Merge branch 'iNavFlight:master' into strobeblink-refactor

docs/Navigation.md

@@ -169,3 +169,5 @@ wp 12 0 0 0 0 0 0 0 0
 ...
 wp 59 0 0 0 0 0 0 0 0
 ```
+### Changing Mission-Index in flight
+The MISSION CHANGE mode allows to switch between multiple stored missions in flight. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields.

src/main/fc/fc_msp.c

@@ -1550,6 +1550,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     return true;
 }
 
+#ifdef USE_SAFE_HOME
 static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
 {
     const uint8_t safe_home_no = sbufReadU8(src);    // get the home number
@@ -1563,6 +1564,8 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
          return MSP_RESULT_ERROR;
     }
 }
+#endif
+
 
 static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
     const uint8_t idx = sbufReadU8(src);
@@ -2962,6 +2965,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         return MSP_RESULT_ERROR; // will only be reached if the rollback is not ready
         break;
 #endif
+#ifdef USE_SAFE_HOME
     case MSP2_INAV_SET_SAFEHOME:
         if (dataSize == 10) {
              uint8_t i;
@@ -2975,6 +2979,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         }
         break;
+#endif
 
     default:
         return MSP_RESULT_ERROR;
@@ -3420,9 +3425,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         *ret = mspFcLogicConditionCommand(dst, src);
         break;
 #endif
+#ifdef USE_SAFE_HOME
     case MSP2_INAV_SAFEHOME:
         *ret = mspFcSafeHomeOutCommand(dst, src);
         break;
+#endif
 
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:

src/main/fc/runtime_config.c

@@ -36,7 +36,7 @@ const char *armingDisableFlagNames[]= {
     "FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
     "ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX",
     "THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
-    "SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER"
+    "SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
 };
 #endif
 
@@ -178,8 +178,8 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
 }
 
 #ifdef USE_SIMULATOR
-simulatorData_t simulatorData = { 
+simulatorData_t simulatorData = {
-	flags: 0, 
+	flags: 0,
 	debugIndex: 0
 };
 #endif

src/main/io/displayport_msp_bf_compat.h

@@ -25,9 +25,12 @@
 #ifdef USE_MSP_DISPLAYPORT
 
 #ifndef DISABLE_MSP_BF_COMPAT
+#include "osd.h"
 uint8_t getBfCharacter(uint8_t ch, uint8_t page);
+#define isBfCompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT)
 #else
 #define getBfCharacter(x, page) (x)
+#define isBfCompatibleVideoSystem(osdConfigPtr) (false)
 #endif
 
 #endif

src/main/io/osd.c

@@ -69,6 +69,7 @@ FILE_COMPILE_FOR_SPEED
 #include "io/osd.h"
 #include "io/osd_common.h"
 #include "io/osd_hud.h"
+#include "io/displayport_msp_bf_compat.h"
 #include "io/vtx.h"
 #include "io/vtx_string.h"
 
@@ -241,7 +242,7 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
     int decimals = maxDecimals;
     bool negative = false;
     bool scaled = false;
-    bool explicitDecimal = osdConfig()->video_system == VIDEO_SYSTEM_BFCOMPAT;
+    bool explicitDecimal = isBfCompatibleVideoSystem(osdConfig());
 
     buff[length] = '\0';
 
@@ -731,7 +732,7 @@ static void osdFormatCoordinate(char *buff, char sym, int32_t val)
     int32_t decimalPart = abs(val % GPS_DEGREES_DIVIDER);
     STATIC_ASSERT(GPS_DEGREES_DIVIDER == 1e7, adjust_max_decimal_digits);
     int decimalDigits;
-    if (osdConfig()->video_system != VIDEO_SYSTEM_BFCOMPAT) {
+    if (!isBfCompatibleVideoSystem(osdConfig())) {
         decimalDigits = tfp_sprintf(buff + 1 + integerDigits, "%07d", (int)decimalPart);
         // Embbed the decimal separator
         buff[1 + integerDigits - 1] += SYM_ZERO_HALF_TRAILING_DOT - '0';
@@ -1409,7 +1410,7 @@ static void osdFormatPidControllerOutput(char *buff, const char *label, const pi
 
 static void osdDisplayBatteryVoltage(uint8_t elemPosX, uint8_t elemPosY, uint16_t voltage, uint8_t digits, uint8_t decimals)
 {
-    char buff[6];
+    char buff[7];
     textAttributes_t elemAttr = TEXT_ATTRIBUTES_NONE;
 
     osdFormatBatteryChargeSymbol(buff);
@@ -1418,7 +1419,7 @@ static void osdDisplayBatteryVoltage(uint8_t elemPosX, uint8_t elemPosY, uint16_
     displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY, buff, elemAttr);
 
     elemAttr = TEXT_ATTRIBUTES_NONE;
-    digits = MIN(digits, 4);
+    digits = MIN(digits, 5);
     osdFormatCentiNumber(buff, voltage, 0, decimals, 0, digits);
     buff[digits] = SYM_VOLT;
     buff[digits+1] = '\0';
@@ -1594,11 +1595,11 @@ static bool osdDrawSingleElement(uint8_t item)
         }
 
     case OSD_MAIN_BATT_VOLTAGE:
-        osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatteryRawVoltage(), 2 + osdConfig()->main_voltage_decimals, osdConfig()->main_voltage_decimals);
+        osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatteryRawVoltage(), (isBfCompatibleVideoSystem(osdConfig()) ? 3 : 2) + osdConfig()->main_voltage_decimals, osdConfig()->main_voltage_decimals);
         return true;
 
     case OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE:
-        osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatterySagCompensatedVoltage(), 2 + osdConfig()->main_voltage_decimals, osdConfig()->main_voltage_decimals);
+        osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatterySagCompensatedVoltage(), (isBfCompatibleVideoSystem(osdConfig()) ? 3 : 2) + osdConfig()->main_voltage_decimals, osdConfig()->main_voltage_decimals);
         return true;
 
     case OSD_CURRENT_DRAW:
@@ -2705,13 +2706,13 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_MAIN_BATT_CELL_VOLTAGE:
         {
-            osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatteryRawAverageCellVoltage(), 3, 2);
+            osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatteryRawAverageCellVoltage(), (isBfCompatibleVideoSystem(osdConfig()) ? 4 : 3), 2);
             return true;
         }
 
     case OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE:
         {
-            osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatterySagCompensatedAverageCellVoltage(), 3, 2);
+            osdDisplayBatteryVoltage(elemPosX, elemPosY, getBatterySagCompensatedAverageCellVoltage(), (isBfCompatibleVideoSystem(osdConfig()) ? 4 : 3), 2);
             return true;
         }
 

src/main/navigation/navigation.c

@@ -3629,8 +3629,9 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         const bool canActivatePosHold    = canActivatePosHoldMode();
         const bool canActivateNavigation = canActivateNavigationModes();
         const bool isExecutingRTH        = navGetStateFlags(posControl.navState) & NAV_AUTO_RTH;
+#ifdef USE_SAFE_HOME
         checkSafeHomeState(isExecutingRTH || posControl.flags.forcedRTHActivated);
-
+#endif
         // deactivate rth trackback if RTH not active
         if (posControl.flags.rthTrackbackActive) {
             posControl.flags.rthTrackbackActive = isExecutingRTH;
@@ -4218,7 +4219,9 @@ void activateForcedRTH(void)
 {
     abortFixedWingLaunch();
     posControl.flags.forcedRTHActivated = true;
+#ifdef USE_SAFE_HOME
     checkSafeHomeState(true);
+#endif
     navProcessFSMEvents(selectNavEventFromBoxModeInput());
 }
 
@@ -4227,7 +4230,9 @@ void abortForcedRTH(void)
     // Disable failsafe RTH and make sure we back out of navigation mode to IDLE
     // If any navigation mode was active prior to RTH it will be re-enabled with next RX update
     posControl.flags.forcedRTHActivated = false;
+#ifdef USE_SAFE_HOME
     checkSafeHomeState(false);
+#endif
     navProcessFSMEvents(NAV_FSM_EVENT_SWITCH_TO_IDLE);
 }