reverted unrelated changes

src/main/fc/fc_msp.c

@@ -607,7 +607,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_ALTITUDE:
- 		sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
+        sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
         sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
 #if defined(USE_BARO)
         sbufWriteU32(dst, baroGetLatestAltitude());
@@ -2478,7 +2478,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #ifdef USE_GPS
     case MSP_SET_RAW_GPS:
         if (dataSize == 14) {
-			if (sbufReadU8(src)) {
+            if (sbufReadU8(src)) {
                 ENABLE_STATE(GPS_FIX);
             } else {
                 DISABLE_STATE(GPS_FIX);
@@ -3395,31 +3395,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
          *ret = mspFcSafeHomeOutCommand(dst, src);
          break;
 
-    case MSP_TELEMETRY:
-        sbufWriteU8(dst, ARMING_FLAG(ARMED)); // arming status
-        sbufWriteU8(dst, 0); // modes
-        sbufWriteU32(dst, flightModeFlags);
-
-        sbufWriteU8(dst, 1); // messages
-        char buff[50] = {" "};
-        osdGetSystemMessage(buff, sizeof(buff), false);
-        const char *c = buff;
-        while (*c) {
-            sbufWriteU8(dst, *c++);
-        }
-        sbufWriteU8(dst, '\0'); // last symbol
-
-        sbufWriteU8(dst, 2); // home position
-        sbufWriteU16(dst, GPS_distanceToHome);
-        sbufWriteU16(dst, GPS_directionToHome);
-        sbufWriteU32(dst, baro.BaroAlt);
-        sbufWriteU8(dst, 3); // throttle
-        sbufWriteU8(dst, getThrottlePercent());
-        sbufWriteU8(dst, 4); // vario
-        sbufWriteU16(dst, getEstimatedActualVelocity(Z) + 32000);
-
-        *ret = MSP_RESULT_ACK;
-        break;
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:
 		tmp_u8 = sbufReadU8(src); //MSP_SIMULATOR version

src/main/flight/imu.c

@@ -328,9 +328,9 @@ static void imuMahonyAHRSupdate(float dt, const fpVector3_t * gyroBF, const fpVe
                 vectorNormalize(&vMag, &vMag);
 
 #ifdef USE_SIMULATOR
-				if (ARMING_FLAG(SIMULATOR_MODE)) {
-					imuSetMagneticDeclination(0);
-				}
+            if (ARMING_FLAG(SIMULATOR_MODE)) {
+                    imuSetMagneticDeclination(0);
+                }
 #endif
 
                 // Reference mag field vector heading is Magnetic North in EF. We compute that by rotating True North vector by declination and assuming Z-component is zero

src/main/flight/servos.c

@@ -246,6 +246,7 @@ void writeServos(void)
 void servoMixer(float dT)
 {
     int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
+
     if (FLIGHT_MODE(MANUAL_MODE)) {
         input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL];
         input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH];

src/main/io/osd.c

@@ -846,10 +846,8 @@ static const char * osdArmingDisabledReasonMessage(void)
             FALLTHROUGH;
         case ARMED:
             FALLTHROUGH;
-#ifdef USE_SIMULATOR
         case SIMULATOR_MODE:
             FALLTHROUGH;
-#endif
         case WAS_EVER_ARMED:
             break;
     }

src/main/io/osd_dji_hd.c

@@ -537,10 +537,8 @@ static char * osdArmingDisabledReasonMessage(void)
             FALLTHROUGH;
         case ARMED:
             FALLTHROUGH;
-#ifdef USE_SIMULATOR
         case SIMULATOR_MODE:
             FALLTHROUGH;
-#endif
         case WAS_EVER_ARMED:
             break;
     }

src/main/sensors/acceleration.c

@@ -505,8 +505,8 @@ void accUpdate(void)
 {
 #ifdef USE_SIMULATOR
     if (ARMING_FLAG(SIMULATOR_MODE)) {
-		//output: acc.accADCf
-		//unused: acc.dev.ADCRaw[], acc.accClipCount, acc.accVibeSq[]
+        //output: acc.accADCf
+        //unused: acc.dev.ADCRaw[], acc.accClipCount, acc.accVibeSq[]
         return;
     }
 #endif
@@ -516,6 +516,7 @@ void accUpdate(void)
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         accADC[axis] = acc.dev.ADCRaw[axis];
+        DEBUG_SET(DEBUG_ACC, axis, accADC[axis]);    
     }
 
     performAcclerationCalibration();

src/main/sensors/barometer.c

@@ -278,7 +278,7 @@ uint32_t baroUpdate(void)
             }
 #ifdef USE_SIMULATOR
             if (!ARMING_FLAG(SIMULATOR_MODE)) {
-				//output: baro.baroPressure, baro.baroTemperature
+                //output: baro.baroPressure, baro.baroTemperature
                 baro.dev.calculate(&baro.dev, &baro.baroPressure, &baro.baroTemperature);
             }
 #else
@@ -332,7 +332,7 @@ int32_t baroCalculateAltitude(void)
         }
 #endif
         // calculates height from ground via baro readings
-		baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
+        baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
    }
 
     return baro.BaroAlt;

src/main/sensors/gyro.c

@@ -501,8 +501,8 @@ void FAST_CODE NOINLINE gyroUpdate()
 {
 #ifdef USE_SIMULATOR
     if (ARMING_FLAG(SIMULATOR_MODE)) {
-		//output: gyro.gyroADCf[axis]
-		//unused: dev->gyroADCRaw[], dev->gyroZero[];
+        //output: gyro.gyroADCf[axis]
+        //unused: dev->gyroADCRaw[], dev->gyroZero[];
         return;
     }
 #endif

src/main/target/common.h

@@ -184,6 +184,8 @@
 // Wind estimator
 #define USE_WIND_ESTIMATOR
 
+#define USE_SIMULATOR
+
 //Designed to free space of F722 and F411 MCUs
 #if (MCU_FLASH_SIZE > 512)
 
@@ -193,6 +195,4 @@
 #define USE_TELEMETRY_HOTT
 #define USE_HOTT_TEXTMODE
 
-#define USE_SIMULATOR
-
 #endif