first cut

src/main/CMakeLists.txt

@@ -281,6 +281,8 @@ main_sources(COMMON_SRC
     fc/firmware_update.h
     fc/firmware_update_common.c
     fc/firmware_update_common.h
+    fc/multifunction.c
+    fc/multifunction.h
     fc/rc_smoothing.c
     fc/rc_smoothing.h
     fc/rc_adjustments.c

src/main/drivers/osd_symbols.h

@@ -174,6 +174,8 @@
 #define SYM_FLIGHT_MINS_REMAINING   0xDA  // 218 Flight time (mins) remaining
 #define SYM_FLIGHT_HOURS_REMAINING  0xDB  // 219 Flight time (hours) remaining
 #define SYM_GROUND_COURSE           0xDC  // 220 Ground course
+#define SYM_ALERT                   0xDD  // 221 General alert symbol
+
 #define SYM_CROSS_TRACK_ERROR       0xFC  // 252 Cross track error
 
 #define SYM_LOGO_START              0x101 // 257 to 297, INAV logo

src/main/fc/fc_core.c

@@ -365,7 +365,7 @@ static bool emergencyArmingCanOverrideArmingDisabled(void)
 
 static bool emergencyArmingIsEnabled(void)
 {
-    return emergencyArmingUpdate(IS_RC_MODE_ACTIVE(BOXARM)) && emergencyArmingCanOverrideArmingDisabled();
+    return emergencyArmingUpdate(IS_RC_MODE_ACTIVE(BOXARM), false) && emergencyArmingCanOverrideArmingDisabled();
 }
 
 static void processPilotAndFailSafeActions(float dT)
@@ -457,7 +457,7 @@ disarmReason_t getDisarmReason(void)
     return lastDisarmReason;
 }
 
-bool emergencyArmingUpdate(bool armingSwitchIsOn)
+bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
 {
     if (ARMING_FLAG(ARMED)) {
         return false;
@@ -486,6 +486,10 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn)
         toggle = true;
     }
 
+    if (forceArm) {
+        counter = EMERGENCY_ARMING_MIN_ARM_COUNT + 1;
+    }
+
     return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
 }
 

src/main/fc/fc_core.h

@@ -42,7 +42,7 @@ timeUs_t getLastDisarmTimeUs(void);
 void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
-bool emergencyArmingUpdate(bool armingSwitchIsOn);
+bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
 
 bool areSensorsCalibrating(void);
 float getFlightTime(void);

src/main/fc/fc_msp_box.c

@@ -97,6 +97,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 55 },
     { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 56 },
     { .boxId = BOXCHANGEMISSION,    .boxName = "MISSION CHANGE",    .permanentId = 59 },
+    { .boxId = BOXMULTIFUNCTION,    .boxName = "MULTI FUNCTION",    .permanentId = 60 },
     { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL,                .permanentId = 0xFF }
 };
 
@@ -178,6 +179,7 @@ void initActiveBoxIds(void)
     RESET_BOX_ID_COUNT;
     ADD_ACTIVE_BOX(BOXARM);
     ADD_ACTIVE_BOX(BOXPREARM);
+    ADD_ACTIVE_BOX(BOXMULTIFUNCTION);
 
     if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
         ADD_ACTIVE_BOX(BOXANGLE);
@@ -410,6 +412,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
 #ifdef USE_MULTI_MISSION
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION)),   BOXCHANGEMISSION);
 #endif
+    CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMULTIFUNCTION)),   BOXMULTIFUNCTION);
 
     memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
     for (uint32_t i = 0; i < activeBoxIdCount; i++) {

src/main/fc/multifunction.c

@@ -0,0 +1,87 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include "platform.h"
+#include "build/debug.h"
+#include "drivers/time.h"
+
+#include "fc/fc_core.h"
+#include "fc/multifunction.h"
+#include "fc/rc_modes.h"
+
+#include "io/osd.h"
+#include "navigation/navigation.h"
+
+static void multiFunctionApply(multi_function_e selectedItem)
+{
+    switch (selectedItem) {
+    case MULTI_FUNC_NONE:
+        return;
+    case MULTI_FUNC_1:
+        resetOsdWarningMask();
+        break;
+    case MULTI_FUNC_2:
+        emergencyArmingUpdate(true, true);
+        break;
+    case MULTI_FUNC_COUNT:
+        break;
+    }
+}
+
+bool multiFunctionSelection(multi_function_e * returnItem)
+{
+    static timeMs_t startTimer;
+    static timeMs_t selectTimer;
+    static int8_t selectedItem = 0;
+    static bool toggle = true;
+    const timeMs_t currentTime = millis();
+
+    if (IS_RC_MODE_ACTIVE(BOXMULTIFUNCTION)) {
+        if (selectTimer) {
+            if (currentTime - selectTimer > 3000) {
+                *returnItem = selectedItem;
+                multiFunctionApply(selectedItem);
+                selectTimer = 0;
+                selectedItem = 0;
+                return true;
+            }
+        } else if (toggle) {
+            selectedItem++;
+            selectedItem = selectedItem == MULTI_FUNC_COUNT ? 1 : selectedItem;
+            selectTimer = currentTime;
+        }
+        startTimer = currentTime;
+        toggle = false;
+    } else if (startTimer) {
+        selectTimer = 0;
+        if (currentTime - startTimer > 2000) {
+            startTimer = 0;
+            selectedItem = 0;
+        }
+        toggle = true;
+    }
+
+    *returnItem = selectedItem;
+    return false;
+}

src/main/fc/multifunction.h

@@ -0,0 +1,34 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+typedef enum {
+    MULTI_FUNC_NONE,
+    MULTI_FUNC_1,
+    MULTI_FUNC_2,
+    MULTI_FUNC_COUNT,
+} multi_function_e;
+
+bool multiFunctionSelection(multi_function_e * returnItem);

src/main/fc/rc_controls.c

@@ -223,7 +223,7 @@ void processRcStickPositions(bool isThrottleLow)
             rcDisarmTimeMs = currentTimeMs;
             tryArm();
         } else {
-            emergencyArmingUpdate(armingSwitchIsActive);
+            emergencyArmingUpdate(armingSwitchIsActive, false);
             // Disarming via ARM BOX
             // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
             // and can't afford to risk disarming in the air

src/main/fc/rc_modes.h

@@ -77,6 +77,7 @@ typedef enum {
     BOXUSER3         = 48,
     BOXUSER4         = 49,
     BOXCHANGEMISSION = 50,
+    BOXMULTIFUNCTION = 51,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 

src/main/io/osd.c

@@ -77,6 +77,7 @@ FILE_COMPILE_FOR_SPEED
 #include "fc/controlrate_profile.h"
 #include "fc/fc_core.h"
 #include "fc/fc_tasks.h"
+#include "fc/multifunction.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
@@ -183,6 +184,9 @@ static bool fullRedraw = false;
 static uint8_t armState;
 static uint8_t statsPagesCheck = 0;
 
+textAttributes_t osdGetMultiFunctionMessage(char *buff);
+static osd_warnings_status_flags_e osdWarningsMask = 0;
+
 typedef struct osdMapData_s {
     uint32_t scale;
     char referenceSymbol;
@@ -1684,8 +1688,10 @@ static bool osdDrawSingleElement(uint8_t item)
         buff[1] = SYM_SAT_R;
         tfp_sprintf(buff + 2, "%2d", gpsSol.numSat);
         if (!STATE(GPS_FIX)) {
-            if (getHwGPSStatus() == HW_SENSOR_UNAVAILABLE || getHwGPSStatus() == HW_SENSOR_UNHEALTHY) {
-                strcpy(buff + 2, "X!");
+            hardwareSensorStatus_e sensorStatus = getHwGPSStatus();
+            if (sensorStatus == HW_SENSOR_UNAVAILABLE || sensorStatus == HW_SENSOR_UNHEALTHY) {
+                buff[2] = SYM_ALERT;
+                buff[3] = '\0';
             }
             TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
         }
@@ -3267,6 +3273,12 @@ static bool osdDrawSingleElement(uint8_t item)
         }
 #endif // USE_ADC
 #endif // USE_POWER_LIMITS
+    case OSD_MULTI_FUNCTION:
+        {
+            displayWrite(osdDisplayPort, elemPosX, elemPosY, "          ");
+            elemAttr = osdGetMultiFunctionMessage(buff);
+            break;
+        }
 
     default:
         return false;
@@ -4656,4 +4668,77 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
     return elemAttr;
 }
 
+void resetOsdWarningMask(void)
+{
+    osdWarningsMask = 0;
+}
+
+bool checkOsdWarning(bool condition, osd_warnings_status_flags_e warningType)
+{
+    static timeMs_t newWarningStartTime = 0;
+    const timeMs_t currentTimeMs = millis();
+
+    if (condition) {
+        if (!(osdWarningsMask & warningType)) {
+            newWarningStartTime = currentTimeMs;
+            osdWarningsMask |= warningType;
+        }
+        if (currentTimeMs - newWarningStartTime < 10000) {  // Display new warnings for 10s
+            return true;
+        }
+    } else if (osdWarningsMask & warningType) {
+        osdWarningsMask ^= warningType;
+    }
+
+    return false;
+}
+
+textAttributes_t osdGetMultiFunctionMessage(char *buff)
+{
+    textAttributes_t elemAttr = TEXT_ATTRIBUTES_NONE;
+    uint8_t warningCount = BITCOUNT(osdWarningsMask);
+
+    multi_function_e multiFuncItem;
+    multiFunctionSelection(&multiFuncItem);
+    if (multiFuncItem) {
+        switch (multiFuncItem) {
+        case MULTI_FUNC_NONE:
+        case MULTI_FUNC_1:
+            strcpy(buff, warningCount ? "WARNINGS  " : "0 WARNINGS");
+            break;
+        case MULTI_FUNC_2:
+            strcpy(buff, "EMERG ARM ");
+            break;
+        case MULTI_FUNC_COUNT:
+            break;
+        }
+
+        return elemAttr;
+    }
+
+/* WARNINGS --------------------------------------------- */
+    const char *messages[2];
+    const char *message = NULL;
+    uint8_t messageCount = 0;
+
+    if (checkOsdWarning(!STATE(GPS_FIX), OSD_WARN_1)) {
+        hardwareSensorStatus_e sensorStatus = getHwGPSStatus();
+        bool gpsFailed = sensorStatus == HW_SENSOR_UNAVAILABLE || sensorStatus == HW_SENSOR_UNHEALTHY;
+        messages[messageCount++] = gpsFailed ? "GPS FAILED" : "NO GPS FIX";
+    }
+
+    if (messageCount) {
+        message = messages[OSD_ALTERNATING_CHOICES(2000, messageCount)];    // display each warning for 2s
+        strcpy(buff, message);
+        TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
+        return elemAttr;
+    } else if (warningCount) {
+        buff[0] = SYM_ALERT;
+        tfp_sprintf(buff + 1, "%u", warningCount);
+        return elemAttr;
+    }
+/* WARNINGS --------------------------------------------- */
+
+    return elemAttr;
+}
 #endif // OSD

src/main/io/osd.h

@@ -270,6 +270,7 @@ typedef enum {
     OSD_NAV_WP_MULTI_MISSION_INDEX,
     OSD_GROUND_COURSE,      // 140
     OSD_CROSS_TRACK_ERROR,
+    OSD_MULTI_FUNCTION,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 
@@ -328,6 +329,12 @@ typedef enum {
     OSD_CRSF_LQ_TYPE3
 } osd_crsf_lq_format_e;
 
+typedef enum {
+    OSD_WARN_NONE   = 0,
+    OSD_WARN_1      = 1 << 0,
+    OSD_WARN_2      = 1 << 1,
+} osd_warnings_status_flags_e;
+
 typedef struct osdLayoutsConfig_s {
     // Layouts
     uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
@@ -473,6 +480,8 @@ int32_t osdGetAltitude(void);
 void osdStartedSaveProcess(void);
 void osdShowEEPROMSavedNotification(void);
 
+void resetOsdWarningMask(void);
+
 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 void osdFormatAltitudeSymbol(char *buff, int32_t alt);