'right',
-                                    y: 'center'
-                                },
-                                outside: 'x'
-                            });
-                        }
                         $input.append(alarmInput);
                         $alarms.append($input);
                     }

tabs/pid_tuning.html

@@ -167,6 +167,24 @@
                                     <input type="number" name="yaw" class="rate-tpa_input" step="10" min="20" max="1800" /> degrees per second
                                 </td>
                             </tr>
+                            <tr>
+                                <th class="roll" data-i18n="pidTuningManualRollRate"></th>
+                                <td class="roll">
+                                    <input type="number" name="manual_roll" class="rate-tpa_input" step="1" min="0" max="100" /> %
+                                </td>
+                            </tr>
+                            <tr>
+                                <th class="pitch" data-i18n="pidTuningManualPitchRate"></th>
+                                <td class="pitch">
+                                    <input type="number" name="manual_pitch" class="rate-tpa_input" step="1" min="0" max="100" /> %
+                                </td>
+                            </tr>
+                            <tr>
+                                <th class="yaw" data-i18n="pidTuningManualYawRate"></th>
+                                <td class="yaw">
+                                    <input type="number" name="manual_yaw" class="rate-tpa_input" step="1" min="0" max="100" /> %
+                                </td>
+                            </tr>
                             <tr class="requires-v1_4">
                                 <th data-i18n="magHoldYawRate"></th>
                                 <td >

tabs/pid_tuning.js

@@ -9,14 +9,21 @@ TABS.pid_tuning.initialize = function (callback) {
 
     var loadChainer = new MSPChainerClass();
 
-    loadChainer.setChain([
+    var loadChain = [
         mspHelper.loadPidNames,
         mspHelper.loadPidData,
-        mspHelper.loadRcTuningData,
         mspHelper.loadINAVPidConfig,
         mspHelper.loadPidAdvanced,
         mspHelper.loadFilterConfig
-    ]);
+    ];
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        loadChain.push(mspHelper.loadRateProfileData);
+    } else {
+        loadChain.push(mspHelper.loadRcTuningData);
+    }
+
+    loadChainer.setChain(loadChain);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
@@ -58,6 +65,10 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.rate-tpa input[name="yaw"]').val(RC_tuning.yaw_rate.toFixed(2));
         }
 
+        $('.rate-tpa input[name="manual_roll"]').val(RC_tuning.manual_roll_rate);
+        $('.rate-tpa input[name="manual_pitch"]').val(RC_tuning.manual_pitch_rate);
+        $('.rate-tpa input[name="manual_yaw"]').val(RC_tuning.manual_yaw_rate);
+
         $('#tpa').val(RC_tuning.dynamic_THR_PID);
         $('#tpa-breakpoint').val(RC_tuning.dynamic_THR_breakpoint);
     }
@@ -80,6 +91,10 @@ TABS.pid_tuning.initialize = function (callback) {
         RC_tuning.yaw_rate = parseFloat($('.rate-tpa input[name="yaw"]:visible').val());
         RC_tuning.dynamic_THR_PID = parseInt($('#tpa').val());
         RC_tuning.dynamic_THR_breakpoint = parseInt($('#tpa-breakpoint').val());
+
+        RC_tuning.manual_roll_rate = $('.rate-tpa input[name="manual_roll"]:visible').val();
+        RC_tuning.manual_pitch_rate = $('.rate-tpa input[name="manual_pitch"]:visible').val();
+        RC_tuning.manual_yaw_rate = $('.rate-tpa input[name="manual_yaw"]:visible').val();
     }
     function hideUnusedPids(sensors_detected) {
       $('.tab-pid_tuning table.pid_tuning').hide();
@@ -231,8 +246,12 @@ TABS.pid_tuning.initialize = function (callback) {
             }
 
             function send_rc_tuning_changes() {
+                if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                    MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, saveINAVPidConfig);
+                } else {
                     MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, saveINAVPidConfig);
                 }
+            }
 
             function saveINAVPidConfig() {
                 var next_callback = savePidAdvanced;

tabs/profiles.js

@@ -564,7 +564,7 @@ TABS.profiles.initialize = function (callback, scrollPosition) {
     }
 
     function processHtml() {
-
+        var modal;
         var $presetList = $('#presets-list');
 
         var presetsList = presets.model.extractPresetNames(presets.presets);
@@ -590,7 +590,7 @@ TABS.profiles.initialize = function (callback, scrollPosition) {
 
         $('#execute-button').click(function () {
             applyAndSave();
-            OSD.GUI.jbox.close();
+            modal.close();
 
             googleAnalytics.sendEvent('Presets', 'Applied', currentPreset.name);
         });
@@ -600,7 +600,7 @@ TABS.profiles.initialize = function (callback, scrollPosition) {
         //noinspection JSValidateTypes
         $('#content').scrollTop((scrollPosition) ? scrollPosition : 0);
 
-        var modal = new jBox('Modal', {
+        modal = new jBox('Modal', {
             width: 600,
             height: 240,
             closeButton: 'title',

tabs/receiver.html

@@ -25,9 +25,9 @@
                     <input type="text" name="rcmap" spellcheck="false" /> 
                     <select class="hybrid_helper"
                         name="rcmap_helper">
-                        <option value="AETR5678">Default</option>
+                        <option value="AETR">Default</option>
-                        <option value="AETR5678">Futaba / Hitec</option>
+                        <option value="AETR">Futaba / Hitec</option>
-                        <option value="TAER5678">JR / Spektrum / Graupner</option>
+                        <option value="TAER">JR / Spektrum / Graupner</option>
                     </select>
                 </div>
             </div>
@@ -74,26 +74,36 @@
             </div>
             <div class="gui_box grey" style="float: right;">
                 <div class="spacer" style="margin-top: 10px; margin-bottom: 10px;">
-                    <div class="cf_column curves" style="width: calc(50% - 10px);">
+                    <div class="fc_column curves" style="width: calc(50% - 10px);">
+                        <table>
+                            <tr>
+                                <td>
                                     <div class="pitch_roll_curve">
                                         <canvas width="200" height="117"></canvas>
                                     </div>
+                                </td>
+                            </tr>
+                        </table>
                     </div>
                     <div class="fc_column half tunings">
                         <table class="rate">
                             <tr>
                                 <th data-i18n="receiverRcExpo"></th>
+                                <th data-i18n="receiverManualRcExpo"></th>
                             </tr>
                             <tr>
                                 <td><input type="number" name="expo" step="0.01" min="0" max="1" /></td>
+                                <td><input type="number" name="manual_expo" step="0.01" min="0" max="1" /></td>
                             </tr>
                         </table>
                         <table class="yaw_rate" style="margin-bottom: 0;">
                             <tr>
                                 <th data-i18n="receiverRcYawExpo"></th>
+                                <th data-i18n="receiverManualRcYawExpo"></th>
                             </tr>
                             <tr>
                                 <td><input type="number" name="yaw_expo" step="0.01" min="0" max="1" /></td>
+                                <td><input type="number" name="manual_yaw_expo" step="0.01" min="0" max="1" /></td>
                             </tr>
                         </table>
                     </div>

tabs/receiver.js

@@ -16,14 +16,21 @@ TABS.receiver.initialize = function (callback) {
 
     var loadChainer = new MSPChainerClass();
 
-    loadChainer.setChain([
+    var loadChain = [
-        mspHelper.loadRcTuningData,
         mspHelper.loadMisc,
         mspHelper.loadRcData,
         mspHelper.loadRcMap,
         mspHelper.loadBfConfig,
         mspHelper.loadRcDeadband
-    ]);
+    ];
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        loadChain.push(mspHelper.loadRateProfileData);
+    } else {
+        loadChain.push(mspHelper.loadRcTuningData);
+    }
+
+    loadChainer.setChain(loadChain);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
@@ -31,10 +38,53 @@ TABS.receiver.initialize = function (callback) {
         $('#content').load("./tabs/receiver.html", process_html);
     }
 
+    function drawRollPitchExpo() {
+        var pitch_roll_curve = $('.pitch_roll_curve canvas').get(0);
+        var context = pitch_roll_curve.getContext("2d");
+
+        var expoAVal = $('.tunings .rate input[name="expo"]');
+        var expoA = parseFloat(expoAVal.val());
+
+        var expoMVal = $('.tunings .rate input[name="manual_expo"]');
+        var expoM = parseFloat(expoMVal.val());
+
+        if (expoA <= parseFloat(expoAVal.prop('min')) || expoA >= parseFloat(expoAVal.prop('max')) ||
+            expoM <= parseFloat(expoMVal.prop('min')) || expoM >= parseFloat(expoMVal.prop('max'))) {
+            return;
+        }
+
+        var rateHeight = TABS.receiver.rateChartHeight;
+
+        // draw
+        context.clearRect(0, 0, 200, rateHeight);
+
+        context.beginPath();
+        context.moveTo(0, rateHeight);
+        context.quadraticCurveTo(110, rateHeight - ((rateHeight / 2) * (1 - expoA)), 200, 0);
+        context.lineWidth = 2;
+        context.strokeStyle = '#37a8db';
+        context.stroke();
+
+        context.beginPath();
+        context.moveTo(0, rateHeight);
+        context.quadraticCurveTo(110, rateHeight - ((rateHeight / 2) * (1 - expoM)), 200, 0);
+        context.lineWidth = 2;
+        context.strokeStyle = '#a837db';
+        context.stroke();
+    }
+
     function process_html() {
         // translate to user-selected language
         localize();
 
+        if (semver.lt(CONFIG.flightControllerVersion, '1.9.1')) {
+            rcmap_options = $('select[name="rcmap_helper"] option');
+            for (i = 0; i < rcmap_options.length; ++i) {
+                option = rcmap_options[i];
+                option.setAttribute("value", option.getAttribute("value") + "5678");
+            }
+        }
+
         // fill in data from RC_tuning
         $('.tunings .throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2));
         $('.tunings .throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2));
@@ -42,6 +92,9 @@ TABS.receiver.initialize = function (callback) {
         $('.tunings .rate input[name="expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
         $('.tunings .yaw_rate input[name="yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
 
+        $('.tunings .rate input[name="manual_expo"]').val(RC_tuning.manual_RC_EXPO.toFixed(2));
+        $('.tunings .yaw_rate input[name="manual_yaw_expo"]').val(RC_tuning.manual_RC_YAW_EXPO.toFixed(2));
+
         $('.deadband input[name="yaw_deadband"]').val(RC_deadband.yaw_deadband);
         $('.deadband input[name="deadband"]').val(RC_deadband.deadband);
 
@@ -107,9 +160,9 @@ TABS.receiver.initialize = function (callback) {
         $(window).on('resize', self.resize).resize(); // trigger so labels get correctly aligned on creation
 
         // handle rcmap & rssi aux channel
-        var strBuffer = [];
+        var strBuffer = [], rcMapLetters = FC.getRcMapLetters();
         for (var i = 0; i < RC_MAP.length; i++) {
-            strBuffer[RC_MAP[i]] = FC.getRcMapLetters()[i];
+            strBuffer[RC_MAP[i]] = rcMapLetters[i];
         }
 
         // reconstruct
@@ -138,29 +191,12 @@ TABS.receiver.initialize = function (callback) {
         });
 
         $rcMap.focusout(function () {
-            var val = $(this).val(),
+            if (!FC.isRcMapValid($(this).val()))
-                strBuffer = val.split(''),
-                duplicityBuffer = [];
-
-            if (val.length != 8) {
                 $(this).val(last_valid);
-                return false;
+        });
-            }
 
-            // check if characters inside are all valid, also check for duplicity
+        $rcMap.on('input change', function() {
-            for (var i = 0; i < val.length; i++) {
+            $(this).css("color", FC.isRcMapValid($(this).val()) ? "" : "#FF0000");
-                if (FC.getRcMapLetters().indexOf(strBuffer[i]) < 0) {
-                    $(this).val(last_valid);
-                    return false;
-                }
-
-                if (duplicityBuffer.indexOf(strBuffer[i]) < 0) {
-                    duplicityBuffer.push(strBuffer[i]);
-                } else {
-                    $(this).val(last_valid);
-                    return false;
-                }
-            }
         });
 
         // handle helper
@@ -224,27 +260,7 @@ TABS.receiver.initialize = function (callback) {
 
         $('.tunings .rate input').on('input change', function () {
             setTimeout(function () { // let global validation trigger and adjust the values first
-                var expoE = $('.tunings .rate input[name="expo"]'),
+                drawRollPitchExpo();
-                    expo = parseFloat(expoE.val()),
-                    pitch_roll_curve = $('.pitch_roll_curve canvas').get(0),
-                    context = pitch_roll_curve.getContext("2d");
-
-                // local validation to deal with input event
-                if (expo >= parseFloat(expoE.prop('min')) &&
-                    expo <= parseFloat(expoE.prop('max'))) {
-                    // continue
-                } else {
-                    return;
-                }
-
-                // draw
-                context.clearRect(0, 0, 200, rateHeight);
-                context.beginPath();
-                context.moveTo(0, rateHeight);
-                context.quadraticCurveTo(110, rateHeight - ((rateHeight / 2) * (1 - expo)), 200, 0);
-                context.lineWidth = 2;
-                context.strokeStyle = '#37a8db';
-                context.stroke();
             }, 0);
         }).trigger('input');
 
@@ -272,6 +288,9 @@ TABS.receiver.initialize = function (callback) {
             RC_tuning.RC_EXPO = parseFloat($('.tunings .rate input[name="expo"]').val());
             RC_tuning.RC_YAW_EXPO = parseFloat($('.tunings .yaw_rate input[name="yaw_expo"]').val());
 
+            RC_tuning.manual_RC_EXPO = parseFloat($('.tunings .rate input[name="manual_expo"]').val());
+            RC_tuning.manual_RC_YAW_EXPO = parseFloat($('.tunings .yaw_rate input[name="manual_yaw_expo"]').val());
+
             RC_deadband.yaw_deadband = parseInt($('.deadband input[name="yaw_deadband"]').val());
             RC_deadband.deadband = parseInt($('.deadband input[name="deadband"]').val());
 
@@ -309,7 +328,11 @@ TABS.receiver.initialize = function (callback) {
                 });
             }
 
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, save_rc_map);
+            } else {
                 MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, save_rc_map);
+            }
         });
 
         $("a.sticks").click(function () {

tabs/sensors.html

@@ -18,7 +18,10 @@
                     <label><input type="checkbox" name="gyro_on" class="first" />Gyroscope</label> <label><input
                         type="checkbox" name="accel_on" />Accelerometer</label> <label><input type="checkbox"
                         name="mag_on" />Magnetometer</label> <label><input type="checkbox" name="baro_on" />Barometer</label> <label><input
-                        type="checkbox" name="sonar_on" />Sonar</label> <label><input type="checkbox" name="debug_on" />Debug</label>
+                        type="checkbox" name="sonar_on" />Sonar</label> <label><input type="checkbox" name="airspeed_on" />Air speed</label> <label><input
+                        type="checkbox" name="debug_on" />Debug</label>
+
+                    <a class="debug-trace" href="javascript:void(0);">Open Debug Trace</a>
                 </div>
             </div>
         </div>
@@ -227,6 +230,39 @@
                 <div class="clear-both"></div>
             </div>
         </div>
+        <div class="wrapper airspeed">
+            <div class="gui_box grey">
+                <div class="plot_control">
+                    <div class="title">Air speed - cm/s</div>
+                    <dl>
+                        <dt i18n="sensorsRefresh"></dt>
+                        <dd class="rate">
+                            <select name="airspeed_refresh_rate">
+                                <option value="10">10 ms</option>
+                                <option value="20">20 ms</option>
+                                <option value="30">30 ms</option>
+                                <option value="40">40 ms</option>
+                                <option value="50" selected="selected">50 ms</option>
+                                <option value="100">100 ms</option>
+                                <option value="250">250 ms</option>
+                                <option value="500">500 ms</option>
+                                <option value="1000">1000 ms</option>
+                            </select>
+                        </dd>
+                        <dt>IAS:</dt>
+                        <dd class="x">0</dd>
+                    </dl>
+                </div>
+                <svg id="airspeed">
+                    <g class="grid x" transform="translate(40, 120)"></g>
+                    <g class="grid y" transform="translate(40, 10)"></g>
+                    <g class="data" transform="translate(41, 10)"></g>
+                    <g class="axis x" transform="translate(40, 120)"></g>
+                    <g class="axis y" transform="translate(40, 10)"></g>
+                </svg>
+                <div class="clear-both"></div>
+            </div>
+        </div>
         <div class="wrapper debug">
             <div class="gui_box grey">
                 <div class="plot_control">

tabs/sensors.js

@@ -15,6 +15,7 @@ TABS.sensors.initialize = function (callback) {
             SENSOR_DATA.gyroscope[i] = 0;
             SENSOR_DATA.magnetometer[i] = 0;
             SENSOR_DATA.sonar = 0;
+            SENSOR_DATA.air_speed = 0;
             SENSOR_DATA.altitude = 0;
             SENSOR_DATA.debug[i] = 0;
         }
@@ -172,6 +173,14 @@ TABS.sensors.initialize = function (callback) {
         }
     }
 
+    function plot_airspeed(enable) {
+        if (enable) {
+            $('.wrapper.airspeed').show();
+        } else {
+            $('.wrapper.airspeed').hide();
+        }
+    }
+
     function plot_debug(enable) {
         if (enable) {
             $('.wrapper.debug').show();
@@ -193,6 +202,10 @@ TABS.sensors.initialize = function (callback) {
             checkboxes.eq(4).prop('disabled', true);
         }
 
+        if (semver.lt(CONFIG.flightControllerVersion, "1.9.1") || (!bit_check(CONFIG.activeSensors, 6))) { // airspeed
+            checkboxes.eq(5).prop('disabled', true);
+        }
+
         $('.tab-sensors .info .checkboxes input').change(function () {
             var enable = $(this).prop('checked');
             var index = $(this).parent().index();
@@ -214,6 +227,9 @@ TABS.sensors.initialize = function (callback) {
                     plot_sonar(enable);
                     break;
                 case 5:
+                    plot_airspeed(enable);
+                    break;
+                case 6:
                     plot_debug(enable);
                     break;
             }
@@ -248,12 +264,14 @@ TABS.sensors.initialize = function (callback) {
             samples_mag_i = 0,
             samples_altitude_i = 0,
             samples_sonar_i = 0,
+            samples_airspeed_i = 0,
             samples_debug_i = 0,
             gyro_data = initDataArray(3),
             accel_data = initDataArray(3),
             mag_data = initDataArray(3),
             altitude_data = (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) ? initDataArray(2) : initDataArray(1),
             sonar_data = initDataArray(1),
+            airspeed_data = initDataArray(1),
             debug_data = [
             initDataArray(1),
             initDataArray(1),
@@ -266,6 +284,7 @@ TABS.sensors.initialize = function (callback) {
         var magHelpers = initGraphHelpers('#mag', samples_mag_i, [-1, 1]);
         var altitudeHelpers = initGraphHelpers('#altitude', samples_altitude_i);
         var sonarHelpers = initGraphHelpers('#sonar', samples_sonar_i);
+        var airspeedHelpers = initGraphHelpers('#airspeed', samples_airspeed_i);
         var debugHelpers = [
             initGraphHelpers('#debug1', samples_debug_i),
             initGraphHelpers('#debug2', samples_debug_i),
@@ -304,6 +323,8 @@ TABS.sensors.initialize = function (callback) {
                 $('.tab-sensors select[name="baro_refresh_rate"]').val(result.sensor_settings.rates.baro);
                 $('.tab-sensors select[name="sonar_refresh_rate"]').val(result.sensor_settings.rates.sonar);
 
+                $('.tab-sensors select[name="airspeed_refresh_rate"]').val(result.sensor_settings.rates.airspeed);
+
                 $('.tab-sensors select[name="debug_refresh_rate"]').val(result.sensor_settings.rates.debug);
 
                 // start polling data by triggering refresh rate change event
@@ -323,6 +344,7 @@ TABS.sensors.initialize = function (callback) {
                 'mag':       parseInt($('.tab-sensors select[name="mag_refresh_rate"]').val(), 10),
                 'baro':      parseInt($('.tab-sensors select[name="baro_refresh_rate"]').val(), 10),
                 'sonar':     parseInt($('.tab-sensors select[name="sonar_refresh_rate"]').val(), 10),
+                'airspeed':  parseInt($('.tab-sensors select[name="airspeed_refresh_rate"]').val(), 10),
                 'debug':     parseInt($('.tab-sensors select[name="debug_refresh_rate"]').val(), 10)
             };
 
@@ -402,6 +424,21 @@ TABS.sensors.initialize = function (callback) {
             }
 
             if (checkboxes[5]) {
+                helper.interval.add('airspeed_pull', function airspeed_data_pull() {
+
+                    /*
+                     * Enable balancer
+                     */
+                    if (helper.mspQueue.shouldDrop()) {
+                        update_airspeed_graphs();
+                        return;
+                    }
+
+                    MSP.send_message(MSPCodes.MSPV2_INAV_AIR_SPEED, false, false, update_airspeed_graphs);
+                }, rates.airspeed, true);
+            }
+
+            if (checkboxes[6]) {
                 helper.interval.add('debug_pull', function debug_data_pull() {
 
                     /*
@@ -470,18 +507,46 @@ TABS.sensors.initialize = function (callback) {
                 raw_data_text_ements.x[4].text(SENSOR_DATA.sonar.toFixed(2));
             }
 
+            function update_airspeed_graphs() {
+                updateGraphHelperSize(airspeedHelpers);
+
+                samples_airspeed_i = addSampleToData(airspeed_data, samples_airspeed_i, [SENSOR_DATA.air_speed]);
+                drawGraph(airspeedHelpers, airspeed_data, samples_airspeed_i);
+                raw_data_text_ements.x[5].text(SENSOR_DATA.air_speed);
+            }
+
             function update_debug_graphs() {
                 for (var i = 0; i < 4; i++) {
                     updateGraphHelperSize(debugHelpers[i]);
 
                     addSampleToData(debug_data[i], samples_debug_i, [SENSOR_DATA.debug[i]]);
                     drawGraph(debugHelpers[i], debug_data[i], samples_debug_i);
-                    raw_data_text_ements.x[5 + i].text(SENSOR_DATA.debug[i]);
+                    raw_data_text_ements.x[6 + i].text(SENSOR_DATA.debug[i]);
                 }
                 samples_debug_i++;
             }
         });
 
+        $("a.debug-trace").click(function () {
+            var windowWidth = 500;
+            var windowHeight = 510;
+
+            chrome.app.window.create("/tabs/debug_trace.html", {
+                id: "debug_trace",
+                innerBounds: {
+                    minWidth: windowWidth, minHeight: windowHeight,
+                    width: windowWidth, height: windowHeight,
+                },
+                alwaysOnTop: true
+            }, function (createdWindow) {
+                createdWindow.contentWindow.getDebugTrace = function () { return DEBUG_TRACE || ''; };
+                return true;
+            });
+            return false;
+        });
+
+
+
         GUI.content_ready(callback);
     });
 };

tabs/servos.js

@@ -11,22 +11,41 @@ TABS.servos.initialize = function (callback) {
 
     var loadChainer = new MSPChainerClass();
 
+    if (BF_CONFIG.mixerConfiguration == 23 || BF_CONFIG.mixerConfiguration == 24 || BF_CONFIG.mixerConfiguration == 25) {
         loadChainer.setChain([
             mspHelper.loadServoConfiguration,
             mspHelper.loadRcData,
             mspHelper.loadBfConfig,
             mspHelper.loadServoMixRules
         ]);
+    }
+    else {
+        loadChainer.setChain([
+            mspHelper.loadServoConfiguration,
+            mspHelper.loadRcData,
+            mspHelper.loadBfConfig
+        ]);
+    }
+
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
     var saveChainer = new MSPChainerClass();
 
+    if (BF_CONFIG.mixerConfiguration == 23 || BF_CONFIG.mixerConfiguration == 24 || BF_CONFIG.mixerConfiguration == 25) {
         saveChainer.setChain([
             mspHelper.sendServoConfigurations,
             mspHelper.sendServoMixer,
             mspHelper.saveToEeprom
         ]);
+    }
+    else {
+        saveChainer.setChain([
+            mspHelper.sendServoConfigurations,
+            mspHelper.saveToEeprom
+        ]);
+    }
+
     saveChainer.setExitPoint(function () {
         GUI.log(chrome.i18n.getMessage('servosEepromSave'));
         SERVO_RULES.cleanup();

tabs/setup.html

@@ -89,17 +89,41 @@
                     <div class="spacer_box">
                         <table width="100%" border="0" cellpadding="0" cellspacing="0" class="cf_table">
                             <tbody>
+                                <tr class="requires-v1_8_1">
+                                    <td data-i18n="initialSetupBatteryDetectedCells"></td>
+                                    <td class="bat-cells">0</td>
+                                </tr>
                                 <tr>
                                     <td data-i18n="initialSetupBattery"></td>
                                     <td class="bat-voltage">0 V</td>
                                 </tr>
+                                <tr class="requires-v1_8_1">
+                                    <td data-i18n="initialSetupBatteryPercentage"></td>
+                                    <td class="bat-percent">0 %</td>
+                                </tr>
+                                <tr class="requires-v1_8_1">
+                                    <td data-i18n="initialSetupBatteryRemainingCapacity"></td>
+                                    <td class="bat-remain-cap">NA</td>
+                                </tr>
+                                <tr class="requires-v1_8_1">
+                                    <td data-i18n="initialSetupBatteryFull"></td>
+                                    <td class="bat-full">0</td>
+                                </tr>
+                                <tr class="requires-v1_8_1">
+                                    <td data-i18n="initialSetupBatteryThresholds"></td>
+                                    <td class="bat-thresh">0</td>
+                                </tr>
+                                <tr>
+                                    <td data-i18n="initialSetupDrawing"></td>
+                                    <td class="bat-mah-drawing">0.00 A</td>
+                                </tr>
                                 <tr>
                                     <td data-i18n="initialSetupDrawn"></td>
                                     <td class="bat-mah-drawn">0 mAh</td>
                                 </tr>
-                                <tr>
+                                <tr class="requires-v1_8_1">
-                                    <td data-i18n="initialSetupDrawing"></td>
+                                    <td data-i18n="initialSetup_Wh_drawn"></td>
-                                    <td class="bat-mah-drawing">0.00 A</td>
+                                    <td class="bat-mwh-drawn">0 Wh</td>
                                 </tr>
                                 <tr class="noboarder">
                                     <td data-i18n="initialSetupRSSI"></td>

tabs/setup.js

@@ -15,11 +15,18 @@ TABS.setup.initialize = function (callback) {
 
     var loadChainer = new MSPChainerClass();
 
-    loadChainer.setChain([
+    var loadChain = [
         mspHelper.loadBfConfig,
-        mspHelper.loadMisc,
         mspHelper.queryFcStatus
-    ]);
+    ];
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        loadChain.push(mspHelper.loadMiscV2);
+    } else {
+        loadChain.push(mspHelper.loadMisc);
+    }
+
+    loadChainer.setChain(loadChain);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
@@ -77,7 +84,13 @@ TABS.setup.initialize = function (callback) {
 
         // cached elements
         var bat_voltage_e = $('.bat-voltage'),
+            bat_percent_e = $('.bat-percent'),
+            bat_remaining_e = $('.bat-remain-cap'),
+            bat_cells_e = $('.bat-cells'),
+            bat_thresh_e = $('.bat-thresh'),
+            bat_full_e = $('.bat-full'),
             bat_mah_drawn_e = $('.bat-mah-drawn'),
+            bat_mwh_drawn_e = $('.bat-mwh-drawn'),
             bat_mah_drawing_e = $('.bat-mah-drawing'),
             rssi_e = $('.rssi'),
             gpsFix_e = $('.gpsFixType'),
@@ -133,9 +146,23 @@ TABS.setup.initialize = function (callback) {
         helper.mspBalancedInterval.add('setup_data_pull_fast', 40, 1, get_fast_data);
         helper.mspBalancedInterval.add('setup_data_pull_slow', 250, 1, get_slow_data);
 
+        if (semver.lt(CONFIG.flightControllerVersion, '1.8.1')) {
+            $('.requires-v1_8_1').hide();
+        }
+
         helper.interval.add('gui_analog_update', function () {
+                bat_cells_e.text(chrome.i18n.getMessage('initialSetupBatteryDetectedCellsValue', [ANALOG.cell_count]));
                 bat_voltage_e.text(chrome.i18n.getMessage('initialSetupBatteryValue', [ANALOG.voltage]));
+                remaining_capacity_wh_decimals = ANALOG.battery_remaining_capacity.toString().length < 5 ? 3 : (7 - ANALOG.battery_remaining_capacity.toString().length);
+                remaining_capacity_value = MISC.battery_capacity_unit == 'mAh' ? ANALOG.battery_remaining_capacity : (ANALOG.battery_remaining_capacity / 1000).toFixed(remaining_capacity_wh_decimals < 0 ? 0 : remaining_capacity_wh_decimals);
+                remaining_capacity_unit = MISC.battery_capacity_unit == 'mAh' ? 'mAh' : 'Wh';
+                bat_remaining_e.text(chrome.i18n.getMessage('initialSetupBatteryRemainingCapacityValue', ((MISC.battery_capacity > 0) && ANALOG.battery_full_when_plugged_in) ? [remaining_capacity_value, remaining_capacity_unit] : ['NA', '']));
+                bat_percent_e.text(chrome.i18n.getMessage('initialSetupBatteryPercentageValue', [ANALOG.battery_percentage]));
+                bat_full_e.text(chrome.i18n.getMessage('initialSetupBatteryFullValue', [ANALOG.battery_full_when_plugged_in]));
+                bat_thresh_e.text(chrome.i18n.getMessage('initialSetupBatteryThresholdsValue', [ANALOG.use_capacity_thresholds]));
                 bat_mah_drawn_e.text(chrome.i18n.getMessage('initialSetupBatteryMahValue', [ANALOG.mAhdrawn]));
+                capacity_drawn_decimals = ANALOG.mWhdrawn.toString().length < 5 ? 3 : (7 - ANALOG.mWhdrawn.toString().length);
+                bat_mwh_drawn_e.text(chrome.i18n.getMessage('initialSetup_Wh_drawnValue', [(ANALOG.mWhdrawn / 1000).toFixed(capacity_drawn_decimals < 0 ? 0 : capacity_drawn_decimals)]));
                 bat_mah_drawing_e.text(chrome.i18n.getMessage('initialSetupBatteryAValue', [ANALOG.amperage.toFixed(2)]));
                 rssi_e.text(chrome.i18n.getMessage('initialSetupRSSIValue', [((ANALOG.rssi / 1023) * 100).toFixed(0)]));
         }, 100, true);