Merge branch 'master' into change-profiles-with-programming

docs/Programming Framework.md

@@ -74,9 +74,9 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 38            | RC_CHANNEL_OVERRIDE | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET  | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
 | 40            | MOD           | Divide `Operand A` by `Operand B` and returns the remainder |
+| 41			| LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
 | 42            | SET_PROFILE   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
 
-
 ### Operands
 
 | Operand Type  | Name      | Notes                                 |
@@ -126,9 +126,10 @@ IPF can be edited using INAV Configurator user interface, of via CLI
 | 30            | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
 | 31            | 3D HOME_DISTANCE      | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
 | 32            | CROSSFIRE LQ          | Crossfire Link quality as returned by the CRSF protocol   | 
-| 33            | CROSSFIRE SNR          | Crossfire SNR as returned by the CRSF protocol   |
+| 33            | CROSSFIRE SNR         | Crossfire SNR as returned by the CRSF protocol   |
-| 34            | GPS_VALID              | boolean `0`/`1`. True when the GPS has a valid 3D Fix                |
+| 34            | GPS_VALID             | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
-| 35            | ACTIVE_PROFILE          | integer for the active config profile `[1..MAX_PROFILE_COUNT]`  |
+| 35			| LOITER_RADIUS			| The current loiter radius in cm. |
+| 36            | ACTIVE_PROFILE          | integer for the active config profile `[1..MAX_PROFILE_COUNT]`  |
 
 #### ACTIVE_WAYPOINT_ACTION
 

docs/Settings.md

@@ -788,17 +788,17 @@ Enable/disable dynamic gyro notch also known as Matrix Filter
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF |  |  |
+| ON |  |  |
 
 ---
 
 ### dynamic_gyro_notch_min_hz
 
-Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70`
+Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70`
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 150 | 30 | 1000 |
+| 50 | 30 | 1000 |
 
 ---
 
@@ -812,16 +812,6 @@ Q factor for dynamic notches
 
 ---
 
-### dynamic_gyro_notch_range
-
-Range for dynamic gyro notches. `MEDIUM` for 5", `HIGH` for 3" and `MEDIUM`/`LOW` for 7" and bigger propellers
-
-| Default | Min | Max |
-| --- | --- | --- |
-| MEDIUM |  |  |
-
----
-
 ### eleres_freq
 
 _// TODO_
@@ -4092,6 +4082,16 @@ Value above which to make the OSD distance from home indicator blink (meters)
 
 ---
 
+### osd_esc_rpm_precision
+
+Number of characters used to display the RPM value.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3 | 3 | 6 |
+
+---
+
 ### osd_esc_temp_alarm_max
 
 Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)

src/main/CMakeLists.txt

@@ -161,6 +161,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_rm3100.h
     drivers/compass/compass_vcm5883.c
     drivers/compass/compass_vcm5883.h
+    drivers/compass/compass_mlx90393.c
+    drivers/compass/compass_mlx90393.h
     drivers/compass/compass_msp.c
     drivers/compass/compass_msp.h
 

src/main/blackbox/blackbox.c

@@ -1809,7 +1809,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d",                     gyroConfig()->gyro_main_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d",                   gyroConfig()->gyro_main_lpf_type);
 #ifdef USE_DYNAMIC_FILTERS
-        BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchRange", "%d",           gyroConfig()->dynamicGyroNotchRange);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d",           gyroConfig()->dynamicGyroNotchMinHz);
 #endif

src/main/drivers/bus.h

@@ -118,6 +118,7 @@ typedef enum {
     DEVHW_LIS3MDL,
     DEVHW_RM3100,
     DEVHW_VCM5883,
+    DEVHW_MLX90393,
 
     /* Temp sensor chips */
     DEVHW_LM75_0,

src/main/drivers/compass/compass_mlx90393.c

@@ -0,0 +1,176 @@
+/*
+ * This file is part of iNav.
+ *
+ * iNav is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * iNav is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_MAG_MLX90393
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <math.h>
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/io.h"
+#include "drivers/bus.h"
+
+#include "drivers/sensor.h"
+#include "drivers/compass/compass.h"
+
+#define MLX90393_MEASURE_3D                         0b00001110
+
+#define MLX90393_NOP                                0b00000000
+#define MLX90393_START_BURST_MODE                   0b00010000 //uses with zyxt flags
+#define MLX90393_START_WAKE_UP_ON_CHANGE_MODE       0b00100000 //uses with zyxt flags
+#define MLX90393_START_SINGLE_MEASUREMENT_MODE      0b00110000 //uses with zyxt flags
+#define MLX90393_READ_MEASUREMENT                   0b01000000 //uses with zyxt flags
+#define MLX90393_READ_REGISTER                      0b01010000
+#define MLX90393_WRITE_REGISTER                     0b01100000
+#define MLX90393_EXIT_MODE                          0b10000000
+#define MLX90393_MEMORY_RECALL                      0b11010000
+#define MLX90393_MEMORY_STORE                       0b11100000
+#define MLX90393_RESET                              0b11110000
+
+#define MLX90393_BURST_MODE_FLAG                    0b10000000
+#define MLX90393_WAKE_UP_ON_CHANGE_MODE_FLAG        0b01000000
+#define MLX90393_SINGLE_MEASUREMENT_MODE_FLAG       0b00100000
+#define MLX90393_ERROR_FLAG                         0b00010000
+#define MLX90393_SINGLE_ERROR_DETECTION_FLAG        0b00001000
+#define MLX90393_RESET_FLAG                         0b00000100
+#define MLX90393_D1_FLAG                            0b00000010
+#define MLX90393_D0_FLAG                            0b00000001
+
+#define DETECTION_MAX_RETRY_COUNT   5
+
+#define REG_BUF_LEN                 3
+
+// Register 1
+#define GAIN_SEL_HALLCONF_REG       0x0 //from datasheet 0x0 << 2 = 0x0 
+// GAIN - 0b111
+// Hall_conf - 0xC
+#define GAIN_SEL_HALLCONF_REG_VALUE 0x007C
+// Register 2
+#define TCMP_EN_REG                 0x4 //from datasheet 0x1 << 2 = 0x4
+// Burst Data Rate 0b000100
+#define TCMP_EN_REG_VALUE           0x62C4
+// Register 3
+#define RES_XYZ_OSR_FLT_REG         0x8 //from datasheet 0x2 << 2 = 0x8 
+// Oversampling 0b01
+// Filtering 0b111
+#define RES_XYZ_OSR_FLT_REG_VALUE   0x001D
+
+
+static void mlx90393WriteRegister(magDev_t * mag, uint8_t reg_val, uint16_t value) {
+
+    uint8_t buf[REG_BUF_LEN] = {0};
+
+    buf[0] = (value >> 8) & 0xFF;
+    buf[1] = (value >> 0) & 0xFF;
+    buf[2] = reg_val;
+
+    busWriteBuf(mag->busDev, MLX90393_WRITE_REGISTER, buf, REG_BUF_LEN);
+
+    // PAUSE
+    delay(20);
+    // To skip ACK FLAG of Write
+    uint8_t sig = 0;
+    busRead(mag->busDev, MLX90393_NOP, &sig);
+
+    return;
+}
+
+// =======================================================================================
+static bool mlx90393Read(magDev_t * mag)
+{
+
+    uint8_t buf[7] = {0};
+
+    busReadBuf(mag->busDev, MLX90393_READ_MEASUREMENT | MLX90393_MEASURE_3D, buf, 7);
+
+    mag->magADCRaw[X] = ((short)(buf[1] << 8 | buf[2]));
+    mag->magADCRaw[Y] = ((short)(buf[3] << 8 | buf[4]));
+    mag->magADCRaw[Z] = ((short)(buf[5] << 8 | buf[6]));
+
+    return true;
+
+}
+
+static bool deviceDetect(magDev_t * mag)
+{
+    for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) {
+        uint8_t sig = 0;
+
+        bool ack = busRead(mag->busDev, MLX90393_RESET, &sig);
+        delay(20);
+
+        if (ack && ((sig & MLX90393_RESET_FLAG) == MLX90393_RESET_FLAG)) { // Check Reset Flag -> MLX90393
+            return true;
+        }
+    }
+    return false;
+}
+
+//--------------------------------------------------
+static bool mlx90393Init(magDev_t * mag)
+{
+    uint8_t sig = 0;
+
+    delay(20);
+    // Remove reset flag
+    busRead(mag->busDev, MLX90393_NOP, &sig);
+    // Exit if already in burst mode. (For example when external i2c source power the bus.)
+    busRead(mag->busDev, MLX90393_EXIT_MODE, &sig);
+
+    // Writing Registers
+    mlx90393WriteRegister(mag, GAIN_SEL_HALLCONF_REG, GAIN_SEL_HALLCONF_REG_VALUE);
+    mlx90393WriteRegister(mag, TCMP_EN_REG, TCMP_EN_REG_VALUE);
+    mlx90393WriteRegister(mag, RES_XYZ_OSR_FLT_REG, RES_XYZ_OSR_FLT_REG_VALUE);
+
+    // Start burst mode
+    busRead(mag->busDev, MLX90393_START_BURST_MODE | MLX90393_MEASURE_3D, &sig);
+
+    return true;
+}
+
+// ==========================================================================
+
+bool mlx90393Detect(magDev_t * mag)
+{
+    mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MLX90393, mag->magSensorToUse, OWNER_COMPASS);
+    if (mag->busDev == NULL) {
+        return false;
+    }
+
+    if (!deviceDetect(mag)) {
+        busDeviceDeInit(mag->busDev);
+        return false;
+    }
+
+    mag->init = mlx90393Init;
+    mag->read = mlx90393Read;
+
+    return true;
+}
+
+
+#endif

src/main/drivers/compass/compass_mlx90393.h

@@ -0,0 +1,20 @@
+/*
+ * This file is part of iNav.
+ *
+ * iNav is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * iNav is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with iNav.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool mlx90393Detect(magDev_t* mag);

src/main/fc/settings.yaml

@@ -13,7 +13,7 @@ tables:
     values: ["NONE", "BNO055", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
-    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "FAKE"]
+    values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
     enum: magSensor_e
   - name: opflow_hardware
     values: ["NONE", "CXOF", "MSP", "FAKE"]
@@ -144,9 +144,6 @@ tables:
   - name: rssi_source
     values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
     enum: rssiSource_e
-  - name: dynamicFilterRangeTable
-    values: ["HIGH", "MEDIUM", "LOW"]
-    enum: dynamicFilterRange_e
   - name: pidTypeTable
     values: ["NONE", "PID", "PIFF", "AUTO"]
     enum: pidType_e
@@ -280,16 +277,10 @@ groups:
         max: 10
       - name: dynamic_gyro_notch_enabled
         description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
-        default_value: OFF
+        default_value: ON
         field: dynamicGyroNotchEnabled
         condition: USE_DYNAMIC_FILTERS
         type: bool
-      - name: dynamic_gyro_notch_range
-        description: "Range for dynamic gyro notches. `MEDIUM` for 5\", `HIGH` for 3\" and `MEDIUM`/`LOW` for 7\" and bigger propellers"
-        default_value: "MEDIUM"
-        field: dynamicGyroNotchRange
-        condition: USE_DYNAMIC_FILTERS
-        table: dynamicFilterRangeTable
       - name: dynamic_gyro_notch_q
         description: "Q factor for dynamic notches"
         default_value: 120
@@ -298,8 +289,8 @@ groups:
         min: 1
         max: 1000
       - name: dynamic_gyro_notch_min_hz
-        description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
+        description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
-        default_value: 150
+        default_value: 50
         field: dynamicGyroNotchMinHz
         condition: USE_DYNAMIC_FILTERS
         min: 30
@@ -3319,7 +3310,6 @@ groups:
         description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)"
         default_value: 0
         field: hud_wp_disp
-
         min: 0
         max: 3
       - name: osd_left_sidebar_scroll
@@ -3455,6 +3445,13 @@ groups:
         min: -36
         max: 36
 
+      - name: osd_esc_rpm_precision
+        description: Number of characters used to display the RPM value.
+        field: esc_rpm_precision
+        min: 3
+        max: 6
+        default_value: 3
+
   - name: PG_OSD_COMMON_CONFIG
     type: osdCommonConfig_t
     headers: ["io/osd_common.h"]

src/main/flight/gyroanalyse.c

@@ -60,25 +60,11 @@ FILE_COMPILE_FOR_SPEED
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
     uint16_t minFrequency,
-    uint8_t range,
     uint32_t targetLooptimeUs
 ) {
-    state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_LOW;
     state->minFrequency = minFrequency;
 
-    if (range == DYN_NOTCH_RANGE_HIGH) {
+    state->fftSamplingRateHz = lrintf(1e6f / targetLooptimeUs / 3); // Looptime divided by 3
-        state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_HIGH;
-    }
-    else if (range == DYN_NOTCH_RANGE_MEDIUM) {
-        state->fftSamplingRateHz = DYN_NOTCH_RANGE_HZ_MEDIUM;
-    }
-
-    // If we get at least 3 samples then use the default FFT sample frequency
-    // otherwise we need to calculate a FFT sample frequency to ensure we get 3 samples (gyro loops < 4K)
-    const int gyroLoopRateHz = lrintf((1.0f / targetLooptimeUs) * 1e6f);
-    
-    state->fftSamplingRateHz = MIN((gyroLoopRateHz / 3), state->fftSamplingRateHz);
-
     state->fftResolution = (float)state->fftSamplingRateHz / FFT_WINDOW_SIZE;
 
     state->fftStartBin = state->minFrequency / lrintf(state->fftResolution);

src/main/flight/gyroanalyse.h

@@ -68,7 +68,6 @@ STATIC_ASSERT(FFT_WINDOW_SIZE <= (uint8_t) -1, window_size_greater_than_underlyi
 void gyroDataAnalyseStateInit(
     gyroAnalyseState_t *state, 
     uint16_t minFrequency,
-    uint8_t range,
     uint32_t targetLooptimeUs
 );
 void gyroDataAnalysePush(gyroAnalyseState_t *gyroAnalyse, int axis, float sample);

src/main/io/osd.c

@@ -1037,17 +1037,37 @@ static void osdFormatRpm(char *buff, uint32_t rpm)
 {
     buff[0] = SYM_RPM;
     if (rpm) {
-        if (rpm >= 1000) {
+        if ( digitCount(rpm) > osdConfig()->esc_rpm_precision) {
-            osdFormatCentiNumber(buff + 1, rpm / 10, 0, 1, 1, 2);
+            uint8_t rpmMaxDecimals = (osdConfig()->esc_rpm_precision - 3);
-            buff[3] = 'K';
+            osdFormatCentiNumber(buff + 1, rpm / 10, 0, rpmMaxDecimals, rpmMaxDecimals, osdConfig()->esc_rpm_precision-1);
-            buff[4] = '\0';
+            buff[osdConfig()->esc_rpm_precision] = 'K';
+            buff[osdConfig()->esc_rpm_precision+1] = '\0';
         }
         else {
-            tfp_sprintf(buff + 1, "%3lu", rpm);
+            switch(osdConfig()->esc_rpm_precision) {
+                case 6:
+                    tfp_sprintf(buff + 1, "%6lu", rpm);
+                    break;
+                case 5:
+                    tfp_sprintf(buff + 1, "%5lu", rpm);
+                    break;
+                case 4:
+                    tfp_sprintf(buff + 1, "%4lu", rpm);
+                    break;
+                case 3:
+                default:
+                    tfp_sprintf(buff + 1, "%3lu", rpm);
+                    break;
+            }
+
+            
         }
     }
     else {
-        strcpy(buff + 1, "---");
+        uint8_t buffPos = 1;
+        while (buffPos <=( osdConfig()->esc_rpm_precision)) {
+            strcpy(buff + buffPos++, "-");
+        }
     }
 }
 #endif
@@ -3153,6 +3173,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .osd_home_position_arm_screen = SETTING_OSD_HOME_POSITION_ARM_SCREEN_DEFAULT,
     .pan_servo_index = SETTING_OSD_PAN_SERVO_INDEX_DEFAULT,
     .pan_servo_pwm2centideg = SETTING_OSD_PAN_SERVO_PWM2CENTIDEG_DEFAULT,
+    .esc_rpm_precision = SETTING_OSD_ESC_RPM_PRECISION_DEFAULT,
 
     .units = SETTING_OSD_UNITS_DEFAULT,
     .main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,

src/main/io/osd.h

@@ -385,6 +385,7 @@ typedef struct osdConfig_s {
     uint8_t crsf_lq_format;
     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
     uint8_t telemetry; 				    // use telemetry on displayed pixel line 0
+    uint8_t esc_rpm_precision;          // Number of characters used for the RPM numbers.
 
 } osdConfig_t;
 

src/main/navigation/navigation_fixedwing.c

@@ -49,6 +49,8 @@
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
 
+#include "programming/logic_condition.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"
@@ -271,10 +273,12 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
     // Limit minimum forward velocity to 1 m/s
     float trackingDistance = trackingPeriod * MAX(posControl.actualState.velXY, 100.0f);
 
+    uint32_t navLoiterRadius = getLoiterRadius(navConfig()->fw.loiter_radius);
+
     // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target
     #define TAN_15DEG    0.26795f
     bool needToCalculateCircularLoiter = (isApproachingLastWaypoint() || isWaypointWait())
-                                            && (distanceToActualTarget <= (navConfig()->fw.loiter_radius / TAN_15DEG))
+                                            && (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG))
                                             && (distanceToActualTarget > 50.0f)
                                             && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
 
@@ -283,8 +287,8 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
         // We are closing in on a waypoint, calculate circular loiter
         float loiterAngle = atan2_approx(-posErrorY, -posErrorX) + DEGREES_TO_RADIANS(loiterDirection() * 45.0f);
 
-        float loiterTargetX = posControl.desiredState.pos.x + navConfig()->fw.loiter_radius * cos_approx(loiterAngle);
+        float loiterTargetX = posControl.desiredState.pos.x + navLoiterRadius * cos_approx(loiterAngle);
-        float loiterTargetY = posControl.desiredState.pos.y + navConfig()->fw.loiter_radius * sin_approx(loiterAngle);
+        float loiterTargetY = posControl.desiredState.pos.y + navLoiterRadius * sin_approx(loiterAngle);
 
         // We have temporary loiter target. Recalculate distance and position error
         posErrorX = loiterTargetX - navGetCurrentActualPositionAndVelocity()->pos.x;

src/main/programming/logic_condition.c

@@ -83,10 +83,10 @@ void pgResetFn_logicConditions(logicCondition_t *instance)
 logicConditionState_t logicConditionStates[MAX_LOGIC_CONDITIONS];
 
 static int logicConditionCompute(
-    int currentVaue,
+    int32_t currentVaue,
     logicOperation_e operation,
-    int operandA,
+    int32_t operandA,
-    int operandB
+    int32_t operandB
 ) {
     int temporaryValue;
     vtxDeviceCapability_t vtxDeviceCapability;
@@ -177,20 +177,20 @@ static int logicConditionCompute(
             break;
 
         case LOGIC_CONDITION_ADD:
-            return constrain(operandA + operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA + operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_SUB:
-            return constrain(operandA - operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA - operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_MUL:
-            return constrain(operandA * operandB, INT16_MIN, INT16_MAX);
+            return constrain(operandA * operandB, INT32_MIN, INT32_MAX);
             break;
 
         case LOGIC_CONDITION_DIV:
             if (operandB != 0) {
-                return constrain(operandA / operandB, INT16_MIN, INT16_MAX);
+                return constrain(operandA / operandB, INT32_MIN, INT32_MAX);
             } else {
                 return operandA;
             }
@@ -328,7 +328,7 @@ static int logicConditionCompute(
 
         case LOGIC_CONDITION_MODULUS:
             if (operandB != 0) {
-                return constrain(operandA % operandB, INT16_MIN, INT16_MAX);
+                return constrain(operandA % operandB, INT32_MIN, INT32_MAX);
             } else {
                 return operandA;
             }
@@ -350,6 +350,12 @@ static int logicConditionCompute(
             }
             break;
 
+        case LOGIC_CONDITION_LOITER_OVERRIDE:
+            logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE] = constrain(operandA, 0, 100000);
+            LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
+            return true;
+            break;
+            
         default:
             return false;
             break; 
@@ -554,6 +560,9 @@ static int logicConditionGetFlightOperandValue(int operand) {
             return getConfigProfile() + 1;
             break;
 
+        case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
+            return getLoiterRadius(navConfig()->fw.loiter_radius);
+
         default:
             return 0;
             break;
@@ -741,3 +750,16 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
         return originalValue;
     }
 }
+
+uint32_t getLoiterRadius(uint32_t loiterRadius) {
+#ifdef USE_PROGRAMMING_FRAMEWORK
+    if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) && 
+        !(FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding())) {
+        return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
+    } else {
+        return loiterRadius;
+    }
+#else
+    return loiterRadius;
+#endif
+}

src/main/programming/logic_condition.h

@@ -70,6 +70,7 @@ typedef enum {
     LOGIC_CONDITION_RC_CHANNEL_OVERRIDE         = 38,
     LOGIC_CONDITION_SET_HEADING_TARGET          = 39,
     LOGIC_CONDITION_MODULUS                     = 40,
+    LOGIC_CONDITION_LOITER_OVERRIDE             = 41,
     LOGIC_CONDITION_SET_PROFILE                 = 42,
     LOGIC_CONDITION_LAST                        = 43,
 } logicOperation_e;
@@ -121,7 +122,8 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_LQ,                                 // 32
     LOGIC_CONDITION_OPERAND_FLIGHT_CRSF_SNR,                                // 33
     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_VALID, // 0/1                        // 34
-    LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int                    // 35
+    LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS                            // 35
+    LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE, //int                    // 36
 
 } logicFlightOperands_e;
 
@@ -150,6 +152,7 @@ typedef enum {
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE = (1 << 6),
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7),
     LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL = (1 << 8),
+    LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS = (1 << 9),
 } logicConditionsGlobalFlags_t;
 
 typedef enum {
@@ -200,3 +203,4 @@ void logicConditionReset(void);
 float getThrottleScale(float globalThrottleScale);
 int16_t getRcCommandOverride(int16_t command[], uint8_t axis);
 int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue);
+uint32_t getLoiterRadius(uint32_t loiterRadius);

src/main/sensors/compass.c

@@ -42,6 +42,7 @@
 #include "drivers/compass/compass_lis3mdl.h"
 #include "drivers/compass/compass_rm3100.h"
 #include "drivers/compass/compass_vcm5883.h"
+#include "drivers/compass/compass_mlx90393.h"
 #include "drivers/compass/compass_msp.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
@@ -260,6 +261,19 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
         }
         FALLTHROUGH;
 
+    case MAG_MLX90393:
+#ifdef USE_MAG_MLX90393
+        if (mlx90393Detect(dev)) {
+            magHardware = MAG_MLX90393;
+            break;
+        }
+#endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {

src/main/sensors/compass.h

@@ -43,7 +43,8 @@ typedef enum {
     MAG_MSP = 12,
     MAG_RM3100 = 13,
     MAG_VCM5883 = 14,
-    MAG_FAKE = 15,
+    MAG_MLX90393 = 15,
+    MAG_FAKE = 16,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 

src/main/sensors/gyro.c

@@ -124,7 +124,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT,
     .gyroDynamicLpfCurveExpo = SETTING_GYRO_DYN_LPF_CURVE_EXPO_DEFAULT,
 #ifdef USE_DYNAMIC_FILTERS
-    .dynamicGyroNotchRange = SETTING_DYNAMIC_GYRO_NOTCH_RANGE_DEFAULT,
     .dynamicGyroNotchQ = SETTING_DYNAMIC_GYRO_NOTCH_Q_DEFAULT,
     .dynamicGyroNotchMinHz = SETTING_DYNAMIC_GYRO_NOTCH_MIN_HZ_DEFAULT,
     .dynamicGyroNotchEnabled = SETTING_DYNAMIC_GYRO_NOTCH_ENABLED_DEFAULT,
@@ -355,7 +354,6 @@ bool gyroInit(void)
     gyroDataAnalyseStateInit(
         &gyroAnalyseState, 
         gyroConfig()->dynamicGyroNotchMinHz,
-        gyroConfig()->dynamicGyroNotchRange,
         getLooptime()
     );
 #endif

src/main/sensors/gyro.h

@@ -41,16 +41,6 @@ typedef enum {
     GYRO_FAKE
 } gyroSensor_e;
 
-typedef enum {
-    DYN_NOTCH_RANGE_HIGH = 0,
-    DYN_NOTCH_RANGE_MEDIUM,
-    DYN_NOTCH_RANGE_LOW
-} dynamicFilterRange_e;
-
-#define DYN_NOTCH_RANGE_HZ_HIGH 2000
-#define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
-#define DYN_NOTCH_RANGE_HZ_LOW 1000
-
 typedef struct gyro_s {
     bool initialized;
     uint32_t targetLooptime;
@@ -78,7 +68,6 @@ typedef struct gyroConfig_s {
     uint16_t gyroDynamicLpfMaxHz;
     uint8_t gyroDynamicLpfCurveExpo;
 #ifdef USE_DYNAMIC_FILTERS
-    uint8_t dynamicGyroNotchRange;
     uint16_t dynamicGyroNotchQ;
     uint16_t dynamicGyroNotchMinHz;
     uint8_t dynamicGyroNotchEnabled;

src/main/target/KAKUTEF7/target.h

@@ -144,6 +144,7 @@
 #define USE_MAG_IST8310
 #define USE_MAG_IST8308
 #define USE_MAG_LIS3MDL
+#define USE_MAG_MLX90393
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/common_hardware.c

@@ -260,6 +260,13 @@
     BUSDEV_REGISTER_I2C(busdev_vcm5883,     DEVHW_VCM5883,      VCM5883_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
 #endif
 
+#if defined(USE_MAG_MLX90393)
+    #if !defined(MLX90393_I2C_BUS)
+        #define MLX90393_I2C_BUS MAG_I2C_BUS
+    #endif
+    BUSDEV_REGISTER_I2C(busdev_mlx90393,     DEVHW_MLX90393,      MLX90393_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
+#endif
+
 #endif
 
 

src/main/telemetry/crsf.c

@@ -332,9 +332,9 @@ static void crsfFrameFlightMode(sbuf_t *dst)
         } else if (FLIGHT_MODE(NAV_POSHOLD_MODE)) {
             flightMode = "HOLD";
         } else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
-            flightMode = "3CRS";
+            flightMode = "CRUZ";
         } else if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
-            flightMode = "CRS";
+            flightMode = "CRSH";
         } else if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
             flightMode = "AH";
         } else if (FLIGHT_MODE(NAV_WP_MODE)) {