From 15c0b58c7de25a0aac56dd0fbdf9da003eb54a17 Mon Sep 17 00:00:00 2001
From: Roman Lut <11955117+RomanLut@users.noreply.github.com>
Date: Tue, 2 Aug 2022 10:19:51 +0300
Subject: [PATCH 001/132] mavlink 2 output 18 channels

---
 src/main/telemetry/mavlink.c | 96 +++++++++++++++++++++++++++---------
 1 file changed, 72 insertions(+), 24 deletions(-)

diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index b13a9f0497..716ec3258c 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -489,30 +489,78 @@ void mavlinkSendSystemStatus(void)
 void mavlinkSendRCChannelsAndRSSI(void)
 {
 #define GET_CHANNEL_VALUE(x) ((rxRuntimeConfig.channelCount >= (x + 1)) ? rxGetChannelValue(x) : 0)
-    mavlink_msg_rc_channels_raw_pack(mavSystemId, mavComponentId, &mavSendMsg,
-        // time_boot_ms Timestamp (milliseconds since system boot)
-        millis(),
-        // port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
-        0,
-        // chan1_raw RC channel 1 value, in microseconds
-        GET_CHANNEL_VALUE(0),
-        // chan2_raw RC channel 2 value, in microseconds
-        GET_CHANNEL_VALUE(1),
-        // chan3_raw RC channel 3 value, in microseconds
-        GET_CHANNEL_VALUE(2),
-        // chan4_raw RC channel 4 value, in microseconds
-        GET_CHANNEL_VALUE(3),
-        // chan5_raw RC channel 5 value, in microseconds
-        GET_CHANNEL_VALUE(4),
-        // chan6_raw RC channel 6 value, in microseconds
-        GET_CHANNEL_VALUE(5),
-        // chan7_raw RC channel 7 value, in microseconds
-        GET_CHANNEL_VALUE(6),
-        // chan8_raw RC channel 8 value, in microseconds
-        GET_CHANNEL_VALUE(7),
-        // rssi Receive signal strength indicator, 0: 0%, 254: 100%
-		//https://github.com/mavlink/mavlink/issues/1027
-        scaleRange(getRSSI(), 0, 1023, 0, 254));
+    if (telemetryConfig()->mavlink.version == 1) {
+        mavlink_msg_rc_channels_raw_pack(mavSystemId, mavComponentId, &mavSendMsg,
+            // time_boot_ms Timestamp (milliseconds since system boot)
+            millis(),
+            // port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+            0,
+            // chan1_raw RC channel 1 value, in microseconds
+            GET_CHANNEL_VALUE(0),
+            // chan2_raw RC channel 2 value, in microseconds
+            GET_CHANNEL_VALUE(1),
+            // chan3_raw RC channel 3 value, in microseconds
+            GET_CHANNEL_VALUE(2),
+            // chan4_raw RC channel 4 value, in microseconds
+            GET_CHANNEL_VALUE(3),
+            // chan5_raw RC channel 5 value, in microseconds
+            GET_CHANNEL_VALUE(4),
+            // chan6_raw RC channel 6 value, in microseconds
+            GET_CHANNEL_VALUE(5),
+            // chan7_raw RC channel 7 value, in microseconds
+            GET_CHANNEL_VALUE(6),
+            // chan8_raw RC channel 8 value, in microseconds
+            GET_CHANNEL_VALUE(7),
+            // rssi Receive signal strength indicator, 0: 0%, 254: 100%
+    		//https://github.com/mavlink/mavlink/issues/1027
+            scaleRange(getRSSI(), 0, 1023, 0, 254));
+	} 
+    else {
+        mavlink_msg_rc_channels_pack(mavSystemId, mavComponentId, &mavSendMsg,
+            // time_boot_ms Timestamp (milliseconds since system boot)
+            millis(),
+            // Total number of RC channels being received. 
+            rxRuntimeConfig.channelCount,
+            // chan1_raw RC channel 1 value, in microseconds
+            GET_CHANNEL_VALUE(0),
+            // chan2_raw RC channel 2 value, in microseconds
+            GET_CHANNEL_VALUE(1),
+            // chan3_raw RC channel 3 value, in microseconds
+            GET_CHANNEL_VALUE(2),
+            // chan4_raw RC channel 4 value, in microseconds
+            GET_CHANNEL_VALUE(3),
+            // chan5_raw RC channel 5 value, in microseconds
+            GET_CHANNEL_VALUE(4),
+            // chan6_raw RC channel 6 value, in microseconds
+            GET_CHANNEL_VALUE(5),
+            // chan7_raw RC channel 7 value, in microseconds
+            GET_CHANNEL_VALUE(6),
+            // chan8_raw RC channel 8 value, in microseconds
+            GET_CHANNEL_VALUE(7),
+            // chan9_raw RC channel 9 value, in microseconds
+            GET_CHANNEL_VALUE(8),
+            // chan10_raw RC channel 10 value, in microseconds
+            GET_CHANNEL_VALUE(9),
+            // chan11_raw RC channel 11 value, in microseconds
+            GET_CHANNEL_VALUE(10),
+            // chan12_raw RC channel 12 value, in microseconds
+            GET_CHANNEL_VALUE(11),
+            // chan13_raw RC channel 13 value, in microseconds
+            GET_CHANNEL_VALUE(12),
+            // chan14_raw RC channel 14 value, in microseconds
+            GET_CHANNEL_VALUE(13),
+            // chan15_raw RC channel 15 value, in microseconds
+            GET_CHANNEL_VALUE(14),
+            // chan16_raw RC channel 16 value, in microseconds
+            GET_CHANNEL_VALUE(15),
+            // chan17_raw RC channel 17 value, in microseconds
+            GET_CHANNEL_VALUE(16),
+            // chan18_raw RC channel 18 value, in microseconds
+            GET_CHANNEL_VALUE(17),
+            // rssi Receive signal strength indicator, 0: 0%, 254: 100%
+    		//https://github.com/mavlink/mavlink/issues/1027
+            scaleRange(getRSSI(), 0, 1023, 0, 254));
+    }
 #undef GET_CHANNEL_VALUE
 
     mavlinkSendMessage();

From 0246892708759f16d6910e6e570f7b5ce5acc582 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 7 Nov 2023 23:20:49 +0000
Subject: [PATCH 002/132] initial build

---
 src/main/navigation/navigation.c             | 113 ++++++++++---------
 src/main/navigation/navigation_fixedwing.c   |  52 ++++-----
 src/main/navigation/navigation_multicopter.c |  35 +++---
 src/main/navigation/navigation_private.h     |   6 +-
 4 files changed, 97 insertions(+), 109 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index c566c94bfa..57a6ba5c06 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2927,8 +2927,7 @@ void setDesiredPosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlag
 
     // Z-position
     if ((useMask & NAV_POS_UPDATE_Z) != 0) {
-        updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);   // Reset RoC/RoD -> altitude controller
-        posControl.desiredState.pos.z = pos->z;
+        updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, pos->z, ROC_TO_ALT_TARGET);
     }
 
     // Heading
@@ -3036,66 +3035,68 @@ bool isProbablyStillFlying(void)
 /*-----------------------------------------------------------
  * Z-position controller
  *-----------------------------------------------------------*/
+static bool isMaxAltitudeLimitExceeded(void)
+{
+    return navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude;
+}
+
+int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
+{
+    if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded()) {
+        targetAltitude = MIN(targetAltitude, navConfig()->general.max_altitude);
+    }
+
+    const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
+
+    float maxClimbRate = navConfig()->general.max_auto_climb_rate;
+    if (emergLandingIsActive) {
+        maxClimbRate = navConfig()->general.emerg_descent_rate;
+    } else if (posControl.flags.isAdjustingAltitude) {
+        maxClimbRate = navConfig()->general.max_manual_climb_rate;
+    }
+    const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z;
+    float targetVel = 0.0f;
+
+    if (STATE(MULTIROTOR)) {
+        targetVel = getSqrtControllerVelocity(targetAltitude, deltaMicros);
+    } else {
+        targetVel = scaleRangef(targetAltitudeError, 0.0f, maxClimbRate * 5, 0.0f, maxClimbRate);
+    }
+
+    if (emergLandingIsActive && targetAltitudeError > -50) {
+        return -100;
+    } else {
+        return constrainf(targetVel, -maxClimbRate, maxClimbRate);
+    }
+}
+
 void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode)
 {
-#define MIN_TARGET_CLIMB_RATE   100.0f  // cm/s
-
-    static timeUs_t lastUpdateTimeUs;
-    timeUs_t currentTimeUs = micros();
+    /* ROC_TO_ALT_CONSTANT - constant climb rate. desiredClimbRate direction (+ or -) is required
+     * ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to min rate when altitude reached
+     * Rate reduction starts at distance from target altitude of 5 x climb rate for FW, 1 x climb rate for MC.
+     * desiredClimbRate direction isn't required, set by target altitude direction instead
+     * NAV_IMPOSSIBLE_ALTITUDE_TARGET simply uses posControl.desiredState.pos.z to set a constant climb rate */
 
     // Terrain following uses different altitude measurement
     const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z;
 
-    if (mode != ROC_TO_ALT_RESET && desiredClimbRate) {
-        /* ROC_TO_ALT_CONSTANT - constant climb rate
-         * ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to min rate when altitude reached
-         * Rate reduction starts at distance from target altitude of 5 x climb rate for FW, 1 x climb rate for MC */
-
-        if (mode == ROC_TO_ALT_TARGET && fabsf(desiredClimbRate) > MIN_TARGET_CLIMB_RATE) {
-            const int8_t direction = desiredClimbRate > 0 ? 1 : -1;
-            const float absClimbRate = fabsf(desiredClimbRate);
-            const uint16_t maxRateCutoffAlt = STATE(AIRPLANE) ? absClimbRate * 5 : absClimbRate;
-            const float verticalVelScaled = scaleRangef(navGetCurrentActualPositionAndVelocity()->pos.z - targetAltitude,
-                                            0.0f, -maxRateCutoffAlt * direction, MIN_TARGET_CLIMB_RATE, absClimbRate);
-
-            desiredClimbRate = direction * constrainf(verticalVelScaled, MIN_TARGET_CLIMB_RATE, absClimbRate);
-        }
-
-        /*
-         * If max altitude is set, reset climb rate if altitude is reached and climb rate is > 0
-         * In other words, when altitude is reached, allow it only to shrink
-         */
-        if (navConfig()->general.max_altitude > 0 && altitudeToUse >= navConfig()->general.max_altitude && desiredClimbRate > 0) {
-            desiredClimbRate = 0;
-        }
-
-        if (STATE(FIXED_WING_LEGACY)) {
-            // Fixed wing climb rate controller is open-loop. We simply move the known altitude target
-            float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs);
-            static bool targetHoldActive = false;
-
-            if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ) && desiredClimbRate) {
-                // Update target altitude only if actual altitude moving in same direction and lagging by < 5 m, otherwise hold target
-                if (navGetCurrentActualPositionAndVelocity()->vel.z * desiredClimbRate >= 0 && fabsf(posControl.desiredState.pos.z - altitudeToUse) < 500) {
-                    posControl.desiredState.pos.z += desiredClimbRate * timeDelta;
-                    targetHoldActive = false;
-                } else if (!targetHoldActive) {     // Reset and hold target to actual + climb rate boost until actual catches up
-                    posControl.desiredState.pos.z = altitudeToUse + desiredClimbRate;
-                    targetHoldActive = true;
-                }
-            } else {
-                targetHoldActive = false;
-            }
-        }
-        else {
-            // Multicopter climb-rate control is closed-loop, it's possible to directly calculate desired altitude setpoint to yield the required RoC/RoD
-            posControl.desiredState.pos.z = altitudeToUse + (desiredClimbRate / posControl.pids.pos[Z].param.kP);
-        }
-    } else {    // ROC_TO_ALT_RESET or zero desired climbrate
+    if (mode == ROC_TO_ALT_RESET) {
         posControl.desiredState.pos.z = altitudeToUse;
+    } else if (mode == ROC_TO_ALT_TARGET) {
+        posControl.desiredState.pos.z = targetAltitude;
+    } else {    // ROC_TO_ALT_CONSTANT
+        posControl.desiredState.pos.z = NAV_IMPOSSIBLE_ALTITUDE_TARGET;
     }
 
-    lastUpdateTimeUs = currentTimeUs;
+    /*
+     * If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve
+     */
+    if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded() && desiredClimbRate >= 0.0f) {
+        posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
+    }
+
+    posControl.desiredState.vel.z = desiredClimbRate;
 }
 
 static void resetAltitudeController(bool useTerrainFollowing)
@@ -4317,9 +4318,9 @@ void navigationUsePIDs(void)
                                         0.0f
     );
 
-    navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 10.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 10.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 10.0f,
+    navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->bank_fw.pid[PID_POS_Z].P / 100.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].I / 100.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_Z].D / 100.0f,
                                         0.0f,
                                         NAV_DTERM_CUT_HZ,
                                         0.0f
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index e6084e0972..c5dde6dba4 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -123,7 +123,7 @@ bool adjustFixedWingAltitudeFromRCInput(void)
     else {
         // Adjusting finished - reset desired position to stay exactly where pilot released the stick
         if (posControl.flags.isAdjustingAltitude) {
-            updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+            updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, 0, ROC_TO_ALT_RESET);
         }
         return false;
     }
@@ -134,46 +134,34 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 {
     static pt1Filter_t velzFilterState;
 
-    // On a fixed wing we might not have a reliable climb rate source (if no BARO available), so we can't apply PID controller to
-    // velocity error. We use PID controller on altitude error and calculate desired pitch angle
+    float desiredClimbRate = posControl.desiredState.vel.z;
 
-    // Update energies
-    const float demSPE = (posControl.desiredState.pos.z * 0.01f) * GRAVITY_MSS;
-    const float demSKE = 0.0f;
-
-    const float estSPE = (navGetCurrentActualPositionAndVelocity()->pos.z * 0.01f) * GRAVITY_MSS;
-    const float estSKE = 0.0f;
-
-    // speedWeight controls balance between potential and kinetic energy used for pitch controller
-    //  speedWeight = 1.0 : pitch will only control airspeed and won't control altitude
-    //  speedWeight = 0.5 : pitch will be used to control both airspeed and altitude
-    //  speedWeight = 0.0 : pitch will only control altitude
-    const float speedWeight = 0.0f; // no speed sensing for now
-
-    const float demSEB = demSPE * (1.0f - speedWeight) - demSKE * speedWeight;
-    const float estSEB = estSPE * (1.0f - speedWeight) - estSKE * speedWeight;
-
-    // SEB to pitch angle gain to account for airspeed (with respect to specified reference (tuning) speed
-    const float pitchGainInv = 1.0f / 1.0f;
-
-    // Here we use negative values for dive for better clarity
-    float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle);
-    const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
-
-    // Reduce max allowed climb pitch if performing loiter (stall prevention)
-    if (needToCalculateCircularLoiter) {
-        maxClimbDeciDeg = maxClimbDeciDeg * 0.67f;
+    if (posControl.desiredState.pos.z != NAV_IMPOSSIBLE_ALTITUDE_TARGET) {
+        desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
     }
 
-    // PID controller to translate energy balance error [J] into pitch angle [decideg]
-    float targetPitchAngle = navPidApply3(&posControl.pids.fw_alt, demSEB, estSEB, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0, pitchGainInv, 1.0f);
+    // Reduce max allowed climb pitch if performing loiter (stall prevention)
+    if (needToCalculateCircularLoiter && desiredClimbRate > 0.0f) {
+        desiredClimbRate *= 0.67f;
+    }
+
+    // Here we use negative values for dive for better clarity
+    const float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle);
+    const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
+
+    // PID controller to translate desired climb rate error into pitch angle [decideg]
+    float currentClimbRate = navGetCurrentActualPositionAndVelocity()->vel.z;
+    float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, desiredClimbRate, currentClimbRate, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, PID_DTERM_FROM_ERROR);
 
     // Apply low-pass filter to prevent rapid correction
     targetPitchAngle = pt1FilterApply4(&velzFilterState, targetPitchAngle, getSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicros));
 
-    // Reconstrain pitch angle ( >0 - climb, <0 - dive)
+    // Reconstrain pitch angle (> 0 - climb, < 0 - dive)
     targetPitchAngle = constrainf(targetPitchAngle, minDiveDeciDeg, maxClimbDeciDeg);
     posControl.rcAdjustment[PITCH] = targetPitchAngle;
+
+    posControl.desiredState.vel.z = desiredClimbRate;
+    navDesiredVelocity[Z] = constrain(lrintf(posControl.desiredState.vel.z), -32678, 32767);
 }
 
 void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs)
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index 2264d84201..935665ee60 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -63,28 +63,26 @@ static pt1Filter_t altholdThrottleFilterState;
 static bool prepareForTakeoffOnReset = false;
 static sqrt_controller_t alt_hold_sqrt_controller;
 
+float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros)
+{
+    return sqrtControllerApply(
+            &alt_hold_sqrt_controller,
+            targetAltitude,
+            navGetCurrentActualPositionAndVelocity()->pos.z,
+            US2S(deltaMicros)
+    );
+}
+
 // Position to velocity controller for Z axis
 static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
 {
-    float targetVel = sqrtControllerApply(
-        &alt_hold_sqrt_controller,
-        posControl.desiredState.pos.z,
-        navGetCurrentActualPositionAndVelocity()->pos.z,
-        US2S(deltaMicros)
-    );
+    float targetVel = posControl.desiredState.vel.z;
 
-    // hard limit desired target velocity to max_climb_rate
-    float vel_max_z = 0.0f;
-
-    if (posControl.flags.isAdjustingAltitude) {
-        vel_max_z = navConfig()->general.max_manual_climb_rate;
-    } else {
-        vel_max_z = navConfig()->general.max_auto_climb_rate;
+    if (posControl.desiredState.pos.z != NAV_IMPOSSIBLE_ALTITUDE_TARGET) {
+        targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
     }
 
-    targetVel = constrainf(targetVel, -vel_max_z, vel_max_z);
-
-    posControl.pids.pos[Z].output_constrained = targetVel;
+    posControl.pids.pos[Z].output_constrained = targetVel;      // only used for Blackbox and OSD info
 
     // Limit max up/down acceleration target
     const float smallVelChange = US2S(deltaMicros) * (GRAVITY_CMSS * 0.1f);
@@ -132,8 +130,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         // In terrain follow mode we apply different logic for terrain control
         if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) {
             // We have solid terrain sensor signal - directly map throttle to altitude
-            updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
-            posControl.desiredState.pos.z = altTarget;
+            updateClimbRateToAltitudeController(navConfig()->general.max_manual_climb_rate, altTarget, ROC_TO_ALT_TARGET);
         }
         else {
             updateClimbRateToAltitudeController(-50.0f, 0, ROC_TO_ALT_CONSTANT);
@@ -165,7 +162,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         else {
             // Adjusting finished - reset desired position to stay exactly where pilot released the stick
             if (posControl.flags.isAdjustingAltitude) {
-                updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+                updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, 0, ROC_TO_ALT_RESET);
             }
 
             return false;
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index c408f109c9..35e5492c6f 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -47,6 +47,8 @@
 
 #define NAV_RTH_TRACKBACK_POINTS            50      // max number RTH trackback points
 
+#define NAV_IMPOSSIBLE_ALTITUDE_TARGET      10000000    // 100km in cm. Serves as a flag for vertical velocity control
+
 #define MAX_POSITION_UPDATE_INTERVAL_US     HZ2US(MIN_POSITION_UPDATE_RATE_HZ)        // convenience macro
 _Static_assert(MAX_POSITION_UPDATE_INTERVAL_US <= TIMEDELTA_MAX, "deltaMicros can overflow!");
 
@@ -481,6 +483,7 @@ bool isWaypointNavTrackingActive(void);
 void updateActualHeading(bool headingValid, int32_t newHeading, int32_t newGroundCourse);
 void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelValid, float newX, float newY, float newVelX, float newVelY);
 void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, float newVelocity, float surfaceDistance, float surfaceVelocity, navigationEstimateStatus_e surfaceStatus, float gpsCfEstimatedAltitudeError);
+int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros);
 
 bool checkForPositionSensorTimeout(void);
 
@@ -499,10 +502,9 @@ bool adjustMulticopterHeadingFromRCInput(void);
 bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcRollAdjustment);
 
 void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs);
-
 bool isMulticopterLandingDetected(void);
-
 void calculateMulticopterInitialHoldPosition(fpVector3_t * pos);
+float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros);
 
 /* Fixed-wing specific functions */
 void setupFixedWingAltitudeController(void);

From 7ae41ad928348b0d253b6df49eace47138e0358c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 8 Nov 2023 22:48:33 +0000
Subject: [PATCH 003/132] cleanup + add roc to alt flag

---
 src/main/navigation/navigation.c             | 26 +++++++++++---------
 src/main/navigation/navigation_fixedwing.c   |  6 ++---
 src/main/navigation/navigation_multicopter.c |  9 +++----
 src/main/navigation/navigation_private.h     |  4 +--
 4 files changed, 24 insertions(+), 21 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 57a6ba5c06..f18c1cdc56 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2927,7 +2927,7 @@ void setDesiredPosition(const fpVector3_t * pos, int32_t yaw, navSetWaypointFlag
 
     // Z-position
     if ((useMask & NAV_POS_UPDATE_Z) != 0) {
-        updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, pos->z, ROC_TO_ALT_TARGET);
+        updateClimbRateToAltitudeController(0, pos->z, ROC_TO_ALT_TARGET);
     }
 
     // Heading
@@ -3060,11 +3060,12 @@ int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
     if (STATE(MULTIROTOR)) {
         targetVel = getSqrtControllerVelocity(targetAltitude, deltaMicros);
     } else {
-        targetVel = scaleRangef(targetAltitudeError, 0.0f, maxClimbRate * 5, 0.0f, maxClimbRate);
+        // 0.2f relates to climb rate starting to reduce from maxClimbRate at a distance of 5 x maxClimbRate from targetAltitude
+        targetVel = 0.2f * targetAltitudeError;
     }
 
     if (emergLandingIsActive && targetAltitudeError > -50) {
-        return -100;
+        return -100;    // maintain 1 m/s descent during emerg landing when approaching T/O altitude
     } else {
         return constrainf(targetVel, -maxClimbRate, maxClimbRate);
     }
@@ -3072,11 +3073,14 @@ int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 
 void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode)
 {
-    /* ROC_TO_ALT_CONSTANT - constant climb rate. desiredClimbRate direction (+ or -) is required
-     * ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to min rate when altitude reached
-     * Rate reduction starts at distance from target altitude of 5 x climb rate for FW, 1 x climb rate for MC.
-     * desiredClimbRate direction isn't required, set by target altitude direction instead
-     * NAV_IMPOSSIBLE_ALTITUDE_TARGET simply uses posControl.desiredState.pos.z to set a constant climb rate */
+    /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to 0 when reached.
+     * Rate reduction starts at distance from target altitude of 5 x climb rate for Fixed wing.
+     * No climb rate required, set by target altitude direction instead.
+     *
+     * ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.
+     * No climb rate or altitude target required.
+     *
+     * ROC_TO_ALT_CONSTANT - constant climb rate. Climb rate and direction required. Target alt not required. */
 
     // Terrain following uses different altitude measurement
     const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z;
@@ -3085,10 +3089,10 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
         posControl.desiredState.pos.z = altitudeToUse;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
-    } else {    // ROC_TO_ALT_CONSTANT
-        posControl.desiredState.pos.z = NAV_IMPOSSIBLE_ALTITUDE_TARGET;
     }
 
+    posControl.flags.rocToAltMode = mode;
+
     /*
      * If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve
      */
@@ -3096,7 +3100,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
     }
 
-    posControl.desiredState.vel.z = desiredClimbRate;
+    posControl.desiredState.vel.z = desiredClimbRate;   // only used for ROC_TO_ALT_CONSTANT
 }
 
 static void resetAltitudeController(bool useTerrainFollowing)
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index c5dde6dba4..0272df114c 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -123,7 +123,7 @@ bool adjustFixedWingAltitudeFromRCInput(void)
     else {
         // Adjusting finished - reset desired position to stay exactly where pilot released the stick
         if (posControl.flags.isAdjustingAltitude) {
-            updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, 0, ROC_TO_ALT_RESET);
+            updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
         }
         return false;
     }
@@ -136,7 +136,7 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 
     float desiredClimbRate = posControl.desiredState.vel.z;
 
-    if (posControl.desiredState.pos.z != NAV_IMPOSSIBLE_ALTITUDE_TARGET) {
+    if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
         desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
     }
 
@@ -757,7 +757,7 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
 
     if (posControl.flags.estAltStatus >= EST_USABLE) {
         // target min descent rate 10m above takeoff altitude
-        updateClimbRateToAltitudeController(-navConfig()->general.emerg_descent_rate, 1000.0f, ROC_TO_ALT_TARGET);
+        updateClimbRateToAltitudeController(0, 1000.0f, ROC_TO_ALT_TARGET);
         applyFixedWingAltitudeAndThrottleController(currentTimeUs);
 
         int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index 935665ee60..559898eadf 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -78,7 +78,7 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
 {
     float targetVel = posControl.desiredState.vel.z;
 
-    if (posControl.desiredState.pos.z != NAV_IMPOSSIBLE_ALTITUDE_TARGET) {
+    if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
         targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
     }
 
@@ -130,7 +130,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         // In terrain follow mode we apply different logic for terrain control
         if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) {
             // We have solid terrain sensor signal - directly map throttle to altitude
-            updateClimbRateToAltitudeController(navConfig()->general.max_manual_climb_rate, altTarget, ROC_TO_ALT_TARGET);
+            updateClimbRateToAltitudeController(0, altTarget, ROC_TO_ALT_TARGET);
         }
         else {
             updateClimbRateToAltitudeController(-50.0f, 0, ROC_TO_ALT_CONSTANT);
@@ -162,7 +162,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         else {
             // Adjusting finished - reset desired position to stay exactly where pilot released the stick
             if (posControl.flags.isAdjustingAltitude) {
-                updateClimbRateToAltitudeController(navConfig()->general.max_auto_climb_rate, 0, ROC_TO_ALT_RESET);
+                updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
             }
 
             return false;
@@ -249,7 +249,6 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
             if (prepareForTakeoffOnReset) {
                 const navEstimatedPosVel_t *posToUse = navGetCurrentActualPositionAndVelocity();
 
-                posControl.desiredState.vel.z = -navConfig()->general.max_manual_climb_rate;
                 posControl.desiredState.pos.z = posToUse->pos.z - (navConfig()->general.max_manual_climb_rate / posControl.pids.pos[Z].param.kP);
                 posControl.pids.vel[Z].integrator = -500.0f;
                 pt1FilterReset(&altholdThrottleFilterState, -500.0f);
@@ -930,7 +929,7 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
         // Check if last correction was not too long ago
         if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
             // target min descent rate 5m above takeoff altitude
-            updateClimbRateToAltitudeController(-navConfig()->general.emerg_descent_rate, 500.0f, ROC_TO_ALT_TARGET);
+            updateClimbRateToAltitudeController(0, 500.0f, ROC_TO_ALT_TARGET);
             updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate);
             updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate);
         }
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 35e5492c6f..8452650ffa 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -47,8 +47,6 @@
 
 #define NAV_RTH_TRACKBACK_POINTS            50      // max number RTH trackback points
 
-#define NAV_IMPOSSIBLE_ALTITUDE_TARGET      10000000    // 100km in cm. Serves as a flag for vertical velocity control
-
 #define MAX_POSITION_UPDATE_INTERVAL_US     HZ2US(MIN_POSITION_UPDATE_RATE_HZ)        // convenience macro
 _Static_assert(MAX_POSITION_UPDATE_INTERVAL_US <= TIMEDELTA_MAX, "deltaMicros can overflow!");
 
@@ -95,6 +93,8 @@ typedef struct navigationFlags_s {
     navigationEstimateStatus_e estHeadingStatus;    // Indicate valid heading - wither mag or GPS at certain speed on airplane
     bool gpsCfEstimatedAltitudeMismatch;            // Indicates a mismatch between GPS altitude and estimated altitude
 
+    climbRateToAltitudeControllerMode_e rocToAltMode;
+
     bool isAdjustingPosition;
     bool isAdjustingAltitude;
     bool isAdjustingHeading;

From a8079c28423d74ae592cbd9c51a3911ad7f0b0e7 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 9 Nov 2023 11:24:37 +0000
Subject: [PATCH 004/132] fixes

---
 src/main/navigation/navigation.c         | 8 +++-----
 src/main/navigation/navigation_private.h | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index f18c1cdc56..7505260c88 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3040,7 +3040,7 @@ static bool isMaxAltitudeLimitExceeded(void)
     return navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude;
 }
 
-int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
+float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 {
     if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded()) {
         targetAltitude = MIN(targetAltitude, navConfig()->general.max_altitude);
@@ -3082,11 +3082,8 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
      *
      * ROC_TO_ALT_CONSTANT - constant climb rate. Climb rate and direction required. Target alt not required. */
 
-    // Terrain following uses different altitude measurement
-    const float altitudeToUse = navGetCurrentActualPositionAndVelocity()->pos.z;
-
     if (mode == ROC_TO_ALT_RESET) {
-        posControl.desiredState.pos.z = altitudeToUse;
+        posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
     }
@@ -3098,6 +3095,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
      */
     if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded() && desiredClimbRate >= 0.0f) {
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
+        posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
     }
 
     posControl.desiredState.vel.z = desiredClimbRate;   // only used for ROC_TO_ALT_CONSTANT
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 8452650ffa..428b54cd4f 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -483,7 +483,7 @@ bool isWaypointNavTrackingActive(void);
 void updateActualHeading(bool headingValid, int32_t newHeading, int32_t newGroundCourse);
 void updateActualHorizontalPositionAndVelocity(bool estPosValid, bool estVelValid, float newX, float newY, float newVelX, float newVelY);
 void updateActualAltitudeAndClimbRate(bool estimateValid, float newAltitude, float newVelocity, float surfaceDistance, float surfaceVelocity, navigationEstimateStatus_e surfaceStatus, float gpsCfEstimatedAltitudeError);
-int32_t getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros);
+float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros);
 
 bool checkForPositionSensorTimeout(void);
 

From 1fcac6134a0fa3ad7a27ad1cc16d5096e5082ffd Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 10 Nov 2023 22:29:19 +0000
Subject: [PATCH 005/132] fix multirotor velocity z

---
 src/main/navigation/navigation.c             | 4 ++--
 src/main/navigation/navigation_fixedwing.c   | 2 +-
 src/main/navigation/navigation_multicopter.c | 3 ++-
 src/main/navigation/navigation_private.h     | 1 +
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 7505260c88..ded835919d 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3086,6 +3086,8 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
         posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
+    } else {    // ROC_TO_ALT_CONSTANT
+        posControl.desiredState.climbRateDemand = desiredClimbRate;
     }
 
     posControl.flags.rocToAltMode = mode;
@@ -3097,8 +3099,6 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
         posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
     }
-
-    posControl.desiredState.vel.z = desiredClimbRate;   // only used for ROC_TO_ALT_CONSTANT
 }
 
 static void resetAltitudeController(bool useTerrainFollowing)
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 0272df114c..f5c3fb159a 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -134,7 +134,7 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 {
     static pt1Filter_t velzFilterState;
 
-    float desiredClimbRate = posControl.desiredState.vel.z;
+    float desiredClimbRate = posControl.desiredState.climbRateDemand;
 
     if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
         desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index 559898eadf..b35d88c609 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -76,7 +76,7 @@ float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros)
 // Position to velocity controller for Z axis
 static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
 {
-    float targetVel = posControl.desiredState.vel.z;
+    float targetVel = posControl.desiredState.climbRateDemand;
 
     if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
         targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
@@ -249,6 +249,7 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
             if (prepareForTakeoffOnReset) {
                 const navEstimatedPosVel_t *posToUse = navGetCurrentActualPositionAndVelocity();
 
+                posControl.desiredState.vel.z = -navConfig()->general.max_manual_climb_rate;
                 posControl.desiredState.pos.z = posToUse->pos.z - (navConfig()->general.max_manual_climb_rate / posControl.pids.pos[Z].param.kP);
                 posControl.pids.vel[Z].integrator = -500.0f;
                 pt1FilterReset(&altholdThrottleFilterState, -500.0f);
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 428b54cd4f..cf4698a24c 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -140,6 +140,7 @@ typedef struct {
     fpVector3_t pos;
     fpVector3_t vel;
     int32_t     yaw;
+    int16_t     climbRateDemand;
 } navigationDesiredState_t;
 
 typedef enum {

From 87faeb11ee6c25f024cf38832ec22746b9f6ce74 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 16 Nov 2023 11:13:21 +0000
Subject: [PATCH 006/132] WP Linear climb + Update max alt limter

---
 src/main/navigation/navigation.c | 38 ++++++++++++++++++--------------
 1 file changed, 22 insertions(+), 16 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index ded835919d..2fd1cfd325 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1691,10 +1691,20 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                     fpVector3_t tmpWaypoint;
                     tmpWaypoint.x = posControl.activeWaypoint.pos.x;
                     tmpWaypoint.y = posControl.activeWaypoint.pos.y;
-                    tmpWaypoint.z = scaleRangef(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10.0f, posControl.wpInitialDistance),
-                        posControl.wpInitialDistance, posControl.wpInitialDistance / 10.0f,
-                        posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
-                    setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
+                    setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
+
+                    // Use linear climb bewtween WPs until within 10% of total distance to current active WP
+                    float linearClimbDistRemaining = posControl.wpDistance - 0.1f * posControl.wpInitialDistance;
+                    if (linearClimbDistRemaining > 0) {
+                        int16_t climbRate = constrainf(posControl.actualState.velXY *
+                                            (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) / linearClimbDistRemaining,
+                                            -navConfig()->general.max_auto_climb_rate,
+                                            navConfig()->general.max_auto_climb_rate);
+                        updateClimbRateToAltitudeController(climbRate, 0, ROC_TO_ALT_CONSTANT);
+                    } else {
+                        updateClimbRateToAltitudeController(0, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
+                    }
+
                     if(STATE(MULTIROTOR)) {
                         switch (wpHeadingControl.mode) {
                             case NAV_WP_HEAD_MODE_NONE:
@@ -3035,17 +3045,8 @@ bool isProbablyStillFlying(void)
 /*-----------------------------------------------------------
  * Z-position controller
  *-----------------------------------------------------------*/
-static bool isMaxAltitudeLimitExceeded(void)
-{
-    return navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude;
-}
-
 float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 {
-    if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded()) {
-        targetAltitude = MIN(targetAltitude, navConfig()->general.max_altitude);
-    }
-
     const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
 
     float maxClimbRate = navConfig()->general.max_auto_climb_rate;
@@ -3093,11 +3094,16 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
     posControl.flags.rocToAltMode = mode;
 
     /*
-     * If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve
+     * If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve.
+     * Inhibit during RTH mode and also WP mode with altitude enforce active to avoid climbs getting stuck at max alt limit.
      */
-    if (navConfig()->general.max_altitude && isMaxAltitudeLimitExceeded() && desiredClimbRate >= 0.0f) {
+    if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) {
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
-        posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
+
+        if (navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude && desiredClimbRate >= 0.0f) {
+            posControl.desiredState.pos.z = navConfig()->general.max_altitude;
+            posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
+        }
     }
 }
 

From f521f9895f7781724f37a17ef5a90464a18e5b45 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 18 Nov 2023 20:50:04 +0000
Subject: [PATCH 007/132] WP linear climb improvements

---
 src/main/navigation/navigation.c | 35 +++++++++++++++++---------------
 1 file changed, 19 insertions(+), 16 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 2fd1cfd325..eae0be2875 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1694,16 +1694,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                     setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
 
                     // Use linear climb bewtween WPs until within 10% of total distance to current active WP
-                    float linearClimbDistRemaining = posControl.wpDistance - 0.1f * posControl.wpInitialDistance;
-                    if (linearClimbDistRemaining > 0) {
-                        int16_t climbRate = constrainf(posControl.actualState.velXY *
-                                            (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) / linearClimbDistRemaining,
-                                            -navConfig()->general.max_auto_climb_rate,
-                                            navConfig()->general.max_auto_climb_rate);
-                        updateClimbRateToAltitudeController(climbRate, 0, ROC_TO_ALT_CONSTANT);
-                    } else {
-                        updateClimbRateToAltitudeController(0, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
+                    float climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.wpInitialAltitude) /
+                                      (0.9f * posControl.wpInitialDistance);
+
+                    if (fabsf(climbRate) >= navConfig()->general.max_auto_climb_rate) {
+                        climbRate = 0;
                     }
+                    updateClimbRateToAltitudeController(climbRate, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
 
                     if(STATE(MULTIROTOR)) {
                         switch (wpHeadingControl.mode) {
@@ -3050,11 +3047,14 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
     const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
 
     float maxClimbRate = navConfig()->general.max_auto_climb_rate;
-    if (emergLandingIsActive) {
+    if (posControl.desiredState.climbRateDemand) {
+        maxClimbRate = ABS(posControl.desiredState.climbRateDemand);
+    } else if (emergLandingIsActive) {
         maxClimbRate = navConfig()->general.emerg_descent_rate;
     } else if (posControl.flags.isAdjustingAltitude) {
         maxClimbRate = navConfig()->general.max_manual_climb_rate;
     }
+
     const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z;
     float targetVel = 0.0f;
 
@@ -3076,7 +3076,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
 {
     /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to 0 when reached.
      * Rate reduction starts at distance from target altitude of 5 x climb rate for Fixed wing.
-     * No climb rate required, set by target altitude direction instead.
+     * Any non zero climb rate sets the max allowed climb rate. Default max climb rate limits are used when set to 0.
      *
      * ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.
      * No climb rate or altitude target required.
@@ -3087,21 +3087,24 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
         posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
-    } else {    // ROC_TO_ALT_CONSTANT
-        posControl.desiredState.climbRateDemand = desiredClimbRate;
     }
 
+    posControl.desiredState.climbRateDemand = desiredClimbRate;
     posControl.flags.rocToAltMode = mode;
 
     /*
-     * If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve.
+     * If max altitude is set limit desired altitude and impose altitude limit for constant climbs unless climb rate is -ve.
      * Inhibit during RTH mode and also WP mode with altitude enforce active to avoid climbs getting stuck at max alt limit.
      */
     if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) {
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
 
-        if (navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude && desiredClimbRate >= 0.0f) {
-            posControl.desiredState.pos.z = navConfig()->general.max_altitude;
+        if (mode == ROC_TO_ALT_TARGET || (mode == ROC_TO_ALT_CONSTANT && desiredClimbRate < 0.0f)) {
+            return;
+        }
+
+        if (navGetCurrentActualPositionAndVelocity()->pos.z > navConfig()->general.max_altitude) {
+            posControl.desiredState.climbRateDemand = 0;
             posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
         }
     }

From 49715f8c22ac154d7cfc0486fcf540cfbb3c8be8 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 19 Nov 2023 21:52:58 +0000
Subject: [PATCH 008/132] Improvements

---
 src/main/navigation/navigation.c         | 17 ++++++++++-------
 src/main/navigation/navigation_private.h |  1 -
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index eae0be2875..b10a7dc6fe 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1627,7 +1627,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
         case NAV_WP_ACTION_LAND:
             calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]);
             posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
-            posControl.wpInitialAltitude = posControl.actualState.abs.pos.z;
             posControl.wpAltitudeReached = false;
             return NAV_FSM_EVENT_SUCCESS;       // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
 
@@ -1693,9 +1692,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                     tmpWaypoint.y = posControl.activeWaypoint.pos.y;
                     setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
 
-                    // Use linear climb bewtween WPs until within 10% of total distance to current active WP
-                    float climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.wpInitialAltitude) /
-                                      (0.9f * posControl.wpInitialDistance);
+                    // Use linear climb between WPs arriving at WP altitude when within 10% of total distance to WP
+                    // Update climbrate until within 25% of total distance to WP, then hold constant
+                    static float climbRate = 0;
+                    if (posControl.wpDistance > 0.25f * posControl.wpInitialDistance) {
+                        climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) /
+                                    (posControl.wpDistance - 0.1f * posControl.wpInitialDistance);
+                    }
 
                     if (fabsf(climbRate) >= navConfig()->general.max_auto_climb_rate) {
                         climbRate = 0;
@@ -3099,12 +3102,12 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
     if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) {
         posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
 
-        if (mode == ROC_TO_ALT_TARGET || (mode == ROC_TO_ALT_CONSTANT && desiredClimbRate < 0.0f)) {
+        if (mode != ROC_TO_ALT_CONSTANT || (mode == ROC_TO_ALT_CONSTANT && desiredClimbRate < 0.0f)) {
             return;
         }
 
-        if (navGetCurrentActualPositionAndVelocity()->pos.z > navConfig()->general.max_altitude) {
-            posControl.desiredState.climbRateDemand = 0;
+        if (posControl.flags.isAdjustingAltitude) {
+            posControl.desiredState.pos.z = navConfig()->general.max_altitude;
             posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
         }
     }
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index cf4698a24c..3a66944383 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -423,7 +423,6 @@ typedef struct {
 #endif
     navWaypointPosition_t       activeWaypoint;             // Local position, current bearing and turn angle to next WP, filled on waypoint activation
     int8_t                      activeWaypointIndex;
-    float                       wpInitialAltitude;          // Altitude at start of WP
     float                       wpInitialDistance;          // Distance when starting flight to WP
     float                       wpDistance;                 // Distance to active WP
     timeMs_t                    wpReachedTime;              // Time the waypoint was reached

From d6de35bf8b334032c9eb44264ed6baa8e98967ae Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 6 Dec 2023 22:46:06 +0000
Subject: [PATCH 009/132] add control response setting

---
 docs/Settings.md                 | 10 ++++++++++
 src/main/fc/settings.yaml        |  6 ++++++
 src/main/flight/pid.c            |  9 +++++----
 src/main/flight/pid.h            |  2 ++
 src/main/navigation/navigation.c |  6 ++----
 5 files changed, 25 insertions(+), 8 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 17384f9273..7b58d96cdb 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2842,6 +2842,16 @@ Enable the possibility to manually increase the throttle in auto throttle contro
 
 ---
 
+### nav_fw_alt_control_response
+
+Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 20 | 5 | 100 |
+
+---
+
 ### nav_fw_bank_angle
 
 Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 4f870fa8f7..8ce69c2312 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2087,6 +2087,12 @@ groups:
         field: bank_fw.pid[PID_POS_Z].D
         min: 0
         max: 255
+      - name: nav_fw_alt_control_response
+        description: "Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude."
+        default_value: 20
+        field: fwAltControlResponseFactor
+        min: 5
+        max: 100
       - name: nav_fw_pos_xy_p
         description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
         default_value: 75
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index bc794735eb..9bae1799e4 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -170,7 +170,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
@@ -231,9 +231,9 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
                 },
                 [PID_HEADING] = { SETTING_NAV_FW_HEADING_P_DEFAULT, 0, 0, 0 },
                 [PID_POS_Z] = {
-                    .P = SETTING_NAV_FW_POS_Z_P_DEFAULT,      // FW_POS_Z_P * 10
-                    .I = SETTING_NAV_FW_POS_Z_I_DEFAULT,      // FW_POS_Z_I * 10
-                    .D = SETTING_NAV_FW_POS_Z_D_DEFAULT,      // FW_POS_Z_D * 10
+                    .P = SETTING_NAV_FW_POS_Z_P_DEFAULT,      // FW_POS_Z_P * 100
+                    .I = SETTING_NAV_FW_POS_Z_I_DEFAULT,      // FW_POS_Z_I * 100
+                    .D = SETTING_NAV_FW_POS_Z_D_DEFAULT,      // FW_POS_Z_D * 100
                     .FF = 0,
                 },
                 [PID_POS_XY] = {
@@ -301,6 +301,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .fixedWingLevelTrim = SETTING_FW_LEVEL_PITCH_TRIM_DEFAULT,
         .fixedWingLevelTrimGain = SETTING_FW_LEVEL_PITCH_GAIN_DEFAULT,
 
+        .fwAltControlResponseFactor = SETTING_NAV_FW_ALT_CONTROL_RESPONSE_DEFAULT,
 #ifdef USE_SMITH_PREDICTOR
         .smithPredictorStrength = SETTING_SMITH_PREDICTOR_STRENGTH_DEFAULT,
         .smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT,
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index e0a8b9d310..3f3658ae16 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -151,6 +151,8 @@ typedef struct pidProfile_s {
 
     float fixedWingLevelTrim;
     float fixedWingLevelTrimGain;
+
+    uint8_t fwAltControlResponseFactor;
 #ifdef USE_SMITH_PREDICTOR
     float smithPredictorStrength;
     float smithPredictorDelay;
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index b10a7dc6fe..8fbe4c0785 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3064,8 +3064,7 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
     if (STATE(MULTIROTOR)) {
         targetVel = getSqrtControllerVelocity(targetAltitude, deltaMicros);
     } else {
-        // 0.2f relates to climb rate starting to reduce from maxClimbRate at a distance of 5 x maxClimbRate from targetAltitude
-        targetVel = 0.2f * targetAltitudeError;
+        targetVel = pidProfile()->fwAltControlResponseFactor * targetAltitudeError / 100.0f;
     }
 
     if (emergLandingIsActive && targetAltitudeError > -50) {
@@ -3077,8 +3076,7 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 
 void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAltitude, climbRateToAltitudeControllerMode_e mode)
 {
-    /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to 0 when reached.
-     * Rate reduction starts at distance from target altitude of 5 x climb rate for Fixed wing.
+    /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude then reducing down as altitude is reached.
      * Any non zero climb rate sets the max allowed climb rate. Default max climb rate limits are used when set to 0.
      *
      * ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.

From 3378bcd8179296790969cf35ba0e6083280270f4 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 11 Dec 2023 10:48:52 +0000
Subject: [PATCH 010/132] change alt reset to alt current

---
 src/main/navigation/navigation.c             | 6 +++---
 src/main/navigation/navigation_fixedwing.c   | 2 +-
 src/main/navigation/navigation_multicopter.c | 2 +-
 src/main/navigation/navigation_private.h     | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 8fbe4c0785..3ca2d126e9 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1474,7 +1474,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
     // Wait until target heading is reached for MR (with 15 deg margin for error), or continue for Fixed Wing
     if ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY)) {
         resetLandingDetector();     // force reset landing detector just in case
-        updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+        updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
         return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
     } else {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
@@ -3079,12 +3079,12 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
     /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude then reducing down as altitude is reached.
      * Any non zero climb rate sets the max allowed climb rate. Default max climb rate limits are used when set to 0.
      *
-     * ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.
+     * ROC_TO_ALT_CURRENT - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.
      * No climb rate or altitude target required.
      *
      * ROC_TO_ALT_CONSTANT - constant climb rate. Climb rate and direction required. Target alt not required. */
 
-    if (mode == ROC_TO_ALT_RESET) {
+    if (mode == ROC_TO_ALT_CURRENT) {
         posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index f5c3fb159a..3d66f7d7d3 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -123,7 +123,7 @@ bool adjustFixedWingAltitudeFromRCInput(void)
     else {
         // Adjusting finished - reset desired position to stay exactly where pilot released the stick
         if (posControl.flags.isAdjustingAltitude) {
-            updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+            updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
         }
         return false;
     }
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index b35d88c609..d2bc457f34 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -162,7 +162,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         else {
             // Adjusting finished - reset desired position to stay exactly where pilot released the stick
             if (posControl.flags.isAdjustingAltitude) {
-                updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+                updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
             }
 
             return false;
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 3a66944383..664787decf 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -60,7 +60,7 @@ typedef enum {
 } navSetWaypointFlags_t;
 
 typedef enum {
-    ROC_TO_ALT_RESET,
+    ROC_TO_ALT_CURRENT,
     ROC_TO_ALT_CONSTANT,
     ROC_TO_ALT_TARGET
 } climbRateToAltitudeControllerMode_e;

From 86afe137baa0577c91b5dcf0a2a88bc7b159900e Mon Sep 17 00:00:00 2001
From: Roman Lut <11955117+RomanLut@users.noreply.github.com>
Date: Thu, 14 Dec 2023 12:03:40 +0100
Subject: [PATCH 011/132] fixed: SITL accelerometer/mag data is not processed
 when using SITL with HITL plugin

---
 src/main/fc/fc_core.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index a61204dee9..3248e4a9bf 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -905,7 +905,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 
 #if defined(SITL_BUILD)
-    if (lockMainPID()) {
+    if (ARMING_FLAG(SIMULATOR_MODE_HITL) || lockMainPID()) {
 #endif
 
     gyroFilter();

From 93f98a089f3855752a287f40b5acc7f27e7289dc Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 10 Mar 2024 23:55:10 +0000
Subject: [PATCH 012/132] update

---
 docs/Settings.md                         | 10 ++++++
 src/main/cms/cms_menu_imu.c              |  2 ++
 src/main/fc/fc_msp.c                     | 44 +++++++++++++-----------
 src/main/fc/settings.yaml                | 10 ++++--
 src/main/navigation/navigation.c         |  9 ++---
 src/main/navigation/navigation.h         |  5 +--
 src/main/navigation/navigation_private.h |  3 +-
 7 files changed, 54 insertions(+), 29 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 740a7d0914..0efeaf8de1 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2862,6 +2862,16 @@ Adjusts the deceleration response of fixed wing altitude control as the target a
 
 ---
 
+### nav_fw_auto_climb_rate
+
+Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 500 | 10 | 2000 |
+
+---
+
 ### nav_fw_bank_angle
 
 Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 7612ec4418..45e9b34b94 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -198,6 +198,8 @@ static const OSD_Entry cmsx_menuPidAltMagEntries[] =
 {
     OSD_LABEL_DATA_ENTRY("-- ALT&MAG --", profileIndexString),
 
+    OSD_SETTING_ENTRY("FW ALT RESPONSE", SETTING_NAV_FW_ALT_CONTROL_RESPONSE),
+
     OTHER_PIDFF_ENTRY("ALT P", &cmsx_pidPosZ.P),
     OTHER_PIDFF_ENTRY("ALT I", &cmsx_pidPosZ.I),
     OTHER_PIDFF_ENTRY("ALT D", &cmsx_pidPosZ.D),
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 2c3f40dfe4..5e9b498874 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1113,7 +1113,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             legacyLedConfig |= ledConfig->led_function << shiftCount;
             shiftCount += 4;
             legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount);
-            shiftCount += 6; 
+            shiftCount += 6;
             legacyLedConfig |= (ledConfig->led_color) << (shiftCount);
             shiftCount += 4;
             legacyLedConfig |= (ledConfig->led_direction) << (shiftCount);
@@ -1340,9 +1340,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_NAV_POSHOLD:
         sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
         sbufWriteU16(dst, navConfig()->general.max_auto_speed);
-        sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate);
+        sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_auto_climb_rate : navConfig()->mc.max_auto_climb_rate);
         sbufWriteU16(dst, navConfig()->general.max_manual_speed);
-        sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate);
+        sbufWriteU16(dst, mixerConfig()->platformType == PLATFORM_AIRPLANE ? navConfig()->fw.max_manual_climb_rate : navConfig()->mc.max_manual_climb_rate);
         sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
         sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
         sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@@ -1590,7 +1590,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                 sbufWriteU8(dst, timerHardware[i].usageFlags);
             }
         break;
-    
+
     case MSP2_INAV_MC_BRAKING:
 #ifdef USE_MR_BRAKING_MODE
         sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold);
@@ -2394,12 +2394,16 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize == 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
             navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
-            navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
+            if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
+                navConfigMutable()->fw.max_auto_climb_rate = sbufReadU16(src);
+            } else {
+                navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
+            }
             navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
-            if (mixerConfig()->platformType != PLATFORM_AIRPLANE) {
-                navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
-            }else{
+            if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
                 navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
+            } else {
+                navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
             }
             navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
             navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
@@ -2729,7 +2733,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_WP:
         if (dataSize == 21) {
-            
+
             const uint8_t msp_wp_no = sbufReadU8(src);     // get the waypoint number
             navWaypoint_t msp_wp;
             msp_wp.action = sbufReadU8(src);    // action
@@ -2943,7 +2947,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             ledConfig->led_position = legacyConfig & 0xFF;
             ledConfig->led_function = (legacyConfig >> 8) & 0xF;
             ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F;
-            ledConfig->led_color = (legacyConfig >> 18) & 0xF; 
+            ledConfig->led_color = (legacyConfig >> 18) & 0xF;
             ledConfig->led_direction = (legacyConfig >> 22) & 0x3F;
             ledConfig->led_params = (legacyConfig >> 28) & 0xF;
 
@@ -3233,7 +3237,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             fwAutolandApproachConfigMutable(i)->approachAlt = sbufReadU32(src);
             fwAutolandApproachConfigMutable(i)->landAlt = sbufReadU32(src);
             fwAutolandApproachConfigMutable(i)->approachDirection = sbufReadU8(src);
-             
+
             int16_t head1 = 0, head2 = 0;
             if (sbufReadI16Safe(&head1, src)) {
                 fwAutolandApproachConfigMutable(i)->landApproachHeading1 = head1;
@@ -3283,12 +3287,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
             ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
             ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
-            
+
         } else {
             return MSP_RESULT_ERROR;
         }
 
-        break;    
+        break;
 
 #endif
 #ifdef USE_PROGRAMMING_FRAMEWORK
@@ -3582,7 +3586,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
 	static uint8_t osdPos_x = 0;
 
     //indicate new format hitl 1.4.0
-	sbufWriteU8(dst, 255);  
+	sbufWriteU8(dst, 255);
 
 	if (isOSDTypeSupportedBySimulator())
 	{
@@ -3788,7 +3792,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:
         tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version
-        
+
         // Check the MSP version of simulator
         if (tmp_u8 != SIMULATOR_MSP_VERSION) {
             break;
@@ -3883,7 +3887,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                 } else {
                     sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
                 }
-                
+
                 // Get the acceleration in 1G units
                 acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;
                 acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
@@ -3891,7 +3895,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                 acc.accVibeSq[X] = 0.0f;
                 acc.accVibeSq[Y] = 0.0f;
                 acc.accVibeSq[Z] = 0.0f;
-                
+
                 // Get the angular velocity in DPS
                 gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
                 gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@@ -3922,7 +3926,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                     simulatorData.airSpeed = sbufReadU16(src);
                 } else {
                     if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
-                        sbufReadU16(src); 
+                        sbufReadU16(src);
                     }
                 }
 
@@ -3997,8 +4001,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
             *ret = MSP_RESULT_ERROR;
         }
         break;
-#endif 
-    
+#endif
+
     default:
         // Not handled
         return false;
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 61b0c23bbe..c215f402a7 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2334,7 +2334,7 @@ groups:
         field: w_z_surface_p
         min: 0
         max: 100
-        default_value: 3.5 
+        default_value: 3.5
       - name: inav_w_z_surface_v
         field: w_z_surface_v
         min: 0
@@ -2801,6 +2801,12 @@ groups:
         field: fw.max_bank_angle
         min: 5
         max: 80
+      - name: nav_fw_auto_climb_rate
+        description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
+        default_value: 500
+        field: fw.max_auto_climb_rate
+        min: 10
+        max: 2000
       - name: nav_fw_manual_climb_rate
         description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
         default_value: 300
@@ -4143,7 +4149,7 @@ groups:
     type: navFwAutolandConfig_t
     headers: ["navigation/navigation.h"]
     condition: USE_FW_AUTOLAND
-    members: 
+    members:
       - name: nav_fw_land_approach_length
         description: "Length of the final approach"
         default_value: 35000
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index b721ee4817..51047974ca 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -204,6 +204,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
     // Fixed wing
     .fw = {
         .max_bank_angle = SETTING_NAV_FW_BANK_ANGLE_DEFAULT,                    // degrees
+        .max_auto_climb_rate = SETTING_NAV_FW_AUTO_CLIMB_RATE_DEFAULT,          // 5 m/s
         .max_manual_climb_rate = SETTING_NAV_FW_MANUAL_CLIMB_RATE_DEFAULT,      // 3 m/s
         .max_climb_angle = SETTING_NAV_FW_CLIMB_ANGLE_DEFAULT,                  // degrees
         .max_dive_angle = SETTING_NAV_FW_DIVE_ANGLE_DEFAULT,                    // degrees
@@ -1891,7 +1892,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                                     (posControl.wpDistance - 0.1f * posControl.wpInitialDistance);
                     }
 
-                    if (fabsf(climbRate) >= navConfig()->general.max_auto_climb_rate) {
+                    if (fabsf(climbRate) >= (STATE(AIRPLANE) ? navConfig()->fw.max_auto_climb_rate : navConfig()->mc.max_auto_climb_rate)) {
                         climbRate = 0;
                     }
                     updateClimbRateToAltitudeController(climbRate, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
@@ -2212,7 +2213,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOI
     }
 
     if (ABS(getEstimatedActualPosition(Z) - posControl.fwLandState.landAproachAltAgl) < (navConfig()->general.waypoint_enforce_altitude > 0 ? navConfig()->general.waypoint_enforce_altitude : FW_LAND_LOITER_ALT_TOLERANCE)) {
-        updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
+        updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
         posControl.fwLandState.landState = FW_AUTOLAND_STATE_LOITER;
         return NAV_FSM_EVENT_SUCCESS;
     }
@@ -3379,13 +3380,13 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 {
     const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
 
-    float maxClimbRate = navConfig()->general.max_auto_climb_rate;
+    float maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_auto_climb_rate : navConfig()->fw.max_auto_climb_rate;
     if (posControl.desiredState.climbRateDemand) {
         maxClimbRate = ABS(posControl.desiredState.climbRateDemand);
     } else if (emergLandingIsActive) {
         maxClimbRate = navConfig()->general.emerg_descent_rate;
     } else if (posControl.flags.isAdjustingAltitude) {
-        maxClimbRate = navConfig()->general.max_manual_climb_rate;
+        maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_manual_climb_rate : navConfig()->fw.max_manual_climb_rate;
     }
 
     const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z;
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 84e5390d43..d02a69d060 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -265,7 +265,7 @@ typedef struct positionEstimationConfig_s {
 
 #ifdef USE_GPS_FIX_ESTIMATION
     uint8_t allow_gps_fix_estimation;
-#endif    
+#endif
 } positionEstimationConfig_t;
 
 PG_DECLARE(positionEstimationConfig_t, positionEstimationConfig);
@@ -329,7 +329,7 @@ typedef struct navConfig_s {
 
     struct {
         uint8_t  max_bank_angle;                // multicopter max banking angle (deg)
-        uint16_t max_auto_climb_rate;           // max vertical speed limitation cm/sec
+        uint16_t max_auto_climb_rate;           // max vertical speed limitation nav modes cm/sec
         uint16_t max_manual_climb_rate;         // manual velocity control max vertical speed
 
 #ifdef USE_MR_BRAKING_MODE
@@ -351,6 +351,7 @@ typedef struct navConfig_s {
 
     struct {
         uint8_t  max_bank_angle;             // Fixed wing max banking angle (deg)
+        uint16_t max_auto_climb_rate;        // max vertical speed limitation nav modes cm/sec
         uint16_t max_manual_climb_rate;      // manual velocity control max vertical speed
         uint8_t  max_climb_angle;            // Fixed wing max banking angle (deg)
         uint8_t  max_dive_angle;             // Fixed wing max banking angle (deg)
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index f0d6a5c706..95953c948c 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -288,7 +288,7 @@ typedef enum {
     NAV_STATE_CRUISE_INITIALIZE,
     NAV_STATE_CRUISE_IN_PROGRESS,
     NAV_STATE_CRUISE_ADJUSTING,
-    
+
     NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
     NAV_STATE_FW_LANDING_LOITER,
     NAV_STATE_FW_LANDING_APPROACH,
@@ -462,6 +462,7 @@ typedef struct {
 #endif
     navWaypointPosition_t       activeWaypoint;             // Local position, current bearing and turn angle to next WP, filled on waypoint activation
     int8_t                      activeWaypointIndex;
+    float                       wpInitialAltitude;          // Altitude at start of WP
     float                       wpInitialDistance;          // Distance when starting flight to WP
     float                       wpDistance;                 // Distance to active WP
     timeMs_t                    wpReachedTime;              // Time the waypoint was reached

From a29d0a464b8d7ec571f0543701fd6eb8130cad13 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 11 Mar 2024 12:03:57 +0000
Subject: [PATCH 013/132] Update sitl.cmake

---
 cmake/sitl.cmake | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cmake/sitl.cmake b/cmake/sitl.cmake
index 78697f98a9..ee43aa9a93 100644
--- a/cmake/sitl.cmake
+++ b/cmake/sitl.cmake
@@ -34,7 +34,7 @@ set(SITL_LINK_OPTIONS
     -Wl,-L${STM32_LINKER_DIR}
 )
 
-if(${WIN32} OR ${CYGWIN})
+if(${CYGWIN})
     set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-static-libgcc")
 endif()
 
@@ -131,7 +131,7 @@ function (target_sitl name)
         target_link_options(${exe_target} PRIVATE -T${script_path})
     endif()
 
-    if(${WIN32} OR ${CYGWIN})
+    if(${CYGWIN})
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name}.exe)
     else()
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name})

From 731f0608c46e2f218585d4226b8516456f40959c Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 7 Apr 2024 14:22:30 +0200
Subject: [PATCH 014/132] Run damping of FW with stick movements

---
 src/main/flight/pid.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 3da150e39d..d6c8fe81f3 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -758,16 +758,19 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
 {
     const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
 
+    const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
+    const float dampingFactor = bellCurve(MIN(rateTarget, maxRate), maxRate);
+
     const float rateError = rateTarget - pidState->gyroRate;
-    const float newPTerm = pTermProcess(pidState, rateError, dT);
-    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv);
+    const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactor;
+    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * dampingFactor;
     const float newFFTerm = rateTarget * pidState->kFF;
 
     /*
      * Integral should be updated only if axis Iterm is not frozen
      */
     if (!pidState->itermFreezeActive) {
-        pidState->errorGyroIf += rateError * pidState->kI * dT;
+        pidState->errorGyroIf += rateError * pidState->kI * dT * dampingFactor;
     }
 
     applyItermLimiting(pidState);

From 1f723837e96e37ea05e0aba99b983d91c1d87152 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 7 Apr 2024 20:28:45 +0200
Subject: [PATCH 015/132] Improve attenuation

---
 src/main/common/maths.c | 18 +++++++++++++++++-
 src/main/common/maths.h |  2 ++
 src/main/flight/pid.c   |  4 +++-
 3 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index 1bc61ae4c3..eed7b863ba 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -516,9 +516,25 @@ bool sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
     return sensorCalibrationValidateResult(result);
 }
 
+float gaussian(const float x, const float mu, const float sigma) {
+    return exp(-pow(x - mu, 2) / (2 * pow(sigma, 2)));
+}
+
 float bellCurve(const float x, const float curveWidth)
 {
-    return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth)));
+    return gaussian(x, 0.0f, curveWidth);
+}
+
+/**
+ * @brief Calculate the attenuation of a value using a Gaussian function.
+ * Retuns 1 for input 0 and ~0 for input width.
+ * @param input The input value.
+ * @param width The width of the Gaussian function.
+ * @return The attenuation of the input value.
+*/
+float attenuation(const float input, const float width) {
+    const float sigma = width / 2.35482f; // Approximately width / sqrt(2 * ln(2))
+    return gaussian(input, 0.0f, sigma);
 }
 
 float fast_fsqrtf(const float value) {
diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index f3f2fd6274..ce96b7064f 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -195,6 +195,8 @@ float acos_approx(float x);
 void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
 
 float bellCurve(const float x, const float curveWidth);
+float attenuation(const float input, const float width);
+float gaussian(const float x, const float mu, const float sigma);
 float fast_fsqrtf(const float value);
 float calc_length_pythagorean_2D(const float firstElement, const float secondElement);
 float calc_length_pythagorean_3D(const float firstElement, const float secondElement, const float thirdElement);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d6c8fe81f3..9e50522ae3 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -759,7 +759,9 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
 
     const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
-    const float dampingFactor = bellCurve(MIN(rateTarget, maxRate), maxRate);
+    const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
+
+    DEBUG_SET(DEBUG_ALWAYS, axis, dampingFactor * 1000);
 
     const float rateError = rateTarget - pidState->gyroRate;
     const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactor;

From 37bb8580db0f7cadf109bbeba079bd2999aa1556 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 7 Apr 2024 21:46:36 +0200
Subject: [PATCH 016/132] Fix compilation for SITL

---
 src/main/common/maths.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index eed7b863ba..b8ec59c33a 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -517,7 +517,7 @@ bool sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float resu
 }
 
 float gaussian(const float x, const float mu, const float sigma) {
-    return exp(-pow(x - mu, 2) / (2 * pow(sigma, 2)));
+    return exp(-pow((double)(x - mu), 2) / (2 * pow((double)sigma, 2)));
 }
 
 float bellCurve(const float x, const float curveWidth)

From 5f4dbb79138eab5c5c1f598c6ca338fb89dffe5c Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 7 Apr 2024 21:54:04 +0200
Subject: [PATCH 017/132] Drop no longer previous generation dampening solution

---
 src/main/fc/settings.yaml |  6 ------
 src/main/flight/pid.c     | 27 ++++-----------------------
 src/main/flight/pid.h     |  1 -
 3 files changed, 4 insertions(+), 30 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index cb586eacf0..a3b117d7a3 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1934,12 +1934,6 @@ groups:
         field: fixedWingCoordinatedPitchGain
         min: 0
         max: 2
-      - name: fw_iterm_limit_stick_position
-        description: "Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side"
-        default_value: 0.5
-        field: fixedWingItermLimitOnStickPosition
-        min: 0
-        max: 1
       - name: fw_yaw_iterm_freeze_bank_angle
         description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled."
         default_value: 0
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9e50522ae3..b92aec705f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -158,7 +158,6 @@ static EXTENDED_FASTRAM uint8_t usedPidControllerType;
 typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv);
 static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
 static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
-static EXTENDED_FASTRAM bool levelingEnabled = false;
 static EXTENDED_FASTRAM bool restartAngleHoldMode = true;
 static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 
@@ -170,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 6);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
@@ -271,7 +270,6 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .fixedWingReferenceAirspeed = SETTING_FW_REFERENCE_AIRSPEED_DEFAULT,
         .fixedWingCoordinatedYawGain = SETTING_FW_TURN_ASSIST_YAW_GAIN_DEFAULT,
         .fixedWingCoordinatedPitchGain = SETTING_FW_TURN_ASSIST_PITCH_GAIN_DEFAULT,
-        .fixedWingItermLimitOnStickPosition = SETTING_FW_ITERM_LIMIT_STICK_POSITION_DEFAULT,
         .fixedWingYawItermBankFreeze = SETTING_FW_YAW_ITERM_FREEZE_BANK_ANGLE_DEFAULT,
 
         .navVelXyDTermLpfHz = SETTING_NAV_MC_VEL_XY_DTERM_LPF_HZ_DEFAULT,
@@ -672,19 +670,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
     }
 }
 
-bool isFixedWingItermLimitActive(float stickPosition)
-{
-    /*
-     * Iterm anti windup whould be active only when pilot controls the rotation
-     * velocity directly, not when ANGLE or HORIZON are used
-     */
-    if (levelingEnabled) {
-        return false;
-    }
-
-    return fabsf(stickPosition) > pidProfile()->fixedWingItermLimitOnStickPosition;
-}
-
 static float pTermProcess(pidState_t *pidState, float rateError, float dT) {
     float newPTerm = rateError * pidState->kP;
 
@@ -1050,11 +1035,9 @@ static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAng
 
 void checkItermLimitingActive(pidState_t *pidState)
 {
-    bool shouldActivate;
-    if (usedPidControllerType == PID_TYPE_PIFF) {
-        shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition);
-    } else
-    {
+    bool shouldActivate = false;
+
+    if (usedPidControllerType == PID_TYPE_PID) {
         shouldActivate = mixerIsOutputSaturated(); //just in case, since it is already managed by itermWindupPointPercent
     }
 
@@ -1184,7 +1167,6 @@ void FAST_CODE pidController(float dT)
 
     // Step 3: Run control for ANGLE_MODE, HORIZON_MODE and ANGLEHOLD_MODE
     const float horizonRateMagnitude = FLIGHT_MODE(HORIZON_MODE) ? calcHorizonRateMagnitude() : 0.0f;
-    levelingEnabled = false;
     angleHoldIsLevel = false;
 
     for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
@@ -1204,7 +1186,6 @@ void FAST_CODE pidController(float dT)
             // Apply the Level PID controller
             pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT);
             canUseFpvCameraMix = false;     // FPVANGLEMIX is incompatible with ANGLE/HORIZON
-            levelingEnabled = true;
         } else {
             restartAngleHoldMode = true;
         }
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index e0a8b9d310..2e28848d3c 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -123,7 +123,6 @@ typedef struct pidProfile_s {
     float       fixedWingReferenceAirspeed;     // Reference tuning airspeed for the airplane - the speed for which PID gains are tuned
     float       fixedWingCoordinatedYawGain;    // This is the gain of the yaw rate required to keep the yaw rate consistent with the turn rate for a coordinated turn.
     float       fixedWingCoordinatedPitchGain;    // This is the gain of the pitch rate to keep the pitch angle constant during coordinated turns.
-    float       fixedWingItermLimitOnStickPosition;   //Do not allow Iterm to grow when stick position is above this point
     uint16_t    fixedWingYawItermBankFreeze;       // Freeze yaw Iterm when bank angle is more than this many degrees
 
     float       navVelXyDTermLpfHz;

From 292db1f14c9bac72fbe7ac17963f6c2a4b21e36e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 8 Apr 2024 15:39:33 +0200
Subject: [PATCH 018/132] Allo only gradual relaxation of the Axis factor

---
 src/main/flight/pid.c | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b92aec705f..19708b50f0 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -107,6 +107,8 @@ typedef struct {
     pt3Filter_t rateTargetFilter;
 
     smithPredictor_t smithPredictor;
+
+    float dampingFactor;
 } pidState_t;
 
 STATIC_FASTRAM bool pidFiltersConfigured = false;
@@ -746,7 +748,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
     const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
 
-    DEBUG_SET(DEBUG_ALWAYS, axis, dampingFactor * 1000);
+    if (fabsf(dampingFactor) < fabsf(pidState->dampingFactor)) {
+        pidState->dampingFactor = dampingFactor;
+    } else {
+        pidState->dampingFactor = pidState->dampingFactor + (dampingFactor - pidState->dampingFactor) * dT * 10;
+    }
+
+    float newDF = pidState->dampingFactor;
+    
+    DEBUG_SET(DEBUG_ALWAYS, axis * 2, dampingFactor * 1000);
+    DEBUG_SET(DEBUG_ALWAYS, (axis * 2) + 1, newDF * 1000);
 
     const float rateError = rateTarget - pidState->gyroRate;
     const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactor;
@@ -1262,6 +1273,8 @@ void pidInit(void)
 
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
 
+        pidState[axis].dampingFactor = 1.0f;
+
     #ifdef USE_D_BOOST
         // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration.
         // We assume, max acceleration is when pilot deflects the stick fully in 100ms

From cf10c071e072589527d072b5fa381b7e416bb148 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 8 Apr 2024 15:40:21 +0200
Subject: [PATCH 019/132] Docs update

---
 docs/Settings.md | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index b6fd431d95..c33efe6ef9 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1292,16 +1292,6 @@ Fixed-wing rate stabilisation I-gain for YAW
 
 ---
 
-### fw_iterm_limit_stick_position
-
-Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0.5 | 0 | 1 |
-
----
-
 ### fw_level_pitch_gain
 
 I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations

From b3438919f5fddbfac221affcc48cadbc87464ac9 Mon Sep 17 00:00:00 2001
From: error414 <error414@error414.com>
Date: Sat, 16 Mar 2024 10:31:06 +0100
Subject: [PATCH 020/132] new NRA protocol fro   radars from nanoradar new
 rangerfinder NRA15/NRA24 from nanoradar

---
 docs/Rangefinder.md                 |  16 +++
 src/main/CMakeLists.txt             |   3 +
 src/main/fc/settings.yaml           |   2 +-
 src/main/io/rangefinder.h           |   2 +
 src/main/io/rangefinder_nanoradar.c | 167 ++++++++++++++++++++++++++++
 src/main/io/rangefinder_usd1_v0.c   | 136 ++++++++++++++++++++++
 src/main/sensors/rangefinder.c      |  16 +++
 src/main/sensors/rangefinder.h      |   2 +
 src/main/target/common.h            |   2 +
 9 files changed, 345 insertions(+), 1 deletion(-)
 create mode 100644 src/main/io/rangefinder_nanoradar.c
 create mode 100644 src/main/io/rangefinder_usd1_v0.c

diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md
index 095a6f0df3..813184f837 100644
--- a/docs/Rangefinder.md
+++ b/docs/Rangefinder.md
@@ -21,6 +21,22 @@ Following rangefinders are supported:
 * MSP - experimental
 * TOF10120 - small & lightweight laser range sensor, usable up to 200cm
 * TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
+* NRA15/NRA24 - experimental, UART version
+
+#### NRA15/NRA24
+NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware
+to two different resolutions. See table below.
+
+| Radar | Protocol | Resolution      | Name in configurator  |
+|-------|----------|-----------------|-----------------------|
+| NRA15 | US-D1_V0 | 0-30m (+-4cm)   | USD1_V0               |
+| NRA15 | NRA      | 0-30m (+-4cm)   | NRA15/NRA24           | 
+| NRA15 | NRA      | 0-100m (+-10cm) | NRA15/NRA24           | 
+| NRA24 | US-D1_V0 | 0-50m (+-4cm)   | USD1_V0               |
+| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0               |
+| NRA24 | NRA      | 0-50m (+-4cm)   | NRA15/NRA24           | 
+| NRA24 | NRA      | 0-200m (+-10cm) | NRA15/NRA24           | 
+
 
 ## Connections
 
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index cba13db687..28c068966f 100755
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -1,3 +1,4 @@
+
 main_sources(COMMON_SRC
     main.c
 
@@ -485,6 +486,8 @@ main_sources(COMMON_SRC
     io/rangefinder.h
     io/rangefinder_msp.c
     io/rangefinder_benewake.c
+    io/rangefinder_usd1_v0.c
+    io/rangefinder_nanoradar.c
     io/rangefinder_fake.c
     io/opflow.h
     io/opflow_cxof.c
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index cb586eacf0..b2be345391 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -5,7 +5,7 @@ tables:
     values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO"]
+    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA15/NRA24"]
     enum: rangefinderType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
diff --git a/src/main/io/rangefinder.h b/src/main/io/rangefinder.h
index 6768c7d75d..fd51aeb44a 100644
--- a/src/main/io/rangefinder.h
+++ b/src/main/io/rangefinder.h
@@ -31,6 +31,8 @@
 
 extern virtualRangefinderVTable_t rangefinderMSPVtable;
 extern virtualRangefinderVTable_t rangefinderBenewakeVtable;
+extern virtualRangefinderVTable_t rangefinderUSD1Vtable;
+extern virtualRangefinderVTable_t rangefinderNanoradarVtable; //NRA15/NRA24
 extern virtualRangefinderVTable_t rangefinderFakeVtable;
 
 void mspRangefinderReceiveNewData(uint8_t * bufferPtr);
diff --git a/src/main/io/rangefinder_nanoradar.c b/src/main/io/rangefinder_nanoradar.c
new file mode 100644
index 0000000000..f6978448ea
--- /dev/null
+++ b/src/main/io/rangefinder_nanoradar.c
@@ -0,0 +1,167 @@
+/*
+ * 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 <stdbool.h>
+#include <ctype.h>
+
+#include "platform.h"
+#include "io/serial.h"
+#include "drivers/time.h"
+
+#if defined(USE_RANGEFINDER_NANORADAR)
+#include "drivers/rangefinder/rangefinder_virtual.h"
+
+#define NANORADAR_HDR 0xAA // Header Byte
+#define NANORADAR_END 0x55
+
+#define NANORADAR_COMMAND_TARGET_INFO 0x70C
+
+typedef struct __attribute__((packed)) {
+    uint8_t     header0;
+    uint8_t     header1;
+    uint8_t     commandH;
+    uint8_t     commandL;
+    uint8_t     index; // Target ID
+    uint8_t     rcs; // The section of radar reflection
+    uint8_t     rangeH; // Target distance high 8 bi
+    uint8_t     rangeL; // Target distance low 8 bit
+    uint8_t     rsvd1;
+    uint8_t     info; // VrelH Rsvd1 RollCount
+    uint8_t     vrelL;
+    uint8_t     SNR; // Signal-Noise Ratio
+    uint8_t     end0;
+    uint8_t     end1;
+} nanoradarPacket_t;
+
+#define NANORADAR_PACKET_SIZE    sizeof(nanoradarPacket_t)
+#define NANORADAR_TIMEOUT_MS     2000 // 2s
+
+static bool hasNewData = false;
+static bool hasEverData = false;
+static serialPort_t * serialPort = NULL;
+static serialPortConfig_t * portConfig;
+static uint8_t buffer[NANORADAR_PACKET_SIZE];
+static unsigned bufferPtr;
+
+static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
+static timeMs_t lastProtocolActivityMs;
+
+static bool nanoradarRangefinderDetect(void)
+{
+    portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER);
+    if (!portConfig) {
+        return false;
+    }
+
+    return true;
+}
+
+static void nanoradarRangefinderInit(void)
+{
+    if (!portConfig) {
+        return;
+    }
+
+    serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED);
+    if (!serialPort) {
+        return;
+    }
+
+    lastProtocolActivityMs = 0;
+}
+
+static void nanoradarRangefinderUpdate(void)
+{
+
+    nanoradarPacket_t *nanoradarPacket = (nanoradarPacket_t *)buffer;
+    while (serialRxBytesWaiting(serialPort) > 0) {
+        uint8_t c = serialRead(serialPort);
+
+        if (bufferPtr < NANORADAR_PACKET_SIZE) {
+            buffer[bufferPtr++] = c;
+        }
+
+        if ((bufferPtr == 1) && (nanoradarPacket->header0 != NANORADAR_HDR)) {
+            bufferPtr = 0;
+            continue;
+        }
+
+        if ((bufferPtr == 2) && (nanoradarPacket->header1 != NANORADAR_HDR)) {
+            bufferPtr = 0;
+            continue;
+        }
+
+        //only target info packet we are interested
+        if (bufferPtr == 4) {
+            uint16_t command = nanoradarPacket->commandH + (nanoradarPacket->commandL * 0x100);
+
+            if (command != NANORADAR_COMMAND_TARGET_INFO) {
+                bufferPtr = 0;
+                continue;
+            }
+        }
+
+        // Check for complete packet
+        if (bufferPtr == NANORADAR_PACKET_SIZE) {
+            if (nanoradarPacket->end0 == NANORADAR_END && nanoradarPacket->end1 == NANORADAR_END) {
+                // Valid packet
+                hasNewData = true;
+                hasEverData = true;
+                lastProtocolActivityMs = millis();
+
+                sensorData = ((nanoradarPacket->rangeH * 0x100) + nanoradarPacket->rangeL);
+            }
+
+            // Prepare for new packet
+            bufferPtr = 0;
+        }
+    }
+}
+
+static int32_t nanoradarRangefinderGetDistance(void)
+{
+    int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE;
+
+    if (hasNewData) {
+        hasNewData = false;
+        return altitude;
+    }
+    else {
+        //keep last value for timeout, because radar sends data only if change
+        if ((millis() - lastProtocolActivityMs) < NANORADAR_TIMEOUT_MS) {
+            return altitude;
+        }
+
+        return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA;
+    }
+}
+
+virtualRangefinderVTable_t rangefinderNanoradarVtable = {
+    .detect = nanoradarRangefinderDetect,
+    .init = nanoradarRangefinderInit,
+    .update = nanoradarRangefinderUpdate,
+    .read = nanoradarRangefinderGetDistance
+};
+
+#endif
diff --git a/src/main/io/rangefinder_usd1_v0.c b/src/main/io/rangefinder_usd1_v0.c
new file mode 100644
index 0000000000..a509d4096c
--- /dev/null
+++ b/src/main/io/rangefinder_usd1_v0.c
@@ -0,0 +1,136 @@
+/*
+ * 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 <stdbool.h>
+#include <ctype.h>
+
+
+#include "platform.h"
+#include "io/serial.h"
+#include "drivers/time.h"
+
+#if defined(USE_RANGEFINDER_USD1_V0)
+#include "drivers/rangefinder/rangefinder_virtual.h"
+
+#define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48)
+
+#define USD1_PACKET_SIZE 3
+#define USD1_KEEP_DATA_TIMEOUT 2000 // 2s
+
+
+static serialPort_t * serialPort = NULL;
+static serialPortConfig_t * portConfig;
+
+static bool hasNewData = false;
+static bool hasEverData = false;
+static uint8_t  lineBuf[USD1_PACKET_SIZE];
+static int32_t sensorData = RANGEFINDER_NO_NEW_DATA;
+static timeMs_t lastProtocolActivityMs;
+
+static bool usd1RangefinderDetect(void)
+{
+    portConfig = findSerialPortConfig(FUNCTION_RANGEFINDER);
+    if (!portConfig) {
+        return false;
+    }
+
+    return true;
+}
+
+static void usd1RangefinderInit(void)
+{
+    if (!portConfig) {
+        return;
+    }
+
+    serialPort = openSerialPort(portConfig->identifier, FUNCTION_RANGEFINDER, NULL, NULL, 115200, MODE_RXTX, SERIAL_NOT_INVERTED);
+    if (!serialPort) {
+        return;
+    }
+
+    lastProtocolActivityMs = 0;
+}
+
+static void usd1RangefinderUpdate(void)
+{
+    float sum = 0;
+    uint16_t count = 0;
+    uint8_t  index = 0;
+
+    while (serialRxBytesWaiting(serialPort) > 0) {
+        uint8_t c = serialRead(serialPort);
+
+        if (c == USD1_HDR_V0 && index == 0) {
+            lineBuf[index] = c;
+            index = 1;
+            continue;
+        }
+
+        if (index > 0) {
+            lineBuf[index] = c;
+            index++;
+            if (index == 3) {
+                index = 0;
+                sum += (float)((lineBuf[2]&0x7F) * 128 + (lineBuf[1]&0x7F));
+                count++;
+            }
+        }
+    }
+
+    if (count == 0) {
+        return;
+    }
+
+    hasNewData = true;
+    hasEverData = true;
+    lastProtocolActivityMs = millis();
+    sensorData = (int32_t)(2.5f * sum / (float)count);
+}
+
+static int32_t usd1RangefinderGetDistance(void)
+{
+    int32_t altitude = (sensorData > 0) ? (sensorData) : RANGEFINDER_OUT_OF_RANGE;
+
+    if (hasNewData) {
+        hasNewData = false;
+        return altitude;
+    }
+    else {
+        //keep last value for timeout, because radar sends data only if change
+        if ((millis() - lastProtocolActivityMs) < USD1_KEEP_DATA_TIMEOUT) {
+            return altitude;
+        }
+
+        return hasEverData ? RANGEFINDER_OUT_OF_RANGE : RANGEFINDER_NO_NEW_DATA;
+    }
+}
+
+virtualRangefinderVTable_t rangefinderUSD1Vtable = {
+    .detect = usd1RangefinderDetect,
+    .init = usd1RangefinderInit,
+    .update = usd1RangefinderUpdate,
+    .read = usd1RangefinderGetDistance
+};
+
+#endif
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index 88f027f154..a721bb9863 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -130,6 +130,22 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
                 rangefinderHardware = RANGEFINDER_BENEWAKE;
                 rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS));
             }
+#endif
+            break;
+        case RANGEFINDER_USD1_V0:
+#if defined(USE_RANGEFINDER_USD1_V0)
+            if (virtualRangefinderDetect(dev, &rangefinderUSD1Vtable)) {
+                rangefinderHardware = RANGEFINDER_USD1_V0;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS));
+            }
+#endif
+            break;
+        case RANGEFINDER_NANORADAR:
+#if defined(USE_RANGEFINDER_NANORADAR)
+            if (virtualRangefinderDetect(dev, &rangefinderNanoradarVtable)) {
+                rangefinderHardware = RANGEFINDER_NANORADAR;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VIRTUAL_TASK_PERIOD_MS));
+            }
 #endif
             break;
 
diff --git a/src/main/sensors/rangefinder.h b/src/main/sensors/rangefinder.h
index 2888e7838a..4c2a4e629a 100644
--- a/src/main/sensors/rangefinder.h
+++ b/src/main/sensors/rangefinder.h
@@ -32,6 +32,8 @@ typedef enum {
     RANGEFINDER_TOF10102I2C         = 7,
     RANGEFINDER_FAKE                = 8,
     RANGEFINDER_TERARANGER_EVO      = 9,
+    RANGEFINDER_USD1_V0             = 10,
+    RANGEFINDER_NANORADAR           = 11,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {
diff --git a/src/main/target/common.h b/src/main/target/common.h
index d146ebb979..b550df42d0 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -84,6 +84,8 @@
 #define USE_RANGEFINDER_US42
 #define USE_RANGEFINDER_TOF10120_I2C
 #define USE_RANGEFINDER_TERARANGER_EVO_I2C
+#define USE_RANGEFINDER_USD1_V0
+#define USE_RANGEFINDER_NANORADAR
 
 // Allow default optic flow boards
 #define USE_OPFLOW

From 3005c69f8f99616f3822056baebfa9f6cae980a8 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 9 Apr 2024 10:30:36 +0200
Subject: [PATCH 021/132] Some progress

---
 src/main/flight/pid.c | 50 ++++++++++++++++++++++++++++++++-----------
 1 file changed, 38 insertions(+), 12 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 19708b50f0..50c67c8607 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -108,7 +108,10 @@ typedef struct {
 
     smithPredictor_t smithPredictor;
 
-    float dampingFactor;
+    float dampingFactorPrevious;
+    float dampingFactorLockValue;
+    float dampingFactotLockUntilMs;
+    pt1Filter_t dampingFactorFilter;
 } pidState_t;
 
 STATIC_FASTRAM bool pidFiltersConfigured = false;
@@ -322,6 +325,7 @@ bool pidInitFilters(void)
 
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
         pt1FilterInit(&windupLpf[i], pidProfile()->iterm_relax_cutoff, US2S(refreshRate));
+        pt1FilterInit(&pidState[i].dampingFactorFilter, 2.0f, US2S(refreshRate));
     }
 
 #ifdef USE_ANTIGRAVITY
@@ -748,27 +752,49 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
     const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
 
-    if (fabsf(dampingFactor) < fabsf(pidState->dampingFactor)) {
-        pidState->dampingFactor = dampingFactor;
+    float dampingFactorP;
+    float dampingFactorD;
+    float dampingFactorI;
+
+    if (fabsf(dampingFactor) <= fabsf(pidState->dampingFactorPrevious)) {
+        dampingFactorP = dampingFactor;
+        dampingFactorD = dampingFactor;
+        dampingFactorI = dampingFactor;
+
+        pidState->dampingFactotLockUntilMs = millis() + scaleRangef(fabsf(dampingFactor), 1.0f, 0.0f, 0, 300);
+        pidState->dampingFactorLockValue = dampingFactor;
+
+        // pt1FilterReset(&pidState->dampingFactorFilter, pidState->dampingFactorPrevious);
+        pidState->dampingFactorPrevious = dampingFactor;
     } else {
-        pidState->dampingFactor = pidState->dampingFactor + (dampingFactor - pidState->dampingFactor) * dT * 10;
+        dampingFactorP = dampingFactor;
+        dampingFactorD = dampingFactor;
+
+        if (millis() > pidState->dampingFactorLockValue) {
+            dampingFactorI = dampingFactor;
+            pidState->dampingFactorPrevious = dampingFactor;
+        } else {
+            dampingFactorI = pidState->dampingFactorLockValue;
+        }
     }
 
-    float newDF = pidState->dampingFactor;
-    
-    DEBUG_SET(DEBUG_ALWAYS, axis * 2, dampingFactor * 1000);
-    DEBUG_SET(DEBUG_ALWAYS, (axis * 2) + 1, newDF * 1000);
+    if (axis == FD_ROLL) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, pidState->dampingFactorPrevious * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 1, dampingFactorP * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 2, dampingFactorI * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 3, dampingFactorD * 1000);
+    }
 
     const float rateError = rateTarget - pidState->gyroRate;
-    const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactor;
-    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * dampingFactor;
+    const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactorP;
+    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * dampingFactorD;
     const float newFFTerm = rateTarget * pidState->kFF;
 
     /*
      * Integral should be updated only if axis Iterm is not frozen
      */
     if (!pidState->itermFreezeActive) {
-        pidState->errorGyroIf += rateError * pidState->kI * dT * dampingFactor;
+        pidState->errorGyroIf += rateError * pidState->kI * dT * dampingFactorI;
     }
 
     applyItermLimiting(pidState);
@@ -1273,7 +1299,7 @@ void pidInit(void)
 
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
 
-        pidState[axis].dampingFactor = 1.0f;
+        pidState[axis].dampingFactorPrevious = 1.0f;
 
     #ifdef USE_D_BOOST
         // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration.

From bff23ee0e5b23110a8225535478177ed9824f88e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 9 Apr 2024 13:53:25 +0200
Subject: [PATCH 022/132] Some updates

---
 src/main/flight/pid.c | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 50c67c8607..90a31a4aa1 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -756,9 +756,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     float dampingFactorD;
     float dampingFactorI;
 
+    /*
+    TODO conditions have to be reworked
+    when drowing, damp
+    when releasing, lock
+    locking procedure has to be separated from action
+    
+
+    */
+
     if (fabsf(dampingFactor) <= fabsf(pidState->dampingFactorPrevious)) {
-        dampingFactorP = dampingFactor;
-        dampingFactorD = dampingFactor;
         dampingFactorI = dampingFactor;
 
         pidState->dampingFactotLockUntilMs = millis() + scaleRangef(fabsf(dampingFactor), 1.0f, 0.0f, 0, 300);
@@ -767,9 +774,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
         // pt1FilterReset(&pidState->dampingFactorFilter, pidState->dampingFactorPrevious);
         pidState->dampingFactorPrevious = dampingFactor;
     } else {
-        dampingFactorP = dampingFactor;
-        dampingFactorD = dampingFactor;
-
+        
         if (millis() > pidState->dampingFactorLockValue) {
             dampingFactorI = dampingFactor;
             pidState->dampingFactorPrevious = dampingFactor;
@@ -778,6 +783,10 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
         }
     }
 
+    //P & D damping factors are always the same and based on current damping factor
+    dampingFactorP = dampingFactor;
+    dampingFactorD = dampingFactor;
+
     if (axis == FD_ROLL) {
         DEBUG_SET(DEBUG_ALWAYS, 0, pidState->dampingFactorPrevious * 1000);
         DEBUG_SET(DEBUG_ALWAYS, 1, dampingFactorP * 1000);

From aef3fbe3b966696cdd3fe5555d35dfce99749a71 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 9 Apr 2024 18:42:20 +0200
Subject: [PATCH 023/132] New conditions for Iterm dampener

---
 src/main/flight/pid.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 90a31a4aa1..436e4b1747 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -757,12 +757,12 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     float dampingFactorI;
 
     /*
-    TODO conditions have to be reworked
-    when drowing, damp
-    when releasing, lock
-    locking procedure has to be separated from action
-    
+    New idea.... 
+    Iterm damping is applied (down to 0) when:
+    abs(error) > 10% rate and sticks were moved in the last 500ms (hard stop at this mark)
 
+    itermAttenuation  = MIN(curve(setpoint), (abs(error) > 10%) && (sticks were deflected in 500ms) ? 0 : 1)
+    
     */
 
     if (fabsf(dampingFactor) <= fabsf(pidState->dampingFactorPrevious)) {

From 9db5a5446b80331c37d61900d15555722601b592 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 11 Apr 2024 20:57:12 +0200
Subject: [PATCH 024/132] Version to 7.1.1

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d8247e7cb5..f74527e5f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,7 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 7.1.0)
+project(INAV VERSION 7.1.1)
 
 enable_language(ASM)
 

From f40361034d28f1273bcb3ff7aa56b293b8166ecb Mon Sep 17 00:00:00 2001
From: 0crap <31951195+0crap@users.noreply.github.com>
Date: Mon, 8 Apr 2024 12:54:16 +0200
Subject: [PATCH 025/132] Update Fixed Wing Landing.md

Simple typo fix.
---
 docs/Fixed Wing Landing.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Fixed Wing Landing.md b/docs/Fixed Wing Landing.md
index 4ccb324953..118221229c 100644
--- a/docs/Fixed Wing Landing.md	
+++ b/docs/Fixed Wing Landing.md	
@@ -54,7 +54,7 @@ This means that practically 4 landing directions can be saved.
 > [!CAUTION]
 > The Configuator automatically determines the ground altitude based on databases on the Internet, which may be inaccurate. Please always compare with the measured GPS altitude at the landing site to avoid crashes.
 
-### Global paramters
+### Global parameters
 
 All settings are available via “Advanced Tuning” in the Configurator.
 
@@ -87,7 +87,7 @@ If the altitude of the waypoint and the "Approach Altitude" are different, the a
 
 ## Logic Conditions
 
-The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deplyoment of the landing flaps.
+The current landing state can be retrieved via ID 41 in "Flight" (FW Land State). This allows additional actions to be executed according to the landing phases, e.g. deployment of the landing flaps.
 
 | Returned value | State |
 | --- | --- |

From 67b688c6b4b0e365ebf200bac175609fec237515 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Fri, 22 Mar 2024 20:01:09 +0100
Subject: [PATCH 026/132] No longer require MAG to unlock GPS related flight
 modes

---
 src/main/fc/fc_msp_box.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index c61c2aa19e..f1c72458bf 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -220,9 +220,6 @@ void initActiveBoxIds(void)
 
     const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
     bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
-    if (STATE(MULTIROTOR)) {
-        navReadyPosControl = navReadyPosControl && getHwCompassStatus() != HW_SENSOR_NONE;
-    }
 
     if (STATE(ALTITUDE_CONTROL) && navReadyAltControl && (navReadyPosControl || navFlowDeadReckoning)) {
         ADD_ACTIVE_BOX(BOXNAVPOSHOLD);

From 8eeea07da815538a861902477e9c14fa4d76ea5c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= <pspychalski@gmail.com>
Date: Thu, 11 Apr 2024 21:01:07 +0200
Subject: [PATCH 027/132] Merge pull request #9896 from
 iNavFlight/b14ckyy-Update-FW-landing-Doc

Update Fixed Wing Landing.md
---
 docs/Fixed Wing Landing.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/docs/Fixed Wing Landing.md b/docs/Fixed Wing Landing.md
index 118221229c..10eff364f3 100644
--- a/docs/Fixed Wing Landing.md	
+++ b/docs/Fixed Wing Landing.md	
@@ -5,6 +5,8 @@
 INAV supports advanced automatic landings for fixed wing aircraft from version 7.1.
 The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible.
 Supported are landings at safehome after "Return to Home" or at a defined LAND waypoint for missions. 
+Every landing locations can be defined with a target point and 2 different approach headings (colinear to the landing strips) with exclusive direction or opposite directions allowed. 
+This enables up to 4 different approach directions, based on the landing site and surrounding area. 
 
 ## General procedure:
 
@@ -34,7 +36,7 @@ The following graphics illustrate the process:
 
 ### The following parameters are set for each landing site (Safefome/LAND waypoint):
 
-All settings can also be conveniently made in the Configurator via Missionplanner.
+All settings can also be conveniently made in the Configurator via Mission Control.
 
 CLI command `fwapproach`:
 `fwapproach <index> <Approach altitude> <Land altitude> <Approach direction> <approach heading 1> <approach heading 2> <sea level>`

From 80adbbc1e52e875070c8fa04a93d241817b9d276 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= <pspychalski@gmail.com>
Date: Thu, 11 Apr 2024 21:01:57 +0200
Subject: [PATCH 028/132] Merge pull request #9890 from
 iNavFlight/MrD_Add-extra-description-to-the-min-ground-speed-parameter

Add extra description to nav_min_ground_speed parameter
---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 1f5ccde178..8608eb01f5 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -3764,7 +3764,7 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
 
 ### nav_min_ground_speed
 
-Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
+Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s.
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0f63c66ddd..66abea4639 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2493,7 +2493,7 @@ groups:
         min: 10
         max: 2000
       - name: nav_min_ground_speed
-        description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
+        description: "Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s."
         default_value: 7
         field: general.min_ground_speed
         min: 6

From db13d5da541342fa16b6c9d435b1e83e4fa7826f Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 11 Apr 2024 22:57:28 +0100
Subject: [PATCH 029/132] Update navigation.c

---
 src/main/navigation/navigation.c | 39 +++++---------------------------
 1 file changed, 6 insertions(+), 33 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 9e81024c3a..69b4a112b6 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1142,7 +1142,6 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_FW_LANDING_FLARE,   // re-process the state
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
         }
     },
@@ -2043,21 +2042,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig
 
     const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState);
 
-#ifdef USE_FW_AUTOLAND
-    if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) {
-        return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
-    } else 
-#endif
-    if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
-        return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
-    } else if (landEvent == NAV_FSM_EVENT_SUCCESS) {
+    if (landEvent == NAV_FSM_EVENT_SUCCESS) {
         // Landing controller returned success - invoke RTH finishing state and finish the waypoint
         navOnEnteringState_NAV_STATE_RTH_FINISHING(previousState);
-        return NAV_FSM_EVENT_SUCCESS;
-    }
-    else {
-        return NAV_FSM_EVENT_NONE;
     }
+
+    return landEvent;
 }
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigationFSMState_t previousState)
@@ -2376,12 +2366,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
     }
 
-    if (isLandingDetected()) {
-        posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        //disarm(DISARM_LANDING);
-        return NAV_FSM_EVENT_SWITCH_TO_IDLE;
-    }
-
     if (getLandAltitude() <= fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landAlt + navFwAutolandConfig()->glideAltitude - (fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->isSeaLevelRef ? GPS_home.alt : 0)) {
         resetPositionController();
         posControl.cruise.course = posControl.fwLandState.landingDirection;
@@ -2427,12 +2411,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga
         return NAV_FSM_EVENT_SUCCESS;
     }
 
-    if (isLandingDetected()) {
-        posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        //disarm(DISARM_LANDING);
-        return NAV_FSM_EVENT_SWITCH_TO_IDLE;
-    }
-
     setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
     return NAV_FSM_EVENT_NONE;
 }
@@ -2441,11 +2419,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(naviga
 {
     UNUSED(previousState);
 
-    if (isLandingDetected()) {
-        posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
-        //disarm(DISARM_LANDING);
-        return NAV_FSM_EVENT_SUCCESS;
-    }
     setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
 
     return NAV_FSM_EVENT_NONE;
@@ -4083,7 +4056,7 @@ bool isNavHoldPositionActive(void)
     // Also hold position during emergency landing if position valid
     return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
             FLIGHT_MODE(NAV_POSHOLD_MODE) ||
-            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) || 
+            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
             navigationIsExecutingAnEmergencyLanding();
 }
 
@@ -4123,7 +4096,7 @@ bool isWaypointNavTrackingActive(void)
     // is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP.
     // (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called)
 
-    return FLIGHT_MODE(NAV_WP_MODE) 
+    return FLIGHT_MODE(NAV_WP_MODE)
     || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
     || (posControl.flags.rthTrackbackActive && posControl.activeRthTBPointIndex != posControl.rthTBLastSavedIndex);
 }
@@ -5011,7 +4984,7 @@ bool navigationRTHAllowsLanding(void)
         return false;
     }
 #endif
-    
+
     // WP mission RTH landing setting
     if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
         return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0;

From 354eb2cfedb125bf5e03a3c998d692480052154c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 12 Apr 2024 23:18:02 +0100
Subject: [PATCH 030/132] updates

---
 src/main/fc/fc_init.c                    |  1 -
 src/main/io/osd.c                        | 12 ++---
 src/main/navigation/navigation.c         | 68 ++++++++++++++++++------
 src/main/navigation/navigation.h         |  2 +-
 src/main/navigation/navigation_private.h | 22 ++++----
 5 files changed, 71 insertions(+), 34 deletions(-)

diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 849cdc2b7c..0d4897dd55 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -60,7 +60,6 @@
 #include "drivers/pwm_esc_detect.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
-#include "drivers/pwm_output.h"
 #include "drivers/sensor.h"
 #include "drivers/serial.h"
 #include "drivers/serial_softserial.h"
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f0cc50bbaa..435b09f9e3 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1003,7 +1003,7 @@ static const char * divertingToSafehomeMessage(void)
 	    return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME);
 	}
 #endif
-	return NULL;   
+	return NULL;
 }
 
 
@@ -1028,7 +1028,7 @@ static const char * navigationStateMessage(void)
                         linearDescentMessageMs = millis() + 5000; // Show message for 5 seconds.
 
                     return OSD_MESSAGE_STR(OSD_MSG_RTH_LINEAR_DESCENT);
-                } else 
+                } else
                     return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
             }
         case MW_NAV_STATE_HOLD_INFINIT:
@@ -1069,7 +1069,7 @@ static const char * navigationStateMessage(void)
             // If there is a FS landing delay occurring. That is handled by the calling function.
             if (posControl.landingDelay > 0)
                 break;
-            
+
             return OSD_MESSAGE_STR(OSD_MSG_PREPARING_LAND);
         }
         case MW_NAV_STATE_LAND_START_DESCENT:
@@ -2277,7 +2277,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
             char *p = "ACRO";
 #ifdef USE_FW_AUTOLAND
-            if (FLIGHT_MODE(NAV_FW_AUTOLAND)) 
+            if (FLIGHT_MODE(NAV_FW_AUTOLAND))
                 p = "LAND";
             else
 #endif
@@ -5177,11 +5177,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec);
 
                     messages[messageCount++] = messageBuf;
-                } 
+                }
 
                 else {
 #ifdef USE_FW_AUTOLAND
-                    if (canFwLandCanceld()) {
+                    if (canFwLandingBeCancelled()) {
                          messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS);
                     } else if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) {
 #endif
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 69b4a112b6..284afc7410 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -356,6 +356,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_LOITER(navig
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(navigationFSMState_t previousState);
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(navigationFSMState_t previousState);
 #endif
 
@@ -1107,6 +1108,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]             = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]                   = NAV_STATE_COURSE_HOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_CRUISE]                        = NAV_STATE_CRUISE_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED,
             [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT]    = NAV_STATE_FW_LANDING_ABORT,
         }
     },
@@ -1128,6 +1130,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]             = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]                   = NAV_STATE_COURSE_HOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_CRUISE]                        = NAV_STATE_CRUISE_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED,
             [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT]    = NAV_STATE_FW_LANDING_ABORT,
         }
     },
@@ -1141,10 +1144,26 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_FW_LANDING_FLARE,   // re-process the state
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
+            [NAV_FSM_EVENT_TIMEOUT]                                 = NAV_STATE_FW_LANDING_FLARE,   // re-process the state
+            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED] = NAV_STATE_FW_LANDING_FINISHED,
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                          = NAV_STATE_IDLE,
         }
     },
+
+    [NAV_STATE_FW_LANDING_FINISHED] = {
+        .persistentId = NAV_PERSISTENT_ID_FW_LANDING_FINISHED,
+        .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED,
+        .timeoutMs = 10,
+        .stateFlags = NAV_REQUIRE_ANGLE,
+        .mapToFlightModes = NAV_FW_AUTOLAND,
+        .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
+        .mwError = MW_NAV_ERROR_NONE,
+        .onEvent = {
+            [NAV_FSM_EVENT_TIMEOUT]                                 = NAV_STATE_FW_LANDING_FINISHED,   // re-process the state
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                          = NAV_STATE_IDLE,
+        }
+    },
+
     [NAV_STATE_FW_LANDING_ABORT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_ABORT,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_ABORT,
@@ -1697,9 +1716,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState)
 {
-#ifndef USE_FW_AUTOLAND
     UNUSED(previousState);
-#endif
 
     //On ROVER and BOAT we immediately switch to the next event
     if (!STATE(ALTITUDE_CONTROL)) {
@@ -1712,7 +1729,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
 
     /* If position sensors unavailable - land immediately (wait for timeout on GPS)
      * Continue to check for RTH sanity during landing */
-    if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (previousState != NAV_STATE_WAYPOINT_REACHED && !validateRTHSanityChecker())) {
+    if (posControl.flags.estHeadingStatus == EST_NONE || checkForPositionSensorTimeout() || (FLIGHT_MODE(NAV_RTH_MODE) && !validateRTHSanityChecker())) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
 
@@ -1731,7 +1748,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
         shIdx = posControl.safehomeState.index;
         missionFwLandConfigStartIdx = MAX_SAFE_HOMES;
 #endif
-        if (previousState == NAV_STATE_WAYPOINT_REACHED && missionIdx >= 0) {
+        if (FLIGHT_MODE(NAV_WP_MODE) && missionIdx >= 0) {
             approachSettingIdx = missionFwLandConfigStartIdx + missionIdx;
         } else if (shIdx >= 0) {
             approachSettingIdx = shIdx;
@@ -1739,7 +1756,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
 
         if (!posControl.fwLandState.landAborted && approachSettingIdx >= 0 && (fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading1 != 0 || fwAutolandApproachConfig(approachSettingIdx)->landApproachHeading2 != 0)) {
 
-            if (previousState == NAV_STATE_WAYPOINT_REACHED) {
+            if (FLIGHT_MODE(NAV_WP_MODE)) {
                 posControl.fwLandState.landPos = posControl.activeWaypoint.pos;
                 posControl.fwLandState.landWp = true;
             } else {
@@ -2032,8 +2049,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME(navi
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navigationFSMState_t previousState)
 {
-    UNUSED(previousState);
-
 #ifdef USE_FW_AUTOLAND
     if (posControl.fwLandState.landAborted) {
         return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
@@ -2043,8 +2058,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig
     const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_LANDING(previousState);
 
     if (landEvent == NAV_FSM_EVENT_SUCCESS) {
-        // Landing controller returned success - invoke RTH finishing state and finish the waypoint
+        // Landing controller returned success - invoke RTH finish states and finish the waypoint
         navOnEnteringState_NAV_STATE_RTH_FINISHING(previousState);
+        navOnEnteringState_NAV_STATE_RTH_FINISHED(previousState);
     }
 
     return landEvent;
@@ -2358,6 +2374,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_APPROACH(nav
 {
     UNUSED(previousState);
 
+    if (STATE(LANDING_DETECTED)) {
+        return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED;
+    }
+
     if ((posControl.flags.estHeadingStatus == EST_NONE) || checkForPositionSensorTimeout()) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
@@ -2402,6 +2422,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga
 {
     UNUSED(previousState);
 
+    if (STATE(LANDING_DETECTED)) {
+        return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED;
+    }
+
     if (isRollPitchStickDeflected(navConfig()->fw.launch_land_abort_deadband)) {
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT;
     }
@@ -2419,11 +2443,24 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FLARE(naviga
 {
     UNUSED(previousState);
 
+    if (STATE(LANDING_DETECTED)) {
+        return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED;
+    }
+
     setDesiredPosition(NULL, posControl.cruise.course, NAV_POS_UPDATE_HEADING);
 
     return NAV_FSM_EVENT_NONE;
 }
 
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_FINISHED(navigationFSMState_t previousState)
+{
+    UNUSED(previousState);
+
+    posControl.fwLandState.landState = FW_AUTOLAND_STATE_IDLE;
+
+    return NAV_FSM_EVENT_NONE;
+}
+
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_ABORT(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
@@ -4896,9 +4933,9 @@ void abortForcedRTH(void)
 
 rthState_e getStateOfForcedRTH(void)
 {
-    /* If forced RTH activated and in AUTO_RTH or EMERG state */
+    /* If forced RTH activated and in AUTO_RTH, EMERG state or FW Auto Landing */
     if (posControl.flags.forcedRTHActivated && ((navGetStateFlags(posControl.navState) & (NAV_AUTO_RTH | NAV_CTL_EMERG | NAV_MIXERAT)) || FLIGHT_MODE(NAV_FW_AUTOLAND))) {
-        if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED) {
+        if (posControl.navState == NAV_STATE_RTH_FINISHED || posControl.navState == NAV_STATE_EMERGENCY_LANDING_FINISHED || posControl.navState == NAV_STATE_FW_LANDING_FINISHED) {
             return RTH_HAS_LANDED;
         }
         else {
@@ -5142,12 +5179,9 @@ void resetFwAutolandApproach(int8_t idx)
     }
 }
 
-bool canFwLandCanceld(void)
+bool canFwLandingBeCancelled(void)
 {
-    return posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER
-    || posControl.navState == NAV_STATE_FW_LANDING_LOITER
-    || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
-    || posControl.navState == NAV_STATE_FW_LANDING_GLIDE;
+    return FLIGHT_MODE(NAV_FW_AUTOLAND) && posControl.navState != NAV_STATE_FW_LANDING_FLARE;
 }
 
 #endif
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 6ebdaeccea..19cc5022ed 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -693,7 +693,7 @@ uint8_t getActiveWpNumber(void);
 int32_t navigationGetHomeHeading(void);
 
 #ifdef USE_FW_AUTOLAND
-bool canFwLandCanceld(void);
+bool canFwLandingBeCancelled(void);
 #endif
 
 /* Compatibility data */
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index d716c58c49..bc5a148289 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -165,16 +165,18 @@ typedef enum {
     NAV_FSM_EVENT_STATE_SPECIFIC_3,             // State-specific event
     NAV_FSM_EVENT_STATE_SPECIFIC_4,             // State-specific event
     NAV_FSM_EVENT_STATE_SPECIFIC_5,             // State-specific event
-    NAV_FSM_EVENT_STATE_SPECIFIC_6,             // State-specific event
+
+    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT = NAV_FSM_EVENT_STATE_SPECIFIC_1,
+    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
+    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_1,
+    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_2,
+    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_3,
+    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_1,
+    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_2,
     NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
-    NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_1,
-    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1,
-    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
-    NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
     NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
-    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_5,
-    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_6,
-    NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT = NAV_FSM_EVENT_STATE_SPECIFIC_6,
+    NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_5,
+
     NAV_FSM_EVENT_COUNT,
 } navigationFSMEvent_t;
 
@@ -241,6 +243,7 @@ typedef enum {
     NAV_PERSISTENT_ID_FW_LANDING_GLIDE                          = 45,
     NAV_PERSISTENT_ID_FW_LANDING_FLARE                          = 46,
     NAV_PERSISTENT_ID_FW_LANDING_ABORT                          = 47,
+    NAV_PERSISTENT_ID_FW_LANDING_FINISHED                       = 48,
 } navigationPersistentId_e;
 
 typedef enum {
@@ -287,12 +290,13 @@ typedef enum {
     NAV_STATE_CRUISE_INITIALIZE,
     NAV_STATE_CRUISE_IN_PROGRESS,
     NAV_STATE_CRUISE_ADJUSTING,
-    
+
     NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
     NAV_STATE_FW_LANDING_LOITER,
     NAV_STATE_FW_LANDING_APPROACH,
     NAV_STATE_FW_LANDING_GLIDE,
     NAV_STATE_FW_LANDING_FLARE,
+    NAV_STATE_FW_LANDING_FINISHED,
     NAV_STATE_FW_LANDING_ABORT,
 
     NAV_STATE_MIXERAT_INITIALIZE,

From 81b1f03325698313be0f167318b406d144a3ffc6 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 13 Apr 2024 23:48:29 +0200
Subject: [PATCH 031/132] Use 2 bits for msp displayport font page

---
 src/main/io/displayport_msp_bf_compat.c |  2 +-
 src/main/io/displayport_msp_osd.c       | 19 +++++++++----------
 2 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
index 7067ac140f..4219d2b2db 100644
--- a/src/main/io/displayport_msp_bf_compat.c
+++ b/src/main/io/displayport_msp_bf_compat.c
@@ -27,7 +27,7 @@
 
 uint8_t getBfCharacter(uint8_t ch, uint8_t page)
 {
-    uint16_t ech = ch | (page << 8);
+    uint16_t ech = ch | ((page & 0x3)<< 8) ;
 
     if (ech >= 0x20 && ech <= 0x5F) { // ASCII range
         return ch;
diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index e1e6cb2967..56dbc72343 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -100,7 +100,7 @@ static timeMs_t sendSubFrameMs = 0;
 static uint8_t currentOsdMode; // HDZero screen mode can change across layouts
 
 static uint8_t screen[SCREENSIZE];
-static BITARRAY_DECLARE(fontPage, SCREENSIZE);  // font page for each character on the screen
+static uint8_t fontPage[SCREENSIZE];  // font page for each character on the screen
 static BITARRAY_DECLARE(dirty, SCREENSIZE);     // change status for each character on the screen
 static BITARRAY_DECLARE(blinkChar, SCREENSIZE); // Does the character blink?
 static bool screenCleared;
@@ -171,7 +171,7 @@ static int setDisplayMode(displayPort_t *displayPort)
 static void init(void)
 {
     memset(screen, SYM_BLANK, sizeof(screen));
-    BITARRAY_CLR_ALL(fontPage);
+    memset(fontPage, 0, sizeof(fontPage));
     BITARRAY_CLR_ALL(dirty);
     BITARRAY_CLR_ALL(blinkChar);
 }
@@ -204,9 +204,8 @@ static bool readChar(displayPort_t *displayPort, uint8_t col, uint8_t row, uint1
     }
 
     *c = screen[pos];
-    if (bitArrayGet(fontPage, pos)) {
-        *c |= 0x100;
-    }
+    uint8_t page = fontPage[pos];
+    *c |= (page & 0x3) << 8;
 
     if (attr) {
         *attr = TEXT_ATTRIBUTES_NONE;
@@ -219,10 +218,10 @@ static int setChar(const uint16_t pos, const uint16_t c, textAttributes_t attr)
 {
     if (pos < SCREENSIZE) {
         uint8_t ch = c & 0xFF;
-        bool page = (c >> 8);
-        if (screen[pos] != ch || bitArrayGet(fontPage, pos) != page) {
+        uint8_t page = (c >> 8) & 0x3;
+        if (screen[pos] != ch || fontPage[pos] != page) {
             screen[pos] = ch;
-            (page) ? bitArraySet(fontPage, pos) : bitArrayClr(fontPage, pos);
+            fontPage[pos] = page & 0x3;
             (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? bitArraySet(blinkChar, pos) : bitArrayClr(blinkChar, pos);
             bitArraySet(dirty, pos);
         }
@@ -287,7 +286,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
         uint8_t col = pos % COLS;
         uint8_t attributes = 0;
         int endOfLine = row * COLS + screenCols;
-        bool page = bitArrayGet(fontPage, pos);
+        uint8_t page = fontPage[pos];
         bool blink = bitArrayGet(blinkChar, pos);
 
         uint8_t len = 4;
@@ -299,7 +298,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
             if (bitArrayGet(dirty, pos)) {
                 next = pos;
             }
-        } while (next == pos && next < endOfLine && bitArrayGet(fontPage, next) == page && bitArrayGet(blinkChar, next) == blink);
+        } while (next == pos && next < endOfLine && fontPage[next] == page && bitArrayGet(blinkChar, next) == blink);
 
         if (!isBfCompatibleVideoSystem(osdConfig())) {
             attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE);

From 9da168d5dcc6339eb8cc105b93ec2c6e46c3c6ea Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sun, 14 Apr 2024 16:12:38 +0200
Subject: [PATCH 032/132] Merge blink bitarry into attr array

---
 src/main/io/displayport_msp_osd.c | 41 +++++++++++++++++++++----------
 src/main/io/displayport_msp_osd.h | 20 ++++++++++++---
 2 files changed, 44 insertions(+), 17 deletions(-)

diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index 56dbc72343..ab88ec661f 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -100,9 +100,8 @@ static timeMs_t sendSubFrameMs = 0;
 static uint8_t currentOsdMode; // HDZero screen mode can change across layouts
 
 static uint8_t screen[SCREENSIZE];
-static uint8_t fontPage[SCREENSIZE];  // font page for each character on the screen
+static uint8_t attrs[SCREENSIZE];  // font page for each character on the screen
 static BITARRAY_DECLARE(dirty, SCREENSIZE);     // change status for each character on the screen
-static BITARRAY_DECLARE(blinkChar, SCREENSIZE); // Does the character blink?
 static bool screenCleared;
 static uint8_t screenRows, screenCols;
 static videoSystem_e osdVideoSystem;
@@ -158,6 +157,22 @@ static uint8_t determineHDZeroOsdMode(void)
     return HD_3016;
 }
 
+
+uint8_t setAttrPage(uint8_t origAttr, uint8_t page)
+{
+        return (origAttr & ~DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK) | (page & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK);
+}
+
+uint8_t setAttrBlink(uint8_t origAttr, uint8_t blink)
+{
+    return (origAttr & ~DISPLAYPORT_MSP_ATTR_BLINK_MASK) | ((blink << DISPLAYPORT_MSP_ATTR_BLINK) & DISPLAYPORT_MSP_ATTR_BLINK_MASK);
+}
+
+uint8_t setAttrVersion(uint8_t origAttr, uint8_t version)
+{
+    return (origAttr & ~DISPLAYPORT_MSP_ATTR_VERSION_MASK) | ((version << DISPLAYPORT_MSP_ATTR_VERSION) & DISPLAYPORT_MSP_ATTR_VERSION_MASK);
+}
+
 static int setDisplayMode(displayPort_t *displayPort)
 {
     if (osdVideoSystem == VIDEO_SYSTEM_HDZERO) {
@@ -171,9 +186,8 @@ static int setDisplayMode(displayPort_t *displayPort)
 static void init(void)
 {
     memset(screen, SYM_BLANK, sizeof(screen));
-    memset(fontPage, 0, sizeof(fontPage));
+    memset(attrs, 0, sizeof(attrs));
     BITARRAY_CLR_ALL(dirty);
-    BITARRAY_CLR_ALL(blinkChar);
 }
 
 static int clearScreen(displayPort_t *displayPort)
@@ -204,8 +218,8 @@ static bool readChar(displayPort_t *displayPort, uint8_t col, uint8_t row, uint1
     }
 
     *c = screen[pos];
-    uint8_t page = fontPage[pos];
-    *c |= (page & 0x3) << 8;
+    uint8_t page = getAttrPage(attrs[pos]);
+    *c |= page << 8;
 
     if (attr) {
         *attr = TEXT_ATTRIBUTES_NONE;
@@ -218,11 +232,12 @@ static int setChar(const uint16_t pos, const uint16_t c, textAttributes_t attr)
 {
     if (pos < SCREENSIZE) {
         uint8_t ch = c & 0xFF;
-        uint8_t page = (c >> 8) & 0x3;
-        if (screen[pos] != ch || fontPage[pos] != page) {
+        uint8_t page = (c >> 8) & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK;
+        if (screen[pos] != ch || getAttrPage(attrs[pos]) != page) {
             screen[pos] = ch;
-            fontPage[pos] = page & 0x3;
-            (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? bitArraySet(blinkChar, pos) : bitArrayClr(blinkChar, pos);
+            attrs[pos] = setAttrPage(attrs[pos], page);
+            uint8_t blink = (TEXT_ATTRIBUTES_HAVE_BLINK(attr)) ? 1 : 0;
+            attrs[pos] = setAttrBlink(attrs[pos], blink);
             bitArraySet(dirty, pos);
         }
     }
@@ -286,8 +301,8 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
         uint8_t col = pos % COLS;
         uint8_t attributes = 0;
         int endOfLine = row * COLS + screenCols;
-        uint8_t page = fontPage[pos];
-        bool blink = bitArrayGet(blinkChar, pos);
+        uint8_t page = getAttrPage(attrs[pos]);
+        uint8_t blink = getAttrBlink(attrs[pos]);
 
         uint8_t len = 4;
         do {
@@ -298,7 +313,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
             if (bitArrayGet(dirty, pos)) {
                 next = pos;
             }
-        } while (next == pos && next < endOfLine && fontPage[next] == page && bitArrayGet(blinkChar, next) == blink);
+        } while (next == pos && next < endOfLine && getAttrPage(attrs[next]) == page && getAttrBlink(attrs[next]) == blink);
 
         if (!isBfCompatibleVideoSystem(osdConfig())) {
             attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE);
diff --git a/src/main/io/displayport_msp_osd.h b/src/main/io/displayport_msp_osd.h
index 0a2f64c48a..affd5b39be 100644
--- a/src/main/io/displayport_msp_osd.h
+++ b/src/main/io/displayport_msp_osd.h
@@ -27,13 +27,25 @@
 #include "drivers/osd.h"
 #include "msp/msp_serial.h"
 
+// MSP displayport V2 attribute byte bit functions
+#define DISPLAYPORT_MSP_ATTR_FONTPAGE   0 // Select bank of 256 characters as per displayPortSeverity_e
+#define DISPLAYPORT_MSP_ATTR_BLINK      6 // Device local blink
+#define DISPLAYPORT_MSP_ATTR_VERSION    7 // Format indicator; must be zero for V2 (and V1)
+
+#define DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK   0x3
+#define DISPLAYPORT_MSP_ATTR_BLINK_MASK      (1 << DISPLAYPORT_MSP_ATTR_BLINK)
+#define DISPLAYPORT_MSP_ATTR_VERSION_MASK    (1 << DISPLAYPORT_MSP_ATTR_VERSION)
+
 typedef struct displayPort_s displayPort_t;
 
 displayPort_t *mspOsdDisplayPortInit(const videoSystem_e videoSystem);
 void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn);
 mspPort_t *getMspOsdPort(void);
 
-// MSP displayport V2 attribute byte bit functions
-#define DISPLAYPORT_MSP_ATTR_FONTPAGE   0 // Select bank of 256 characters as per displayPortSeverity_e
-#define DISPLAYPORT_MSP_ATTR_BLINK      6 // Device local blink
-#define DISPLAYPORT_MSP_ATTR_VERSION    7 // Format indicator; must be zero for V2 (and V1)
\ No newline at end of file
+#define getAttrPage(attr) (attr & DISPLAYPORT_MSP_ATTR_FONTPAGE_MASK)
+#define getAttrBlink(attr) ((attr & DISPLAYPORT_MSP_ATTR_BLINK_MASK) >> DISPLAYPORT_MSP_ATTR_BLINK)
+#define getAttrVersion(attr) ((attr & DISPLAYPORT_MSP_ATTR_VERSION_MASK) >> DISPLAYPORT_MSP_ATTR_VERSION)
+
+uint8_t setAttrPage(uint8_t origAttr, uint8_t page);
+uint8_t setAttrBlink(uint8_t origAttr, uint8_t page);
+uint8_t setAttrVersion(uint8_t origAttr, uint8_t page);
\ No newline at end of file

From 1ee021b5a8cf3dc83afe52347ea6ef8ec71922a6 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sun, 14 Apr 2024 16:16:58 +0200
Subject: [PATCH 033/132] Formating changes

---
 src/main/io/displayport_msp_osd.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index ab88ec661f..c9372d9fbf 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -59,7 +59,7 @@ typedef enum {          // defines are from hdzero code
     SD_3016,
     HD_5018,
     HD_3016,           // Special HDZERO mode that just sends the centre 30x16 of the 50x18 canvas to the VRX
-    HD_6022,            // added to support DJI wtfos 60x22 grid
+    HD_6022,           // added to support DJI wtfos 60x22 grid
     HD_5320            // added to support Avatar and BetaflightHD
 } resolutionType_e;
 
@@ -97,11 +97,11 @@ static timeMs_t sendSubFrameMs = 0;
 // set screen size
 #define SCREENSIZE (ROWS*COLS)
 
-static uint8_t currentOsdMode; // HDZero screen mode can change across layouts
+static uint8_t currentOsdMode;               // HDZero screen mode can change across layouts
 
 static uint8_t screen[SCREENSIZE];
-static uint8_t attrs[SCREENSIZE];  // font page for each character on the screen
-static BITARRAY_DECLARE(dirty, SCREENSIZE);     // change status for each character on the screen
+static uint8_t attrs[SCREENSIZE];            // font page, blink and other attributes
+static BITARRAY_DECLARE(dirty, SCREENSIZE);  // change status for each character on the screen
 static bool screenCleared;
 static uint8_t screenRows, screenCols;
 static videoSystem_e osdVideoSystem;

From 1134c4541477b87b5264476fa056fd9528583a47 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 15 Apr 2024 15:40:10 +0100
Subject: [PATCH 034/132] Update osd.c

---
 src/main/io/osd.c | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f0cc50bbaa..f06845c366 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1003,7 +1003,7 @@ static const char * divertingToSafehomeMessage(void)
 	    return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME);
 	}
 #endif
-	return NULL;   
+	return NULL;
 }
 
 
@@ -1028,7 +1028,7 @@ static const char * navigationStateMessage(void)
                         linearDescentMessageMs = millis() + 5000; // Show message for 5 seconds.
 
                     return OSD_MESSAGE_STR(OSD_MSG_RTH_LINEAR_DESCENT);
-                } else 
+                } else
                     return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
             }
         case MW_NAV_STATE_HOLD_INFINIT:
@@ -1069,7 +1069,7 @@ static const char * navigationStateMessage(void)
             // If there is a FS landing delay occurring. That is handled by the calling function.
             if (posControl.landingDelay > 0)
                 break;
-            
+
             return OSD_MESSAGE_STR(OSD_MSG_PREPARING_LAND);
         }
         case MW_NAV_STATE_LAND_START_DESCENT:
@@ -2277,7 +2277,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
             char *p = "ACRO";
 #ifdef USE_FW_AUTOLAND
-            if (FLIGHT_MODE(NAV_FW_AUTOLAND)) 
+            if (FLIGHT_MODE(NAV_FW_AUTOLAND))
                 p = "LAND";
             else
 #endif
@@ -4864,6 +4864,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
     static uint8_t statsCurrentPage = 0;
     static bool statsDisplayed = false;
     static bool statsAutoPagingEnabled = true;
+    static bool throttleHigh = false;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -4889,6 +4890,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
             statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
             osdShowStats(statsSinglePageCompatible, statsCurrentPage);
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
+            throttleHigh = checkStickPosition(THR_HI);
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -4954,7 +4956,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         }
 
         // Handle events when either "Splash", "Armed" or "Stats" screens are displayed.
-        if ((currentTimeUs > resumeRefreshAt) || OSD_RESUME_UPDATES_STICK_COMMAND) {
+        if (currentTimeUs > resumeRefreshAt || (OSD_RESUME_UPDATES_STICK_COMMAND && !throttleHigh)) {
             // Time elapsed or canceled by stick commands.
             // Exit to normal OSD operation.
             displayClearScreen(osdDisplayPort);
@@ -4963,6 +4965,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             // Continue "Splash", "Armed" or "Stats" screens.
             displayHeartbeat(osdDisplayPort);
+            throttleHigh = checkStickPosition(THR_HI);
         }
 
         return;
@@ -5177,7 +5180,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec);
 
                     messages[messageCount++] = messageBuf;
-                } 
+                }
 
                 else {
 #ifdef USE_FW_AUTOLAND

From d00780a3b898d38eae90960bf69122f91874af3c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 15 Apr 2024 16:04:18 +0100
Subject: [PATCH 035/132] Update blackbox.c

---
 src/main/blackbox/blackbox.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 453b8fda0c..1bb0165761 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1308,10 +1308,16 @@ static void writeSlowFrame(void)
 static void loadSlowState(blackboxSlowState_t *slow)
 {
     memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
-    // Also log Nav auto selected flight modes rather than just those selected by boxmode
-    if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) {
+    // Also log Nav auto enabled flight modes rather than just those selected by boxmode
+    if (FLIGHT_MODE(ANGLE_MODE)) {
         slow->flightModeFlags |= (1 << BOXANGLE);
     }
+    if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVALTHOLD);
+    }
+    if (FLIGHT_MODE(NAV_RTH_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVRTH);
+    }
     if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
         slow->flightModeFlags |= (1 << BOXHEADINGHOLD);
     }

From eb8843bc9c190650c21b3ec10964c1ed96ea8296 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 15 Apr 2024 18:09:06 +0100
Subject: [PATCH 036/132] changes

---
 src/main/fc/fc_core.c                    |   4 +
 src/main/navigation/navigation.c         | 159 +++++++++++------------
 src/main/navigation/navigation_private.h |  19 +--
 3 files changed, 87 insertions(+), 95 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 0d0863760d..0c8daea2ca 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -350,6 +350,10 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
         }
 
+        if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
+        }
+
         /* CHECK: Arming switch */
         // If arming is disabled and the ARM switch is on
         // Note that this should be last check so all other blockers could be cleared correctly
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 9e81024c3a..d2a5732de7 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -328,8 +328,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState);
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState);
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState);
@@ -423,7 +423,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -438,7 +438,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -585,7 +585,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SUCCESS]                             = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
             [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK]   = NAV_STATE_RTH_TRACKBACK,
             [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]         = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]               = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]               = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                      = NAV_STATE_IDLE,
         }
     },
@@ -594,7 +594,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@@ -634,13 +634,13 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_ENROUTE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HEAD_HOME,           // re-process the state
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
@@ -651,37 +651,37 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         }
     },
 
-    [NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
-        .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
-        .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+    [NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
+        .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_SETTLE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_LANDING,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]    = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]          = NAV_STATE_COURSE_HOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_CRUISE]               = NAV_STATE_CRUISE_INITIALIZE,
+            [NAV_FSM_EVENT_TIMEOUT]                         = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_SUCCESS]                         = NAV_STATE_RTH_LANDING,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                  = NAV_STATE_IDLE,
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]               = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]            = NAV_STATE_POSHOLD_3D_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]     = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]           = NAV_STATE_COURSE_HOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_CRUISE]                = NAV_STATE_CRUISE_INITIALIZE,
         }
     },
 
-    [NAV_STATE_RTH_HOVER_ABOVE_HOME] = {
-        .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME,
-        .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME,
+    [NAV_STATE_RTH_LOITER_ABOVE_HOME] = {
+        .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
+        .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HOVER_ABOVE_HOME,
+            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_LOITER_ABOVE_HOME,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
@@ -695,20 +695,20 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_LANDING,         // re-process state
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_FINISHING,
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]    = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_MIXERAT]              = NAV_STATE_MIXERAT_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
+            [NAV_FSM_EVENT_TIMEOUT]                         = NAV_STATE_RTH_LANDING,         // re-process state
+            [NAV_FSM_EVENT_SUCCESS]                         = NAV_STATE_RTH_FINISHING,
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                  = NAV_STATE_IDLE,
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]               = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]            = NAV_STATE_POSHOLD_3D_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]     = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_MIXERAT]               = NAV_STATE_MIXERAT_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING]  = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
         }
     },
 
@@ -716,7 +716,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -827,7 +827,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME,                             // There is no state for timed hold?
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_TIMED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -848,7 +848,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -886,7 +886,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
@@ -907,7 +907,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -925,7 +925,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -943,7 +943,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -1052,7 +1052,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1073,7 +1073,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1246,7 +1246,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n
     }
 
     // Prepare position controller if idle or current Mode NOT active in position hold state
-    if (previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME &&
+    if (previousState != NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_LOITER_ABOVE_HOME &&
         previousState != NAV_STATE_RTH_LANDING && previousState != NAV_STATE_WAYPOINT_RTH_LAND &&
         previousState != NAV_STATE_WAYPOINT_FINISHED && previousState != NAV_STATE_WAYPOINT_HOLD_TIME)
         {
@@ -1427,7 +1427,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
             setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
             setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
 
-            return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING;   // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
+            return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING;   // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
         }
         else {
             // Switch to RTH trackback
@@ -1501,8 +1501,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
             initializeRTHSanityChecker();
         }
 
-        // Save initial home distance for future use
+        // Save initial home distance and direction for future use
         posControl.rthState.rthInitialDistance = posControl.homeDistance;
+        posControl.activeWaypoint.bearing = posControl.homeDirection;
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL);
 
         if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY)) {
@@ -1616,7 +1617,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
     if ((posControl.flags.estPosStatus >= EST_USABLE)) {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL);
 
-        if (isWaypointReached(tmpHomePos, 0)) {
+        if (isWaypointReached(tmpHomePos, &posControl.activeWaypoint.bearing)) {
             // Successfully reached position target - update XYZ-position
             setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
 
@@ -1625,7 +1626,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
             if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
                 posControl.rthState.rthLinearDescentActive = false;
 
-            return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
+            return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
         } else {
             setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
             return NAV_FSM_EVENT_NONE;
@@ -1639,7 +1640,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
     return NAV_FSM_EVENT_NONE;
 }
 
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
 
@@ -1673,7 +1674,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
     if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
         resetLandingDetector();     // force reset landing detector just in case
         updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
-        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
+        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land
     } else {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
         setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@@ -1681,7 +1682,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
     }
 }
 
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
 
@@ -1690,7 +1691,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
 
-    fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
+    fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LOITER);
     setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
 
     return NAV_FSM_EVENT_NONE;
@@ -2046,9 +2047,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig
 #ifdef USE_FW_AUTOLAND
     if (landEvent == NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING) {
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING;
-    } else 
+    } else
 #endif
-    if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) {
+    if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME) {
         return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED;
     } else if (landEvent == NAV_FSM_EVENT_SUCCESS) {
         // Landing controller returned success - invoke RTH finishing state and finish the waypoint
@@ -2567,7 +2568,7 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)
             posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
             break;
 
-        case RTH_HOME_FINAL_HOVER:
+        case RTH_HOME_FINAL_LOITER:
             if (navConfig()->general.rth_home_altitude) {
                 posControl.rthState.homeTmpWaypoint.z = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
             }
@@ -2852,30 +2853,28 @@ static bool getLocalPosNextWaypoint(fpVector3_t * nextWpPos)
 
 /*-----------------------------------------------------------
  * Check if waypoint is/was reached.
- * waypointBearing stores initial bearing to waypoint
+ * 'waypointBearing' stores initial bearing to waypoint.
  *-----------------------------------------------------------*/
 static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * waypointBearing)
 {
     posControl.wpDistance = calculateDistanceToDestination(waypointPos);
 
-    // Airplane will do a circular loiter at hold waypoints and might never approach them closer than waypoint_radius
-    // Check within 10% margin of circular loiter radius
-    if (STATE(AIRPLANE) && isNavHoldPositionActive() && posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)) {
-        return true;
-    }
+    // Check if waypoint was missed based on bearing to WP exceeding given angular limit relative to initial waypoint bearing.
+    // Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active
+    uint16_t relativeBearingErrorLimit = 10000;
 
-    if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP || posControl.flags.rthTrackbackActive) {
+    if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) {
         // If WP turn smoothing CUT option used WP is reached when start of turn is initiated
-        if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT && posControl.flags.wpTurnSmoothingActive) {
+        if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
             posControl.flags.wpTurnSmoothingActive = false;
             return true;
         }
-        // Check if waypoint was missed based on bearing to WP exceeding 100 degrees relative to waypoint Yaw
-        // Same method for turn smoothing option but relative bearing set at 60 degrees
-        uint16_t relativeBearing = posControl.flags.wpTurnSmoothingActive ? 6000 : 10000;
-        if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearing) {
-            return true;
-        }
+        relativeBearingErrorLimit = 6000;
+    }
+
+
+    if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingErrorLimit) {
+        return true;
     }
 
     return posControl.wpDistance <= (navConfig()->general.waypoint_radius);
@@ -3453,9 +3452,6 @@ void updateLandingStatus(timeMs_t currentTimeMs)
         }
         resetLandingDetector();
 
-        if (!IS_RC_MODE_ACTIVE(BOXARM)) {
-            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
-        }
         return;
     }
 
@@ -4075,16 +4071,7 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    // WP mode last WP hold and Timed hold positions
-    if (FLIGHT_MODE(NAV_WP_MODE)) {
-        return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
-    }
-    // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
-    // Also hold position during emergency landing if position valid
-    return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
-            FLIGHT_MODE(NAV_POSHOLD_MODE) ||
-            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) || 
-            navigationIsExecutingAnEmergencyLanding();
+    return navGetCurrentStateFlags() & NAV_CTL_HOLD;
 }
 
 float getActiveSpeed(void)
@@ -4123,7 +4110,7 @@ bool isWaypointNavTrackingActive(void)
     // is set from current position not previous WP. Works for WP Restart intermediate WP as well as first mission WP.
     // (NAV_WP_MODE flag isn't set until WP initialisation is finished, i.e. after calculateAndSetActiveWaypoint called)
 
-    return FLIGHT_MODE(NAV_WP_MODE) 
+    return FLIGHT_MODE(NAV_WP_MODE)
     || posControl.navState == NAV_STATE_FW_LANDING_APPROACH
     || (posControl.flags.rthTrackbackActive && posControl.activeRthTBPointIndex != posControl.rthTBLastSavedIndex);
 }
@@ -5011,7 +4998,7 @@ bool navigationRTHAllowsLanding(void)
         return false;
     }
 #endif
-    
+
     // WP mission RTH landing setting
     if (isWaypointMissionRTHActive() && isWaypointMissionValid()) {
         return posControl.waypointList[posControl.startWpIndex + posControl.waypointCount - 1].p1 > 0;
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index d716c58c49..121597c93b 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -171,7 +171,7 @@ typedef enum {
     NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND = NAV_FSM_EVENT_STATE_SPECIFIC_1,
     NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED = NAV_FSM_EVENT_STATE_SPECIFIC_2,
     NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
-    NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
+    NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_5,
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_6,
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT = NAV_FSM_EVENT_STATE_SPECIFIC_6,
@@ -197,7 +197,7 @@ typedef enum {
     NAV_PERSISTENT_ID_RTH_INITIALIZE                            = 8,
     NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT                     = 9,
     NAV_PERSISTENT_ID_RTH_HEAD_HOME                             = 10,
-    NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING                = 11,
+    NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING               = 11,
     NAV_PERSISTENT_ID_RTH_LANDING                               = 12,
     NAV_PERSISTENT_ID_RTH_FINISHING                             = 13,
     NAV_PERSISTENT_ID_RTH_FINISHED                              = 14,
@@ -228,7 +228,7 @@ typedef enum {
     NAV_PERSISTENT_ID_CRUISE_ADJUSTING                          = 34,
 
     NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME                        = 35,
-    NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME                      = 36,
+    NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME                     = 36,
     NAV_PERSISTENT_ID_UNUSED_4                                  = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
     NAV_PERSISTENT_ID_RTH_TRACKBACK                             = 38,
 
@@ -258,8 +258,8 @@ typedef enum {
     NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
     NAV_STATE_RTH_TRACKBACK,
     NAV_STATE_RTH_HEAD_HOME,
-    NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
-    NAV_STATE_RTH_HOVER_ABOVE_HOME,
+    NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
+    NAV_STATE_RTH_LOITER_ABOVE_HOME,
     NAV_STATE_RTH_LANDING,
     NAV_STATE_RTH_FINISHING,
     NAV_STATE_RTH_FINISHED,
@@ -287,7 +287,7 @@ typedef enum {
     NAV_STATE_CRUISE_INITIALIZE,
     NAV_STATE_CRUISE_IN_PROGRESS,
     NAV_STATE_CRUISE_ADJUSTING,
-    
+
     NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
     NAV_STATE_FW_LANDING_LOITER,
     NAV_STATE_FW_LANDING_APPROACH,
@@ -327,9 +327,10 @@ typedef enum {
 
     /* Additional flags */
     NAV_CTL_LAND            = (1 << 14),
-    NAV_AUTO_WP_DONE        = (1 << 15),    //Waypoint mission reached the last waypoint and is idling
+    NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
-    NAV_MIXERAT             = (1 << 16),    //MIXERAT in progress
+    NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
+    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position or will be when position reached
 } navigationFSMStateFlags_t;
 
 typedef struct {
@@ -396,7 +397,7 @@ typedef enum {
     RTH_HOME_ENROUTE_INITIAL,       // Initial position for RTH approach
     RTH_HOME_ENROUTE_PROPORTIONAL,  // Prorpotional position for RTH approach
     RTH_HOME_ENROUTE_FINAL,         // Final position for RTH approach
-    RTH_HOME_FINAL_HOVER,           // Final hover altitude (if rth_home_altitude is set)
+    RTH_HOME_FINAL_LOITER,          // Final loiter altitude (if rth_home_altitude is set)
     RTH_HOME_FINAL_LAND,            // Home position and altitude
 } rthTargetMode_e;
 

From 79e974d73555d8c91037e48acd7da35c7f547fe9 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 16 Apr 2024 09:48:31 +0100
Subject: [PATCH 037/132] Update navigation.c

---
 src/main/navigation/navigation.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d2a5732de7..c85359ee50 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2859,21 +2859,21 @@ static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * w
 {
     posControl.wpDistance = calculateDistanceToDestination(waypointPos);
 
-    // Check if waypoint was missed based on bearing to WP exceeding given angular limit relative to initial waypoint bearing.
+    // Check if waypoint was missed based on bearing to waypoint exceeding given angular limit relative to initial waypoint bearing.
     // Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active
-    uint16_t relativeBearingErrorLimit = 10000;
+    uint16_t relativeBearingTargetAngle = 10000;
 
     if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) {
-        // If WP turn smoothing CUT option used WP is reached when start of turn is initiated
+        // If WP mode turn smoothing CUT option used waypoint is reached when start of turn is initiated
         if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
             posControl.flags.wpTurnSmoothingActive = false;
             return true;
         }
-        relativeBearingErrorLimit = 6000;
+        relativeBearingTargetAngle = 6000;
     }
 
 
-    if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingErrorLimit) {
+    if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingTargetAngle) {
         return true;
     }
 

From 17e785514493cdedc4dbd3c31434491ea792ca82 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 16 Apr 2024 09:56:45 +0100
Subject: [PATCH 038/132] Update osd.c

---
 src/main/io/osd.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f06845c366..c6574db97c 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4864,7 +4864,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
     static uint8_t statsCurrentPage = 0;
     static bool statsDisplayed = false;
     static bool statsAutoPagingEnabled = true;
-    static bool throttleHigh = false;
+    static bool isThrottleHigh = false;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -4890,7 +4890,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
             statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
             osdShowStats(statsSinglePageCompatible, statsCurrentPage);
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
-            throttleHigh = checkStickPosition(THR_HI);
+            isThrottleHigh = checkStickPosition(THR_HI);
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -4956,7 +4956,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         }
 
         // Handle events when either "Splash", "Armed" or "Stats" screens are displayed.
-        if (currentTimeUs > resumeRefreshAt || (OSD_RESUME_UPDATES_STICK_COMMAND && !throttleHigh)) {
+        if (currentTimeUs > resumeRefreshAt || (OSD_RESUME_UPDATES_STICK_COMMAND && !isThrottleHigh)) {
             // Time elapsed or canceled by stick commands.
             // Exit to normal OSD operation.
             displayClearScreen(osdDisplayPort);
@@ -4965,7 +4965,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             // Continue "Splash", "Armed" or "Stats" screens.
             displayHeartbeat(osdDisplayPort);
-            throttleHigh = checkStickPosition(THR_HI);
+            isThrottleHigh = checkStickPosition(THR_HI);
         }
 
         return;

From c3eba6ad835d80b9a3ba56103e2d24660e22aa36 Mon Sep 17 00:00:00 2001
From: Sensei <deepmagicbeginshere@gmail.com>
Date: Tue, 16 Apr 2024 22:56:44 -0500
Subject: [PATCH 039/132] Merge pull request #9669 from
 Aocoda-RC/aocodarc-f405v3

Add AOCODARCF4V3 target
---
 src/main/target/AOCODARCF4V3/CMakeLists.txt |   3 +
 src/main/target/AOCODARCF4V3/config.c       |  40 ++++
 src/main/target/AOCODARCF4V3/target.c       |  46 +++++
 src/main/target/AOCODARCF4V3/target.h       | 192 ++++++++++++++++++++
 4 files changed, 281 insertions(+)
 create mode 100644 src/main/target/AOCODARCF4V3/CMakeLists.txt
 create mode 100644 src/main/target/AOCODARCF4V3/config.c
 create mode 100644 src/main/target/AOCODARCF4V3/target.c
 create mode 100644 src/main/target/AOCODARCF4V3/target.h

diff --git a/src/main/target/AOCODARCF4V3/CMakeLists.txt b/src/main/target/AOCODARCF4V3/CMakeLists.txt
new file mode 100644
index 0000000000..706b818e2b
--- /dev/null
+++ b/src/main/target/AOCODARCF4V3/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_stm32f405xg(AOCODARCF4V3_SD)
+target_stm32f405xg(AOCODARCF4V3)
+
diff --git a/src/main/target/AOCODARCF4V3/config.c b/src/main/target/AOCODARCF4V3/config.c
new file mode 100644
index 0000000000..c80a92940a
--- /dev/null
+++ b/src/main/target/AOCODARCF4V3/config.c
@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+//#include "fc/config.h"
+
+#include "io/piniobox.h"
+#include "drivers/serial.h"
+#include "io/serial.h"
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+   // beeperConfigMutable()->pwmMode = true;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP;
+        serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS;
+}
diff --git a/src/main/target/AOCODARCF4V3/target.c b/src/main/target/AOCODARCF4V3/target.c
new file mode 100644
index 0000000000..8581cc5bf1
--- /dev/null
+++ b/src/main/target/AOCODARCF4V3/target.c
@@ -0,0 +1,46 @@
+/*
+ * 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 <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM5,  CH4,  PA3,     TIM_USE_PPM,       0, 0 ),       // PPM IN
+
+    DEF_TIM(TIM8,   CH1,  PC6,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S1 
+    DEF_TIM(TIM8,   CH2,  PC7,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S2
+    DEF_TIM(TIM8,   CH3,  PC8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S3
+    DEF_TIM(TIM8,   CH4,  PC9,    TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S4
+
+    DEF_TIM(TIM2,   CH1,  PA15,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S5
+    DEF_TIM(TIM1,   CH1,  PA8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S6
+
+    DEF_TIM(TIM2,   CH3,  PB10,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S7
+    DEF_TIM(TIM2,   CH4,  PB11,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S8
+
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_LED,  0, 0 ),     // LED_STRIP
+
+    
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/AOCODARCF4V3/target.h b/src/main/target/AOCODARCF4V3/target.h
new file mode 100644
index 0000000000..0c95564162
--- /dev/null
+++ b/src/main/target/AOCODARCF4V3/target.h
@@ -0,0 +1,192 @@
+/*
+ * 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
+ 
+#define USE_TARGET_CONFIG
+
+#ifdef AOCODARCF4V3
+#define TARGET_BOARD_IDENTIFIER "AOF4V3"
+#define USBD_PRODUCT_STRING     "AOCODARCF4V3"
+#else
+#define TARGET_BOARD_IDENTIFIER "AOF4V3SD"
+#define USBD_PRODUCT_STRING     "AOCODARCF4V3_SD"
+#endif
+
+// ******** Board LEDs  **********************
+#define LED0                            PC13
+
+// ******* Beeper ***********
+#define BEEPER                          PB8
+#define BEEPER_INVERTED
+
+
+// ******* GYRO and ACC ********
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN               CW90_DEG
+#define MPU6500_SPI_BUS                 BUS_SPI1
+#define MPU6500_CS_PIN                  PA4
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN               CW90_DEG
+#define MPU6000_SPI_BUS                 BUS_SPI1
+#define MPU6000_CS_PIN                  PA4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN               CW90_DEG
+#define ICM42605_SPI_BUS                 BUS_SPI1
+#define ICM42605_CS_PIN                  PA4
+
+
+// *************** Baro **************************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+
+#define I2C1_SCL                        PB6        // SCL
+#define I2C1_SDA                        PB7        // SDA
+#define DEFAULT_I2C_BUS                 BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+//*********** Magnetometer / Compass *************
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+// ******* SERIAL ********
+#define USE_VCP
+#define VBUS_SENSING_PIN        PB12
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN                    PA9
+#define UART1_RX_PIN                    PA10
+
+#define USE_UART2
+#define UART2_TX_PIN                    PA2
+#define UART2_RX_PIN                    PA3
+
+#define USE_UART3
+#define UART3_TX_PIN                    PC10
+#define UART3_RX_PIN                    PC11
+
+#define USE_UART4
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define USE_UART5
+#define UART5_TX_PIN                    PC12
+#define UART5_RX_PIN                    PD2
+
+
+#define SERIAL_PORT_COUNT              6
+
+
+// ******* SPI ********
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN                    PA4
+#define SPI1_SCK_PIN                    PA5
+#define SPI1_MISO_PIN                   PA6
+#define SPI1_MOSI_PIN                   PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN                    PA13
+#define SPI2_SCK_PIN                    PB13
+#define SPI2_MISO_PIN                   PB14
+#define SPI2_MOSI_PIN                   PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN                    PC0
+#define SPI3_SCK_PIN                    PB3
+#define SPI3_MISO_PIN                   PB4
+#define SPI3_MOSI_PIN                   PB5
+
+// ******* ADC ********
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+#define ADC_CHANNEL_3_PIN               PC3
+
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+
+#define VBAT_SCALE_DEFAULT              1100
+#define CURRENT_METER_SCALE             206
+
+// ******* OSD ********
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI2
+#define MAX7456_CS_PIN                  PA13
+
+//******* FLASH ********
+#if defined(AOCODARCF4V3_SD)
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC0
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN       PC14
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#else
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI3
+#define M25P16_CS_PIN                   PC0
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#endif
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC5  // VTX power switcher
+#define PINIO2_PIN                  PA14  //bluetooth
+#define PINIO3_PIN                  PC15 //Camera control
+#define PINIO1_FLAGS				PINIO_FLAGS_INVERTED
+#define PINIO2_FLAGS				PINIO_FLAGS_INVERTED
+
+//************ LEDSTRIP *****************
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB1
+
+// ******* FEATURES ********
+#define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
+#define SERIALRX_UART                   SERIAL_PORT_USART2
+#define SERIALRX_PROVIDER               SERIALRX_CRSF
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_GPS | FEATURE_BLACKBOX | FEATURE_LED_STRIP)
+
+#define TARGET_IO_PORTA                 0xffff
+#define TARGET_IO_PORTB                 0xffff
+#define TARGET_IO_PORTC                 0xffff
+#define TARGET_IO_PORTD                 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS            10
+
+// ESC-related features
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE

From c5a05c0496aef2b136100436febe456b4db592e3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= <pspychalski@gmail.com>
Date: Wed, 10 Apr 2024 14:13:50 +0200
Subject: [PATCH 040/132] Merge pull request #9919 from YI-BOYANG/master

Add GEPRC TAKERF722SE target
---
 src/main/target/TAKERF722SE/CMakeLists.txt |   1 +
 src/main/target/TAKERF722SE/target.c       |  48 ++++++
 src/main/target/TAKERF722SE/target.h       | 186 +++++++++++++++++++++
 3 files changed, 235 insertions(+)
 create mode 100644 src/main/target/TAKERF722SE/CMakeLists.txt
 create mode 100644 src/main/target/TAKERF722SE/target.c
 create mode 100644 src/main/target/TAKERF722SE/target.h

diff --git a/src/main/target/TAKERF722SE/CMakeLists.txt b/src/main/target/TAKERF722SE/CMakeLists.txt
new file mode 100644
index 0000000000..c4716f616e
--- /dev/null
+++ b/src/main/target/TAKERF722SE/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(TAKERF722SE)
\ No newline at end of file
diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c
new file mode 100644
index 0000000000..247efb84e5
--- /dev/null
+++ b/src/main/target/TAKERF722SE/target.c
@@ -0,0 +1,48 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/TAKERF722SE/target.h b/src/main/target/TAKERF722SE/target.h
new file mode 100644
index 0000000000..61ab442653
--- /dev/null
+++ b/src/main/target/TAKERF722SE/target.h
@@ -0,0 +1,186 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * Cleanflight 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
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+
+#define USBD_PRODUCT_STRING     "TAKERF722SE"
+
+#define LED0                    PC14
+
+
+// *************** BEEPER ************************
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+// *************** SPI Bus **********************
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PB14
+#define SPI2_MOSI_PIN   	    PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB2
+#define SPI3_SCK_AF             GPIO_AF6_SPI3
+#define SPI3_MISO_AF            GPIO_AF6_SPI3
+#define SPI3_MOSI_AF            GPIO_AF7_SPI3
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//***************************************************
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+
+#define USE_FLASHFS
+
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PA15
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC0
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+
+
+
+//**************************************************
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From d27f3fdaa0e5b9f676a7f4e94a1c90e659e43703 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 17 Apr 2024 15:18:09 +0200
Subject: [PATCH 041/132] Updated Iterm locking mechanism

---
 src/main/flight/pid.c | 63 +++++++++++++++++--------------------------
 1 file changed, 24 insertions(+), 39 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ae51385cf1..941e08a1a2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -107,10 +107,8 @@ typedef struct {
 
     smithPredictor_t smithPredictor;
 
-    float dampingFactorPrevious;
-    float dampingFactorLockValue;
-    float dampingFactotLockUntilMs;
-    pt1Filter_t dampingFactorFilter;
+    timeMs_t targetOverThresholdTimeMs;
+
 } pidState_t;
 
 STATIC_FASTRAM bool pidFiltersConfigured = false;
@@ -322,7 +320,6 @@ bool pidInitFilters(void)
 
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
         pt1FilterInit(&windupLpf[i], pidProfile()->iterm_relax_cutoff, US2S(refreshRate));
-        pt1FilterInit(&pidState[i].dampingFactorFilter, 2.0f, US2S(refreshRate));
     }
 
 #ifdef USE_ANTIGRAVITY
@@ -745,53 +742,43 @@ static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axi
 static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv)
 {
     const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
+    const float rateError = rateTarget - pidState->gyroRate;
 
     const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
     const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
 
-    float dampingFactorP;
-    float dampingFactorD;
-    float dampingFactorI;
-
     /*
-    New idea.... 
-    Iterm damping is applied (down to 0) when:
-    abs(error) > 10% rate and sticks were moved in the last 500ms (hard stop at this mark)
+     * Iterm damping is applied (down to 0) when:
+     * abs(error) > 10% rate and sticks were moved in the last 500ms (hard stop at this mark)
 
-    itermAttenuation  = MIN(curve(setpoint), (abs(error) > 10%) && (sticks were deflected in 500ms) ? 0 : 1)
-    
-    */
+     * itermAttenuation  = MIN(curve(setpoint), (abs(error) > 10%) && (sticks were deflected in 500ms) ? 0 : 1)
+     */
 
-    if (fabsf(dampingFactor) <= fabsf(pidState->dampingFactorPrevious)) {
-        dampingFactorI = dampingFactor;
+    //If error is greater than 10% or max rate
+    const bool errorThresholdReached = fabsf(rateError) > maxRate * 0.1f;
 
-        pidState->dampingFactotLockUntilMs = millis() + scaleRangef(fabsf(dampingFactor), 1.0f, 0.0f, 0, 300);
-        pidState->dampingFactorLockValue = dampingFactor;
-
-        // pt1FilterReset(&pidState->dampingFactorFilter, pidState->dampingFactorPrevious);
-        pidState->dampingFactorPrevious = dampingFactor;
-    } else {
-        
-        if (millis() > pidState->dampingFactorLockValue) {
-            dampingFactorI = dampingFactor;
-            pidState->dampingFactorPrevious = dampingFactor;
-        } else {
-            dampingFactorI = pidState->dampingFactorLockValue;
-        }
+    //If stick (setpoint) was moved above threshold in the last 500ms
+    if (fabsf(rateTarget) > maxRate * 0.2f) {
+        pidState->targetOverThresholdTimeMs = millis();
     }
 
+    //If error is below threshold, we no longer track time for lock mechanism
+    if (!errorThresholdReached) {
+        pidState->targetOverThresholdTimeMs = 0;
+    }
+
+    const float dampingFactorI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->targetOverThresholdTimeMs) < 500) ? 0.0f : 1.0f);
+
     //P & D damping factors are always the same and based on current damping factor
-    dampingFactorP = dampingFactor;
-    dampingFactorD = dampingFactor;
+    const float dampingFactorP = dampingFactor;
+    const float dampingFactorD = dampingFactor;
 
     if (axis == FD_ROLL) {
-        DEBUG_SET(DEBUG_ALWAYS, 0, pidState->dampingFactorPrevious * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 1, dampingFactorP * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 2, dampingFactorI * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 3, dampingFactorD * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 0, dampingFactorP * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 1, dampingFactorI * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 2, dampingFactorD * 1000);
     }
 
-    const float rateError = rateTarget - pidState->gyroRate;
     const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactorP;
     const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * dampingFactorD;
     const float newFFTerm = rateTarget * pidState->kFF;
@@ -1309,8 +1296,6 @@ void pidInit(void)
 
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
 
-        pidState[axis].dampingFactorPrevious = 1.0f;
-
     #ifdef USE_D_BOOST
         // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration.
         // We assume, max acceleration is when pilot deflects the stick fully in 100ms

From b810f99b310e6bae1840d1068eb954cab7fac101 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 17 Apr 2024 16:45:40 +0200
Subject: [PATCH 042/132] Refactor to contain logic in a single function

---
 src/main/flight/pid.c | 51 ++++++++++++++++++++++++++-----------------
 1 file changed, 31 insertions(+), 20 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 941e08a1a2..805450ca3e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -65,6 +65,14 @@
 
 #include "programming/logic_condition.h"
 
+typedef struct {
+    float aP;
+    float aI;
+    float aD;
+    float aFF;
+    timeMs_t targetOverThresholdTimeMs;
+} fwPidAttenuation_t;
+
 typedef struct {
     uint8_t axis;
     float kP;   // Proportional gain
@@ -107,8 +115,7 @@ typedef struct {
 
     smithPredictor_t smithPredictor;
 
-    timeMs_t targetOverThresholdTimeMs;
-
+    fwPidAttenuation_t attenuation;
 } pidState_t;
 
 STATIC_FASTRAM bool pidFiltersConfigured = false;
@@ -739,12 +746,8 @@ static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axi
     UNUSED(dT_inv);
 }
 
-static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv)
-{
-    const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
-    const float rateError = rateTarget - pidState->gyroRate;
-
-    const float maxRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
+static void fwRateAttenuation(pidState_t *pidState, const float rateTarget, const float rateError) {
+    const float maxRate = currentControlRateProfile->stabilized.rates[pidState->axis] * 10.0f;
     const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
 
     /*
@@ -759,35 +762,43 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
 
     //If stick (setpoint) was moved above threshold in the last 500ms
     if (fabsf(rateTarget) > maxRate * 0.2f) {
-        pidState->targetOverThresholdTimeMs = millis();
+        pidState->attenuation.targetOverThresholdTimeMs = millis();
     }
 
     //If error is below threshold, we no longer track time for lock mechanism
     if (!errorThresholdReached) {
-        pidState->targetOverThresholdTimeMs = 0;
+        pidState->attenuation.targetOverThresholdTimeMs = 0;
     }
 
-    const float dampingFactorI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->targetOverThresholdTimeMs) < 500) ? 0.0f : 1.0f);
+    pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < 500) ? 0.0f : 1.0f);
 
     //P & D damping factors are always the same and based on current damping factor
-    const float dampingFactorP = dampingFactor;
-    const float dampingFactorD = dampingFactor;
+    pidState->attenuation.aP = dampingFactor;
+    pidState->attenuation.aD = dampingFactor;
 
-    if (axis == FD_ROLL) {
-        DEBUG_SET(DEBUG_ALWAYS, 0, dampingFactorP * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 1, dampingFactorI * 1000);
-        DEBUG_SET(DEBUG_ALWAYS, 2, dampingFactorD * 1000);
+    if (pidState->axis == FD_ROLL) {
+        DEBUG_SET(DEBUG_ALWAYS, 0, pidState->attenuation.aP * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 1, pidState->attenuation.aI * 1000);
+        DEBUG_SET(DEBUG_ALWAYS, 2, pidState->attenuation.aD * 1000);
     }
+}
 
-    const float newPTerm = pTermProcess(pidState, rateError, dT) * dampingFactorP;
-    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * dampingFactorD;
+static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv)
+{
+    const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
+    const float rateError = rateTarget - pidState->gyroRate;
+
+    fwRateAttenuation(pidState, rateTarget, rateError);
+
+    const float newPTerm = pTermProcess(pidState, rateError, dT) * pidState->attenuation.aP;
+    const float newDTerm = dTermProcess(pidState, rateTarget, dT, dT_inv) * pidState->attenuation.aD;
     const float newFFTerm = rateTarget * pidState->kFF;
 
     /*
      * Integral should be updated only if axis Iterm is not frozen
      */
     if (!pidState->itermFreezeActive) {
-        pidState->errorGyroIf += rateError * pidState->kI * dT * dampingFactorI;
+        pidState->errorGyroIf += rateError * pidState->kI * dT * pidState->attenuation.aI;
     }
 
     applyItermLimiting(pidState);

From db497ffb2b56caffce0ec6b8a5a4ab230483c1b9 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 17 Apr 2024 18:18:07 +0200
Subject: [PATCH 043/132] Optimize PID axis processing

---
 src/main/flight/pid.c | 49 +++++++++++++++++++++----------------------
 1 file changed, 24 insertions(+), 25 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index c61fe5353f..02ff8c2dad 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -154,7 +154,7 @@ static EXTENDED_FASTRAM float iTermAntigravityGain;
 #endif
 static EXTENDED_FASTRAM uint8_t usedPidControllerType;
 
-typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv);
+typedef void (*pidControllerFnPtr)(pidState_t *pidState, float dT, float dT_inv);
 static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
 static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
 static EXTENDED_FASTRAM bool levelingEnabled = false;
@@ -744,16 +744,15 @@ static void applyItermLimiting(pidState_t *pidState) {
     }
 }
 
-static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv) {
+static void nullRateController(pidState_t *pidState, float dT, float dT_inv) {
     UNUSED(pidState);
-    UNUSED(axis);
     UNUSED(dT);
     UNUSED(dT_inv);
 }
 
-static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv)
+static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, float dT, float dT_inv)
 {
-    const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
+    const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget);
 
     const float rateError = rateTarget - pidState->gyroRate;
     const float newPTerm = pTermProcess(pidState, rateError, dT);
@@ -769,16 +768,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
 
     applyItermLimiting(pidState);
 
-    const uint16_t limit = getPidSumLimit(axis);
+    const uint16_t limit = getPidSumLimit(pidState->axis);
 
     if (pidProfile()->pidItermLimitPercent != 0){
         float itermLimit = limit * pidProfile()->pidItermLimitPercent * 0.01f;
         pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -itermLimit, +itermLimit);
     }
 
-    axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit);
+    axisPID[pidState->axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -limit, +limit);
 
-    if (FLIGHT_MODE(SOARING_MODE) && axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) {
+    if (FLIGHT_MODE(SOARING_MODE) && pidState->axis == FD_PITCH && calculateRollPitchCenterStatus() == CENTERED) {
         if (!angleFreefloatDeadband(DEGREES_TO_DECIDEGREES(navConfig()->fw.soaring_pitch_deadband), FD_PITCH)) {
             axisPID[FD_PITCH] = 0;  // center pitch servo if pitch attitude within soaring mode deadband
         }
@@ -786,16 +785,16 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
 
 #ifdef USE_AUTOTUNE_FIXED_WING
     if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
-        autotuneFixedWingUpdate(axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit));
+        autotuneFixedWingUpdate(pidState->axis, rateTarget, pidState->gyroRate, constrainf(newPTerm + newFFTerm, -limit, +limit));
     }
 #endif
 
 #ifdef USE_BLACKBOX
-    axisPID_P[axis] = newPTerm;
-    axisPID_I[axis] = pidState->errorGyroIf;
-    axisPID_D[axis] = newDTerm;
-    axisPID_F[axis] = newFFTerm;
-    axisPID_Setpoint[axis] = rateTarget;
+    axisPID_P[pidState->axis] = newPTerm;
+    axisPID_I[pidState->axis] = pidState->errorGyroIf;
+    axisPID_D[pidState->axis] = newDTerm;
+    axisPID_F[pidState->axis] = newFFTerm;
+    axisPID_Setpoint[pidState->axis] = rateTarget;
 #endif
 
     pidState->previousRateGyro = pidState->gyroRate;
@@ -818,10 +817,10 @@ static float FAST_CODE applyItermRelax(const int axis, float currentPidSetpoint,
     return itermErrorRate;
 }
 
-static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT, float dT_inv)
+static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, float dT, float dT_inv)
 {
 
-    const float rateTarget = getFlightAxisRateOverride(axis, pidState->rateTarget);
+    const float rateTarget = getFlightAxisRateOverride(pidState->axis, pidState->rateTarget);
 
     const float rateError = rateTarget - pidState->gyroRate;
     const float newPTerm = pTermProcess(pidState, rateError, dT);
@@ -835,13 +834,13 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
      */
     const float newCDTerm = rateTargetDeltaFiltered * pidState->kCD;
 
-    const uint16_t limit = getPidSumLimit(axis);
+    const uint16_t limit = getPidSumLimit(pidState->axis);
 
     // TODO: Get feedback from mixer on available correction range for each axis
     const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf + newCDTerm;
     const float newOutputLimited = constrainf(newOutput, -limit, +limit);
 
-    float itermErrorRate = applyItermRelax(axis, rateTarget, rateError);
+    float itermErrorRate = applyItermRelax(pidState->axis, rateTarget, rateError);
 
 #ifdef USE_ANTIGRAVITY
     itermErrorRate *= iTermAntigravityGain;
@@ -859,14 +858,14 @@ static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pid
     // Don't grow I-term if motors are at their limit
     applyItermLimiting(pidState);
 
-    axisPID[axis] = newOutputLimited;
+    axisPID[pidState->axis] = newOutputLimited;
 
 #ifdef USE_BLACKBOX
-    axisPID_P[axis] = newPTerm;
-    axisPID_I[axis] = pidState->errorGyroIf;
-    axisPID_D[axis] = newDTerm;
-    axisPID_F[axis] = newCDTerm;
-    axisPID_Setpoint[axis] = rateTarget;
+    axisPID_P[pidState->axis] = newPTerm;
+    axisPID_I[pidState->axis] = pidState->errorGyroIf;
+    axisPID_D[pidState->axis] = newDTerm;
+    axisPID_F[pidState->axis] = newCDTerm;
+    axisPID_Setpoint[pidState->axis] = rateTarget;
 #endif
 
     pidState->previousRateTarget = rateTarget;
@@ -1230,7 +1229,7 @@ void FAST_CODE pidController(float dT)
         checkItermLimitingActive(&pidState[axis]);
         checkItermFreezingActive(&pidState[axis], axis);
 
-        pidControllerApplyFn(&pidState[axis], axis, dT, dT_inv);
+        pidControllerApplyFn(&pidState[axis], dT, dT_inv);
     }
 }
 

From 09ed11ca35a7cd09741c17723287348005eb0bf5 Mon Sep 17 00:00:00 2001
From: error414 <error414@error414.com>
Date: Wed, 17 Apr 2024 21:34:31 +0200
Subject: [PATCH 044/132] rename NRA15/NRA24 only to NRA

---
 docs/Rangefinder.md       | 18 +++++++++---------
 src/main/fc/settings.yaml |  2 +-
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/docs/Rangefinder.md b/docs/Rangefinder.md
index 813184f837..b53ae439b7 100644
--- a/docs/Rangefinder.md
+++ b/docs/Rangefinder.md
@@ -27,15 +27,15 @@ Following rangefinders are supported:
 NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware
 to two different resolutions. See table below.
 
-| Radar | Protocol | Resolution      | Name in configurator  |
-|-------|----------|-----------------|-----------------------|
-| NRA15 | US-D1_V0 | 0-30m (+-4cm)   | USD1_V0               |
-| NRA15 | NRA      | 0-30m (+-4cm)   | NRA15/NRA24           | 
-| NRA15 | NRA      | 0-100m (+-10cm) | NRA15/NRA24           | 
-| NRA24 | US-D1_V0 | 0-50m (+-4cm)   | USD1_V0               |
-| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0               |
-| NRA24 | NRA      | 0-50m (+-4cm)   | NRA15/NRA24           | 
-| NRA24 | NRA      | 0-200m (+-10cm) | NRA15/NRA24           | 
+| Radar | Protocol | Resolution      | Name in configurator |
+|-------|----------|-----------------|----------------------|
+| NRA15 | US-D1_V0 | 0-30m (+-4cm)   | USD1_V0              |
+| NRA15 | NRA      | 0-30m (+-4cm)   | NRA                  | 
+| NRA15 | NRA      | 0-100m (+-10cm) | NRA                  | 
+| NRA24 | US-D1_V0 | 0-50m (+-4cm)   | USD1_V0              |
+| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0              |
+| NRA24 | NRA      | 0-50m (+-4cm)   | NRA                  | 
+| NRA24 | NRA      | 0-200m (+-10cm) | NRA                  | 
 
 
 ## Connections
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index b2be345391..1165813541 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -5,7 +5,7 @@ tables:
     values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA15/NRA24"]
+    values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA"]
     enum: rangefinderType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]

From a1d28a5e2c8f2f57112d4cc5f6de954dd3803f6e Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 20 Apr 2024 21:46:05 +0200
Subject: [PATCH 045/132] Merge pull request #9807 from jhemcu/jhemcu-targets

Target: Add JHEMCUF405WING, JHEMCUF745, JHEMCUH743HD board
---
 src/main/target/JHEMCUF405WING/CMakeLists.txt |   1 +
 src/main/target/JHEMCUF405WING/config.c       |  42 ++++
 src/main/target/JHEMCUF405WING/target.c       |  47 ++++
 src/main/target/JHEMCUF405WING/target.h       | 163 ++++++++++++++
 src/main/target/JHEMCUF745/CMakeLists.txt     |   1 +
 src/main/target/JHEMCUF745/config.c           |  29 +++
 src/main/target/JHEMCUF745/target.c           |  44 ++++
 src/main/target/JHEMCUF745/target.h           | 157 ++++++++++++++
 src/main/target/JHEMCUH743HD/CMakeLists.txt   |   1 +
 src/main/target/JHEMCUH743HD/config.c         |  66 ++++++
 src/main/target/JHEMCUH743HD/target.c         |  49 +++++
 src/main/target/JHEMCUH743HD/target.h         | 205 ++++++++++++++++++
 12 files changed, 805 insertions(+)
 create mode 100644 src/main/target/JHEMCUF405WING/CMakeLists.txt
 create mode 100644 src/main/target/JHEMCUF405WING/config.c
 create mode 100644 src/main/target/JHEMCUF405WING/target.c
 create mode 100644 src/main/target/JHEMCUF405WING/target.h
 create mode 100644 src/main/target/JHEMCUF745/CMakeLists.txt
 create mode 100644 src/main/target/JHEMCUF745/config.c
 create mode 100644 src/main/target/JHEMCUF745/target.c
 create mode 100644 src/main/target/JHEMCUF745/target.h
 create mode 100644 src/main/target/JHEMCUH743HD/CMakeLists.txt
 create mode 100644 src/main/target/JHEMCUH743HD/config.c
 create mode 100644 src/main/target/JHEMCUH743HD/target.c
 create mode 100644 src/main/target/JHEMCUH743HD/target.h

diff --git a/src/main/target/JHEMCUF405WING/CMakeLists.txt b/src/main/target/JHEMCUF405WING/CMakeLists.txt
new file mode 100644
index 0000000000..fb99881c9b
--- /dev/null
+++ b/src/main/target/JHEMCUF405WING/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(JHEMCUF405WING)
diff --git a/src/main/target/JHEMCUF405WING/config.c b/src/main/target/JHEMCUF405WING/config.c
new file mode 100644
index 0000000000..07f44ab29f
--- /dev/null
+++ b/src/main/target/JHEMCUF405WING/config.c
@@ -0,0 +1,42 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+#include "io/serial.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_GPS;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_MSP;
+	
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}
diff --git a/src/main/target/JHEMCUF405WING/target.c b/src/main/target/JHEMCUF405WING/target.c
new file mode 100644
index 0000000000..e8187f936b
--- /dev/null
+++ b/src/main/target/JHEMCUF405WING/target.c
@@ -0,0 +1,47 @@
+/*
+ * 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 <stdint.h>
+#include <stdbool.h>
+#include <platform.h>
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 1, 0), // S1 D(1,3,2)
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 1, 0), // S2 D(1,0,2)
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 1, 0), // S3 D(1,7,5)
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S4 D(1,2,5)
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 1, 0), // S5 D(2,4,7)
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 1, 0), // S6 D(2,7,7)
+    
+    DEF_TIM(TIM8, CH2N,PB14, TIM_USE_OUTPUT_AUTO, 1, 0), // S7
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 1, 0), // S8
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 1, 0), // S9
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 1, 0), // S10
+    DEF_TIM(TIM12, CH2,PB15, TIM_USE_OUTPUT_AUTO, 1, 0), // S11 
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // 2812LED
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), // TX2
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEMCUF405WING/target.h b/src/main/target/JHEMCUF405WING/target.h
new file mode 100644
index 0000000000..fd64ff153d
--- /dev/null
+++ b/src/main/target/JHEMCUF405WING/target.h
@@ -0,0 +1,163 @@
+/*
+ * 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
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "JH45"
+#define USBD_PRODUCT_STRING     "JHEMCUF405WING"
+
+// LEDs
+#define LED0                    PA14  //Blue
+#define LED1                    PA13  //Green
+
+// Beeper
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+// SPI1
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN   	    PA6
+#define SPI1_MOSI_PIN   	    PA7
+
+// SPI2
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PC2
+#define SPI2_MOSI_PIN   	    PC3
+
+// SPI3
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN   	    PB4
+#define SPI3_MOSI_PIN   	    PB5
+
+// Serial ports
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+// Optional Softserial on UART2 TX Pin PA2
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PA2
+#define SOFTSERIAL_1_RX_PIN      PA2
+
+#define SERIAL_PORT_COUNT       8
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// Baro
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_ALL
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL 
+
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_CS_PIN          PB12
+#define MAX7456_SPI_BUS         BUS_SPI2
+
+// SD Card
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC14
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// ADC
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC5
+#define ADC_CHANNEL_4_PIN           PC4
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_4
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_3
+
+// LED2812
+#define USE_LED_STRIP
+#define WS2811_PIN              PA8
+
+// PINIO
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC13  // 2xCamera switcher
+
+// OTHERS
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX | FEATURE_AIRMODE)
+#define CURRENT_METER_SCALE     175
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS    11
\ No newline at end of file
diff --git a/src/main/target/JHEMCUF745/CMakeLists.txt b/src/main/target/JHEMCUF745/CMakeLists.txt
new file mode 100644
index 0000000000..5f5a85e7c5
--- /dev/null
+++ b/src/main/target/JHEMCUF745/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f745xg(JHEMCUF745)
diff --git a/src/main/target/JHEMCUF745/config.c b/src/main/target/JHEMCUF745/config.c
new file mode 100644
index 0000000000..fb2fe04f96
--- /dev/null
+++ b/src/main/target/JHEMCUF745/config.c
@@ -0,0 +1,29 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "drivers/pwm_mapping.h"
+
+void targetConfiguration(void)
+{
+    timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+}
diff --git a/src/main/target/JHEMCUF745/target.c b/src/main/target/JHEMCUF745/target.c
new file mode 100644
index 0000000000..f603cbe43b
--- /dev/null
+++ b/src/main/target/JHEMCUF745/target.c
@@ -0,0 +1,44 @@
+/*
+ * This file is part of INAV.
+ *
+ * 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 "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+#include "drivers/pinio.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // M1, DMA1_ST7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0), // M2, DMA1_ST2
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,   0, 0), // M3
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO,   0, 1), // M4, DMA2_ST4
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // M5, DMA2_ST7
+    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO,   0, 0), // M6, DMA1_ST1
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO,   0, 0), // S8
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,           0, 0), // LED_STRIP, DMA1_ST0
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEMCUF745/target.h b/src/main/target/JHEMCUF745/target.h
new file mode 100644
index 0000000000..dfd45749d2
--- /dev/null
+++ b/src/main/target/JHEMCUF745/target.h
@@ -0,0 +1,157 @@
+/*
+ * This file is part of INAV.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "JHF7"
+#define USBD_PRODUCT_STRING     "JHEMCUF745"
+
+#define LED0                PA2
+
+#define BEEPER              PD15
+#define BEEPER_INVERTED
+
+#define USE_DSHOT
+#define USE_DSHOT_DMAR
+#define USE_ESC_SENSOR
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN    CW270_DEG
+#define GYRO_INT_EXTI        PE1
+#define MPU6000_CS_PIN       SPI4_NSS_PIN
+#define MPU6000_SPI_BUS      BUS_SPI4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN   CW270_DEG
+#define ICM42605_CS_PIN      SPI4_NSS_PIN
+#define ICM42605_SPI_BUS     BUS_SPI4
+#define ICM42605_EXTI_PIN    PE1 
+
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_ENABLED
+#define VBUS_SENSING_PIN    PA8
+
+#define USE_UART1
+#define UART1_TX_PIN        PA9
+#define UART1_RX_PIN        PA10
+
+#define USE_UART2
+#define UART2_TX_PIN        PD5
+#define UART2_RX_PIN        PD6
+
+#define USE_UART3
+#define UART3_TX_PIN        PB10
+#define UART3_RX_PIN        PB11
+
+#define USE_UART4
+#define UART4_TX_PIN        PA0
+#define UART4_RX_PIN        PA1
+
+#define USE_UART5
+#define UART5_TX_PIN        PC12
+#define UART5_RX_PIN        PD2
+
+#define USE_UART6
+#define UART6_TX_PIN        PC6
+#define UART6_RX_PIN        PC7
+
+#define USE_UART7
+#define UART7_RX_PIN PE7
+#define UART7_TX_PIN PE8
+
+#define SERIAL_PORT_COUNT   8 // VCP,UART1,UART2,UART3,UART4,UART5,UART6
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1    // FLASH
+#define USE_SPI_DEVICE_2    // OSD
+#define USE_SPI_DEVICE_4    // ICM20689
+
+#define SPI1_NSS_PIN        PA4
+#define SPI1_SCK_PIN        PA5
+#define SPI1_MISO_PIN       PA6
+#define SPI1_MOSI_PIN       PA7
+
+#define SPI2_NSS_PIN        PB12
+#define SPI2_SCK_PIN        PB13
+#define SPI2_MISO_PIN       PB14
+#define SPI2_MOSI_PIN       PB15
+
+#define SPI4_NSS_PIN        PE4
+#define SPI4_SCK_PIN        PE2
+#define SPI4_MISO_PIN       PE5
+#define SPI4_MOSI_PIN       PE6
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS     BUS_SPI2
+#define MAX7456_CS_PIN      SPI2_NSS_PIN
+
+#define M25P16_CS_PIN       SPI1_NSS_PIN
+#define M25P16_SPI_BUS      BUS_SPI1
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL            PB6
+#define I2C1_SDA            PB7
+
+// External I2C bus is the same as interal one
+#define MAG_I2C_BUS         BUS_I2C1
+#define TEMPERATURE_I2C_BUS BUS_I2C1
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+#define DEFAULT_I2C_BUS     BUS_I2C1
+
+#define USE_BARO
+#define USE_BARO_ALL
+#define BARO_I2C_BUS        BUS_I2C1
+
+#define USE_MAG
+#define USE_MAG_ALL
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN   PC2
+#define ADC_CHANNEL_2_PIN   PC3
+#define ADC_CHANNEL_3_PIN   PC5
+
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_1
+#define VBAT_ADC_CHANNEL            ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_FEATURES    (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_TYPE     RX_TYPE_SERIAL
+#define SERIALRX_UART       SERIAL_PORT_USART1
+#define SERIALRX_PROVIDER   SERIALRX_SBUS
+
+#define USE_LED_STRIP
+#define WS2811_PIN          PD12
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS    8
diff --git a/src/main/target/JHEMCUH743HD/CMakeLists.txt b/src/main/target/JHEMCUH743HD/CMakeLists.txt
new file mode 100644
index 0000000000..b0192886d6
--- /dev/null
+++ b/src/main/target/JHEMCUH743HD/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(JHEMCUH743HD)
\ No newline at end of file
diff --git a/src/main/target/JHEMCUH743HD/config.c b/src/main/target/JHEMCUH743HD/config.c
new file mode 100644
index 0000000000..4f0aea919e
--- /dev/null
+++ b/src/main/target/JHEMCUH743HD/config.c
@@ -0,0 +1,66 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+
+
+    /*
+     * UART1 is SerialRX
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
+    
+    /*
+     * Enable MSP at 115200 at UART4
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
+}
diff --git a/src/main/target/JHEMCUH743HD/target.c b/src/main/target/JHEMCUH743HD/target.c
new file mode 100644
index 0000000000..adb753b9d1
--- /dev/null
+++ b/src/main/target/JHEMCUH743HD/target.c
@@ -0,0 +1,49 @@
+/*
+ * 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 <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605, ICM42605_SPI_BUS,   ICM42605_CS_PIN,    NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1),   // S2
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 2),   // S3
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 3),   // S4
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4),   // S5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5),   // S6
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 6),   // S7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7),   // S8
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEMCUH743HD/target.h b/src/main/target/JHEMCUH743HD/target.h
new file mode 100644
index 0000000000..92300b5256
--- /dev/null
+++ b/src/main/target/JHEMCUH743HD/target.h
@@ -0,0 +1,205 @@
+/*
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "JHEH743HD"
+#define USBD_PRODUCT_STRING     "JHEMCUH743HD"
+
+#define USE_TARGET_CONFIG
+
+#define LED0 PE5
+#define LED1 PE4
+
+#define BEEPER PE3
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+// *************** SPI1 IMU0 MPU6000 ****************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN CW180_DEG
+#define MPU6000_SPI_BUS BUS_SPI1
+#define MPU6000_CS_PIN PA4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN CW180_DEG
+#define BMI270_SPI_BUS BUS_SPI1
+#define BMI270_CS_PIN PA4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// *************** SPI3 FLASH ***********************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PB2
+#define SPI3_NSS_PIN PA15
+#define SPI3_SCK_AF GPIO_AF6_SPI3
+#define SPI3_MISO_AF GPIO_AF6_SPI3
+#define SPI3_MOSI_AF GPIO_AF7_SPI3
+
+#define M25P16_SPI_BUS BUS_SPI3
+#define M25P16_CS_PIN SPI3_NSS_PIN
+
+#define W25N01G_SPI_BUS BUS_SPI3
+#define W25N01G_CS_PIN SPI3_NSS_PIN
+
+#define USE_BLACKBOX
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS BUS_I2C1
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+
+#define USE_UART3
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+
+#define USE_UART4
+#define UART4_TX_PIN PD1
+#define UART4_RX_PIN PD0
+
+#define USE_UART5
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+
+#define USE_UART8
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 9
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC3
+
+#ifdef MAMBAH743_2022B
+
+#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_2_PIN PC3
+#define ADC_CHANNEL_3_PIN PC0
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_3
+
+#else
+
+#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_2_PIN PC3
+#define ADC_CHANNEL_3_PIN PC2
+#define ADC_CHANNEL_4_PIN PC0
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
+
+#endif
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+
+#define PINIO1_PIN PC2
+#define PINIO2_PIN PC5
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL)
+#define CURRENT_METER_SCALE 250
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 8
+#define USE_DSHOT
+#define USE_ESC_SENSOR
\ No newline at end of file

From 7dabfb0ddfe4d424f19beedc5a7a1968ead4492f Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 21 Apr 2024 11:53:21 +0200
Subject: [PATCH 046/132] Fix ZEEZF7 output mapping

---
 src/main/target/ZEEZF7/target.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/target/ZEEZF7/target.c b/src/main/target/ZEEZF7/target.c
index f1f5356dcb..79bfc08d2c 100755
--- a/src/main/target/ZEEZF7/target.c
+++ b/src/main/target/ZEEZF7/target.c
@@ -32,9 +32,9 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
     DEF_TIM(TIM2, CH2,  PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
     DEF_TIM(TIM8, CH1,  PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S5
-    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
-    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
-    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+    DEF_TIM(TIM8, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
+    DEF_TIM(TIM1, CH3N,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
 #endif
 
 #ifdef ZEEZF7V2
@@ -42,10 +42,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
     DEF_TIM(TIM3, CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
     DEF_TIM(TIM2, CH2,  PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
-    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
-    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM8, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
     DEF_TIM(TIM8, CH1,  PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
-    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+    DEF_TIM(TIM1, CH3N,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
 #endif
 
 #ifdef ZEEZF7

From 3e961f725d3c157ef1f17e746f3f25d8aad342ee Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 21 Apr 2024 11:58:22 +0200
Subject: [PATCH 047/132] Fix line endings

---
 src/main/target/TAKERF722SE/target.c |  96 +++----
 src/main/target/TAKERF722SE/target.h | 372 +++++++++++++--------------
 2 files changed, 234 insertions(+), 234 deletions(-)

diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c
index 247efb84e5..d67062a9fb 100644
--- a/src/main/target/TAKERF722SE/target.c
+++ b/src/main/target/TAKERF722SE/target.c
@@ -1,48 +1,48 @@
-/*
-* This file is part of INAV Project.
-*
-* 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 <stdint.h>
-
-#include "platform.h"
-#include "drivers/io.h"
-
-#include "drivers/dma.h"
-#include "drivers/timer.h"
-#include "drivers/timer_def.h"
-
-
-
-
-
-timerHardware_t timerHardware[] = {
-
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
-};
-
-const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
-
-
+/*
+* This file is part of INAV Project.
+*
+* 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 <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/TAKERF722SE/target.h b/src/main/target/TAKERF722SE/target.h
index 61ab442653..817dc535f0 100644
--- a/src/main/target/TAKERF722SE/target.h
+++ b/src/main/target/TAKERF722SE/target.h
@@ -1,186 +1,186 @@
-/*
- * This file is part of INAV Project.
- *
- * Cleanflight 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
-
-#define TARGET_BOARD_IDENTIFIER "GEPR"
-
-#define USBD_PRODUCT_STRING     "TAKERF722SE"
-
-#define LED0                    PC14
-
-
-// *************** BEEPER ************************
-
-#define BEEPER                  PC13
-#define BEEPER_INVERTED
-
-
-// *************** LEDSTRIP ************************
-#define USE_LED_STRIP
-#define WS2811_PIN                  PA8
-
-
-// *************** UART *****************************
-#define USE_VCP
-
-#define USE_UART1
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define USE_UART2
-#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN            PA3
-
-#define USE_UART3
-#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN            PB11
-
-#define USE_UART4
-#define UART4_TX_PIN            PA0
-#define UART4_RX_PIN            PA1
-
-#define USE_UART5
-#define UART5_TX_PIN            PC12
-#define UART5_RX_PIN            PD2
-
-#define USE_UART6
-#define UART6_TX_PIN            PC6
-#define UART6_RX_PIN            PC7
-
-
-#define SERIAL_PORT_COUNT       7
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART2
-
-
-// *************** SPI Bus **********************
-
-#define USE_SPI
-
-#define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN           PA7
-
-#define USE_SPI_DEVICE_2
-#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN   	    PB14
-#define SPI2_MOSI_PIN   	    PB15
-
-#define USE_SPI_DEVICE_3
-#define SPI3_SCK_PIN            PC10
-#define SPI3_MISO_PIN           PC11
-#define SPI3_MOSI_PIN           PB2
-#define SPI3_SCK_AF             GPIO_AF6_SPI3
-#define SPI3_MISO_AF            GPIO_AF6_SPI3
-#define SPI3_MOSI_AF            GPIO_AF7_SPI3
-
-
-// *************** Gyro & ACC **********************
-
-#define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN       CW0_DEG
-#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_BUS         BUS_SPI1
-
-
-#define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW0_DEG
-#define ICM42605_CS_PIN         PA4
-#define ICM42605_SPI_BUS        BUS_SPI1
-
-// *************** I2C/Baro/Mag *********************
-#define USE_I2C
-#define USE_I2C_DEVICE_1
-#define I2C1_SCL                PB8
-#define I2C1_SDA                PB9
-
-
-//***************************************************
-#define USE_BARO
-#define BARO_I2C_BUS            BUS_I2C1
-#define USE_BARO_BMP280
-#define USE_BARO_DPS310
-#define USE_BARO_MS5611
-
-#define USE_MAG
-#define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-
-#define TEMPERATURE_I2C_BUS     BUS_I2C1
-
-#define PITOT_I2C_BUS           BUS_I2C1
-
-#define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
-
-// *************** FLASH **************************
-
-#define USE_FLASHFS
-
-#define USE_FLASH_M25P16
-#define M25P16_CS_PIN           PA15
-#define M25P16_SPI_BUS          BUS_SPI3
-
-#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-
-// *************** OSD *****************************
-
-#define USE_MAX7456
-#define MAX7456_SPI_BUS         BUS_SPI2
-#define MAX7456_CS_PIN          PB12
-
-// *************** ADC *****************************
-
-#define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define ADC1_DMA_STREAM             DMA2_Stream0
-#define ADC_CHANNEL_1_PIN           PC3
-#define ADC_CHANNEL_2_PIN           PC0
-#define ADC_CHANNEL_3_PIN           PC2
-
-#define VBAT_ADC_CHANNEL            ADC_CHN_1
-#define RSSI_ADC_CHANNEL            ADC_CHN_2
-#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
-
-
-#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
-
-
-
-
-//**************************************************
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
-
-
-#define MAX_PWM_OUTPUT_PORTS        8
-
-#define USE_DSHOT
-#define USE_ESC_SENSOR
+/*
+ * This file is part of INAV Project.
+ *
+ * Cleanflight 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
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+
+#define USBD_PRODUCT_STRING     "TAKERF722SE"
+
+#define LED0                    PC14
+
+
+// *************** BEEPER ************************
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+// *************** SPI Bus **********************
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PB14
+#define SPI2_MOSI_PIN   	    PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB2
+#define SPI3_SCK_AF             GPIO_AF6_SPI3
+#define SPI3_MISO_AF            GPIO_AF6_SPI3
+#define SPI3_MOSI_AF            GPIO_AF7_SPI3
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//***************************************************
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+
+#define USE_FLASHFS
+
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PA15
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC0
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+
+
+
+//**************************************************
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From 34e8d82b6039cd4208fba7e987bed163fc92f902 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 21 Apr 2024 12:02:36 +0200
Subject: [PATCH 048/132] Enable baro-less navigation by default

---
 docs/Settings.md          | 4 ++--
 src/main/fc/settings.yaml | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 8608eb01f5..9c31498ef1 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1844,11 +1844,11 @@ Allows to chose when the home position is reset. Can help prevent resetting home
 
 ### inav_use_gps_no_baro
 
-_// TODO_
+Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF | OFF | ON |
+| ON | OFF | ON |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 66abea4639..d2d8c5c433 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2288,9 +2288,10 @@ groups:
         field: use_gps_velned
         type: bool
       - name: inav_use_gps_no_baro
+        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
         field: use_gps_no_baro
         type: bool
-        default_value: OFF
+        default_value: ON
       - name: inav_allow_dead_reckoning
         description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
         default_value: OFF

From 1d919de74403f53bf0c1a6ef0ff5735f08d84676 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 21 Apr 2024 20:58:42 +0100
Subject: [PATCH 049/132] Update navigation.c

---
 src/main/navigation/navigation.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 284afc7410..e8d481a6cf 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1156,7 +1156,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .timeoutMs = 10,
         .stateFlags = NAV_REQUIRE_ANGLE,
         .mapToFlightModes = NAV_FW_AUTOLAND,
-        .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
+        .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                                 = NAV_STATE_FW_LANDING_FINISHED,   // re-process the state

From feba572aea875a2b0bdb2bb876ae1e7256e67caf Mon Sep 17 00:00:00 2001
From: YI-BOYANG <46438966+YI-BOYANG@users.noreply.github.com>
Date: Sat, 27 Apr 2024 17:53:14 +0800
Subject: [PATCH 050/132] Add GEPRCF745_BT_HD target

---
 .../target/GEPRCF745_BT_HD/CMakeLists.txt     |   1 +
 src/main/target/GEPRCF745_BT_HD/config.c      |  63 ++++++
 src/main/target/GEPRCF745_BT_HD/target.c      |  52 +++++
 src/main/target/GEPRCF745_BT_HD/target.h      | 198 ++++++++++++++++++
 4 files changed, 314 insertions(+)
 create mode 100644 src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
 create mode 100644 src/main/target/GEPRCF745_BT_HD/config.c
 create mode 100644 src/main/target/GEPRCF745_BT_HD/target.c
 create mode 100644 src/main/target/GEPRCF745_BT_HD/target.h

diff --git a/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
new file mode 100644
index 0000000000..815e08923a
--- /dev/null
+++ b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f745xg(GEPRCF745_BT_HD)
diff --git a/src/main/target/GEPRCF745_BT_HD/config.c b/src/main/target/GEPRCF745_BT_HD/config.c
new file mode 100644
index 0000000000..f228c3e023
--- /dev/null
+++ b/src/main/target/GEPRCF745_BT_HD/config.c
@@ -0,0 +1,63 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+
+#define BLUETOOTH_MSP_BAUDRATE      BAUD_115200
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOXARM;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER1;
+
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].msp_baudrateIndex = BLUETOOTH_MSP_BAUDRATE;
+}
+
diff --git a/src/main/target/GEPRCF745_BT_HD/target.c b/src/main/target/GEPRCF745_BT_HD/target.c
new file mode 100644
index 0000000000..57a8c2a891
--- /dev/null
+++ b/src/main/target/GEPRCF745_BT_HD/target.c
@@ -0,0 +1,52 @@
+/*
+* This file is part of INAV Project.
+*
+* 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 <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/sensor.h"
+
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/GEPRCF745_BT_HD/target.h b/src/main/target/GEPRCF745_BT_HD/target.h
new file mode 100644
index 0000000000..340f7bbe39
--- /dev/null
+++ b/src/main/target/GEPRCF745_BT_HD/target.h
@@ -0,0 +1,198 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+#define USBD_PRODUCT_STRING     "GEPRCF745_BT_HD"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PC13
+
+#define BEEPER                  PD2
+#define BEEPER_INVERTED
+
+
+//**************** SPI BUS *************************
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+#define USE_IMU_MPU6000
+#define USE_IMU_ICM42605
+
+
+// *****IMU1 MPU6000 & ICM42688 ON  SPI1 **************
+#define IMU1_ALIGN              CW180_DEG
+#define IMU1_SPI_BUS            BUS_SPI1
+#define IMU1_CS_PIN             PA4
+
+
+
+// *****IMU2 MPU6000 & ICM42688 ON  SPI2 **************
+#define IMU2_ALIGN              CW0_DEG
+#define IMU2_SPI_BUS            BUS_SPI2
+#define IMU2_CS_PIN             PB12
+
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+
+// ************PINIO to disable BT*****************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PE13  
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+
+// ************PINIO to other
+#define PINIO2_PIN                  PC14               //Enable vsw
+
+
+// *************** OSD *****************************
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI4
+#define MAX7456_CS_PIN          PE4
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_UART7
+#define UART7_RX_PIN            PE7
+#define UART7_TX_PIN            PE8
+
+#define USE_UART8
+#define UART8_RX_PIN            PE0
+#define UART8_TX_PIN            PE1
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC5
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From f3f0397e07003eb3dc510f23e27fdd07192a2fdd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 29 Apr 2024 15:02:20 +0200
Subject: [PATCH 051/132] Revert enforcing mode on TIM3

---
 src/main/target/MAMBAF405_2022A/config.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/target/MAMBAF405_2022A/config.c b/src/main/target/MAMBAF405_2022A/config.c
index ba3a5344c2..d632230c24 100644
--- a/src/main/target/MAMBAF405_2022A/config.c
+++ b/src/main/target/MAMBAF405_2022A/config.c
@@ -57,7 +57,4 @@ void targetConfiguration(void)
     
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
-
-    // To improve backwards compatibility with INAV versions 6.x and older
-    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
 }

From ab7ab945a2f1b45578ff54baab1e3256b7310eff Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 17:37:25 +0200
Subject: [PATCH 052/132] Looks like inav never had the pins for the NANO
 variant correct.

---
 src/main/target/FLYWOOF745/target.c | 29 +++++++++++++++++++----------
 1 file changed, 19 insertions(+), 10 deletions(-)

diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c
index a82a708f51..04c083ac94 100644
--- a/src/main/target/FLYWOOF745/target.c
+++ b/src/main/target/FLYWOOF745/target.c
@@ -30,17 +30,26 @@
 #include "drivers/pinio.h"
 
 timerHardware_t timerHardware[] = {
-    // DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM, DMA2_ST6
+// DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM,
+// DMA2_ST6
 
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,    0, 0), // M1 , DMA1_ST2
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,    0, 0), // M2 , DMA2_ST7
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,    0, 0), // M3 , DMA1_ST7
-    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO,    0, 1), // M4 , DMA2_ST4
-    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,    0, 2), // M5 , DMA2_ST2
-    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO,    0, 0), // M6 , DMA1_ST1
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO,    0, 0), // M7 , DMA1_ST4
-    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO,    0, 0), // M8 , DMA1_ST5
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,            0, 0), // LED_STRIP, DMA1_ST0
+#ifdef FLYWOOF745
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST2
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA2_ST7
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M3 , DMA1_ST7
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M5 , DMA2_ST2
+#else /* FLYWOOF745NANO */
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA1_ST2
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M3 , DMA2_ST2
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M5 , DMA2_ST7
+#endif
+    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M6 , DMA1_ST1
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M7 , DMA1_ST4
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M8 , DMA1_ST5
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0),         // LED_STRIP, DMA1_ST0
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From 72b5fab0cc7977ad7662690d7bb4f306fe2ba36f Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Mon, 29 Apr 2024 15:02:20 +0200
Subject: [PATCH 053/132] Revert enforcing mode on TIM3

---
 src/main/target/MAMBAF405_2022A/config.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/target/MAMBAF405_2022A/config.c b/src/main/target/MAMBAF405_2022A/config.c
index ba3a5344c2..d632230c24 100644
--- a/src/main/target/MAMBAF405_2022A/config.c
+++ b/src/main/target/MAMBAF405_2022A/config.c
@@ -57,7 +57,4 @@ void targetConfiguration(void)
     
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
-
-    // To improve backwards compatibility with INAV versions 6.x and older
-    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
 }

From 0bf3d3c3c421c0759ab97f14567361688b2924db Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= <pspychalski@gmail.com>
Date: Mon, 29 Apr 2024 19:34:18 +0200
Subject: [PATCH 054/132] Merge pull request #9990 from
 iNavFlight/mmosca-flywoof745-fixes

Match F745 and F745NANO motor pins to BF target
---
 src/main/target/FLYWOOF745/target.c | 29 +++++++++++++++++++----------
 1 file changed, 19 insertions(+), 10 deletions(-)

diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c
index a82a708f51..04c083ac94 100644
--- a/src/main/target/FLYWOOF745/target.c
+++ b/src/main/target/FLYWOOF745/target.c
@@ -30,17 +30,26 @@
 #include "drivers/pinio.h"
 
 timerHardware_t timerHardware[] = {
-    // DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM, DMA2_ST6
+// DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM,
+// DMA2_ST6
 
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,    0, 0), // M1 , DMA1_ST2
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,    0, 0), // M2 , DMA2_ST7
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,    0, 0), // M3 , DMA1_ST7
-    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO,    0, 1), // M4 , DMA2_ST4
-    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,    0, 2), // M5 , DMA2_ST2
-    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO,    0, 0), // M6 , DMA1_ST1
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO,    0, 0), // M7 , DMA1_ST4
-    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO,    0, 0), // M8 , DMA1_ST5
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,            0, 0), // LED_STRIP, DMA1_ST0
+#ifdef FLYWOOF745
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST2
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA2_ST7
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M3 , DMA1_ST7
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M5 , DMA2_ST2
+#else /* FLYWOOF745NANO */
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA1_ST2
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M3 , DMA2_ST2
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M5 , DMA2_ST7
+#endif
+    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M6 , DMA1_ST1
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M7 , DMA1_ST4
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M8 , DMA1_ST5
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED, 0, 0),         // LED_STRIP, DMA1_ST0
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From e0f383bae3752c436453b13779cf164396a8a5c5 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:15:12 +0200
Subject: [PATCH 055/132] Revert to macos13 in release_7.1.1 to fix build
 without backporting all fixes

---
 .github/workflows/ci.yml | 312 +++++++++++++++++++--------------------
 1 file changed, 156 insertions(+), 156 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 09e27045ca..94dc8bf344 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,156 +1,156 @@
-name: Build firmware
-# Don't enable CI on push, just on PR. If you
-# are working on the main repo and want to trigger
-# a CI build submit a draft PR.
-on: pull_request
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-        matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
-
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - uses: actions/cache@v1
-        with:
-          path: downloads
-          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
-      - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}
-          path: ./build/*.hex
-
-  build-SITL-Linux:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Mac:
-    runs-on: macos-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: |
-          brew install cmake ninja ruby
-
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: |
-          mkdir -p build_SITL && cd build_SITL
-          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
-          ninja
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL-MacOS
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Windows:
-    runs-on: windows-latest
-    defaults:
-      run:
-        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
-    steps:
-      - uses: actions/checkout@v3
-      - name: Setup Cygwin
-        uses: egor-tensin/setup-cygwin@v4
-        with:
-          packages: cmake ruby ninja gcc-g++
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL-WIN
-          path: ./build_SITL/*.exe
-
-
-  test:
-    needs: [build]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Run Tests
-        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
+name: Build firmware
+# Don't enable CI on push, just on PR. If you
+# are working on the main repo and want to trigger
+# a CI build submit a draft PR.
+on: pull_request
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - uses: actions/cache@v1
+        with:
+          path: downloads
+          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
+      - name: Build targets (${{ matrix.id }})
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}
+          path: ./build/*.hex
+
+  build-SITL-Linux:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-13
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
+          ninja
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Windows:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Cygwin
+        uses: egor-tensin/setup-cygwin@v4
+        with:
+          packages: cmake ruby ninja gcc-g++
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
+          path: ./build_SITL/*.exe
+
+
+  test:
+    needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Run Tests
+        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check

From 6669af879e7c5072f37c0e482aac7d0a31fda572 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:17:11 +0200
Subject: [PATCH 056/132] back to unix line endings

---
 .github/workflows/ci.yml | 312 +++++++++++++++++++--------------------
 1 file changed, 156 insertions(+), 156 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 94dc8bf344..6fddc02df8 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,156 +1,156 @@
-name: Build firmware
-# Don't enable CI on push, just on PR. If you
-# are working on the main repo and want to trigger
-# a CI build submit a draft PR.
-on: pull_request
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-        matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
-
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - uses: actions/cache@v1
-        with:
-          path: downloads
-          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
-      - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}
-          path: ./build/*.hex
-
-  build-SITL-Linux:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Mac:
-    runs-on: macos-13
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: |
-          brew install cmake ninja ruby
-
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: |
-          mkdir -p build_SITL && cd build_SITL
-          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
-          ninja
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL-MacOS
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Windows:
-    runs-on: windows-latest
-    defaults:
-      run:
-        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
-    steps:
-      - uses: actions/checkout@v3
-      - name: Setup Cygwin
-        uses: egor-tensin/setup-cygwin@v4
-        with:
-          packages: cmake ruby ninja gcc-g++
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: ${{ env.BUILD_NAME }}_SITL-WIN
-          path: ./build_SITL/*.exe
-
-
-  test:
-    needs: [build]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Run Tests
-        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
+name: Build firmware
+# Don't enable CI on push, just on PR. If you
+# are working on the main repo and want to trigger
+# a CI build submit a draft PR.
+on: pull_request
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - uses: actions/cache@v1
+        with:
+          path: downloads
+          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
+      - name: Build targets (${{ matrix.id }})
+        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}
+          path: ./build/*.hex
+
+  build-SITL-Linux:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-13
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
+          ninja
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Windows:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Cygwin
+        uses: egor-tensin/setup-cygwin@v4
+        with:
+          packages: cmake ruby ninja gcc-g++
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
+          path: ./build_SITL/*.exe
+
+
+  test:
+    needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Run Tests
+        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check

From 59d9160597b4370fcf234e692d8f1b1fbf8b4c4d Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:17:55 +0200
Subject: [PATCH 057/132] Unix line endings

---
 src/main/target/TAKERF722SE/target.c |  96 +++----
 src/main/target/TAKERF722SE/target.h | 372 +++++++++++++--------------
 2 files changed, 234 insertions(+), 234 deletions(-)

diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c
index 247efb84e5..d67062a9fb 100644
--- a/src/main/target/TAKERF722SE/target.c
+++ b/src/main/target/TAKERF722SE/target.c
@@ -1,48 +1,48 @@
-/*
-* This file is part of INAV Project.
-*
-* 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 <stdint.h>
-
-#include "platform.h"
-#include "drivers/io.h"
-
-#include "drivers/dma.h"
-#include "drivers/timer.h"
-#include "drivers/timer_def.h"
-
-
-
-
-
-timerHardware_t timerHardware[] = {
-
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
-};
-
-const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
-
-
+/*
+* This file is part of INAV Project.
+*
+* 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 <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+
diff --git a/src/main/target/TAKERF722SE/target.h b/src/main/target/TAKERF722SE/target.h
index 61ab442653..817dc535f0 100644
--- a/src/main/target/TAKERF722SE/target.h
+++ b/src/main/target/TAKERF722SE/target.h
@@ -1,186 +1,186 @@
-/*
- * This file is part of INAV Project.
- *
- * Cleanflight 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
-
-#define TARGET_BOARD_IDENTIFIER "GEPR"
-
-#define USBD_PRODUCT_STRING     "TAKERF722SE"
-
-#define LED0                    PC14
-
-
-// *************** BEEPER ************************
-
-#define BEEPER                  PC13
-#define BEEPER_INVERTED
-
-
-// *************** LEDSTRIP ************************
-#define USE_LED_STRIP
-#define WS2811_PIN                  PA8
-
-
-// *************** UART *****************************
-#define USE_VCP
-
-#define USE_UART1
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define USE_UART2
-#define UART2_TX_PIN            PA2
-#define UART2_RX_PIN            PA3
-
-#define USE_UART3
-#define UART3_TX_PIN            PB10
-#define UART3_RX_PIN            PB11
-
-#define USE_UART4
-#define UART4_TX_PIN            PA0
-#define UART4_RX_PIN            PA1
-
-#define USE_UART5
-#define UART5_TX_PIN            PC12
-#define UART5_RX_PIN            PD2
-
-#define USE_UART6
-#define UART6_TX_PIN            PC6
-#define UART6_RX_PIN            PC7
-
-
-#define SERIAL_PORT_COUNT       7
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART2
-
-
-// *************** SPI Bus **********************
-
-#define USE_SPI
-
-#define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN           PA7
-
-#define USE_SPI_DEVICE_2
-#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN   	    PB14
-#define SPI2_MOSI_PIN   	    PB15
-
-#define USE_SPI_DEVICE_3
-#define SPI3_SCK_PIN            PC10
-#define SPI3_MISO_PIN           PC11
-#define SPI3_MOSI_PIN           PB2
-#define SPI3_SCK_AF             GPIO_AF6_SPI3
-#define SPI3_MISO_AF            GPIO_AF6_SPI3
-#define SPI3_MOSI_AF            GPIO_AF7_SPI3
-
-
-// *************** Gyro & ACC **********************
-
-#define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN       CW0_DEG
-#define MPU6000_CS_PIN          PA4
-#define MPU6000_SPI_BUS         BUS_SPI1
-
-
-#define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW0_DEG
-#define ICM42605_CS_PIN         PA4
-#define ICM42605_SPI_BUS        BUS_SPI1
-
-// *************** I2C/Baro/Mag *********************
-#define USE_I2C
-#define USE_I2C_DEVICE_1
-#define I2C1_SCL                PB8
-#define I2C1_SDA                PB9
-
-
-//***************************************************
-#define USE_BARO
-#define BARO_I2C_BUS            BUS_I2C1
-#define USE_BARO_BMP280
-#define USE_BARO_DPS310
-#define USE_BARO_MS5611
-
-#define USE_MAG
-#define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-
-#define TEMPERATURE_I2C_BUS     BUS_I2C1
-
-#define PITOT_I2C_BUS           BUS_I2C1
-
-#define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
-
-// *************** FLASH **************************
-
-#define USE_FLASHFS
-
-#define USE_FLASH_M25P16
-#define M25P16_CS_PIN           PA15
-#define M25P16_SPI_BUS          BUS_SPI3
-
-#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-
-// *************** OSD *****************************
-
-#define USE_MAX7456
-#define MAX7456_SPI_BUS         BUS_SPI2
-#define MAX7456_CS_PIN          PB12
-
-// *************** ADC *****************************
-
-#define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define ADC1_DMA_STREAM             DMA2_Stream0
-#define ADC_CHANNEL_1_PIN           PC3
-#define ADC_CHANNEL_2_PIN           PC0
-#define ADC_CHANNEL_3_PIN           PC2
-
-#define VBAT_ADC_CHANNEL            ADC_CHN_1
-#define RSSI_ADC_CHANNEL            ADC_CHN_2
-#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
-
-
-#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
-
-
-
-
-//**************************************************
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
-
-
-#define MAX_PWM_OUTPUT_PORTS        8
-
-#define USE_DSHOT
-#define USE_ESC_SENSOR
+/*
+ * This file is part of INAV Project.
+ *
+ * Cleanflight 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
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+
+#define USBD_PRODUCT_STRING     "TAKERF722SE"
+
+#define LED0                    PC14
+
+
+// *************** BEEPER ************************
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+// *************** SPI Bus **********************
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PB14
+#define SPI2_MOSI_PIN   	    PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB2
+#define SPI3_SCK_AF             GPIO_AF6_SPI3
+#define SPI3_MISO_AF            GPIO_AF6_SPI3
+#define SPI3_MOSI_AF            GPIO_AF7_SPI3
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//***************************************************
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+
+#define USE_FLASHFS
+
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PA15
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC0
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+
+
+
+//**************************************************
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From 61ac48fc2e6f8006e9ce1d0b8e2b274b39e8c24a Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:23:29 +0200
Subject: [PATCH 058/132] fix warning

---
 src/main/flight/mixer_profile.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/mixer_profile.c b/src/main/flight/mixer_profile.c
index 7b2590ff70..5769b56fbd 100644
--- a/src/main/flight/mixer_profile.c
+++ b/src/main/flight/mixer_profile.c
@@ -79,7 +79,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
     }
 }
 
-void activateMixerConfig(){
+void activateMixerConfig(void){
     currentMixerProfileIndex = getConfigMixerProfile();
     currentMixerConfig = *mixerConfig();
     nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;

From 3fd5f286516de7bd924ade4d34c62413ba5b0fbe Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:33:50 +0200
Subject: [PATCH 059/132] Fix warnings

---
 src/main/io/displayport_msp_osd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index e1e6cb2967..0d797e1f75 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -525,7 +525,7 @@ void mspOsdSerialProcess(mspProcessCommandFnPtr mspProcessCommandFn)
     }
 }
 
-mspPort_t *getMspOsdPort()
+mspPort_t *getMspOsdPort(void)
 {
     if (mspPort.port) {
         return &mspPort;

From 3af52f7769aef555f0860ff4eb1b65da67ed3a5e Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:44:10 +0200
Subject: [PATCH 060/132] More warning fixes

---
 src/main/build/build_config.h | 2 +-
 src/main/cms/cms_types.h      | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/build/build_config.h b/src/main/build/build_config.h
index d97e6d300c..75bb46668d 100644
--- a/src/main/build/build_config.h
+++ b/src/main/build/build_config.h
@@ -40,7 +40,7 @@
 #endif
 
 #ifdef __APPLE__
-#define FASTRAM                     __attribute__ ((section("__DATA,__.fastram_bss"), aligned(4)))
+#define FASTRAM                     __attribute__ ((section("__DATA,__.fastram_bss"), aligned(8)))
 #else
 #define FASTRAM                     __attribute__ ((section(".fastram_bss"), aligned(4)))
 #endif
diff --git a/src/main/cms/cms_types.h b/src/main/cms/cms_types.h
index 9b2b06646c..a07e55eaaa 100644
--- a/src/main/cms/cms_types.h
+++ b/src/main/cms/cms_types.h
@@ -26,6 +26,12 @@
 
 //type of elements
 
+#ifndef __APPLE__
+#define OSD_ENTRY_ATTR __attribute__((packed))
+#else
+#define OSD_ENTRY_ATTR
+#endif
+
 typedef enum
 {
     OME_Label,
@@ -71,7 +77,7 @@ typedef struct
     const void * const data;
     const uint8_t type; // from OSD_MenuElement
     uint8_t flags;
-} __attribute__((packed)) OSD_Entry;
+} OSD_ENTRY_ATTR OSD_Entry;
 
 // Bits in flags
 #define PRINT_VALUE    (1 << 0)  // Value has been changed, need to redraw

From a469daae88e46ba3c47e913854de3d0df04b18c4 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 29 Apr 2024 20:50:24 +0200
Subject: [PATCH 061/132] macos latest

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6fddc02df8..09e27045ca 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -74,7 +74,7 @@ jobs:
           path: ./build_SITL/*_SITL
 
   build-SITL-Mac:
-    runs-on: macos-13
+    runs-on: macos-latest
     steps:
       - uses: actions/checkout@v3
       - name: Install dependencies

From 09d404f06493e71cf3a96b153c7b0cd909129918 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 1 May 2024 19:58:53 +0100
Subject: [PATCH 062/132] nav hold fix

---
 src/main/navigation/navigation.c         | 43 ++++++++++++++----------
 src/main/navigation/navigation_private.h |  1 -
 2 files changed, 26 insertions(+), 18 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index b443dc4994..eca17c2d65 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -439,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@@ -635,7 +635,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_ENROUTE,
         .mwError = MW_NAV_ERROR_NONE,
@@ -656,7 +656,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_SETTLE,
         .mwError = MW_NAV_ERROR_NONE,
@@ -677,7 +677,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
         .mwError = MW_NAV_ERROR_NONE,
@@ -696,7 +696,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -828,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME,                             // There is no state for timed hold?
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_TIMED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
@@ -908,7 +908,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -944,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -1053,7 +1053,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -4081,7 +4081,16 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    return navGetCurrentStateFlags() & NAV_CTL_HOLD;
+    // WP mode last WP hold and Timed hold positions
+    if (FLIGHT_MODE(NAV_WP_MODE)) {
+        return isLastMissionWaypoint() || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
+    }
+    // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
+    // Also hold position during emergency landing if position valid
+    return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
+            FLIGHT_MODE(NAV_POSHOLD_MODE) ||
+            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
+            navigationIsExecutingAnEmergencyLanding();
 }
 
 float getActiveSpeed(void)
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 015c9e371c..5d23d36fc5 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -334,7 +334,6 @@ typedef enum {
     NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
     NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
-    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position or will be when position reached
 } navigationFSMStateFlags_t;
 
 typedef struct {

From 2a62aff039be188f132317a5e1d3bc58c5924b83 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 3 May 2024 11:46:33 +0100
Subject: [PATCH 063/132] WP altitude enforce hold fix

---
 src/main/navigation/navigation.c | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index eca17c2d65..cedd3b3e9e 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4081,10 +4081,11 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    // WP mode last WP hold and Timed hold positions
-    if (FLIGHT_MODE(NAV_WP_MODE)) {
-        return isLastMissionWaypoint() || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
-    }
+    // WP mode last WP hold and Timed/Alt Enforce hold positions
+    return isLastMissionWaypoint() ||
+           NAV_Status.state == MW_NAV_STATE_HOLD_TIMED ||
+           posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
+
     // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
     // Also hold position during emergency landing if position valid
     return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||

From d40bc0dc0cdfe055690f4fa53ef820046bae9715 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Fri, 3 May 2024 21:44:09 +0100
Subject: [PATCH 064/132] improvements

---
 src/main/navigation/navigation.c             | 29 +++++++++++---------
 src/main/navigation/navigation_fixedwing.c   | 10 ++-----
 src/main/navigation/navigation_multicopter.c | 11 +++-----
 3 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 09271e5f10..bef708ecb1 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1898,16 +1898,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                     setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
 
                     // Use linear climb between WPs arriving at WP altitude when within 10% of total distance to WP
-                    // Update climbrate until within 25% of total distance to WP, then hold constant
-                    static float climbRate = 0;
-                    if (posControl.wpDistance > 0.25f * posControl.wpInitialDistance) {
+                    // Update climb rate until within 100cm of total climb xy distance to WP, then hold constant
+                    float climbRate = 0.0f;
+                    if (posControl.wpDistance - 0.1f * posControl.wpInitialDistance > 100.0f) {
                         climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) /
                                     (posControl.wpDistance - 0.1f * posControl.wpInitialDistance);
                     }
-
-                    if (fabsf(climbRate) >= (STATE(AIRPLANE) ? navConfig()->fw.max_auto_climb_rate : navConfig()->mc.max_auto_climb_rate)) {
-                        climbRate = 0;
-                    }
                     updateClimbRateToAltitudeController(climbRate, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
 
                     if(STATE(MULTIROTOR)) {
@@ -3401,14 +3397,20 @@ bool isProbablyStillFlying(void)
 float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
 {
     const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
-
     float maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_auto_climb_rate : navConfig()->fw.max_auto_climb_rate;
+
+    if (posControl.flags.rocToAltMode == ROC_TO_ALT_CONSTANT) {
+        if (posControl.flags.isAdjustingAltitude) {
+            maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_manual_climb_rate : navConfig()->fw.max_manual_climb_rate;
+        }
+
+        return constrainf(posControl.desiredState.climbRateDemand, -maxClimbRate, maxClimbRate);
+    }
+
     if (posControl.desiredState.climbRateDemand) {
-        maxClimbRate = ABS(posControl.desiredState.climbRateDemand);
+        maxClimbRate = constrainf(ABS(posControl.desiredState.climbRateDemand), 0.0f, maxClimbRate);
     } else if (emergLandingIsActive) {
         maxClimbRate = navConfig()->general.emerg_descent_rate;
-    } else if (posControl.flags.isAdjustingAltitude) {
-        maxClimbRate = STATE(MULTIROTOR) ? navConfig()->mc.max_manual_climb_rate : navConfig()->fw.max_manual_climb_rate;
     }
 
     const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z;
@@ -3420,8 +3422,8 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
         targetVel = pidProfile()->fwAltControlResponseFactor * targetAltitudeError / 100.0f;
     }
 
-    if (emergLandingIsActive && targetAltitudeError > -50) {
-        return -100;    // maintain 1 m/s descent during emerg landing when approaching T/O altitude
+    if (emergLandingIsActive && targetAltitudeError > -50.0f) {
+        return -100.0f;    // maintain 1 m/s descent during emerg landing when within 50cm of min speed landing altitude target
     } else {
         return constrainf(targetVel, -maxClimbRate, maxClimbRate);
     }
@@ -3439,6 +3441,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
 
     if (mode == ROC_TO_ALT_CURRENT) {
         posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
+        desiredClimbRate = 0.0f;
     } else if (mode == ROC_TO_ALT_TARGET) {
         posControl.desiredState.pos.z = targetAltitude;
     }
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 0eaa41ef16..68714ca480 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -133,11 +133,7 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 {
     static pt1Filter_t velzFilterState;
 
-    float desiredClimbRate = posControl.desiredState.climbRateDemand;
-
-    if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
-        desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
-    }
+    float desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
 
     // Reduce max allowed climb pitch if performing loiter (stall prevention)
     if (needToCalculateCircularLoiter && desiredClimbRate > 0.0f) {
@@ -770,8 +766,8 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
     rcCommand[THROTTLE] = setDesiredThrottle(currentBatteryProfile->failsafe_throttle, true);
 
     if (posControl.flags.estAltStatus >= EST_USABLE) {
-        // target min descent rate 10m above takeoff altitude
-        updateClimbRateToAltitudeController(0, 1000.0f, ROC_TO_ALT_TARGET);
+        // target min descent rate at distance 2 x emerg descent rate above takeoff altitude
+        updateClimbRateToAltitudeController(0, 2.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_TARGET);
         applyFixedWingAltitudeAndThrottleController(currentTimeUs);
 
         int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index 41d1f7a564..b108ef6aa3 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -76,11 +76,7 @@ float getSqrtControllerVelocity(float targetAltitude, timeDelta_t deltaMicros)
 // Position to velocity controller for Z axis
 static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
 {
-    float targetVel = posControl.desiredState.climbRateDemand;
-
-    if (posControl.flags.rocToAltMode != ROC_TO_ALT_CONSTANT) {
-        targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
-    }
+    float targetVel = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
 
     posControl.pids.pos[Z].output_constrained = targetVel;      // only used for Blackbox and OSD info
 
@@ -141,6 +137,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
     }
     else {
         const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
+
         if (rcThrottleAdjustment) {
             // set velocity proportional to stick movement
             float rcClimbRate;
@@ -928,8 +925,8 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
 
         // Check if last correction was not too long ago
         if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
-            // target min descent rate 5m above takeoff altitude
-            updateClimbRateToAltitudeController(0, 500.0f, ROC_TO_ALT_TARGET);
+            // target min descent rate at distance 2 x emerg descent rate above takeoff altitude
+            updateClimbRateToAltitudeController(0, 2.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_TARGET);
             updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate);
             updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate);
         }

From 83de3f941d3b7cf247a9fbf5bb9469bf761f90de Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 4 May 2024 11:25:58 +0100
Subject: [PATCH 065/132] change loiter control logic

---
 src/main/navigation/navigation.c           | 52 ++++++++++++----------
 src/main/navigation/navigation_fixedwing.c |  9 ++--
 src/main/navigation/navigation_private.h   |  1 +
 3 files changed, 35 insertions(+), 27 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index cedd3b3e9e..1d24f9ae57 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -439,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbing to safe alt
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@@ -656,7 +656,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_SETTLE,
         .mwError = MW_NAV_ERROR_NONE,
@@ -677,7 +677,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
         .mwError = MW_NAV_ERROR_NONE,
@@ -696,7 +696,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -828,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME,                             // There is no state for timed hold?
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_TIMED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
@@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags =  NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -944,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags =  NAV_CTL_HOLD | NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -1053,7 +1053,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -4081,17 +4081,21 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    // WP mode last WP hold and Timed/Alt Enforce hold positions
-    return isLastMissionWaypoint() ||
-           NAV_Status.state == MW_NAV_STATE_HOLD_TIMED ||
-           posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
+    /* If the current Nav state isn't flagged as a hold point (NAV_CTL_HOLD) then
+     * waypoints are assumed to be hold points by default unless excluded as defined here */
 
-    // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
-    // Also hold position during emergency landing if position valid
-    return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
-            FLIGHT_MODE(NAV_POSHOLD_MODE) ||
-            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
-            navigationIsExecutingAnEmergencyLanding();
+    if (navGetCurrentStateFlags() & NAV_CTL_HOLD) {
+        return true;
+    }
+
+    if (FLIGHT_MODE(NAV_WP_MODE)) {
+        return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint();
+    }
+
+    return posControl.navState != NAV_STATE_FW_LANDING_APPROACH &&
+           posControl.navState != NAV_STATE_FW_LANDING_GLIDE &&
+           posControl.navState != NAV_STATE_FW_LANDING_FLARE &&
+           !posControl.flags.rthTrackbackActive;
 }
 
 float getActiveSpeed(void)
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 2dfebdf8d9..e999120357 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -290,9 +290,12 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
     // Detemine if a circular loiter is required.
     // For waypoints only use circular loiter when angular visibility is > 30 degs, otherwise head straight toward target
     #define TAN_15DEG    0.26795f
-    needToCalculateCircularLoiter = isNavHoldPositionActive() &&
-                                     (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) &&
-                                     (distanceToActualTarget > 50.0f);
+
+    bool loiterApproachActive = isNavHoldPositionActive() &&
+                                distanceToActualTarget <= (navLoiterRadius / TAN_15DEG) &&
+                                distanceToActualTarget > 50.0f;
+    needToCalculateCircularLoiter = loiterApproachActive || (navGetCurrentStateFlags() & NAV_CTL_HOLD);
+
     //if vtol landing is required, fly straight to homepoint
     if ((posControl.navState == NAV_STATE_RTH_HEAD_HOME) && navigationRTHAllowsLanding() && checkMixerATRequired(MIXERAT_REQUEST_LAND)){
         needToCalculateCircularLoiter = false;
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 5d23d36fc5..ddd2bb908d 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -334,6 +334,7 @@ typedef enum {
     NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
     NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
+    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position
 } navigationFSMStateFlags_t;
 
 typedef struct {

From 8ad1e5dbdec4373d5330f281a17a9b34da6ac6db Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 4 May 2024 13:41:21 +0100
Subject: [PATCH 066/132] simplify hold state logic

---
 src/main/navigation/navigation.c | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 1d24f9ae57..070bd1b4b8 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4092,10 +4092,7 @@ bool isNavHoldPositionActive(void)
         return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint();
     }
 
-    return posControl.navState != NAV_STATE_FW_LANDING_APPROACH &&
-           posControl.navState != NAV_STATE_FW_LANDING_GLIDE &&
-           posControl.navState != NAV_STATE_FW_LANDING_FLARE &&
-           !posControl.flags.rthTrackbackActive;
+    return !FLIGHT_MODE(NAV_FW_AUTOLAND) && !posControl.flags.rthTrackbackActive;
 }
 
 float getActiveSpeed(void)

From ab07785fa9c14d05f37ccdc490b61260027df60e Mon Sep 17 00:00:00 2001
From: Manuel Ilg <29724064+manuelilg@users.noreply.github.com>
Date: Sun, 5 May 2024 13:35:12 +0200
Subject: [PATCH 067/132] Fix channel selection for DMA2 Stream6. To use
 Channel6 which is only for TIM1_CH3 instead of the Channel0 which is for
 TIM1_CH1, TIM1_CH2 and TIM1_CH3.

---
 src/main/target/DALRCF405/target.c   | 2 +-
 src/main/target/FLYWOOF411/target.c  | 4 ++--
 src/main/target/HAKRCF405V2/target.c | 2 +-
 src/main/target/HAKRCF722V2/target.c | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/target/DALRCF405/target.c b/src/main/target/DALRCF405/target.c
index 816ad3cdec..e428504c1b 100644
--- a/src/main/target/DALRCF405/target.c
+++ b/src/main/target/DALRCF405/target.c
@@ -26,7 +26,7 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S1 (1,7)
     DEF_TIM(TIM8, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S2 (2,2)
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0),   // S3 (2,6)
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1),   // S3 (2,6)
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 1),   // S4 (2,1)  (2.3 2.6)
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1),   // S5 (2,4)  (2.2)
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // S6 (1,2)
diff --git a/src/main/target/FLYWOOF411/target.c b/src/main/target/FLYWOOF411/target.c
index 3946ad0b40..764d29e314 100644
--- a/src/main/target/FLYWOOF411/target.c
+++ b/src/main/target/FLYWOOF411/target.c
@@ -39,8 +39,8 @@ timerHardware_t timerHardware[] = {
 #else
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO,  0, 1), // S1_OUT 2,1
     DEF_TIM(TIM1, CH2, PA9,  TIM_USE_OUTPUT_AUTO,  0, 1), // S2_OUT 2,2
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO,  0, 0), // S3_OUT 2,6
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR                ,  0, 0), // S4_OUT 1,7
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO,  0, 1), // S3_OUT 2,6
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR      ,  0, 0), // S4_OUT 1,7
 
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_ANY,   0, 0), //  RSSI   1,2
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_ANY,   0, 1), //  RX2    1,0
diff --git a/src/main/target/HAKRCF405V2/target.c b/src/main/target/HAKRCF405V2/target.c
index a44aabc014..a0e79ff5b8 100644
--- a/src/main/target/HAKRCF405V2/target.c
+++ b/src/main/target/HAKRCF405V2/target.c
@@ -26,7 +26,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT D2_ST7
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT D2_ST1
     DEF_TIM(TIM1, CH2, PA9,  TIM_USE_OUTPUT_AUTO, 0, 1), // S4_OUT D2_ST2
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT D2_ST6
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S5_OUT D2_ST6
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT D1_ST4
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7_OUT D1_ST7
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT D1_ST2
diff --git a/src/main/target/HAKRCF722V2/target.c b/src/main/target/HAKRCF722V2/target.c
index 02098ce755..9738db56d0 100644
--- a/src/main/target/HAKRCF722V2/target.c
+++ b/src/main/target/HAKRCF722V2/target.c
@@ -39,7 +39,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH2, PA9,  TIM_USE_OUTPUT_AUTO, 0, 1), // S4
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S5
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6
-    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0), // S8
 
     DEF_TIM(TIM2, CH2, PB3, TIM_USE_LED, 0, 0), // 2812LED

From 1dc91058761816cc2427495e48f373393e62cf32 Mon Sep 17 00:00:00 2001
From: bishko <23706061+bishko@users.noreply.github.com>
Date: Sun, 5 May 2024 13:06:13 +0100
Subject: [PATCH 068/132] Create Building in Gitpod.md (#10004)

Gitpod offer by far the easierst and fastest method for building INAV targets. I wrote a small .md for those who want to have a step-by-step guide.
---
 docs/development/Building in Gitpod.md | 15 +++++++++++++++
 1 file changed, 15 insertions(+)
 create mode 100644 docs/development/Building in Gitpod.md

diff --git a/docs/development/Building in Gitpod.md b/docs/development/Building in Gitpod.md
new file mode 100644
index 0000000000..4434b73443
--- /dev/null
+++ b/docs/development/Building in Gitpod.md	
@@ -0,0 +1,15 @@
+# Building in Gitpod
+
+Gitpod offers an online build environment for building INAV targets.
+## Setting up the environment
+
+1.  Go to https://gitpod.io/new
+1.  Paste `https://github.com/iNavFlight/inav/tree/master` into the field called "Select a repository"
+1.  Cick on the link that shows in the drop down and Gitpod will atomatically selects the adequate Editor and Browser
+1.  Leave the other fields as default and click "Continue". Your build environment will be created.
+1.  At the bottom of the page, you will see a command line. Type `make [TARGET]` and wait for the target to be built.
+1.  Your new target will be located in a folder called `bin`, which can be found at the top left of the page.
+
+NOTE: You can use this method to build your forks as well. Just paste in the link to your fork and follow the rest of the steps.
+
+You are done!

From 32ba12297524e04305106e0667043b9b57055337 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 6 May 2024 09:00:46 +0100
Subject: [PATCH 069/132] Add comments

---
 src/main/navigation/navigation.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 070bd1b4b8..b00442895b 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4088,10 +4088,12 @@ bool isNavHoldPositionActive(void)
         return true;
     }
 
+    // No hold required for basic WP type unless it's the last mission waypoint
     if (FLIGHT_MODE(NAV_WP_MODE)) {
         return posControl.waypointList[posControl.activeWaypointIndex].action != NAV_WP_ACTION_WAYPOINT || isLastMissionWaypoint();
     }
 
+    // No hold required for Trackback WPs or for fixed wing autoland WPs not flagged as hold points (returned above if they are)
     return !FLIGHT_MODE(NAV_FW_AUTOLAND) && !posControl.flags.rthTrackbackActive;
 }
 

From feedd3f4c68a6f1bc4f5cbec3979503106b12e16 Mon Sep 17 00:00:00 2001
From: Roman Lut <11955117+RomanLut@users.noreply.github.com>
Date: Mon, 6 May 2024 15:04:13 +0200
Subject: [PATCH 070/132] fix ist8308 compass

---
 src/main/drivers/compass/compass_ist8308.c | 3 ++-
 src/main/drivers/compass/compass_ist8310.c | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/compass/compass_ist8308.c b/src/main/drivers/compass/compass_ist8308.c
index 739c0965e9..75d7386350 100644
--- a/src/main/drivers/compass/compass_ist8308.c
+++ b/src/main/drivers/compass/compass_ist8308.c
@@ -121,8 +121,9 @@ static bool ist8308Read(magDev_t * mag)
         return false;
     }
 
+    // Invert Y axis to co convert from left to right coordinate system
     mag->magADCRaw[X] = (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
-    mag->magADCRaw[Y] = (int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
+    mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
     mag->magADCRaw[Z] = (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;
 
     return true;
diff --git a/src/main/drivers/compass/compass_ist8310.c b/src/main/drivers/compass/compass_ist8310.c
index bbd4687ead..c7b5b0b124 100644
--- a/src/main/drivers/compass/compass_ist8310.c
+++ b/src/main/drivers/compass/compass_ist8310.c
@@ -139,7 +139,7 @@ static bool ist8310Read(magDev_t * mag)
         return false;
     }
 
-    // Looks like datasheet is incorrect and we need to invert Y axis to conform to right hand rule
+    // Invert Y axis to co convert from left to right coordinate system
     mag->magADCRaw[X] =  (int16_t)(buf[1] << 8 | buf[0]) * LSB2FSV;
     mag->magADCRaw[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * LSB2FSV;
     mag->magADCRaw[Z] =  (int16_t)(buf[5] << 8 | buf[4]) * LSB2FSV;

From 6eb637743d920ef0ae54f55620654a5ed5fb1c90 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 7 May 2024 17:07:08 +0200
Subject: [PATCH 071/132] Compilation fix

---
 src/main/navigation/navigation.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 0ab403a8ae..711ee05f37 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1451,7 +1451,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
             bool trackbackActive = navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON ||
                                    (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated);
 
-            if (trackbackActive && posControl.activeRthTBPointIndex >= 0 && !isWaypointMissionRTHActive()) {
+            if (trackbackActive && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
                 rthTrackBackUpdate(true);  // save final trackpoint for altitude and max trackback distance reference
                 posControl.flags.rthTrackbackActive = true;
                 calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());

From a6e256c2ca996c16bcf5724590e5044f7aaf2f96 Mon Sep 17 00:00:00 2001
From: bishko <23706061+bishko@users.noreply.github.com>
Date: Tue, 7 May 2024 16:08:42 +0100
Subject: [PATCH 072/132] Update Building in Gitpod.md

Adding a few points that are required to get HEX files.
---
 docs/development/Building in Gitpod.md | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/docs/development/Building in Gitpod.md b/docs/development/Building in Gitpod.md
index 4434b73443..fb0203a529 100644
--- a/docs/development/Building in Gitpod.md	
+++ b/docs/development/Building in Gitpod.md	
@@ -1,14 +1,18 @@
 # Building in Gitpod
 
 Gitpod offers an online build environment for building INAV targets.
-## Setting up the environment
+## Setting up the environment and building targets
 
 1.  Go to https://gitpod.io/new
-1.  Paste `https://github.com/iNavFlight/inav/tree/master` into the field called "Select a repository"
-1.  Cick on the link that shows in the drop down and Gitpod will atomatically selects the adequate Editor and Browser
+1.  Paste `https://github.com/iNavFlight/inav/tree/[version]` into the field called "Select a repository". 
+1.  Ensure that you substitute [version] (e.g. 7.1.0) with the version number of INAV that you want to build.
+1.  Cick on the link that shows in the drop down and Gitpod will atomatically selects the adequate Editor and Browser.
 1.  Leave the other fields as default and click "Continue". Your build environment will be created.
 1.  At the bottom of the page, you will see a command line. Type `make [TARGET]` and wait for the target to be built.
-1.  Your new target will be located in a folder called `bin`, which can be found at the top left of the page.
+1.  Once the build has finished, navigate to the build folder using `cd build`.
+1.  Once in the folder, run `objcopy -O ihex -R .eeprom [TARGET].elf [TARGET].hex` to convert the `.elf` file to a `.hex` file.
+1.  Your new target `.hex` binary will be located in a folder called `bin`, which can be found at the top left of the page.
+
 
 NOTE: You can use this method to build your forks as well. Just paste in the link to your fork and follow the rest of the steps.
 

From 01303686fd19e8e51925e860ba8f146850ba2915 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 7 May 2024 22:47:44 +0100
Subject: [PATCH 073/132] fixes

---
 src/main/flight/pid.c            | 2 +-
 src/main/navigation/navigation.c | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 944dcd7db4..e647fe475e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -169,7 +169,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 7);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 8);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 8ea4a9a371..19178ddb1b 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1664,7 +1664,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LAN
     if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
         resetLandingDetector();     // force reset landing detector just in case
         updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_CURRENT);
-        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
+        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land
     } else {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
         setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@@ -1920,7 +1920,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
                     setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
 
                     // Use linear climb between WPs arriving at WP altitude when within 10% of total distance to WP
-                    // Update climb rate until within 100cm of total climb xy distance to WP, then hold constant
+                    // Update climb rate until within 100cm of total climb xy distance to WP
                     float climbRate = 0.0f;
                     if (posControl.wpDistance - 0.1f * posControl.wpInitialDistance > 100.0f) {
                         climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) /

From 75ea2ce41798451259def2229698e5a2e97d3c2f Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 11 May 2024 08:35:19 +0200
Subject: [PATCH 074/132] Fix line ends

---
 .../target/GEPRCF745_BT_HD/CMakeLists.txt     |   2 +-
 src/main/target/GEPRCF745_BT_HD/config.c      | 126 +++---
 src/main/target/GEPRCF745_BT_HD/target.c      | 104 ++---
 src/main/target/GEPRCF745_BT_HD/target.h      | 396 +++++++++---------
 4 files changed, 314 insertions(+), 314 deletions(-)

diff --git a/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
index 815e08923a..6d067ab102 100644
--- a/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
+++ b/src/main/target/GEPRCF745_BT_HD/CMakeLists.txt
@@ -1 +1 @@
-target_stm32f745xg(GEPRCF745_BT_HD)
+target_stm32f745xg(GEPRCF745_BT_HD)
diff --git a/src/main/target/GEPRCF745_BT_HD/config.c b/src/main/target/GEPRCF745_BT_HD/config.c
index f228c3e023..d2f972270a 100644
--- a/src/main/target/GEPRCF745_BT_HD/config.c
+++ b/src/main/target/GEPRCF745_BT_HD/config.c
@@ -1,63 +1,63 @@
-/*
- * 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 <stdbool.h>
-#include <stdint.h>
-
-#include <platform.h>
-
-#include "common/axis.h"
-
-#include "config/config_master.h"
-#include "config/feature.h"
-
-#include "drivers/sensor.h"
-#include "drivers/pwm_esc_detect.h"
-#include "drivers/pwm_output.h"
-#include "drivers/serial.h"
-
-#include "fc/rc_controls.h"
-
-#include "flight/failsafe.h"
-#include "flight/mixer.h"
-#include "flight/pid.h"
-
-#include "rx/rx.h"
-
-#include "io/serial.h"
-
-#include "sensors/battery.h"
-#include "sensors/sensors.h"
-
-#include "telemetry/telemetry.h"
-
-#include "fc/fc_msp_box.h"
-
-#include "io/piniobox.h"
-
-
-#define BLUETOOTH_MSP_BAUDRATE      BAUD_115200
-
-void targetConfiguration(void)
-{
-    pinioBoxConfigMutable()->permanentId[0] = BOXARM;
-    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER1;
-
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_MSP;
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].msp_baudrateIndex = BLUETOOTH_MSP_BAUDRATE;
-}
-
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+
+#define BLUETOOTH_MSP_BAUDRATE      BAUD_115200
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOXARM;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER1;
+
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].msp_baudrateIndex = BLUETOOTH_MSP_BAUDRATE;
+}
+
diff --git a/src/main/target/GEPRCF745_BT_HD/target.c b/src/main/target/GEPRCF745_BT_HD/target.c
index 57a8c2a891..6fe88bde01 100644
--- a/src/main/target/GEPRCF745_BT_HD/target.c
+++ b/src/main/target/GEPRCF745_BT_HD/target.c
@@ -1,52 +1,52 @@
-/*
-* This file is part of INAV Project.
-*
-* 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 <stdint.h>
-
-#include "platform.h"
-
-#include "drivers/bus.h"
-#include "drivers/io.h"
-#include "drivers/pwm_mapping.h"
-#include "drivers/timer.h"
-#include "drivers/sensor.h"
-
-
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
-
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
-
-
-
-timerHardware_t timerHardware[] = {
-
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
-
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
-};
-
-const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+/*
+* This file is part of INAV Project.
+*
+* 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 <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/sensor.h"
+
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/GEPRCF745_BT_HD/target.h b/src/main/target/GEPRCF745_BT_HD/target.h
index 340f7bbe39..3d61f663dd 100644
--- a/src/main/target/GEPRCF745_BT_HD/target.h
+++ b/src/main/target/GEPRCF745_BT_HD/target.h
@@ -1,198 +1,198 @@
-/*
- * This file is part of INAV Project.
- *
- * 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
-
-#define TARGET_BOARD_IDENTIFIER "GEPR"
-#define USBD_PRODUCT_STRING     "GEPRCF745_BT_HD"
-
-#define USE_TARGET_CONFIG
-
-#define LED0                    PC13
-
-#define BEEPER                  PD2
-#define BEEPER_INVERTED
-
-
-//**************** SPI BUS *************************
-#define USE_SPI
-
-#define USE_SPI_DEVICE_1
-#define SPI1_SCK_PIN            PA5
-#define SPI1_MISO_PIN           PA6
-#define SPI1_MOSI_PIN           PA7
-
-#define USE_SPI_DEVICE_2
-#define SPI2_SCK_PIN            PB13
-#define SPI2_MISO_PIN           PB14
-#define SPI2_MOSI_PIN           PB15
-
-#define USE_SPI_DEVICE_3
-#define SPI3_SCK_PIN            PC10
-#define SPI3_MISO_PIN   	    PC11
-#define SPI3_MOSI_PIN   	    PC12
-
-#define USE_SPI_DEVICE_4
-#define SPI4_SCK_PIN            PE2
-#define SPI4_MISO_PIN           PE5
-#define SPI4_MOSI_PIN           PE6
-
-
-
-// *************** Gyro & ACC **********************
-
-#define USE_DUAL_GYRO
-#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
-#define USE_IMU_MPU6000
-#define USE_IMU_ICM42605
-
-
-// *****IMU1 MPU6000 & ICM42688 ON  SPI1 **************
-#define IMU1_ALIGN              CW180_DEG
-#define IMU1_SPI_BUS            BUS_SPI1
-#define IMU1_CS_PIN             PA4
-
-
-
-// *****IMU2 MPU6000 & ICM42688 ON  SPI2 **************
-#define IMU2_ALIGN              CW0_DEG
-#define IMU2_SPI_BUS            BUS_SPI2
-#define IMU2_CS_PIN             PB12
-
-
-// *************** I2C/Baro/Mag *********************
-#define USE_I2C
-#define USE_I2C_DEVICE_1
-#define I2C1_SCL                PB8
-#define I2C1_SDA                PB9
-
-
-#define USE_BARO
-#define BARO_I2C_BUS            BUS_I2C1
-#define USE_BARO_BMP280
-#define USE_BARO_DPS310
-#define USE_BARO_MS5611
-
-#define USE_MAG
-#define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-
-#define TEMPERATURE_I2C_BUS     BUS_I2C1
-
-#define PITOT_I2C_BUS           BUS_I2C1
-
-#define USE_RANGEFINDER
-#define RANGEFINDER_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
-
-// *************** FLASH **************************
-#define USE_SDCARD
-#define USE_SDCARD_SPI
-#define SDCARD_SPI_BUS          BUS_SPI3
-#define SDCARD_CS_PIN           PA15
-
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-
-
-// ************PINIO to disable BT*****************
-#define USE_PINIO
-#define USE_PINIOBOX
-#define PINIO1_PIN                  PE13  
-#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
-
-
-// ************PINIO to other
-#define PINIO2_PIN                  PC14               //Enable vsw
-
-
-// *************** OSD *****************************
-#define USE_MAX7456
-#define MAX7456_SPI_BUS         BUS_SPI4
-#define MAX7456_CS_PIN          PE4
-
-// *************** UART *****************************
-#define USE_VCP
-
-#define USE_UART1
-#define UART1_RX_PIN            PA10
-#define UART1_TX_PIN            PA9
-
-#define USE_UART2
-#define UART2_RX_PIN            PA3
-#define UART2_TX_PIN            PA2
-
-#define USE_UART3
-#define UART3_RX_PIN            PB11
-#define UART3_TX_PIN            PB10
-
-#define USE_UART4
-#define UART4_RX_PIN            PA1
-#define UART4_TX_PIN            PA0
-
-#define USE_UART6
-#define UART6_RX_PIN            PC7
-#define UART6_TX_PIN            PC6
-
-#define USE_UART7
-#define UART7_RX_PIN            PE7
-#define UART7_TX_PIN            PE8
-
-#define USE_UART8
-#define UART8_RX_PIN            PE0
-#define UART8_TX_PIN            PE1
-
-#define SERIAL_PORT_COUNT       8
-
-#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART2
-
-// *************** ADC *****************************
-#define USE_ADC
-#define ADC_INSTANCE                ADC1
-#define ADC1_DMA_STREAM             DMA2_Stream0
-#define ADC_CHANNEL_1_PIN           PC3
-#define ADC_CHANNEL_2_PIN           PC5
-#define ADC_CHANNEL_3_PIN           PC2
-
-#define VBAT_ADC_CHANNEL            ADC_CHN_1
-#define RSSI_ADC_CHANNEL            ADC_CHN_2
-#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
-
-
-#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
-
-#define USE_LED_STRIP
-#define WS2811_PIN                  PA8
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTE 0xffff
-
-#define MAX_PWM_OUTPUT_PORTS        8
-
-#define USE_DSHOT
-#define USE_ESC_SENSOR
+/*
+ * This file is part of INAV Project.
+ *
+ * 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
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+#define USBD_PRODUCT_STRING     "GEPRCF745_BT_HD"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PC13
+
+#define BEEPER                  PD2
+#define BEEPER_INVERTED
+
+
+//**************** SPI BUS *************************
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+#define USE_IMU_MPU6000
+#define USE_IMU_ICM42605
+
+
+// *****IMU1 MPU6000 & ICM42688 ON  SPI1 **************
+#define IMU1_ALIGN              CW180_DEG
+#define IMU1_SPI_BUS            BUS_SPI1
+#define IMU1_CS_PIN             PA4
+
+
+
+// *****IMU2 MPU6000 & ICM42688 ON  SPI2 **************
+#define IMU2_ALIGN              CW0_DEG
+#define IMU2_SPI_BUS            BUS_SPI2
+#define IMU2_CS_PIN             PB12
+
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PA15
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+
+// ************PINIO to disable BT*****************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PE13  
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+
+// ************PINIO to other
+#define PINIO2_PIN                  PC14               //Enable vsw
+
+
+// *************** OSD *****************************
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI4
+#define MAX7456_CS_PIN          PE4
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_UART7
+#define UART7_RX_PIN            PE7
+#define UART7_TX_PIN            PE8
+
+#define USE_UART8
+#define UART8_RX_PIN            PE0
+#define UART8_TX_PIN            PE1
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC5
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From d251b2eca3db7cdee04a9e739290503b7efd9e52 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 11 May 2024 20:54:44 +0200
Subject: [PATCH 075/132] First round of changes

Need to make sure it shows up in configurator
---
 src/main/drivers/pwm_mapping.c | 7 +++++++
 src/main/drivers/timer.h       | 1 +
 src/main/fc/cli.c              | 3 +++
 src/main/flight/mixer.h        | 3 ++-
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 0486eb5ac1..3f9b713c6c 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -47,6 +47,7 @@ enum {
     MAP_TO_NONE,
     MAP_TO_MOTOR_OUTPUT,
     MAP_TO_SERVO_OUTPUT,
+    MAP_TO_LED_OUTPUT
 };
 
 typedef struct {
@@ -335,6 +336,8 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
             type = MAP_TO_SERVO_OUTPUT;
         } else if (TIM_IS_MOTOR(timHw->usageFlags) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
             type = MAP_TO_MOTOR_OUTPUT;
+        } else if (TIM_IS_LED(timHw->usageFlags) && !pwmHasMotorOnTimer(timOutputs, timHw->tim) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
+            type = MAP_TO_LED_OUTPUT;
         }
 
         switch(type) {
@@ -348,6 +351,10 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
                 timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw;
                 pwmClaimTimer(timHw->tim, timHw->usageFlags);
                 break;
+            case MAP_TO_LED_OUTPUT:
+                timHw->usageFlags &= TIM_USE_LED;
+                pwmClaimTimer(timHw->tim, timHw->usageFlags);
+                break;
             default:
                 break;
         }
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index a207aff0c5..dec602f3c9 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -123,6 +123,7 @@ typedef enum {
 
 #define TIM_IS_MOTOR(flags) ((flags) & TIM_USE_MOTOR)
 #define TIM_IS_SERVO(flags) ((flags) & TIM_USE_SERVO)
+#define TIM_IS_LED(flags) ((flags) & TIM_USE_LED)
 
 #define TIM_IS_MOTOR_ONLY(flags) (TIM_IS_MOTOR(flags) && !TIM_IS_SERVO(flags))
 #define TIM_IS_SERVO_ONLY(flags) (!TIM_IS_MOTOR(flags) && TIM_IS_SERVO(flags))
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 97de1bd6ed..3bedf7d324 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -163,6 +163,7 @@ static const char * outputModeNames[] = {
     "AUTO",
     "MOTORS",
     "SERVOS",
+    "LED",
     NULL
 };
 
@@ -2821,6 +2822,8 @@ static void cliTimerOutputMode(char *cmdline)
                     mode = OUTPUT_MODE_MOTORS;
                 } else if(!sl_strcasecmp("SERVOS", tok)) {
                     mode = OUTPUT_MODE_SERVOS;
+                } else if(!sl_strcasecmp("LED", tok)) {
+                    mode = OUTPUT_MODE_LED;
                 } else {
                     cliShowParseError();
                     return;
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 0d40fdc11e..8af8217306 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -48,7 +48,8 @@ typedef enum {
 typedef enum {
     OUTPUT_MODE_AUTO     = 0,
     OUTPUT_MODE_MOTORS,
-    OUTPUT_MODE_SERVOS
+    OUTPUT_MODE_SERVOS,
+    OUTPUT_MODE_LED
 } outputMode_e;
 
 typedef struct motorAxisCorrectionLimits_s {

From 35ce764405515216a6742cecdc36f81a755de0f6 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sat, 11 May 2024 21:29:58 +0100
Subject: [PATCH 076/132] Fix max climb rate during loiter

---
 src/main/navigation/navigation_fixedwing.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index db9f4d6728..71a7f99fc3 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -135,9 +135,9 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
 
     float desiredClimbRate = getDesiredClimbRate(posControl.desiredState.pos.z, deltaMicros);
 
-    // Reduce max allowed climb pitch if performing loiter (stall prevention)
-    if (needToCalculateCircularLoiter && desiredClimbRate > 0.0f) {
-        desiredClimbRate *= 0.67f;
+    // Reduce max allowed climb rate by 2/3 if performing loiter (stall prevention)
+    if (needToCalculateCircularLoiter && desiredClimbRate > 0.67f * navConfig()->fw.max_auto_climb_rate) {
+        desiredClimbRate = 0.67f * navConfig()->fw.max_auto_climb_rate;
     }
 
     // Here we use negative values for dive for better clarity

From f82b3fc26ebfa5ba8b09cb2666e6b78e3351ea66 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sat, 11 May 2024 23:48:51 +0200
Subject: [PATCH 077/132] Allow led pin to be re-used as servo or motor more
 easily.

---
 src/main/drivers/pwm_mapping.c      | 16 ++++++++--------
 src/main/drivers/timer.h            |  6 +++---
 src/main/fc/fc_msp.c                | 11 +++++++++++
 src/main/msp/msp_protocol_v2_inav.h |  1 +
 4 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 3f9b713c6c..b9ce062459 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -214,16 +214,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 static void timerHardwareOverride(timerHardware_t * timer) {
     switch (timerOverrides(timer2id(timer->tim))->outputMode) {
         case OUTPUT_MODE_MOTORS:
-            if (TIM_IS_SERVO(timer->usageFlags)) {
-                timer->usageFlags &= ~TIM_USE_SERVO;
-                timer->usageFlags |= TIM_USE_MOTOR;
-            }
+            timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED);
+            timer->usageFlags |= TIM_USE_MOTOR;
             break;
         case OUTPUT_MODE_SERVOS:
-            if (TIM_IS_MOTOR(timer->usageFlags)) {
-                timer->usageFlags &= ~TIM_USE_MOTOR;
-                timer->usageFlags |= TIM_USE_SERVO;
-            }
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED);
+            timer->usageFlags |= TIM_USE_SERVO;
+            break;
+        case OUTPUT_MODE_LED:
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO);
+            timer->usageFlags |= TIM_USE_LED;
             break;
     }
 }
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
index dec602f3c9..d87e0400d5 100644
--- a/src/main/drivers/timer.h
+++ b/src/main/drivers/timer.h
@@ -113,9 +113,9 @@ typedef enum {
     TIM_USE_MOTOR           = (1 << 2),     // Motor output
     TIM_USE_SERVO           = (1 << 3),     // Servo output
     TIM_USE_MC_CHNFW        = (1 << 4),     // Deprecated and not used after removal of CHANNEL_FORWARDING feature
-    //TIM_USE_FW_MOTOR        = (1 << 5),   // We no longer differentiate mc from fw on pwm allocation
-    //TIM_USE_FW_SERVO        = (1 << 6),
-    TIM_USE_LED             = (1 << 24),
+    //TIM_USE_FW_MOTOR      = (1 << 5),     // We no longer differentiate mc from fw on pwm allocation
+    //TIM_USE_FW_SERVO      = (1 << 6),
+    TIM_USE_LED             = (1 << 24),    // Remapping needs to be in the lower 8 bits.
     TIM_USE_BEEPER          = (1 << 25),
 } timerUsageFlag_e;
 
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index d44a6e1fca..2c0210617e 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1586,6 +1586,17 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                 sbufWriteU8(dst, timerHardware[i].usageFlags);
             }
         break;
+    case MSP2_INAV_OUTPUT_MAPPING_EXT2:
+        for (uint8_t i = 0; i < timerHardwareCount; ++i)
+            if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
+                #if defined(SITL_BUILD)
+                sbufWriteU8(dst, i);
+                #else
+                sbufWriteU8(dst, timer2id(timerHardware[i].tim));
+                #endif
+                sbufWriteU32(dst, timerHardware[i].usageFlags);
+            }
+        break;
     
     case MSP2_INAV_MC_BRAKING:
 #ifdef USE_MR_BRAKING_MODE
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 3312e5bc25..1b64b3f604 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -34,6 +34,7 @@
 #define MSP2_INAV_OUTPUT_MAPPING_EXT            0x200D
 #define MSP2_INAV_TIMER_OUTPUT_MODE             0x200E
 #define MSP2_INAV_SET_TIMER_OUTPUT_MODE         0x200F
+#define MSP2_INAV_OUTPUT_MAPPING_EXT2           0x210D
 
 #define MSP2_INAV_MIXER                         0x2010
 #define MSP2_INAV_SET_MIXER                     0x2011

From 0c44cf5b0d14862b05b3ce6feed4454385239d71 Mon Sep 17 00:00:00 2001
From: rmaia <9812730+rmaia3d@users.noreply.github.com>
Date: Sun, 12 May 2024 00:45:43 -0300
Subject: [PATCH 078/132] BFCOMPAT: Add text label (AT) for auto-throttle and
 BF font symbols for pitch and roll

---
 src/main/io/displayport_msp_bf_compat.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
index 4219d2b2db..1f6ca45bd8 100644
--- a/src/main/io/displayport_msp_bf_compat.c
+++ b/src/main/io/displayport_msp_bf_compat.c
@@ -328,28 +328,28 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
 
     case SYM_ZERO_HALF_LEADING_DOT:
         return BF_SYM_ZERO_HALF_LEADING_DOT;
+*/
 
     case SYM_AUTO_THR0:
-        return BF_SYM_AUTO_THR0;
+        return 'A';
 
     case SYM_AUTO_THR1:
-        return BF_SYM_AUTO_THR1;
+        return 'T';
 
     case SYM_ROLL_LEFT:
-        return BF_SYM_ROLL_LEFT;
+        return BF_SYM_ROLL;
 
     case SYM_ROLL_LEVEL:
-        return BF_SYM_ROLL_LEVEL;
+        return BF_SYM_ROLL;
 
     case SYM_ROLL_RIGHT:
-        return BF_SYM_ROLL_RIGHT;
+        return BF_SYM_ROLL;
 
     case SYM_PITCH_UP:
-        return BF_SYM_PITCH_UP;
+        return BF_SYM_PITCH;
 
     case SYM_PITCH_DOWN:
-        return BF_SYM_PITCH_DOWN;
- */
+        return BF_SYM_PITCH;
 
     case SYM_GFORCE:
         return 'G';

From ce9ea2d8fcb17c946f26cab49a0b906fc205c849 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sun, 12 May 2024 11:08:53 +0200
Subject: [PATCH 079/132] Add obsolete warning to MSP2_INAV_OUTPUT_MAPPING_EXT

---
 src/main/fc/fc_msp.c                | 2 ++
 src/main/msp/msp_protocol_v2_inav.h | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index e099d11f64..75e18ef368 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1575,6 +1575,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             }
         break;
 
+    // Obsolete, replaced by MSP2_INAV_OUTPUT_MAPPING_EXT2
     case MSP2_INAV_OUTPUT_MAPPING_EXT:
         for (uint8_t i = 0; i < timerHardwareCount; ++i)
             if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
@@ -1583,6 +1584,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                 #else
                 sbufWriteU8(dst, timer2id(timerHardware[i].tim));
                 #endif
+                // usageFlags is u32, cuts out the higher 24bits
                 sbufWriteU8(dst, timerHardware[i].usageFlags);
             }
         break;
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 1b64b3f604..7c10a4df99 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -31,7 +31,7 @@
 #define MSP2_INAV_OUTPUT_MAPPING                0x200A
 #define MSP2_INAV_MC_BRAKING                    0x200B
 #define MSP2_INAV_SET_MC_BRAKING                0x200C
-#define MSP2_INAV_OUTPUT_MAPPING_EXT            0x200D
+#define MSP2_INAV_OUTPUT_MAPPING_EXT            0x200D // Obsolete, replaced by MSP2_INAV_OUTPUT_MAPPING_EXT2
 #define MSP2_INAV_TIMER_OUTPUT_MODE             0x200E
 #define MSP2_INAV_SET_TIMER_OUTPUT_MODE         0x200F
 #define MSP2_INAV_OUTPUT_MAPPING_EXT2           0x210D

From ac3277656142d63d3c43c46729c53647da6a41a5 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sun, 12 May 2024 13:21:11 +0200
Subject: [PATCH 080/132] vimrx synthax on by default

---
 .vimrc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.vimrc b/.vimrc
index 547d37812c..4808f6bb38 100644
--- a/.vimrc
+++ b/.vimrc
@@ -5,5 +5,6 @@ set expandtab
 set bs=2
 set sw=4
 set ts=4
+syn on
 
 

From 4f6220b0fe7ef3cf264f3660caaaabe7421b09d1 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Sun, 12 May 2024 13:21:29 +0200
Subject: [PATCH 081/132] Change conflict checking to rely on timerUsageFlag

Previously it used IO_TAG to check for the LED pin directly
---
 src/main/drivers/pwm_mapping.c | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index b9ce062459..e953c86b96 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -168,10 +168,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 
 #if defined(USE_LED_STRIP)
     if (feature(FEATURE_LED_STRIP)) {
-        const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
-        if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) {
-            return true;
+        for (int i = 0; i < timerHardwareCount; i++) {
+            if (timHw->tim == timerHardware[i].tim && timerHardware[i].usageFlags & TIM_USE_LED) {
+				return true;
+            }
         }
+
+        //const timerHardware_t * ledTimHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
+        //if (ledTimHw != NULL && timHw->tim == ledTimHw->tim) {
+        //    return true;
+        //}
     }
 #endif
 

From b838606528e4830a13cb2416b8bc934d53172fb4 Mon Sep 17 00:00:00 2001
From: rmaia <9812730+rmaia3d@users.noreply.github.com>
Date: Sun, 12 May 2024 11:28:10 -0300
Subject: [PATCH 082/132] Keep throttle symbol, just prepending with the letter
 A when auto-throttle is engaged

---
 src/main/io/displayport_msp_bf_compat.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
index 1f6ca45bd8..e7f75ec2fa 100644
--- a/src/main/io/displayport_msp_bf_compat.c
+++ b/src/main/io/displayport_msp_bf_compat.c
@@ -334,7 +334,7 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
         return 'A';
 
     case SYM_AUTO_THR1:
-        return 'T';
+        return BF_SYM_THR;
 
     case SYM_ROLL_LEFT:
         return BF_SYM_ROLL;

From 1dd0d873da670c2a9074e923ba4d8eef6cdef571 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Mon, 13 May 2024 01:11:48 +0200
Subject: [PATCH 083/132] Prefer default LED pin

This changes led hardware setup to prefer original led pin, but fall
back to reassigned LED pin if that was changed to something else.
---
 src/main/drivers/light_ws2811strip.c | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/light_ws2811strip.c b/src/main/drivers/light_ws2811strip.c
index cb56a7fe79..fe5f405d03 100644
--- a/src/main/drivers/light_ws2811strip.c
+++ b/src/main/drivers/light_ws2811strip.c
@@ -124,6 +124,10 @@ void ws2811LedStripInit(void)
 {
     const timerHardware_t * timHw = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
 
+    if (!(timHw->usageFlags & TIM_USE_LED)) { // Check if it has not been reassigned
+        timHw = timerGetByUsageFlag(TIM_USE_LED); // Get first pin marked as LED
+    }
+
     if (timHw == NULL) {
         return;
     }
@@ -133,14 +137,14 @@ void ws2811LedStripInit(void)
         return;
     }
 
-    ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
+    ws2811IO = IOGetByTag(timHw->tag); //IOGetByTag(IO_TAG(WS2811_PIN));
     IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
     IOConfigGPIOAF(ws2811IO, IOCFG_AF_PP_FAST, timHw->alternateFunction);
 
-    if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW ) {
+    if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_LOW) {
         ledConfigurePWM();
         *timerCCR(ws2811TCH) = 0;
-    } else if ( ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH ) {
+    } else if (ledPinConfig()->led_pin_pwm_mode == LED_PIN_PWM_MODE_HIGH) {
         ledConfigurePWM();
         *timerCCR(ws2811TCH) = 100;
     } else {

From 6f4ff6b4de8567645abd09e10ab9d2cb63febba7 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Mon, 13 May 2024 17:32:14 +0100
Subject: [PATCH 084/132] Fix trackback error

---
 src/main/navigation/navigation.c | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 711ee05f37..1354d818a0 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1448,10 +1448,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
         }
         else {
             // Switch to RTH trackback
-            bool trackbackActive = navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON ||
-                                   (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated);
-
-            if (trackbackActive && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
+            if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
                 rthTrackBackUpdate(true);  // save final trackpoint for altitude and max trackback distance reference
                 posControl.flags.rthTrackbackActive = true;
                 calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());
@@ -3200,7 +3197,7 @@ bool rthAltControlStickOverrideCheck(uint8_t axis)
         (axis == ROLL && STATE(MULTIROTOR) && !posControl.flags.rthTrackbackActive)) {
         return false;
     }
-    
+
     static timeMs_t rthOverrideStickHoldStartTime[2];
 
     if (rxGetChannelValue(axis) > rxConfig()->maxcheck) {

From 6aeb5c3e7c0dcf2a7afe3166849c094ac3149477 Mon Sep 17 00:00:00 2001
From: Julio Cesar <juliocesar@MacBook-Pro-de-Julio.local>
Date: Mon, 13 May 2024 21:58:30 -0300
Subject: [PATCH 085/132] Make the 'declination.py' file generate Declination,
 Inclination and Intensity.

---
 .../navigation/navigation_declination_gen.c   | 120 ++++---
 src/main/target/common.h                      |   2 -
 src/utils/declination.py                      | 313 ++++++++++++------
 3 files changed, 283 insertions(+), 152 deletions(-)

diff --git a/src/main/navigation/navigation_declination_gen.c b/src/main/navigation/navigation_declination_gen.c
index c7d632cd87..65b44cfcbc 100644
--- a/src/main/navigation/navigation_declination_gen.c
+++ b/src/main/navigation/navigation_declination_gen.c
@@ -1,63 +1,77 @@
 /* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */
 
 
-/* Updated on 2024-04-19 12:54:15.842704 */
+/* Updated on 2024-05-13 21:53:14.731603 */
 
 
-#include <stdint.h>
+const float SAMPLING_RES = 10;
+const float SAMPLING_MIN_LAT = -90;
+const float SAMPLING_MAX_LAT = 90;
+const float SAMPLING_MIN_LON = -180;
+const float SAMPLING_MAX_LON = 180;
 
-
-
-#if defined(NAV_AUTO_MAG_DECLINATION_PRECISE)
-#define SAMPLING_RES		10.00000f
-#define SAMPLING_MIN_LON	-180.00000f
-#define SAMPLING_MAX_LON	180.00000f
-#define SAMPLING_MIN_LAT	-90.00000f
-#define SAMPLING_MAX_LAT	90.00000f
-
-static const float declination_table[19][37] = {
-    {148.63040f,138.63040f,128.63040f,118.63040f,108.63040f,98.63040f,88.63040f,78.63040f,68.63040f,58.63040f,48.63040f,38.63040f,28.63040f,18.63040f,8.63040f,-1.36960f,-11.36960f,-21.36960f,-31.36960f,-41.36960f,-51.36960f,-61.36960f,-71.36960f,-81.36960f,-91.36960f,-101.36960f,-111.36960f,-121.36960f,-131.36960f,-141.36960f,-151.36960f,-161.36960f,-171.36960f,178.63040f,168.63040f,158.63040f,148.63040f},
-    {128.87816f,116.70769f,105.62443f,95.48127f,86.09683f,77.29367f,68.91718f,60.84302f,52.97822f,45.25811f,37.64003f,30.09478f,22.59702f,15.11676f,7.61418f,0.03947f,-7.66207f,-15.54157f,-23.63819f,-31.97410f,-40.55489f,-49.37538f,-58.42917f,-67.71936f,-77.26833f,-87.12519f,-97.37007f,-108.11458f,-119.49579f,-131.65830f,-144.71588f,-158.68662f,-173.41452f,171.47213f,156.49935f,142.18469f,128.87816f},
-    {85.86755f,77.88182f,71.42849f,65.89217f,60.86962f,56.04972f,51.17842f,46.06489f,40.60132f,34.77619f,28.67056f,22.43282f,16.23087f,10.18755f,4.31917f,-1.49067f,-7.45797f,-13.81467f,-20.71641f,-28.18762f,-36.12471f,-44.34676f,-52.66473f,-60.93937f,-69.11381f,-77.22546f,-85.41334f,-93.94372f,-103.29064f,-114.35005f,-128.97727f,-151.06023f,174.83520f,137.67818f,112.23020f,96.52063f,85.86756f},
-    {48.43188f,46.98353f,45.36982f,43.80186f,42.32760f,40.82382f,38.99678f,36.46379f,32.90329f,28.18877f,22.45599f,16.10387f,9.71432f,3.86202f,-1.14650f,-5.45997f,-9.64078f,-14.38658f,-20.18766f,-27.11174f,-34.80967f,-42.71859f,-50.31107f,-57.23008f,-63.28782f,-68.39719f,-72.47622f,-75.31221f,-76.30788f,-73.74072f,-61.55512f,-18.96160f,29.20071f,44.46666f,48.67974f,49.28540f,48.43188f},
-    {31.58850f,31.74835f,31.39924f,30.87678f,30.43574f,30.19800f,29.98360f,29.24010f,27.23113f,23.37602f,17.54538f,10.24099f,2.57680f,-4.11819f,-8.98330f,-12.08874f,-14.32383f,-16.91831f,-20.97106f,-26.92020f,-34.17714f,-41.56631f,-48.09571f,-53.19469f,-56.53278f,-57.82558f,-56.66031f,-52.27310f,-43.55594f,-29.95085f,-13.24765f,2.54212f,14.60798f,22.72224f,27.72553f,30.44935f,31.58850f},
-    {22.79850f,23.32533f,23.34746f,23.05694f,22.66226f,22.42885f,22.46289f,22.41289f,21.37705f,18.23370f,12.30982f,4.02530f,-4.93197f,-12.42012f,-17.23389f,-19.62803f,-20.56810f,-20.93312f,-21.98947f,-25.41090f,-31.19026f,-37.44166f,-42.49725f,-45.51856f,-46.02918f,-43.74555f,-38.55838f,-30.56411f,-20.73773f,-11.07131f,-2.79308f,4.21937f,10.21441f,15.15242f,18.92948f,21.44642f,22.79850f},
-    {17.16987f,17.68582f,17.85385f,17.73377f,17.34906f,16.86130f,16.52747f,16.34574f,15.56790f,12.74839f,6.74610f,-2.00418f,-11.22826f,-18.37193f,-22.46233f,-24.19496f,-24.47888f,-23.22908f,-20.72783f,-19.60150f,-21.98233f,-26.43395f,-30.43203f,-32.35125f,-31.47499f,-27.95264f,-22.40690f,-15.51422f,-8.63620f,-3.35146f,0.42144f,3.87188f,7.48128f,10.95260f,13.91406f,16.01563f,17.16987f},
-    {13.46149f,13.75829f,13.85281f,13.81813f,13.52893f,12.94281f,12.32698f,11.88976f,11.00215f,8.11359f,1.99478f,-6.62228f,-15.08744f,-21.05798f,-23.92224f,-24.34577f,-23.04831f,-19.84546f,-14.88685f,-10.38631f,-9.06427f,-11.31395f,-15.06340f,-17.65505f,-17.71488f,-15.54256f,-11.89991f,-7.27581f,-2.87289f,-0.16517f,1.24684f,2.97092f,5.51371f,8.29954f,10.80542f,12.58786f,13.46149f},
-    {11.19370f,11.20122f,11.07257f,11.02175f,10.82482f,10.26986f,9.62418f,9.09716f,7.97068f,4.77978f,-1.35469f,-9.31946f,-16.55524f,-21.15274f,-22.50861f,-21.01857f,-17.63827f,-13.15823f,-8.29683f,-4.01764f,-1.51484f,-1.87967f,-4.62279f,-7.47003f,-8.63091f,-8.05888f,-6.24442f,-3.42551f,-0.62936f,0.67783f,0.89029f,1.80510f,3.93778f,6.48671f,8.83523f,10.50781f,11.19370f},
-    {9.96310f,9.79689f,9.46606f,9.40362f,9.31492f,8.84240f,8.22130f,7.55735f,6.02850f,2.43377f,-3.55150f,-10.60044f,-16.54723f,-19.75861f,-19.59018f,-16.58982f,-12.16100f,-7.67553f,-3.93189f,-0.91522f,1.34973f,1.87637f,0.22653f,-2.15228f,-3.61566f,-3.90720f,-3.29932f,-1.83286f,-0.23997f,0.20367f,-0.19418f,0.32122f,2.29252f,4.85536f,7.33778f,9.21090f,9.96310f},
-    {9.18888f,9.24336f,8.98253f,9.05281f,9.17191f,8.83598f,8.10836f,7.00345f,4.80464f,0.69064f,-5.15618f,-11.30079f,-15.93916f,-17.74937f,-16.42349f,-12.86230f,-8.44857f,-4.38855f,-1.42704f,0.70613f,2.51072f,3.31152f,2.34785f,0.48172f,-0.89199f,-1.49634f,-1.59901f,-1.18437f,-0.66243f,-0.94842f,-1.78088f,-1.62463f,0.11657f,2.73547f,5.55820f,7.95812f,9.18888f},
-    {8.09034f,8.95675f,9.30400f,9.80188f,10.27100f,10.13647f,9.19791f,7.38846f,4.25004f,-0.60600f,-6.53915f,-11.93135f,-15.26054f,-15.79066f,-13.79060f,-10.27561f,-6.25103f,-2.56551f,0.07346f,1.80766f,3.24155f,4.05015f,3.51428f,2.10305f,0.93136f,0.25053f,-0.27213f,-0.70545f,-1.24346f,-2.37500f,-3.75122f,-4.07408f,-2.71911f,-0.15132f,2.99380f,6.02278f,8.09034f},
-    {6.27792f,8.37723f,9.88296f,11.16334f,12.08487f,12.15767f,11.03142f,8.51947f,4.34248f,-1.47518f,-7.78911f,-12.71269f,-15.01118f,-14.61457f,-12.25578f,-8.87216f,-5.13675f,-1.63793f,0.99774f,2.71417f,3.98293f,4.78698f,4.67468f,3.82712f,2.93970f,2.18792f,1.25958f,-0.01231f,-1.71794f,-3.92282f,-6.03566f,-6.90283f,-5.95491f,-3.51614f,-0.20102f,3.30598f,6.27792f},
-    {4.15672f,7.47883f,10.31556f,12.59798f,14.06987f,14.34572f,13.08042f,9.97537f,4.77447f,-2.16465f,-9.14687f,-14.00316f,-15.77819f,-14.88455f,-12.28640f,-8.84845f,-5.11869f,-1.55612f,1.34605f,3.41756f,4.91977f,6.01696f,6.56254f,6.51350f,6.02774f,5.09138f,3.48456f,1.07344f,-2.08240f,-5.60383f,-8.56486f,-9.89888f,-9.20525f,-6.83312f,-3.41374f,0.42499f,4.15672f},
-    {2.38746f,6.60961f,10.51138f,13.76537f,15.94256f,16.59043f,15.27093f,11.52705f,5.06990f,-3.36003f,-11.36932f,-16.51244f,-18.15167f,-17.03678f,-14.21651f,-10.51524f,-6.47146f,-2.49805f,1.03216f,3.92789f,6.27640f,8.24229f,9.81368f,10.78355f,10.85070f,9.68870f,7.04509f,2.91449f,-2.25894f,-7.44786f,-11.30963f,-12.92043f,-12.20858f,-9.70263f,-6.08438f,-1.92562f,2.38746f},
-    {1.14371f,5.95768f,10.55039f,14.56595f,17.51248f,18.77049f,17.56825f,12.99646f,4.54568f,-6.33792f,-15.91121f,-21.43028f,-22.88293f,-21.44177f,-18.22110f,-13.99911f,-9.28961f,-4.46489f,0.18470f,4.47851f,8.37200f,11.87759f,14.90388f,17.13814f,18.04159f,16.93503f,13.18748f,6.66358f,-1.56678f,-9.20492f,-14.20053f,-15.96059f,-14.99797f,-12.15657f,-8.19328f,-3.64820f,1.14371f},
-    {-0.35955f,4.92766f,9.99739f,14.51863f,17.99503f,19.64821f,18.23668f,11.99980f,-0.09657f,-14.74873f,-25.55246f,-30.33910f,-30.58104f,-28.00627f,-23.75441f,-18.51083f,-12.70165f,-6.61593f,-0.46628f,5.58665f,11.41580f,16.88997f,21.81133f,25.83916f,28.40134f,28.57592f,24.99531f,16.28607f,3.28542f,-9.10495f,-16.59733f,-19.05958f,-18.04316f,-14.91590f,-10.58486f,-5.61478f,-0.35955f},
-    {-5.35521f,-0.10619f,4.69597f,8.54683f,10.65268f,9.65875f,3.42678f,-9.71040f,-26.04578f,-37.63969f,-42.28407f,-42.02380f,-38.82980f,-33.88684f,-27.86664f,-21.16414f,-14.02720f,-6.62426f,0.91924f,8.49972f,16.02040f,23.37681f,30.43782f,37.01500f,42.80483f,47.26542f,49.32663f,46.69337f,34.75696f,10.85970f,-10.89085f,-20.36338f,-21.94791f,-19.71753f,-15.63466f,-10.66363f,-5.35521f},
-    {-166.99999f,-156.99999f,-146.99999f,-136.99999f,-126.99999f,-116.99999f,-106.99999f,-96.99999f,-86.99999f,-76.99999f,-66.99999f,-56.99999f,-46.99999f,-36.99999f,-26.99999f,-16.99999f,-6.99999f,3.00001f,13.00001f,23.00001f,33.00000f,43.00000f,53.00000f,63.00000f,73.00000f,83.00000f,93.00000f,103.00000f,113.00000f,123.00000f,133.00000f,143.00000f,153.00000f,163.00000f,173.00000f,-177.00000f,-167.00000f}
+const float declination_table[19][37] = {
+    {148.83402f,138.83401f,128.83401f,118.83402f,108.83402f,98.83402f,88.83402f,78.83402f,68.83402f,58.83402f,48.83402f,38.83402f,28.83402f,18.83402f,8.83402f,-1.16598f,-11.16598f,-21.16598f,-31.16598f,-41.16598f,-51.16598f,-61.16598f,-71.16598f,-81.16598f,-91.16598f,-101.16598f,-111.16598f,-121.16598f,-131.16598f,-141.16598f,-151.16598f,-161.16598f,-171.16598f,178.83402f,168.83402f,158.83402f,148.83402f},
+    {129.09306f,116.89412f,105.78898f,95.63017f,86.23504f,77.42476f,69.04348f,60.96591f,53.09841f,45.37592f,37.75568f,30.20867f,22.70998f,15.23027f,7.73037f,0.16098f,-7.53238f,-15.40109f,-23.48496f,-31.80703f,-40.37375f,-49.18062f,-58.22152f,-67.49946f,-77.03640f,-86.88079f,-97.11212f,-107.84156f,-119.20626f,-131.35191f,-144.39481f,-158.35719f,-173.08769f,171.78274f,156.78187f,142.43310f,129.09306f},
+    {85.81367f,77.83602f,71.40003f,65.88433f,60.88263f,56.08204f,51.22755f,46.12774f,40.67419f,34.85457f,28.74909f,22.50583f,16.29363f,10.23812f,4.36029f,-1.45095f,-7.40778f,-13.74178f,-20.61213f,-28.04922f,-35.95530f,-44.15322f,-52.45486f,-60.71951f,-68.88732f,-76.99183f,-85.16746f,-93.67473f,-102.97950f,-113.96429f,-128.46293f,-150.36073f,175.55488f,138.00554f,112.28051f,96.48319f,85.81367f},
+    {48.22805f,46.81921f,45.24300f,43.71189f,42.27245f,40.80022f,39.00177f,36.49549f,32.95972f,28.26545f,22.54379f,16.18846f,9.77818f,3.88971f,-1.16066f,-5.50500f,-9.68832f,-14.40052f,-20.13990f,-26.99385f,-34.63319f,-42.50584f,-50.08478f,-57.00760f,-63.07978f,-68.20773f,-72.30336f,-75.14845f,-76.14220f,-73.56875f,-61.46573f,-19.66028f,28.39616f,43.98783f,48.35027f,49.03265f,48.22805f},
+    {31.42931f,31.60530f,31.28145f,30.79047f,30.38024f,30.16777f,29.97487f,29.25597f,27.27948f,23.46202f,17.66378f,10.37176f,2.68673f,-4.06559f,-9.01317f,-12.19989f,-14.47861f,-17.04830f,-21.00672f,-26.83158f,-33.98769f,-41.32654f,-47.85214f,-52.97945f,-56.36644f,-57.72068f,-56.62201f,-52.29959f,-43.64045f,-30.08348f,-13.41611f,2.35315f,14.41455f,22.53506f,27.54777f,30.28028f,31.42931f},
+    {22.67985f,23.21169f,23.25494f,22.99742f,22.63545f,22.42369f,22.46877f,22.43187f,21.42571f,18.33186f,12.46440f,4.21692f,-4.75068f,-12.30560f,-17.22721f,-19.74039f,-20.77499f,-21.16946f,-22.14607f,-25.39336f,-31.01102f,-37.19196f,-42.26227f,-45.34969f,-45.95366f,-43.77299f,-38.67388f,-30.72261f,-20.87969f,-11.16390f,-2.84711f,4.17466f,10.15622f,15.07307f,18.83144f,21.33469f,22.67985f},
+    {17.07334f,17.59062f,17.77934f,17.69577f,17.34929f,16.88674f,16.56217f,16.38656f,15.63204f,12.86517f,6.93562f,-1.75751f,-10.98436f,-18.20308f,-22.41588f,-24.27993f,-24.67590f,-23.50719f,-21.00605f,-19.72369f,-21.87960f,-26.21214f,-30.23195f,-32.25069f,-31.49417f,-28.07385f,-22.58093f,-15.67611f,-8.73630f,-3.38117f,0.43868f,3.90117f,7.49078f,10.92679f,13.85484f,15.93237f,17.07334f},
+    {13.37426f,13.67217f,13.78744f,13.78998f,13.54222f,12.98780f,12.38852f,11.96065f,11.09372f,8.25499f,2.21162f,-6.34723f,-14.82596f,-20.89032f,-23.89434f,-24.45752f,-23.26867f,-20.14461f,-15.21492f,-10.62227f,-9.09952f,-11.18829f,-14.91638f,-17.58833f,-17.75073f,-15.65321f,-12.03643f,-7.38772f,-2.92537f,-0.15156f,1.30857f,3.04660f,5.56513f,8.30463f,10.76538f,12.51642f,13.37426f},
+    {11.10969f,11.11944f,11.01236f,10.99728f,10.84097f,10.32286f,9.70494f,9.19687f,8.09157f,4.94277f,-1.12864f,-9.05484f,-16.32980f,-21.04376f,-22.55109f,-21.19496f,-17.89373f,-13.44411f,-8.58084f,-4.24867f,-1.62827f,-1.86509f,-4.55045f,-7.42469f,-8.64775f,-8.12536f,-6.32716f,-3.48850f,-0.64489f,0.72027f,0.97976f,1.90952f,4.01623f,6.51266f,8.80749f,10.44185f,11.10969f},
+    {9.88349f,9.72040f,9.41289f,9.38439f,9.33291f,8.89921f,8.31537f,7.68011f,6.17272f,2.60695f,-3.33977f,-10.37899f,-16.38823f,-19.72660f,-19.70115f,-16.80477f,-12.41185f,-7.91607f,-4.15177f,-1.10381f,1.22204f,1.82879f,0.23517f,-2.13784f,-3.62813f,-3.94630f,-3.34494f,-1.85961f,-0.22644f,0.26762f,-0.08803f,0.44077f,2.38763f,4.89878f,7.32401f,9.15291f,9.88349f},
+    {9.12464f,9.18177f,8.94457f,9.04553f,9.19618f,8.89744f,8.21223f,7.14260f,4.96349f,0.86055f,-4.97931f,-11.14357f,-15.85640f,-17.78532f,-16.57645f,-13.08478f,-8.67898f,-4.59243f,-1.60427f,0.55144f,2.39028f,3.23916f,2.31654f,0.46434f,-0.91732f,-1.53003f,-1.62589f,-1.18564f,-0.62403f,-0.86624f,-1.66562f,-1.50145f,0.21812f,2.79294f,5.56329f,7.91823f,9.12464f},
+    {8.06290f,8.93172f,9.29767f,9.81684f,10.30693f,10.20311f,9.30721f,7.53634f,4.41412f,-0.45099f,-6.41113f,-11.85029f,-15.25565f,-15.88209f,-13.96742f,-10.49677f,-6.46933f,-2.75504f,-0.08743f,1.66921f,3.12874f,3.96903f,3.45981f,2.05876f,0.88578f,0.20951f,-0.29117f,-0.68669f,-1.18101f,-2.27487f,-3.63054f,-3.95562f,-2.62221f,-0.08793f,3.01927f,6.01454f,8.06290f},
+    {6.31041f,8.41617f,9.93058f,11.21483f,12.13996f,12.23034f,11.14011f,8.66524f,4.49928f,-1.34733f,-7.71989f,-12.71272f,-15.08305f,-14.75641f,-12.45343f,-9.09705f,-5.35725f,-1.83470f,0.82823f,2.57001f,3.86519f,4.69588f,4.60243f,3.76104f,2.87601f,2.13967f,1.24833f,0.02788f,-1.62859f,-3.80231f,-5.90990f,-6.79346f,-5.87079f,-3.45535f,-0.15720f,3.34006f,6.31041f},
+    {4.26294f,7.59975f,10.43666f,12.70491f,14.16020f,14.43398f,13.18770f,10.10768f,4.90586f,-2.08386f,-9.15208f,-14.09196f,-15.93051f,-15.08268f,-12.51517f,-9.09089f,-5.35759f,-1.77919f,1.14514f,3.24292f,4.77489f,5.90082f,6.46683f,6.42854f,5.95440f,5.04613f,3.49019f,1.14215f,-1.96091f,-5.46021f,-8.43365f,-9.79880f,-9.13330f,-6.77311f,-3.34752f,0.50970f,4.26294f},
+    {2.57464f,6.81988f,10.72127f,13.95370f,16.10049f,16.72460f,15.39548f,11.64478f,5.15172f,-3.36781f,-11.49173f,-16.72206f,-18.40831f,-17.31430f,-14.50140f,-10.79977f,-6.74992f,-2.76545f,0.78143f,3.70100f,6.08013f,8.07892f,9.67963f,10.67456f,10.77058f,9.65347f,7.07600f,3.02043f,-2.09809f,-7.27683f,-11.16806f,-12.81861f,-12.13043f,-9.62141f,-5.97603f,-1.77704f,2.57464f},
+    {1.43503f,6.27921f,10.88019f,14.88261f,17.80063f,19.02158f,17.77297f,13.12636f,4.53718f,-6.54055f,-16.27050f,-21.85552f,-23.31365f,-21.85455f,-18.61101f,-14.36797f,-9.64057f,-4.79964f,-0.13239f,4.18385f,8.10605f,11.64519f,14.70734f,16.97990f,17.92977f,16.88820f,13.23164f,6.81146f,-1.34665f,-8.97876f,-14.01257f,-15.81005f,-14.85926f,-12.00033f,-7.99733f,-3.40265f,1.43502f},
+    {0.13094f,5.45479f,10.54962f,15.08235f,18.55436f,20.17754f,18.67574f,12.20150f,-0.36226f,-15.49225f,-26.46004f,-31.19380f,-31.33251f,-28.66356f,-24.33699f,-19.03627f,-13.18344f,-7.06335f,-0.88475f,5.19490f,11.05071f,16.55252f,21.50321f,25.56424f,28.16988f,28.41286f,24.95220f,16.43585f,3.63861f,-8.67079f,-16.18909f,-18.69045f,-17.68753f,-14.54612f,-10.18137f,-5.16795f,0.13094f},
+    {-4.14830f,1.12345f,5.96040f,9.84415f,11.94596f,10.80871f,4.02869f,-10.36405f,-27.94912f,-39.79617f,-44.16477f,-43.57950f,-40.12657f,-34.99189f,-28.83083f,-22.02403f,-14.80922f,-7.34799f,0.23881f,7.85050f,15.39197f,22.75942f,29.82156f,36.38924f,42.15868f,46.59144f,48.63821f,46.09967f,34.72041f,12.13936f,-8.98865f,-18.65098f,-20.47841f,-18.40133f,-14.39834f,-9.45818f,-4.14830f},
+    {-169.79948f,-159.79948f,-149.79948f,-139.79948f,-129.79948f,-119.79948f,-109.79948f,-99.79948f,-89.79948f,-79.79948f,-69.79948f,-59.79948f,-49.79948f,-39.79948f,-29.79948f,-19.79948f,-9.79948f,0.20052f,10.20052f,20.20052f,30.20052f,40.20052f,50.20052f,60.20052f,70.20052f,80.20052f,90.20052f,100.20052f,110.20052f,120.20052f,130.20052f,140.20052f,150.20052f,160.20052f,170.20052f,-179.79948f,-169.79948f}
 };
 
-#else /* !NAV_AUTO_MAG_DECLINATION_PRECISE */
-#define SAMPLING_RES		10.00000f
-#define SAMPLING_MIN_LON	-180.00000f
-#define SAMPLING_MAX_LON	180.00000f
-#define SAMPLING_MIN_LAT	-60.00000f
-#define SAMPLING_MAX_LAT	60.00000f
-
-static const int8_t declination_table[13][37] = {
-    {48,47,45,44,42,41,39,36,33,28,22,16,10,4,-1,-5,-10,-14,-20,-27,-35,-43,-50,-57,-63,-68,-72,-75,-76,-74,-62,-19,29,44,49,49,48},
-    {32,32,31,31,30,30,30,29,27,23,18,10,3,-4,-9,-12,-14,-17,-21,-27,-34,-42,-48,-53,-57,-58,-57,-52,-44,-30,-13,3,15,23,28,30,32},
-    {23,23,23,23,23,22,22,22,21,18,12,4,-5,-12,-17,-20,-21,-21,-22,-25,-31,-37,-42,-46,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,23},
-    {17,18,18,18,17,17,17,16,16,13,7,-2,-11,-18,-22,-24,-24,-23,-21,-20,-22,-26,-30,-32,-31,-28,-22,-16,-9,-3,0,4,7,11,14,16,17},
-    {13,14,14,14,14,13,12,12,11,8,2,-7,-15,-21,-24,-24,-23,-20,-15,-10,-9,-11,-15,-18,-18,-16,-12,-7,-3,0,1,3,6,8,11,13,13},
-    {11,11,11,11,11,10,10,9,8,5,-1,-9,-17,-21,-23,-21,-18,-13,-8,-4,-2,-2,-5,-7,-9,-8,-6,-3,-1,1,1,2,4,6,9,11,11},
-    {10,10,9,9,9,9,8,8,6,2,-4,-11,-17,-20,-20,-17,-12,-8,-4,-1,1,2,0,-2,-4,-4,-3,-2,0,0,0,0,2,5,7,9,10},
-    {9,9,9,9,9,9,8,7,5,1,-5,-11,-16,-18,-16,-13,-8,-4,-1,1,3,3,2,0,-1,-1,-2,-1,-1,-1,-2,-2,0,3,6,8,9},
-    {8,9,9,10,10,10,9,7,4,-1,-7,-12,-15,-16,-14,-10,-6,-3,0,2,3,4,4,2,1,0,0,-1,-1,-2,-4,-4,-3,0,3,6,8},
-    {6,8,10,11,12,12,11,9,4,-1,-8,-13,-15,-15,-12,-9,-5,-2,1,3,4,5,5,4,3,2,1,0,-2,-4,-6,-7,-6,-4,0,3,6},
-    {4,7,10,13,14,14,13,10,5,-2,-9,-14,-16,-15,-12,-9,-5,-2,1,3,5,6,7,7,6,5,3,1,-2,-6,-9,-10,-9,-7,-3,0,4},
-    {2,7,11,14,16,17,15,12,5,-3,-11,-17,-18,-17,-14,-11,-6,-2,1,4,6,8,10,11,11,10,7,3,-2,-7,-11,-13,-12,-10,-6,-2,2},
-    {1,6,11,15,18,19,18,13,5,-6,-16,-21,-23,-21,-18,-14,-9,-4,0,4,8,12,15,17,18,17,13,7,-2,-9,-14,-16,-15,-12,-8,-4,1}
+const float inclination_table[19][37] = {
+    {-72.02070f,-72.02071f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02070f,-72.02071f,-72.02070f,-72.02071f},
+    {-78.23208f,-77.46612f,-76.54604f,-75.51344f,-74.40408f,-73.25043f,-72.08420f,-70.93779f,-69.84384f,-68.83332f,-67.93241f,-67.15960f,-66.52407f,-66.02648f,-65.66205f,-65.42519f,-65.31392f,-65.33255f,-65.49161f,-65.80511f,-66.28626f,-66.94289f,-67.77395f,-68.76776f,-69.90201f,-71.14489f,-72.45664f,-73.79090f,-75.09549f,-76.31306f,-77.38240f,-78.24183f,-78.83644f,-79.12876f,-79.10879f,-78.79618f,-78.23208f},
+    {-80.80007f,-78.97830f,-77.14756f,-75.29021f,-73.38193f,-71.40769f,-69.37743f,-67.33857f,-65.37896f,-63.61481f,-62.16302f,-61.10460f,-60.45316f,-60.14557f,-60.06470f,-60.08698f,-60.13217f,-60.19219f,-60.32958f,-60.65151f,-61.27183f,-62.27481f,-63.69257f,-65.50302f,-67.64474f,-70.03800f,-72.60073f,-75.25455f,-77.92173f,-80.51496f,-82.91263f,-84.88736f,-85.95658f,-85.63251f,-84.30522f,-82.60297f,-80.80007f},
+    {-77.45516f,-75.43606f,-73.49604f,-71.57699f,-69.59653f,-67.45749f,-65.08505f,-62.48902f,-59.81600f,-57.35291f,-55.46368f,-54.46054f,-54.44855f,-55.23685f,-56.40404f,-57.49090f,-58.18917f,-58.42457f,-58.34278f,-58.24952f,-58.51231f,-59.42525f,-61.10217f,-63.46936f,-66.34503f,-69.53469f,-72.88656f,-76.29320f,-79.66218f,-82.88130f,-85.73520f,-87.38955f,-86.36194f,-84.15583f,-81.83294f,-79.58616f,-77.45517f},
+    {-71.58214f,-69.61565f,-67.71488f,-65.86479f,-64.01505f,-62.04510f,-59.77482f,-57.07400f,-54.02405f,-51.03212f,-48.80491f,-48.09823f,-49.26412f,-51.92460f,-55.16562f,-58.07793f,-60.10267f,-61.01513f,-60.84749f,-59.97822f,-59.15799f,-59.18575f,-60.45940f,-62.86069f,-65.97595f,-69.36736f,-72.71868f,-75.80268f,-78.35851f,-80.06262f,-80.67983f,-80.25871f,-79.08901f,-77.46953f,-75.59576f,-73.59787f,-71.58215f},
+    {-64.39807f,-62.40221f,-60.40960f,-58.42549f,-56.48151f,-54.55795f,-52.49863f,-50.03954f,-47.03044f,-43.80319f,-41.39118f,-41.16169f,-43.78688f,-48.51954f,-53.83971f,-58.60413f,-62.35170f,-64.81766f,-65.60605f,-64.62579f,-62.64650f,-61.08659f,-61.05364f,-62.68316f,-65.34905f,-68.24163f,-70.78236f,-72.62117f,-73.51797f,-73.52965f,-73.02048f,-72.24528f,-71.21594f,-69.88980f,-68.25886f,-66.38361f,-64.39807f},
+    {-55.02826f,-52.87120f,-50.69073f,-48.44731f,-46.19513f,-44.04849f,-42.00465f,-39.74123f,-36.79801f,-33.33110f,-30.77621f,-31.26765f,-35.68330f,-42.58861f,-49.78570f,-56.05256f,-61.22645f,-65.24992f,-67.52021f,-67.43115f,-65.26549f,-62.35447f,-60.45735f,-60.49007f,-61.96843f,-63.81210f,-65.26064f,-65.90429f,-65.53604f,-64.51130f,-63.52424f,-62.77292f,-61.94296f,-60.76846f,-59.16172f,-57.17787f,-55.02826f},
+    {-42.23934f,-39.72248f,-37.30606f,-34.84704f,-32.29950f,-29.84715f,-27.62882f,-25.25073f,-22.02346f,-18.13398f,-15.56621f,-17.09131f,-23.52381f,-32.78684f,-42.11183f,-49.91489f,-55.93881f,-60.34177f,-62.85919f,-63.04596f,-60.93631f,-57.41244f,-54.21948f,-52.82417f,-53.10885f,-54.02972f,-54.81946f,-54.92826f,-53.94911f,-52.38029f,-51.27875f,-50.79557f,-50.20937f,-49.05107f,-47.23568f,-44.84941f,-42.23934f},
+    {-25.31616f,-22.26353f,-19.64432f,-17.13765f,-14.48794f,-11.90452f,-9.56551f,-6.93532f,-3.35246f,0.62534f,2.69744f,0.20162f,-7.49683f,-18.49333f,-29.80260f,-38.99555f,-45.22087f,-48.81124f,-50.28975f,-49.88122f,-47.49942f,-43.57896f,-39.80201f,-37.81589f,-37.58213f,-38.12733f,-38.79073f,-38.91636f,-37.84560f,-36.15384f,-35.28930f,-35.35164f,-35.11620f,-33.90633f,-31.71407f,-28.67497f,-25.31616f},
+    {-5.22365f,-1.68002f,0.98130f,3.28459f,5.73141f,8.13291f,10.33797f,12.92226f,16.28019f,19.52644f,20.64919f,17.75076f,10.26968f,-0.68527f,-12.39654f,-21.81573f,-27.55757f,-29.98547f,-30.24089f,-29.18412f,-26.62224f,-22.51726f,-18.50023f,-16.36665f,-16.02599f,-16.47452f,-17.18522f,-17.56335f,-16.82114f,-15.49276f,-15.21405f,-16.04947f,-16.38744f,-15.33409f,-12.92178f,-9.31548f,-5.22365f},
+    {14.65727f,18.24457f,20.73560f,22.68750f,24.74090f,26.83478f,28.82717f,31.06453f,33.64927f,35.73650f,35.91607f,33.06931f,26.82267f,17.82545f,8.14938f,0.35249f,-4.22224f,-5.65846f,-5.08244f,-3.67265f,-1.30171f,2.36894f,6.00997f,7.96495f,8.31670f,8.01335f,7.45026f,6.96852f,7.19717f,7.76654f,7.31456f,5.77666f,4.68883f,5.07867f,7.05547f,10.50432f,14.65727f},
+    {31.00203f,34.03206f,36.22486f,37.93041f,39.71929f,41.67672f,43.64451f,45.63057f,47.51149f,48.64179f,48.13476f,45.46014f,40.64785f,34.34474f,27.90343f,22.77471f,19.78522f,19.08118f,19.96093f,21.39191f,23.28877f,25.96005f,28.61507f,30.09860f,30.42073f,30.29938f,30.04062f,29.74069f,29.65970f,29.53545f,28.53162f,26.62276f,24.91817f,24.37385f,25.31100f,27.72542f,31.00203f},
+    {43.33608f,45.45851f,47.28808f,48.92364f,50.69187f,52.68920f,54.75852f,56.70372f,58.24993f,58.87748f,58.03709f,55.61656f,52.01961f,47.93440f,44.13769f,41.24459f,39.61639f,39.39065f,40.22833f,41.47069f,42.89022f,44.59331f,46.23881f,47.24171f,47.57154f,47.63935f,47.66249f,47.62919f,47.50096f,47.00810f,45.71114f,43.68014f,41.65440f,40.38784f,40.27252f,41.37670f,43.33608f},
+    {53.10131f,54.36161f,55.82606f,57.45873f,59.32146f,61.39014f,63.50628f,65.43734f,66.85905f,67.31408f,66.44780f,64.38450f,61.68268f,58.96721f,56.68844f,55.08044f,54.25566f,54.24982f,54.89128f,55.82780f,56.83438f,57.87845f,58.85920f,59.59271f,60.06042f,60.40887f,60.71534f,60.90716f,60.81057f,60.15911f,58.74748f,56.73559f,54.64618f,53.02448f,52.20550f,52.28132f,53.10131f},
+    {61.90363f,62.59082f,63.73000f,65.25974f,67.10373f,69.13404f,71.16923f,72.97878f,74.24745f,74.58969f,73.79370f,72.08739f,69.99806f,68.01780f,66.44167f,65.38391f,64.86230f,64.84287f,65.21557f,65.80372f,66.46017f,67.12970f,67.80720f,68.49179f,69.18909f,69.89166f,70.52514f,70.92481f,70.86509f,70.14456f,68.73300f,66.86155f,64.92449f,63.29260f,62.20331f,61.74779f,61.90363f},
+    {70.57319f,70.97549f,71.81891f,73.05700f,74.60513f,76.33503f,78.07584f,79.60158f,80.60606f,80.76720f,79.99878f,78.58008f,76.92858f,75.37566f,74.11340f,73.22087f,72.70518f,72.52979f,72.62677f,72.91213f,73.31657f,73.81370f,74.42101f,75.17239f,76.07666f,77.07532f,78.01176f,78.63384f,78.66938f,77.98598f,76.70086f,75.10445f,73.50638f,72.14451f,71.16426f,70.63412f,70.57319f},
+    {78.82351f,79.06440f,79.60559f,80.41612f,81.44382f,82.60991f,83.79747f,84.82323f,85.41014f,85.29919f,84.52961f,83.39228f,82.15604f,80.99185f,79.99787f,79.22370f,78.68527f,78.37555f,78.27394f,78.35635f,78.60546f,79.01788f,79.60326f,80.37283f,81.31875f,82.38760f,83.44917f,84.26774f,84.54142f,84.12292f,83.18704f,82.03917f,80.91872f,79.97342f,79.28584f,78.89722f,78.82351f},
+    {85.92404f,85.99807f,86.21370f,86.55320f,86.98729f,87.46743f,87.90712f,88.15645f,88.05609f,87.61718f,86.98684f,86.28678f,85.58976f,84.94098f,84.37090f,83.90045f,83.54357f,83.30879f,83.20077f,83.22179f,83.37274f,83.65354f,84.06234f,84.59369f,85.23581f,85.96691f,86.74942f,87.51716f,88.14109f,88.39226f,88.15089f,87.63861f,87.08412f,86.59723f,86.22810f,86.00055f,85.92404f},
+    {88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f,88.21420f}
 };
 
-#endif
+const float intensity_table[19][37] = {
+    {0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f,0.54507f},
+    {0.60562f,0.59923f,0.59133f,0.58213f,0.57184f,0.56070f,0.54892f,0.53679f,0.52458f,0.51262f,0.50121f,0.49067f,0.48128f,0.47330f,0.46697f,0.46249f,0.46006f,0.45986f,0.46203f,0.46665f,0.47372f,0.48312f,0.49460f,0.50778f,0.52217f,0.53717f,0.55217f,0.56652f,0.57964f,0.59102f,0.60027f,0.60715f,0.61152f,0.61342f,0.61294f,0.61026f,0.60562f},
+    {0.62993f,0.61663f,0.60163f,0.58513f,0.56721f,0.54792f,0.52741f,0.50597f,0.48417f,0.46274f,0.44252f,0.42424f,0.40840f,0.39524f,0.38483f,0.37722f,0.37262f,0.37149f,0.37444f,0.38211f,0.39496f,0.41303f,0.43591f,0.46271f,0.49220f,0.52288f,0.55321f,0.58160f,0.60660f,0.62705f,0.64217f,0.65166f,0.65569f,0.65477f,0.64966f,0.64113f,0.62993f},
+    {0.61859f,0.59954f,0.57951f,0.55859f,0.53652f,0.51281f,0.48703f,0.45921f,0.43010f,0.40125f,0.37460f,0.35184f,0.33383f,0.32034f,0.31043f,0.30313f,0.29816f,0.29624f,0.29887f,0.30789f,0.32478f,0.35003f,0.38290f,0.42162f,0.46385f,0.50716f,0.54918f,0.58755f,0.62009f,0.64502f,0.66138f,0.66918f,0.66921f,0.66276f,0.65127f,0.63614f,0.61859f},
+    {0.58434f,0.56134f,0.53820f,0.51511f,0.49174f,0.46715f,0.44010f,0.40984f,0.37699f,0.34382f,0.31364f,0.28967f,0.27359f,0.26453f,0.25966f,0.25610f,0.25262f,0.24997f,0.25053f,0.25779f,0.27518f,0.30435f,0.34417f,0.39141f,0.44206f,0.49253f,0.54000f,0.58194f,0.61593f,0.64015f,0.65395f,0.65794f,0.65353f,0.64245f,0.62626f,0.60641f,0.58434f},
+    {0.53921f,0.51448f,0.48995f,0.46595f,0.44250f,0.41888f,0.39359f,0.36521f,0.33366f,0.30097f,0.27115f,0.24895f,0.23726f,0.23477f,0.23677f,0.23885f,0.23920f,0.23803f,0.23691f,0.23986f,0.25296f,0.28060f,0.32245f,0.37391f,0.42855f,0.48085f,0.52753f,0.56643f,0.59562f,0.61429f,0.62316f,0.62341f,0.61626f,0.60311f,0.58508f,0.56327f,0.53921f},
+    {0.48785f,0.46379f,0.43988f,0.41636f,0.39367f,0.37182f,0.34998f,0.32674f,0.30099f,0.27346f,0.24780f,0.22959f,0.22251f,0.22507f,0.23198f,0.23916f,0.24558f,0.25057f,0.25278f,0.25389f,0.26060f,0.28058f,0.31692f,0.36595f,0.41928f,0.46891f,0.51065f,0.54231f,0.56238f,0.57214f,0.57493f,0.57236f,0.56426f,0.55095f,0.53309f,0.51149f,0.48785f},
+    {0.43209f,0.41089f,0.38995f,0.36941f,0.34979f,0.33155f,0.31470f,0.29826f,0.28044f,0.26067f,0.24164f,0.22828f,0.22418f,0.22862f,0.23770f,0.24867f,0.26122f,0.27397f,0.28296f,0.28650f,0.28895f,0.29863f,0.32271f,0.36133f,0.40653f,0.44908f,0.48374f,0.50731f,0.51774f,0.51826f,0.51530f,0.51075f,0.50252f,0.48985f,0.47321f,0.45336f,0.43209f},
+    {0.37890f,0.36283f,0.34739f,0.33271f,0.31922f,0.30724f,0.29696f,0.28780f,0.27809f,0.26658f,0.25432f,0.24439f,0.23994f,0.24247f,0.25117f,0.26398f,0.27930f,0.29517f,0.30771f,0.31403f,0.31546f,0.31823f,0.33068f,0.35590f,0.38846f,0.42051f,0.44683f,0.46322f,0.46680f,0.46142f,0.45465f,0.44832f,0.43950f,0.42721f,0.41228f,0.39568f,0.37890f},
+    {0.34114f,0.33192f,0.32348f,0.31616f,0.31061f,0.30672f,0.30410f,0.30225f,0.29980f,0.29492f,0.28700f,0.27755f,0.26956f,0.26653f,0.27083f,0.28123f,0.29446f,0.30791f,0.31935f,0.32678f,0.32987f,0.33216f,0.33985f,0.35562f,0.37648f,0.39779f,0.41572f,0.42632f,0.42691f,0.42012f,0.41134f,0.40209f,0.39087f,0.37775f,0.36429f,0.35181f,0.34114f},
+    {0.32818f,0.32516f,0.32319f,0.32283f,0.32517f,0.32980f,0.33535f,0.34062f,0.34397f,0.34296f,0.33615f,0.32475f,0.31211f,0.30265f,0.30010f,0.30443f,0.31265f,0.32241f,0.33228f,0.34067f,0.34700f,0.35327f,0.36224f,0.37416f,0.38773f,0.40158f,0.41356f,0.42060f,0.42076f,0.41455f,0.40362f,0.38928f,0.37303f,0.35700f,0.34334f,0.33369f,0.32818f},
+    {0.33981f,0.34000f,0.34266f,0.34809f,0.35721f,0.36937f,0.38240f,0.39400f,0.40180f,0.40293f,0.39568f,0.38157f,0.36502f,0.35110f,0.34343f,0.34233f,0.34605f,0.35337f,0.36304f,0.37282f,0.38187f,0.39163f,0.40273f,0.41394f,0.42487f,0.43601f,0.44625f,0.45294f,0.45399f,0.44803f,0.43420f,0.41393f,0.39124f,0.37028f,0.35389f,0.34377f,0.33981f},
+    {0.37236f,0.37289f,0.37826f,0.38816f,0.40237f,0.41956f,0.43724f,0.45274f,0.46333f,0.46592f,0.45864f,0.44316f,0.42447f,0.40808f,0.39741f,0.39283f,0.39339f,0.39860f,0.40735f,0.41725f,0.42701f,0.43745f,0.44902f,0.46095f,0.47308f,0.48570f,0.49764f,0.50631f,0.50895f,0.50305f,0.48719f,0.46316f,0.43591f,0.41060f,0.39068f,0.37789f,0.37236f},
+    {0.42245f,0.42215f,0.42846f,0.44064f,0.45724f,0.47601f,0.49435f,0.50993f,0.52038f,0.52304f,0.51631f,0.50148f,0.48288f,0.46550f,0.45264f,0.44515f,0.44269f,0.44488f,0.45083f,0.45875f,0.46742f,0.47714f,0.48867f,0.50225f,0.51759f,0.53373f,0.54863f,0.55948f,0.56339f,0.55795f,0.54232f,0.51859f,0.49131f,0.46537f,0.44426f,0.42977f,0.42245f},
+    {0.48319f,0.48226f,0.48758f,0.49842f,0.51308f,0.52913f,0.54416f,0.55622f,0.56358f,0.56459f,0.55836f,0.54575f,0.52954f,0.51323f,0.49956f,0.48985f,0.48445f,0.48324f,0.48569f,0.49085f,0.49796f,0.50710f,0.51894f,0.53390f,0.55144f,0.56981f,0.58634f,0.59810f,0.60259f,0.59827f,0.58527f,0.56571f,0.54318f,0.52144f,0.50331f,0.49032f,0.48319f},
+    {0.53929f,0.53799f,0.54070f,0.54691f,0.55552f,0.56497f,0.57363f,0.58010f,0.58328f,0.58236f,0.57702f,0.56775f,0.55586f,0.54317f,0.53137f,0.52173f,0.51505f,0.51167f,0.51159f,0.51458f,0.52039f,0.52900f,0.54059f,0.55506f,0.57159f,0.58845f,0.60334f,0.61392f,0.61846f,0.61626f,0.60790f,0.59512f,0.58032f,0.56589f,0.55363f,0.54459f,0.53929f},
+    {0.57278f,0.57090f,0.57068f,0.57187f,0.57403f,0.57656f,0.57878f,0.58007f,0.57991f,0.57795f,0.57409f,0.56849f,0.56162f,0.55414f,0.54681f,0.54040f,0.53554f,0.53271f,0.53223f,0.53423f,0.53873f,0.54564f,0.55475f,0.56559f,0.57735f,0.58891f,0.59900f,0.60643f,0.61040f,0.61066f,0.60758f,0.60203f,0.59514f,0.58801f,0.58156f,0.57637f,0.57278f},
+    {0.57900f,0.57728f,0.57584f,0.57463f,0.57360f,0.57263f,0.57160f,0.57039f,0.56890f,0.56707f,0.56489f,0.56241f,0.55976f,0.55710f,0.55465f,0.55263f,0.55127f,0.55074f,0.55121f,0.55273f,0.55530f,0.55883f,0.56314f,0.56798f,0.57300f,0.57785f,0.58216f,0.58562f,0.58802f,0.58928f,0.58943f,0.58865f,0.58716f,0.58523f,0.58309f,0.58097f,0.57900f},
+    {0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f,0.56830f}
+};
\ No newline at end of file
diff --git a/src/main/target/common.h b/src/main/target/common.h
index b550df42d0..0b878067c4 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -117,8 +117,6 @@
 
 #define NAV_NON_VOLATILE_WAYPOINT_CLI
 
-#define NAV_AUTO_MAG_DECLINATION_PRECISE
-
 #define USE_D_BOOST
 #define USE_ANTIGRAVITY
 
diff --git a/src/utils/declination.py b/src/utils/declination.py
index 44f5c9f21d..da0f805b39 100755
--- a/src/utils/declination.py
+++ b/src/utils/declination.py
@@ -1,21 +1,117 @@
-#!/usr/bin/env python
-
-# Ported from https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Declination/generate
-# Run this script with python3!
-# To install the igrf module, use python3 -m pip install --user igrf12
-# Note that it requires a fortran compiler
-
-'''
-generate field tables from IGRF12
+#!/usr/bin/env python3
 '''
+generate field tables from IGRF13. Note that this requires python3
 
-import collections
-import datetime
-import pathlib
-import sys
+To run the generator you need the igrf module. Install like this:
+
+    python3 -m pip install --user igrf
+
+And run:
+
+    python3 src/utils/declination.py
+
+It will updates the navigation_declination_gen.c code
+'''
 
 import igrf
 import numpy as np
+import datetime
+import pathlib
+from math import sin, cos, sqrt
+import math
+
+class Vector3(object):
+    '''a vector'''
+    def __init__(self, x=None, y=None, z=None):
+        if x is not None and y is not None and z is not None:
+            self.x = float(x)
+            self.y = float(y)
+            self.z = float(z)
+        elif x is not None and len(x) == 3:
+            self.x = float(x[0])
+            self.y = float(x[1])
+            self.z = float(x[2])
+        elif x is not None:
+            raise ValueError('bad initializer')
+        else:
+            self.x = float(0)
+            self.y = float(0)
+            self.z = float(0)
+
+    def length(self):
+        return sqrt(self.x**2 + self.y**2 + self.z**2)
+
+    def __sub__(self, other):
+        return Vector3(self.x - other.x, self.y - other.y, self.z - other.z)
+
+    def __mul__(self, other):
+        if isinstance(other, (int, float)):
+            return Vector3(self.x * other, self.y * other, self.z * other)
+        elif isinstance(other, Vector3):
+            return self.x * other.x + self.y * other.y + self.z * other.z
+        else:
+            raise ValueError('Multiplication with unsupported type')
+
+class Matrix3(object):
+    '''a 3x3 matrix, intended as a rotation matrix'''
+    def __init__(self, a=None, b=None, c=None):
+        if a is not None and b is not None and c is not None:
+            self.a = a.copy()
+            self.b = b.copy()
+            self.c = c.copy()
+        else:
+            self.identity()
+
+    def identity(self):
+        self.a = Vector3(1,0,0)
+        self.b = Vector3(0,1,0)
+        self.c = Vector3(0,0,1)
+
+    def from_euler(self, roll, pitch, yaw):
+        '''fill the matrix from Euler angles in radians'''
+        cp = cos(pitch)
+        sp = sin(pitch)
+        sr = sin(roll)
+        cr = cos(roll)
+        sy = sin(yaw)
+        cy = cos(yaw)
+
+        self.a.x = cp * cy
+        self.a.y = (sr * sp * cy) - (cr * sy)
+        self.a.z = (cr * sp * cy) + (sr * sy)
+        self.b.x = cp * sy
+        self.b.y = (sr * sp * sy) + (cr * cy)
+        self.b.z = (cr * sp * sy) - (sr * cy)
+        self.c.x = -sp
+        self.c.y = sr * cp
+        self.c.z = cr * cp
+
+    def __mul__(self, vector):
+        if isinstance(vector, Vector3):
+            x = self.a.x * vector.x + self.a.y * vector.y + self.a.z * vector.z
+            y = self.b.x * vector.x + self.b.y * vector.y + self.b.z * vector.z
+            z = self.c.x * vector.x + self.c.y * vector.y + self.c.z * vector.z
+            return Vector3(x, y, z)
+        else:
+            raise ValueError('Multiplication with unsupported type')
+
+def write_table(f, name, table):
+    '''write one table'''
+    f.write("const float %s[%u][%u] = {\n" %
+                (name, NUM_LAT, NUM_LON))
+    for i in range(NUM_LAT):
+        f.write("    {")
+        for j in range(NUM_LON):
+            f.write("%.5ff" % table[i][j])
+            if j != NUM_LON-1:
+                f.write(",")
+        f.write("}")
+        if i != NUM_LAT-1:
+            f.write(",")
+        f.write("\n")
+    f.write("};\n\n")
+
+date = datetime.datetime.now()
 
 SAMPLING_RES = 10
 SAMPLING_MIN_LAT = -90
@@ -23,111 +119,134 @@ SAMPLING_MAX_LAT = 90
 SAMPLING_MIN_LON = -180
 SAMPLING_MAX_LON = 180
 
-# This is used for flash constrained environments. We limit
-# the latitude range to [-60, 60], so the values fit in an int8_t
-SAMPLING_COMPACT_MIN_LAT = -60
-SAMPLING_COMPACT_MAX_LAT = 60
+lats = np.arange(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+SAMPLING_RES, SAMPLING_RES)
+lons = np.arange(SAMPLING_MIN_LON, SAMPLING_MAX_LON+SAMPLING_RES, SAMPLING_RES)
 
-PREPROCESSOR_SYMBOL = 'NAV_AUTO_MAG_DECLINATION_PRECISE'
+NUM_LAT = lats.size
+NUM_LON = lons.size
 
-Query = collections.namedtuple('Query', ['date', 'res', 'min_lat', 'max_lat', 'min_lon', 'max_lon'])
-Result = collections.namedtuple('Result', ['query', 'lats', 'lons', 'declination', 'inclination', 'intensity'])
+intensity_table = np.empty((NUM_LAT, NUM_LON))
+inclination_table = np.empty((NUM_LAT, NUM_LON))
+declination_table = np.empty((NUM_LAT, NUM_LON))
 
-def write_table(f, name, table, compact):
-    '''write one table'''
+max_error = 0
+max_error_pos = None
+max_error_field = None
 
-    if compact:
-        format_entry = lambda x: '%d' % round(x)
-        table_type = 'int8_t'
-    else:
-        table_type = 'float'
-        format_entry = lambda x: '%.5ff' % x
+def get_igrf(lat, lon):
+    '''return field as [declination_deg, inclination_deg, intensity_gauss]'''
+    mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1)
+    intensity = float(mag.total/1e5)
+    inclination = float(mag.incl)
+    declination = float(mag.decl)
+    return [declination, inclination, intensity]
 
-    num_lat = len(table)
-    num_lon = len(table[0])
+def interpolate_table(table, latitude_deg, longitude_deg):
+    '''interpolate inside a table for a given lat/lon in degrees'''
+    # round down to nearest sampling resolution
+    min_lat = int(math.floor(latitude_deg / SAMPLING_RES) * SAMPLING_RES)
+    min_lon = int(math.floor(longitude_deg / SAMPLING_RES) * SAMPLING_RES)
 
-    f.write("static const %s %s[%u][%u] = {\n" %
-                (table_type, name, num_lat, num_lon))
-    for i in range(num_lat):
-        f.write("    {")
-        for j in range(num_lon):
-            f.write(format_entry(table[i][j]))
-            if j != num_lon - 1:
-                f.write(",")
-        f.write("}")
-        if i != num_lat - 1:
-            f.write(",")
-        f.write("\n")
-    f.write("};\n\n")
+    # find index of nearest low sampling point
+    min_lat_index = int(math.floor((min_lat - SAMPLING_MIN_LAT) / SAMPLING_RES))
+    min_lon_index = int(math.floor((min_lon - SAMPLING_MIN_LON) / SAMPLING_RES))
 
-def declination_tables(query):
-    lats = np.arange(query.min_lat, query.max_lat + query.res, query.res)
-    lons = np.arange(query.min_lon, query.max_lon + query.res, query.res)
+    # calculate intensity
+    data_sw = table[min_lat_index][min_lon_index]
+    data_se = table[min_lat_index][min_lon_index + 1]
+    data_ne = table[min_lat_index + 1][min_lon_index + 1]
+    data_nw = table[min_lat_index + 1][min_lon_index]
 
-    num_lat = lats.size
-    num_lon = lons.size
+    # perform bilinear interpolation on the four grid corners
+    data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw
+    data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw
 
-    intensity = np.empty((num_lat, num_lon))
-    inclination = np.empty((num_lat, num_lon))
-    declination = np.empty((num_lat, num_lon))
+    value = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min
+    return value
 
-    for i, lat in enumerate(lats):
-        for j, lon in enumerate(lons):
-            mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1)
-            intensity[i][j] = mag.total / 1e5
-            inclination[i][j] = mag.incl
-            declination[i][j] = mag.decl
+def interpolate_field(latitude_deg, longitude_deg):
+    '''calculate magnetic field intensity and orientation, interpolating in tables
 
-    return Result(query=query, lats=lats, lons=lons,
-        declination=declination, inclination=inclination, intensity=intensity)
+    returns array [declination_deg, inclination_deg, intensity] or None'''
+    # limit to table bounds
+    if latitude_deg < SAMPLING_MIN_LAT or latitude_deg >= SAMPLING_MAX_LAT:
+        return None
+    if longitude_deg < SAMPLING_MIN_LON or longitude_deg >= SAMPLING_MAX_LON:
+        return None
 
-def generate_constants(f, query):
-    f.write('#define SAMPLING_RES\t\t%.5ff\n' % query.res)
-    f.write('#define SAMPLING_MIN_LON\t%.5ff\n' % query.min_lon)
-    f.write('#define SAMPLING_MAX_LON\t%.5ff\n' % query.max_lon)
-    f.write('#define SAMPLING_MIN_LAT\t%.5ff\n' % query.min_lat)
-    f.write('#define SAMPLING_MAX_LAT\t%.5ff\n' % query.max_lat)
-    f.write('\n')
+    intensity_gauss = interpolate_table(intensity_table, latitude_deg, longitude_deg)
+    declination_deg = interpolate_table(declination_table, latitude_deg, longitude_deg)
+    inclination_deg = interpolate_table(inclination_table, latitude_deg, longitude_deg)
 
-def generate_tables(f, query, compact):
-    result = declination_tables(query)
-    write_table(f, 'declination_table', result.declination, compact)
+    return [declination_deg, inclination_deg, intensity_gauss]
 
-    # We're not using these tables for now
-    #if not compact:
-    #    write_table(f, 'inclination_table', result.inclination, False)
-    #    write_table(f, 'intensity_table', result.intensity, False)
+def field_to_Vector3(mag):
+    '''return mGauss field from dec, inc and intensity'''
+    R = Matrix3()
+    mag_ef = Vector3(mag[2]*1000.0, 0.0, 0.0)
+    R.from_euler(0.0, -math.radians(mag[1]), math.radians(mag[0]))
+    return R * mag_ef
 
-def generate_code(f, date):
+def test_error(lat, lon):
+    '''check for error from lat, lon'''
+    global max_error, max_error_pos, max_error_field
+    mag1 = get_igrf(lat, lon)
+    mag2 = interpolate_field(lat, lon)
+    if mag2 is None:
+        return
+    ef1 = field_to_Vector3(mag1)
+    ef2 = field_to_Vector3(mag2)
+    err = (ef1 - ef2).length()
+    if err > max_error or err > 100:
+        print(lat, lon, err, ef1, ef2)
+        max_error = err
+        max_error_pos = (lat, lon)
+        max_error_field = ef1 - ef2
 
-    compact_query = Query(date=date, res=SAMPLING_RES,
-        min_lat=SAMPLING_COMPACT_MIN_LAT, max_lat=SAMPLING_COMPACT_MAX_LAT,
-        min_lon=SAMPLING_MIN_LON, max_lon=SAMPLING_MAX_LON)
+def test_max_error(lat, lon):
+    '''check for maximum error from lat, lon over SAMPLING_RES range'''
+    steps = 3
+    delta = SAMPLING_RES/steps
+    for i in range(steps):
+        for j in range(steps):
+            lat2 = lat + i * delta
+            lon2 = lon + j * delta
+            if lat2 > SAMPLING_MAX_LAT or lon2 > SAMPLING_MAX_LON:
+                continue
+            if lat2 < SAMPLING_MIN_LAT or lon2 < SAMPLING_MIN_LON:
+                continue
+            test_error(lat2, lon2)
 
-    precise_query = Query(date=date, res=SAMPLING_RES,
-        min_lat=SAMPLING_MIN_LAT, max_lat=SAMPLING_MAX_LAT,
-        min_lon=SAMPLING_MIN_LON, max_lon=SAMPLING_MAX_LON)
+for i, lat in enumerate(lats):
+    for j, lon in enumerate(lons):
+        mag = get_igrf(lat, lon)
+        declination_table[i][j] = mag[0]
+        inclination_table[i][j] = mag[1]
+        intensity_table[i][j] = mag[2]
 
+with open(pathlib.Path(__file__).parent / '..' / 'main' / 'navigation' / 'navigation_declination_gen.c', 'w') as f:
     f.write('/* this file is automatically generated by src/utils/declination.py - DO NOT EDIT! */\n\n\n')
     f.write('/* Updated on %s */\n\n\n' % date)
-    f.write('#include <stdint.h>\n\n')
 
+    f.write('''const float SAMPLING_RES = %u;
+const float SAMPLING_MIN_LAT = %u;
+const float SAMPLING_MAX_LAT = %u;
+const float SAMPLING_MIN_LON = %u;
+const float SAMPLING_MAX_LON = %u;
 
-    f.write('\n\n#if defined(%s)\n' % PREPROCESSOR_SYMBOL)
-    generate_constants(f, precise_query)
-    generate_tables(f, precise_query, False)
-    # We're not using these tables for now
-    # write_table(f, 'inclination_table', inclination_table)
-    # write_table(f, 'intensity_table', intensity_table)
-    f.write('#else /* !%s */\n' % PREPROCESSOR_SYMBOL)
-    generate_constants(f, compact_query)
-    generate_tables(f, compact_query, True)
-    f.write('#endif\n')
+''' % (SAMPLING_RES,
+           SAMPLING_MIN_LAT,
+           SAMPLING_MAX_LAT,
+           SAMPLING_MIN_LON,
+           SAMPLING_MAX_LON))
 
-if __name__ == '__main__':
+    write_table(f, 'declination_table', declination_table)
+    write_table(f, 'inclination_table', inclination_table)
+    write_table(f, 'intensity_table', intensity_table)
 
-    output = pathlib.PurePath(__file__).parent / '..' / 'main'  / 'navigation' / 'navigation_declination_gen.c'
-    date = datetime.datetime.now()
-
-    with open(output, 'w') as f:
-        generate_code(f, date)
+print("Checking for maximum error")
+for lat in range(-60, 60, 1):
+    for lon in range(-180, 180, 1):
+        test_max_error(lat, lon)
+print("Generated with max error %.2f %s at (%.2f,%.2f)" % (
+    max_error, max_error_field, max_error_pos[0], max_error_pos[1]))

From c9779c2dee475b3627d8cfa469963e2e27a5ea1c Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 14 May 2024 11:42:13 +0100
Subject: [PATCH 086/132] rth trackback tweaks

---
 src/main/navigation/navigation.c    |  8 ++------
 src/main/navigation/rth_trackback.c | 15 ++++++++-------
 src/main/navigation/rth_trackback.h |  2 +-
 3 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index c776ce13f5..cc4e269ef4 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -301,10 +301,6 @@ bool validateRTHSanityChecker(void);
 void updateHomePosition(void);
 bool abortLaunchAllowed(void);
 
-// static bool rthAltControlStickOverrideCheck(unsigned axis);
-// static void updateRthTrackback(bool forceSaveTrackPoint);
-// static fpVector3_t * rthGetTrackbackPos(void);
-
 #ifdef USE_FW_AUTOLAND
 static float getLandAltitude(void);
 static int32_t calcWindDiff(int32_t heading, int32_t windHeading);
@@ -1449,7 +1445,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
         }
         else {
             // Switch to RTH trackback
-            if (rthTrackBackIsActive() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
+            if (rthTrackBackCanBeActivated() && rth_trackback.activePointIndex >= 0 && !isWaypointMissionRTHActive()) {
                 rthTrackBackUpdate(true);  // save final trackpoint for altitude and max trackback distance reference
                 posControl.flags.rthTrackbackActive = true;
                 calculateAndSetActiveWaypointToLocalPosition(getRthTrackBackPosition());
@@ -1568,7 +1564,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigatio
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
 
-    if (rthTrackBackSetNewPosition()) {
+    if (!rthTrackBackSetNewPosition()) {
         return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE;
     }
 
diff --git a/src/main/navigation/rth_trackback.c b/src/main/navigation/rth_trackback.c
index 37467d9b38..dfdcf801f7 100644
--- a/src/main/navigation/rth_trackback.c
+++ b/src/main/navigation/rth_trackback.c
@@ -37,9 +37,10 @@
 
 rth_trackback_t rth_trackback;
 
-bool rthTrackBackIsActive(void) 
+bool rthTrackBackCanBeActivated(void)
 {
-    return navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON ||  (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated);
+    return posControl.flags.estPosStatus >= EST_USABLE &&
+           (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_ON || (navConfig()->general.flags.rth_trackback_mode == RTH_TRACKBACK_FS && posControl.flags.forcedRTHActivated));
 }
 
 void rthTrackBackUpdate(bool forceSaveTrackPoint)
@@ -127,7 +128,7 @@ void rthTrackBackUpdate(bool forceSaveTrackPoint)
 bool rthTrackBackSetNewPosition(void)
 {
     if (posControl.flags.estPosStatus == EST_NONE) {
-        return false;
+        return false;   // will fall back to RTH initialize allowing full RTH to handle position loss correctly
     }
 
     const int32_t distFromStartTrackback = CENTIMETERS_TO_METERS(calculateDistanceToDestination(&rth_trackback.pointsList[rth_trackback.lastSavedIndex]));
@@ -142,7 +143,7 @@ bool rthTrackBackSetNewPosition(void)
     if (rth_trackback.activePointIndex < 0 || cancelTrackback) {
         rth_trackback.WrapAroundCounter = rth_trackback.activePointIndex = -1;
         posControl.flags.rthTrackbackActive = false;
-        return true;    // Procede to home after final trackback point
+        return false;    // No more trackback points to set, procede to home
     }
 
     if (isWaypointReached(&posControl.activeWaypoint.pos, &posControl.activeWaypoint.bearing)) {
@@ -161,7 +162,7 @@ bool rthTrackBackSetNewPosition(void)
         setDesiredPosition(getRthTrackBackPosition(), 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
     }
 
-    return false;
+    return true;
 }
 
 fpVector3_t *getRthTrackBackPosition(void)
@@ -174,9 +175,9 @@ fpVector3_t *getRthTrackBackPosition(void)
     return &rth_trackback.pointsList[rth_trackback.activePointIndex];
 }
 
-void resetRthTrackBack(void) 
+void resetRthTrackBack(void)
 {
     rth_trackback.activePointIndex = -1;
     posControl.flags.rthTrackbackActive = false;
-    rth_trackback.WrapAroundCounter = -1;   
+    rth_trackback.WrapAroundCounter = -1;
 }
\ No newline at end of file
diff --git a/src/main/navigation/rth_trackback.h b/src/main/navigation/rth_trackback.h
index e3c71d0d45..f3337bb4b7 100644
--- a/src/main/navigation/rth_trackback.h
+++ b/src/main/navigation/rth_trackback.h
@@ -35,7 +35,7 @@ typedef struct
 
 extern rth_trackback_t rth_trackback;
 
-bool rthTrackBackIsActive(void);
+bool rthTrackBackCanBeActivated(void);
 bool rthTrackBackSetNewPosition(void);
 void rthTrackBackUpdate(bool forceSaveTrackPoint);
 fpVector3_t *getRthTrackBackPosition(void);

From 9c64e9b65d1321af35acace2696001a2aff58f40 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 15 May 2024 11:44:47 +0100
Subject: [PATCH 087/132] baro altitude estimation fix

---
 docs/Settings.md                              | 10 ------
 src/main/fc/fc_msp_box.c                      |  2 +-
 src/main/fc/settings.yaml                     |  5 ---
 src/main/navigation/navigation.h              |  2 --
 .../navigation/navigation_pos_estimator.c     | 31 +++++++++++--------
 5 files changed, 19 insertions(+), 31 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 30533330ad..14eb3b3dfc 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1812,16 +1812,6 @@ Allows to chose when the home position is reset. Can help prevent resetting home
 
 ---
 
-### inav_use_gps_no_baro
-
-Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
-
-| Default | Min | Max |
-| --- | --- | --- |
-| ON | OFF | ON |
-
----
-
 ### inav_w_acc_bias
 
 Weight for accelerometer drift estimation
diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index 2745f7e041..7ffbbefd95 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -215,7 +215,7 @@ void initActiveBoxIds(void)
 
     bool navReadyAltControl = getHwBarometerStatus() != HW_SENSOR_NONE;
 #ifdef USE_GPS
-    navReadyAltControl = navReadyAltControl || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro));
+    navReadyAltControl = navReadyAltControl || feature(FEATURE_GPS);
 
     const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
     bool navReadyPosControl = sensors(SENSOR_ACC) && feature(FEATURE_GPS);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index dfa7bb97d3..898c1b7be7 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2271,11 +2271,6 @@ groups:
         field: gravity_calibration_tolerance
         min: 0
         max: 255
-      - name: inav_use_gps_no_baro
-        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
-        field: use_gps_no_baro
-        type: bool
-        default_value: ON
       - name: inav_allow_dead_reckoning
         description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
         default_value: OFF
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 0613a19c24..276fb61cc1 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -260,8 +260,6 @@ typedef struct positionEstimationConfig_s {
     float max_eph_epv;  // Max estimated position error acceptable for estimation (cm)
     float baro_epv;     // Baro position error
 
-    uint8_t use_gps_no_baro;
-
 #ifdef USE_GPS_FIX_ESTIMATION
     uint8_t allow_gps_fix_estimation;
 #endif
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index 19018983cc..30fa4012e4 100755
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -56,7 +56,7 @@
 navigationPosEstimator_t posEstimator;
 static float initialBaroAltitudeOffset = 0.0f;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 6);
+PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 7);
 
 PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
         // Inertial position estimator parameters
@@ -64,7 +64,6 @@ PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
         .reset_altitude_type = SETTING_INAV_RESET_ALTITUDE_DEFAULT,
         .reset_home_type = SETTING_INAV_RESET_HOME_DEFAULT,
         .gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT,  // 5 cm/s/s calibration error accepted (0.5% of gravity)
-        .use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT,                      // Use GPS altitude if no baro is available on all aircrafts
         .allow_dead_reckoning = SETTING_INAV_ALLOW_DEAD_RECKONING_DEFAULT,
 
         .max_surface_altitude = SETTING_INAV_MAX_SURFACE_ALTITUDE_DEFAULT,
@@ -180,12 +179,12 @@ void onNewGPSData(void)
     newLLH.lon = gpsSol.llh.lon;
     newLLH.alt = gpsSol.llh.alt;
 
-    if (sensors(SENSOR_GPS) 
+    if (sensors(SENSOR_GPS)
 #ifdef USE_GPS_FIX_ESTIMATION
             || STATE(GPS_ESTIMATED_FIX)
 #endif
         ) {
-        if (!(STATE(GPS_FIX) 
+        if (!(STATE(GPS_FIX)
 #ifdef USE_GPS_FIX_ESTIMATION
                 || STATE(GPS_ESTIMATED_FIX)
 #endif
@@ -553,15 +552,20 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
     DEBUG_SET(DEBUG_ALTITUDE, 7, accGetClipCount());            // Clip count
 
     bool correctOK = false;
-    
-    //ignore baro if difference is too big, baro is probably wrong
-    const float gpsBaroResidual = ctx->newFlags & EST_GPS_Z_VALID ? fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt) : 0.0f;
-    //fade out the baro to prevent sudden jump
-    const float start_epv = positionEstimationConfig()->max_eph_epv;
-    const float end_epv = positionEstimationConfig()->max_eph_epv * 2.0f;
-    const float wBaro = scaleRangef(constrainf(gpsBaroResidual, start_epv, end_epv), start_epv, end_epv, 1.0f, 0.0f);
-    //use both baro and gps
-    if ((ctx->newFlags & EST_BARO_VALID) && (!positionEstimationConfig()->use_gps_no_baro) && (wBaro > 0.01f)) {
+
+    float wBaro = 0.0f;
+    if (ctx->newFlags & EST_BARO_VALID) {
+        // Ignore baro if difference is too big, baro is probably wrong
+        const float gpsBaroResidual = ctx->newFlags & EST_GPS_Z_VALID ? fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt) : 0.0f;
+
+        // Fade out the baro to prevent sudden jump
+        const float start_epv = positionEstimationConfig()->max_eph_epv;
+        const float end_epv = positionEstimationConfig()->max_eph_epv * 2.0f;
+        wBaro = scaleRangef(constrainf(gpsBaroResidual, start_epv, end_epv), start_epv, end_epv, 1.0f, 0.0f);
+    }
+
+    // Always use Baro if no GPS otherwise only use if accuracy OK compared to GPS
+    if (wBaro > 0.01f) {
         timeUs_t currentTimeUs = micros();
 
         if (!ARMING_FLAG(ARMED)) {
@@ -597,6 +601,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
 
         correctOK = true;
     }
+
     if (ctx->newFlags & EST_GPS_Z_VALID) {
         // Reset current estimate to GPS altitude if estimate not valid
         if (!(ctx->newFlags & EST_Z_VALID)) {

From 283baa7c0a28685ec184dd1f57a822009c46480b Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 15 May 2024 20:01:08 +0100
Subject: [PATCH 088/132] Initial changes

---
 src/main/CMakeLists.txt                       |   4 +-
 src/main/drivers/osd.h                        |   4 +-
 src/main/drivers/osd_symbols.h                |   6 +-
 src/main/io/bf_osd_symbols.h                  | 163 ----
 src/main/io/displayport_msp_bf_compat.c       | 748 ------------------
 src/main/io/displayport_msp_dji_compat.c      | 713 +++++++++++++++++
 ..._compat.h => displayport_msp_dji_compat.h} |  12 +-
 src/main/io/displayport_msp_osd.c             |  18 +-
 src/main/io/dji_osd_symbols.h                 | 164 ++++
 src/main/io/osd.c                             | 127 +--
 src/main/io/osd_grid.c                        |   8 +-
 src/main/io/osd_hud.c                         |   4 +-
 src/main/io/osd_utils.c                       |   4 +-
 13 files changed, 948 insertions(+), 1027 deletions(-)
 delete mode 100644 src/main/io/bf_osd_symbols.h
 delete mode 100644 src/main/io/displayport_msp_bf_compat.c
 create mode 100644 src/main/io/displayport_msp_dji_compat.c
 rename src/main/io/{displayport_msp_bf_compat.h => displayport_msp_dji_compat.h} (69%)
 create mode 100644 src/main/io/dji_osd_symbols.h

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index 28c068966f..c87abc1782 100755
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -500,8 +500,8 @@ main_sources(COMMON_SRC
     io/displayport_max7456.h
     io/displayport_msp.c
     io/displayport_msp.h
-    io/displayport_msp_bf_compat.c
-    io/displayport_msp_bf_compat.h
+    io/displayport_msp_dji_compat.c
+    io/displayport_msp_dji_compat.h
     io/displayport_oled.c
     io/displayport_oled.h
     io/displayport_msp_osd.c
diff --git a/src/main/drivers/osd.h b/src/main/drivers/osd.h
index e9ae4d5ef3..a8b0bbc8e4 100644
--- a/src/main/drivers/osd.h
+++ b/src/main/drivers/osd.h
@@ -49,8 +49,8 @@ typedef enum {
     VIDEO_SYSTEM_HDZERO,
     VIDEO_SYSTEM_DJIWTF,
     VIDEO_SYSTEM_AVATAR,
-    VIDEO_SYSTEM_BFCOMPAT,
-    VIDEO_SYSTEM_BFCOMPAT_HD
+    VIDEO_SYSTEM_DJICOMPAT,
+    VIDEO_SYSTEM_DJICOMPAT_HD
 } videoSystem_e;
 
 typedef enum {
diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 91cdcbb5f6..90c0bc9713 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -44,9 +44,9 @@
 #define SYM_DBM                     0x13  // 019 dBm
 #define SYM_SNR                     0x14  // 020 SNR
 
-#define SYM_AH_DIRECTION_UP         0x15  // 021 Arrow up AHI
-#define SYM_AH_DIRECTION_DOWN       0x16  // 022 Arrow down AHI
-#define SYM_DIRECTION               0x17  // 023 to 030, directional little arrows
+#define SYM_AH_DECORATION_UP        0x15  // 021 Arrow up AHI
+#define SYM_AH_DECORATION_DOWN      0x16  // 022 Arrow down AHI
+#define SYM_DECORATION              0x17  // 023 to 030, directional little arrows
 
 #define SYM_VOLT                    0x1F  // 031 VOLTS
 #define SYM_MAH                     0x99  // 153 mAh
diff --git a/src/main/io/bf_osd_symbols.h b/src/main/io/bf_osd_symbols.h
deleted file mode 100644
index a63b9470fb..0000000000
--- a/src/main/io/bf_osd_symbols.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/* @file max7456_symbols.h
- * @brief max7456 symbols for the mwosd font set
- *
- * @author Nathan Tsoi nathan@vertile.com
- *
- * Copyright (C) 2016 Nathan Tsoi
- *
- * This program 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.
- *
- * This program 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
-
-//Misc
-#define BF_SYM_NONE                    0x00
-#define BF_SYM_END_OF_FONT             0xFF
-#define BF_SYM_BLANK                   0x20
-#define BF_SYM_HYPHEN                  0x2D
-#define BF_SYM_BBLOG                   0x10
-#define BF_SYM_HOMEFLAG                0x11
-#define BF_SYM_RPM                     0x12
-#define BF_SYM_ROLL                    0x14
-#define BF_SYM_PITCH                   0x15
-#define BF_SYM_TEMPERATURE             0x7A
-
-// GPS and navigation
-#define BF_SYM_LAT                     0x89
-#define BF_SYM_LON                     0x98
-#define BF_SYM_ALTITUDE                0x7F
-#define BF_SYM_TOTAL_DISTANCE          0x71
-#define BF_SYM_OVER_HOME               0x05
-
-// RSSI
-#define BF_SYM_RSSI                    0x01
-#define BF_SYM_LINK_QUALITY            0x7B
-
-// Throttle Position (%)
-#define BF_SYM_THR                     0x04
-
-// Unit Icons (Metric)
-#define BF_SYM_M                       0x0C
-#define BF_SYM_KM                      0x7D
-#define BF_SYM_C                       0x0E
-
-// Unit Icons (Imperial)
-#define BF_SYM_FT                      0x0F
-#define BF_SYM_MILES                   0x7E
-#define BF_SYM_F                       0x0D
-
-// Heading Graphics
-#define BF_SYM_HEADING_N               0x18
-#define BF_SYM_HEADING_S               0x19
-#define BF_SYM_HEADING_E               0x1A
-#define BF_SYM_HEADING_W               0x1B
-#define BF_SYM_HEADING_DIVIDED_LINE    0x1C
-#define BF_SYM_HEADING_LINE            0x1D
-
-// AH Center screen Graphics
-#define BF_SYM_AH_CENTER_LINE          0x72
-#define BF_SYM_AH_CENTER               0x73
-#define BF_SYM_AH_CENTER_LINE_RIGHT    0x74
-#define BF_SYM_AH_RIGHT                0x02
-#define BF_SYM_AH_LEFT                 0x03
-#define BF_SYM_AH_DECORATION           0x13
-
-// Satellite Graphics
-#define BF_SYM_SAT_L                   0x1E
-#define BF_SYM_SAT_R                   0x1F
-
-// Direction arrows
-#define BF_SYM_ARROW_SOUTH             0x60
-#define BF_SYM_ARROW_2                 0x61
-#define BF_SYM_ARROW_3                 0x62
-#define BF_SYM_ARROW_4                 0x63
-#define BF_SYM_ARROW_EAST              0x64
-#define BF_SYM_ARROW_6                 0x65
-#define BF_SYM_ARROW_7                 0x66
-#define BF_SYM_ARROW_8                 0x67
-#define BF_SYM_ARROW_NORTH             0x68
-#define BF_SYM_ARROW_10                0x69
-#define BF_SYM_ARROW_11                0x6A
-#define BF_SYM_ARROW_12                0x6B
-#define BF_SYM_ARROW_WEST              0x6C
-#define BF_SYM_ARROW_14                0x6D
-#define BF_SYM_ARROW_15                0x6E
-#define BF_SYM_ARROW_16                0x6F
-
-#define BF_SYM_ARROW_SMALL_UP          0x75
-#define BF_SYM_ARROW_SMALL_DOWN        0x76
-
-// AH Bars
-#define BF_SYM_AH_BAR9_0               0x80
-#define BF_SYM_AH_BAR9_1               0x81
-#define BF_SYM_AH_BAR9_2               0x82
-#define BF_SYM_AH_BAR9_3               0x83
-#define BF_SYM_AH_BAR9_4               0x84
-#define BF_SYM_AH_BAR9_5               0x85
-#define BF_SYM_AH_BAR9_6               0x86
-#define BF_SYM_AH_BAR9_7               0x87
-#define BF_SYM_AH_BAR9_8               0x88
-
-// Progress bar
-#define BF_SYM_PB_START                0x8A
-#define BF_SYM_PB_FULL                 0x8B
-#define BF_SYM_PB_HALF                 0x8C
-#define BF_SYM_PB_EMPTY                0x8D
-#define BF_SYM_PB_END                  0x8E
-#define BF_SYM_PB_CLOSE                0x8F
-
-// Batt evolution
-#define BF_SYM_BATT_FULL               0x90
-#define BF_SYM_BATT_5                  0x91
-#define BF_SYM_BATT_4                  0x92
-#define BF_SYM_BATT_3                  0x93
-#define BF_SYM_BATT_2                  0x94
-#define BF_SYM_BATT_1                  0x95
-#define BF_SYM_BATT_EMPTY              0x96
-
-// Batt Icons
-#define BF_SYM_MAIN_BATT               0x97
-
-// Voltage and amperage
-#define BF_SYM_VOLT                    0x06
-#define BF_SYM_AMP                     0x9A
-#define BF_SYM_MAH                     0x07
-#define BF_SYM_WATT                    0x57  // 0x57 is 'W'
-
-// Time
-#define BF_SYM_ON_M                    0x9B
-#define BF_SYM_FLY_M                   0x9C
-
-// Speed
-#define BF_SYM_SPEED                   0x70
-#define BF_SYM_KPH                     0x9E
-#define BF_SYM_MPH                     0x9D
-#define BF_SYM_MPS                     0x9F
-#define BF_SYM_FTPS                    0x99
-
-// Menu cursor
-#define BF_SYM_CURSOR                  BF_SYM_AH_LEFT
-
-// Stick overlays
-#define BF_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08
-#define BF_SYM_STICK_OVERLAY_SPRITE_MID  0x09
-#define BF_SYM_STICK_OVERLAY_SPRITE_LOW  0x0A
-#define BF_SYM_STICK_OVERLAY_CENTER      0x0B
-#define BF_SYM_STICK_OVERLAY_VERTICAL    0x16
-#define BF_SYM_STICK_OVERLAY_HORIZONTAL  0x17
-
-// GPS degree/minute/second symbols
-#define BF_SYM_GPS_DEGREE              BF_SYM_STICK_OVERLAY_SPRITE_HIGH  // kind of looks like the degree symbol
-#define BF_SYM_GPS_MINUTE              0x27 // '
-#define BF_SYM_GPS_SECOND              0x22 // "
diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
deleted file mode 100644
index e7f75ec2fa..0000000000
--- a/src/main/io/displayport_msp_bf_compat.c
+++ /dev/null
@@ -1,748 +0,0 @@
-/*
- * This file is part of INAV Project.
- *
- * 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "platform.h"
-
-#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT)
-
-#ifndef DISABLE_MSP_BF_COMPAT
-
-#include "io/displayport_msp_bf_compat.h"
-#include "io/bf_osd_symbols.h"
-#include "drivers/osd_symbols.h"
-
-uint8_t getBfCharacter(uint8_t ch, uint8_t page)
-{
-    uint16_t ech = ch | ((page & 0x3)<< 8) ;
-
-    if (ech >= 0x20 && ech <= 0x5F) { // ASCII range
-        return ch;
-    }
-
-    if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) {
-        return BF_SYM_AH_DECORATION;
-    }
-
-    switch (ech) {
-    case SYM_RSSI:
-        return BF_SYM_RSSI;
-
-    case SYM_LQ:
-        return BF_SYM_LINK_QUALITY;
-
-    case SYM_LAT:
-        return BF_SYM_LAT;
-
-    case SYM_LON:
-        return BF_SYM_LON;
-
-    case SYM_SAT_L:
-        return BF_SYM_SAT_L;
-
-    case SYM_SAT_R:
-        return BF_SYM_SAT_R;
-
-    case SYM_HOME_NEAR:
-        return BF_SYM_HOMEFLAG;
-
-    case SYM_DEGREES:
-        return BF_SYM_GPS_DEGREE;
-
-/*
-    case SYM_HEADING:
-        return BF_SYM_HEADING;
-
-    case SYM_SCALE:
-        return BF_SYM_SCALE;
-
-    case SYM_HDP_L:
-        return BF_SYM_HDP_L;
-
-    case SYM_HDP_R:
-        return BF_SYM_HDP_R;
-*/
-    case SYM_HOME:
-        return BF_SYM_HOMEFLAG;
-
-    case SYM_2RSS:
-        return BF_SYM_RSSI;
-
-/*
-    case SYM_DB:
-        return BF_SYM_DB
-
-    case SYM_DBM:
-        return BF_SYM_DBM;
-
-    case SYM_SNR:
-        return BF_SYM_SNR;
-
-    case SYM_AH_DECORATION_UP:
-        return BF_SYM_AH_DECORATION_UP;
-
-    case SYM_AH_DECORATION_DOWN:
-        return BF_SYM_AH_DECORATION_DOWN;
-*/
-    case SYM_DIRECTION:
-        return BF_SYM_ARROW_NORTH;
-    
-    case SYM_DIRECTION + 1: // NE pointing arrow
-        return BF_SYM_ARROW_7;
-
-    case SYM_DIRECTION + 2: // E pointing arrow
-        return BF_SYM_ARROW_EAST;
-
-    case SYM_DIRECTION + 3: // SE pointing arrow
-        return BF_SYM_ARROW_3;
-
-    case SYM_DIRECTION + 4: // S pointing arrow
-        return BF_SYM_ARROW_SOUTH;
-
-    case SYM_DIRECTION + 5: // SW pointing arrow
-        return BF_SYM_ARROW_15;
-
-    case SYM_DIRECTION + 6: // W pointing arrow
-        return BF_SYM_ARROW_WEST;
-
-    case SYM_DIRECTION + 7: // NW pointing arrow
-        return BF_SYM_ARROW_11;
-
-    case SYM_VOLT:
-        return BF_SYM_VOLT;
-
-    case SYM_MAH:
-        return BF_SYM_MAH;
-
-    case SYM_AH_KM:
-        return BF_SYM_KM;
-
-    case SYM_AH_MI:
-        return BF_SYM_MILES;
-/*
-    case SYM_VTX_POWER:
-        return BF_SYM_VTX_POWER;
-
-    case SYM_AH_NM:
-        return BF_SYM_AH_NM;
-
-    case SYM_MAH_NM_0:
-        return BF_SYM_MAH_NM_0;
-
-    case SYM_MAH_NM_1:
-        return BF_SYM_MAH_NM_1;
-
-    case SYM_MAH_KM_0:
-        return BF_SYM_MAH_KM_0;
-
-    case SYM_MAH_KM_1:
-        return BF_SYM_MAH_KM_1;
-
-    case SYM_MILLIOHM:
-        return BF_SYM_MILLIOHM;
-*/
-    case SYM_BATT_FULL:
-        return BF_SYM_BATT_FULL;
-
-    case SYM_BATT_5:
-        return BF_SYM_BATT_5;
-
-    case SYM_BATT_4:
-        return BF_SYM_BATT_4;
-
-    case SYM_BATT_3:
-        return BF_SYM_BATT_3;
-
-    case SYM_BATT_2:
-        return BF_SYM_BATT_2;
-
-    case SYM_BATT_1:
-        return BF_SYM_BATT_1;
-
-    case SYM_BATT_EMPTY:
-        return BF_SYM_BATT_EMPTY;
-
-    case SYM_AMP:
-        return BF_SYM_AMP;
-/*
-    case SYM_WH:
-        return BF_SYM_WH;
-
-    case SYM_WH_KM:
-        return BF_SYM_WH_KM;
-
-    case SYM_WH_MI:
-        return BF_SYM_WH_MI;
-
-    case SYM_WH_NM:
-        return BF_SYM_WH_NM;
-*/
-    case SYM_WATT:
-        return BF_SYM_WATT;
-/*
-    case SYM_MW:
-        return BF_SYM_MW;
-
-    case SYM_KILOWATT:
-        return BF_SYM_KILOWATT;
-*/
-    case SYM_FT:
-        return BF_SYM_FT;
-
-    case SYM_ALT_FT:
-        return BF_SYM_FT;
-
-    case SYM_ALT_M:
-        return BF_SYM_M;
-
-    case SYM_TOTAL:
-        return BF_SYM_TOTAL_DISTANCE;
-/*
-    case SYM_ALT_KM:
-        return BF_SYM_ALT_KM;
-
-    case SYM_ALT_KFT:
-        return BF_SYM_ALT_KFT;
-
-    case SYM_DIST_M:
-        return BF_SYM_DIST_M;
-
-    case SYM_DIST_KM:
-        return BF_SYM_DIST_KM;
-
-    case SYM_DIST_FT:
-        return BF_SYM_DIST_FT;
-
-    case SYM_DIST_MI:
-        return BF_SYM_DIST_MI;
-
-    case SYM_DIST_NM:
-        return BF_SYM_DIST_NM;
-*/
-    case SYM_M:
-        return BF_SYM_M;
-
-    case SYM_KM:
-        return BF_SYM_KM;
-
-    case SYM_MI:
-        return BF_SYM_MILES;
-/*
-    case SYM_NM:
-        return BF_SYM_NM;
-*/
-    case SYM_WIND_HORIZONTAL:
-        return 'W';     // W for wind
-
-/*
-    case SYM_WIND_VERTICAL:
-        return BF_SYM_WIND_VERTICAL;
-
-    case SYM_3D_KT:
-        return BF_SYM_3D_KT;
-*/
-    case SYM_AIR:
-        return 'A';     // A for airspeed
-
-    case SYM_3D_KMH:
-        return BF_SYM_KPH;
-
-    case SYM_3D_MPH:
-        return BF_SYM_MPH;
-
-    case SYM_RPM:
-        return BF_SYM_RPM;
-
-    case SYM_FTS:
-        return BF_SYM_FTPS;
-/*
-    case SYM_100FTM:
-        return BF_SYM_100FTM;
-*/
-    case SYM_MS:
-        return BF_SYM_MPS;
-
-    case SYM_KMH:
-        return BF_SYM_KPH;
-
-    case SYM_MPH:
-        return BF_SYM_MPH;
-/*
-    case SYM_KT:
-        return BF_SYM_KT
-
-    case SYM_MAH_MI_0:
-        return BF_SYM_MAH_MI_0;
-
-    case SYM_MAH_MI_1:
-        return BF_SYM_MAH_MI_1;
-*/
-    case SYM_THR:
-        return BF_SYM_THR;
-
-    case SYM_TEMP_F:
-        return BF_SYM_F;
-
-    case SYM_TEMP_C:
-        return BF_SYM_C;
-
-    case SYM_BLANK:
-        return BF_SYM_BLANK;
-/*
-    case SYM_ON_H:
-        return BF_SYM_ON_H;
-
-    case SYM_FLY_H:
-        return BF_SYM_FLY_H;
-*/
-    case SYM_ON_M:
-        return BF_SYM_ON_M;
-
-    case SYM_FLY_M:
-        return BF_SYM_FLY_M;
-/*
-    case SYM_GLIDESLOPE:
-        return BF_SYM_GLIDESLOPE;
-
-    case SYM_WAYPOINT:
-        return BF_SYM_WAYPOINT;
-
-    case SYM_CLOCK:
-        return BF_SYM_CLOCK;
-
-    case SYM_ZERO_HALF_TRAILING_DOT:
-        return BF_SYM_ZERO_HALF_TRAILING_DOT;
-
-    case SYM_ZERO_HALF_LEADING_DOT:
-        return BF_SYM_ZERO_HALF_LEADING_DOT;
-*/
-
-    case SYM_AUTO_THR0:
-        return 'A';
-
-    case SYM_AUTO_THR1:
-        return BF_SYM_THR;
-
-    case SYM_ROLL_LEFT:
-        return BF_SYM_ROLL;
-
-    case SYM_ROLL_LEVEL:
-        return BF_SYM_ROLL;
-
-    case SYM_ROLL_RIGHT:
-        return BF_SYM_ROLL;
-
-    case SYM_PITCH_UP:
-        return BF_SYM_PITCH;
-
-    case SYM_PITCH_DOWN:
-        return BF_SYM_PITCH;
-
-    case SYM_GFORCE:
-        return 'G';
-
-/*
-    case SYM_GFORCE_X:
-        return BF_SYM_GFORCE_X;
-
-    case SYM_GFORCE_Y:
-        return BF_SYM_GFORCE_Y;
-
-    case SYM_GFORCE_Z:
-        return BF_SYM_GFORCE_Z;
-
-    case SYM_BARO_TEMP:
-        return BF_SYM_BARO_TEMP;
-
-    case SYM_IMU_TEMP:
-        return BF_SYM_IMU_TEMP;
-
-    case SYM_TEMP:
-        return BF_SYM_TEMP;
-
-    case SYM_TEMP_SENSOR_FIRST:
-        return BF_SYM_TEMP_SENSOR_FIRST;
-
-    case SYM_ESC_TEMP:
-        return BF_SYM_ESC_TEMP;
-
-    case SYM_TEMP_SENSOR_LAST:
-        return BF_SYM_TEMP_SENSOR_LAST;
-
-    case TEMP_SENSOR_SYM_COUNT:
-        return BF_TEMP_SENSOR_SYM_COUNT;
-*/
-    case SYM_HEADING_N:
-        return BF_SYM_HEADING_N;
-
-    case SYM_HEADING_S:
-        return BF_SYM_HEADING_S;
-
-    case SYM_HEADING_E:
-        return BF_SYM_HEADING_E;
-
-    case SYM_HEADING_W:
-        return BF_SYM_HEADING_W;
-
-    case SYM_HEADING_DIVIDED_LINE:
-        return BF_SYM_HEADING_DIVIDED_LINE;
-
-    case SYM_HEADING_LINE:
-        return BF_SYM_HEADING_LINE;
-/*
-    case SYM_MAX:
-        return BF_SYM_MAX;
-
-    case SYM_PROFILE:
-        return BF_SYM_PROFILE;
-
-    case SYM_SWITCH_INDICATOR_LOW:
-        return BF_SYM_SWITCH_INDICATOR_LOW;
-
-    case SYM_SWITCH_INDICATOR_MID:
-        return BF_SYM_SWITCH_INDICATOR_MID;
-
-    case SYM_SWITCH_INDICATOR_HIGH:
-        return BF_SYM_SWITCH_INDICATOR_HIGH;
-
-    case SYM_AH:
-        return BF_SYM_AH;
-
-    case SYM_GLIDE_DIST:
-        return BF_SYM_GLIDE_DIST;
-
-    case SYM_GLIDE_MINS:
-        return BF_SYM_GLIDE_MINS;
-
-    case SYM_AH_V_FT_0:
-        return BF_SYM_AH_V_FT_0;
-
-    case SYM_AH_V_FT_1:
-        return BF_SYM_AH_V_FT_1;
-
-    case SYM_AH_V_M_0:
-        return BF_SYM_AH_V_M_0;
-
-    case SYM_AH_V_M_1:
-        return BF_SYM_AH_V_M_1;
-
-    case SYM_FLIGHT_MINS_REMAINING:
-        return BF_SYM_FLIGHT_MINS_REMAINING;
-
-    case SYM_FLIGHT_HOURS_REMAINING:
-        return BF_SYM_FLIGHT_HOURS_REMAINING;
-
-    case SYM_GROUND_COURSE:
-        return BF_SYM_GROUND_COURSE;
-
-    case SYM_CROSS_TRACK_ERROR:
-        return BF_SYM_CROSS_TRACK_ERROR;
-
-    case SYM_LOGO_START:
-        return BF_SYM_LOGO_START;
-
-    case SYM_LOGO_WIDTH:
-        return BF_SYM_LOGO_WIDTH;
-
-    case SYM_LOGO_HEIGHT:
-        return BF_SYM_LOGO_HEIGHT;
-*/
-    case SYM_AH_LEFT:
-        return BF_SYM_AH_LEFT;
-
-    case SYM_AH_RIGHT:
-        return BF_SYM_AH_RIGHT;
-
-/*
-    case SYM_AH_DECORATION_COUNT:
-        return BF_SYM_AH_DECORATION_COUNT;
-*/
-    case SYM_AH_CH_LEFT:
-    case SYM_AH_CH_TYPE3:
-    case SYM_AH_CH_TYPE4:
-    case SYM_AH_CH_TYPE5:
-    case SYM_AH_CH_TYPE6:
-    case SYM_AH_CH_TYPE7:
-    case SYM_AH_CH_TYPE8:
-    case SYM_AH_CH_AIRCRAFT1:
-        return BF_SYM_AH_CENTER_LINE;
-
-    case SYM_AH_CH_RIGHT:
-    case (SYM_AH_CH_TYPE3+2):
-    case (SYM_AH_CH_TYPE4+2):
-    case (SYM_AH_CH_TYPE5+2):
-    case (SYM_AH_CH_TYPE6+2):
-    case (SYM_AH_CH_TYPE7+2):
-    case (SYM_AH_CH_TYPE8+2):
-    case SYM_AH_CH_AIRCRAFT3:
-        return BF_SYM_AH_CENTER_LINE_RIGHT;
-    
-    case SYM_AH_CH_AIRCRAFT0:
-    case SYM_AH_CH_AIRCRAFT4:
-        return ' ';
-
-    case SYM_ARROW_UP:
-        return BF_SYM_ARROW_NORTH;
-
-    case SYM_ARROW_2:
-        return BF_SYM_ARROW_8;
-
-    case SYM_ARROW_3:
-        return BF_SYM_ARROW_7;
-
-    case SYM_ARROW_4:
-        return BF_SYM_ARROW_6;
-
-    case SYM_ARROW_RIGHT:
-        return BF_SYM_ARROW_EAST;
-
-    case SYM_ARROW_6:
-        return BF_SYM_ARROW_4;
-
-    case SYM_ARROW_7:
-        return BF_SYM_ARROW_3;
-
-    case SYM_ARROW_8:
-        return BF_SYM_ARROW_2;
-
-    case SYM_ARROW_DOWN:
-        return BF_SYM_ARROW_SOUTH;
-
-    case SYM_ARROW_10:
-        return BF_SYM_ARROW_16;
-
-    case SYM_ARROW_11:
-        return BF_SYM_ARROW_15;
-
-    case SYM_ARROW_12:
-        return BF_SYM_ARROW_14;
-
-    case SYM_ARROW_LEFT:
-        return BF_SYM_ARROW_WEST;
-
-    case SYM_ARROW_14:
-        return BF_SYM_ARROW_12;
-
-    case SYM_ARROW_15:
-        return BF_SYM_ARROW_11;
-
-    case SYM_ARROW_16:
-        return BF_SYM_ARROW_10;
-
-    case SYM_AH_H_START:
-        return BF_SYM_AH_BAR9_0;
-
-    case (SYM_AH_H_START+1):
-        return BF_SYM_AH_BAR9_1;
-
-    case (SYM_AH_H_START+2):
-        return BF_SYM_AH_BAR9_2;
-
-    case (SYM_AH_H_START+3):
-        return BF_SYM_AH_BAR9_3;
-
-    case (SYM_AH_H_START+4):
-        return BF_SYM_AH_BAR9_4;
-
-    case (SYM_AH_H_START+5):
-        return BF_SYM_AH_BAR9_5;
-
-    case (SYM_AH_H_START+6):
-        return BF_SYM_AH_BAR9_6;
-
-    case (SYM_AH_H_START+7):
-        return BF_SYM_AH_BAR9_7;
-
-    case (SYM_AH_H_START+8):
-        return BF_SYM_AH_BAR9_8;
-
-    // BF does not have vertical artificial horizon. replace with middle horizontal one
-    case SYM_AH_V_START:
-    case (SYM_AH_V_START+1):
-    case (SYM_AH_V_START+2):
-    case (SYM_AH_V_START+3):
-    case (SYM_AH_V_START+4):
-    case (SYM_AH_V_START+5):
-        return BF_SYM_AH_BAR9_4;
-
-    // BF for ESP_RADAR Symbols
-    case SYM_HUD_CARDINAL:
-        return BF_SYM_ARROW_SOUTH;
-    case SYM_HUD_CARDINAL + 1:
-        return BF_SYM_ARROW_16;
-    case SYM_HUD_CARDINAL + 2:
-        return BF_SYM_ARROW_15;
-    case SYM_HUD_CARDINAL + 3:
-        return BF_SYM_ARROW_WEST;
-    case SYM_HUD_CARDINAL + 4:
-        return BF_SYM_ARROW_12;
-    case SYM_HUD_CARDINAL + 5:
-        return BF_SYM_ARROW_11;
-    case SYM_HUD_CARDINAL + 6:
-        return BF_SYM_ARROW_NORTH;
-    case SYM_HUD_CARDINAL + 7:
-        return BF_SYM_ARROW_7;
-    case SYM_HUD_CARDINAL + 8:
-        return BF_SYM_ARROW_6;
-    case SYM_HUD_CARDINAL + 9:
-        return BF_SYM_ARROW_EAST;
-    case SYM_HUD_CARDINAL + 10:
-        return BF_SYM_ARROW_3;
-    case SYM_HUD_CARDINAL + 11:
-        return BF_SYM_ARROW_2;
-
-    case SYM_HUD_ARROWS_R3:
-        return BF_SYM_AH_RIGHT;
-    case SYM_HUD_ARROWS_L3:
-        return BF_SYM_AH_LEFT;
-
-    case SYM_HUD_SIGNAL_0:
-        return BF_SYM_AH_BAR9_1;
-    case SYM_HUD_SIGNAL_1:
-        return BF_SYM_AH_BAR9_3;
-    case SYM_HUD_SIGNAL_2:
-        return BF_SYM_AH_BAR9_4;
-    case SYM_HUD_SIGNAL_3:
-        return BF_SYM_AH_BAR9_5;
-    case SYM_HUD_SIGNAL_4:
-        return BF_SYM_AH_BAR9_7;
-/*
-    case SYM_VARIO_UP_2A:
-        return BF_SYM_VARIO_UP_2A;
-
-    case SYM_VARIO_UP_1A:
-        return BF_SYM_VARIO_UP_1A;
-
-    case SYM_VARIO_DOWN_1A:
-        return BF_SYM_VARIO_DOWN_1A;
-
-    case SYM_VARIO_DOWN_2A:
-        return BF_SYM_VARIO_DOWN_2A;
-*/
-    case SYM_ALT:
-        return BF_SYM_ALTITUDE;
-/*
-    case SYM_HUD_SIGNAL_0:
-        return BF_SYM_HUD_SIGNAL_0;
-
-    case SYM_HUD_SIGNAL_1:
-        return BF_SYM_HUD_SIGNAL_1;
-
-    case SYM_HUD_SIGNAL_2:
-        return BF_SYM_HUD_SIGNAL_2;
-
-    case SYM_HUD_SIGNAL_3:
-        return BF_SYM_HUD_SIGNAL_3;
-
-    case SYM_HUD_SIGNAL_4:
-        return BF_SYM_HUD_SIGNAL_4;
-
-    case SYM_HOME_DIST:
-        return BF_SYM_HOME_DIST;
-*/
-
-    case SYM_AH_CH_CENTER:
-    case (SYM_AH_CH_TYPE3+1):
-    case (SYM_AH_CH_TYPE4+1):
-    case (SYM_AH_CH_TYPE5+1):
-    case (SYM_AH_CH_TYPE6+1):
-    case (SYM_AH_CH_TYPE7+1):
-    case (SYM_AH_CH_TYPE8+1):
-    case SYM_AH_CH_AIRCRAFT2:
-        return BF_SYM_AH_CENTER;
-/*
-    case SYM_FLIGHT_DIST_REMAINING:
-        return BF_SYM_FLIGHT_DIST_REMAINING;
-
-    case SYM_AH_CH_TYPE3:
-        return BF_SYM_AH_CH_TYPE3;
-
-    case SYM_AH_CH_TYPE4:
-        return BF_SYM_AH_CH_TYPE4;
-
-    case SYM_AH_CH_TYPE5:
-        return BF_SYM_AH_CH_TYPE5;
-
-    case SYM_AH_CH_TYPE6:
-        return BF_SYM_AH_CH_TYPE6;
-
-    case SYM_AH_CH_TYPE7:
-        return BF_SYM_AH_CH_TYPE7;
-
-    case SYM_AH_CH_TYPE8:
-        return BF_SYM_AH_CH_TYPE8;
-
-    case SYM_AH_CH_AIRCRAFT0:
-        return BF_SYM_AH_CH_AIRCRAFT0;
-
-    case SYM_AH_CH_AIRCRAFT1:
-        return BF_SYM_AH_CH_AIRCRAFT1;
-
-    case SYM_AH_CH_AIRCRAFT2:
-        return BF_SYM_AH_CH_AIRCRAFT2;
-
-    case SYM_AH_CH_AIRCRAFT3:
-        return BF_SYM_AH_CH_AIRCRAFT3;
-
-    case SYM_AH_CH_AIRCRAFT4:
-        return BF_SYM_AH_CH_AIRCRAFT4;
-
-    case SYM_HUD_ARROWS_L1:
-        return BF_SYM_HUD_ARROWS_L1;
-
-    case SYM_HUD_ARROWS_L2:
-        return BF_SYM_HUD_ARROWS_L2;
-
-    case SYM_HUD_ARROWS_L3:
-        return BF_SYM_HUD_ARROWS_L3;
-
-    case SYM_HUD_ARROWS_R1:
-        return BF_SYM_HUD_ARROWS_R1;
-
-    case SYM_HUD_ARROWS_R2:
-        return BF_SYM_HUD_ARROWS_R2;
-
-    case SYM_HUD_ARROWS_R3:
-        return BF_SYM_HUD_ARROWS_R3;
-
-    case SYM_HUD_ARROWS_U1:
-        return BF_SYM_HUD_ARROWS_U1;
-
-    case SYM_HUD_ARROWS_U2:
-        return BF_SYM_HUD_ARROWS_U2;
-
-    case SYM_HUD_ARROWS_U3:
-        return BF_SYM_HUD_ARROWS_U3;
-
-    case SYM_HUD_ARROWS_D1:
-        return BF_SYM_HUD_ARROWS_D1;
-
-    case SYM_HUD_ARROWS_D2:
-        return BF_SYM_HUD_ARROWS_D2;
-
-    case SYM_HUD_ARROWS_D3:
-        return BF_SYM_HUD_ARROWS_D3;
-*/
-    default:
-        break;
-    }
-
-    return '?'; // Missing/not mapped character
-}
-
-#endif
-
-#endif
diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
new file mode 100644
index 0000000000..de4fa8656f
--- /dev/null
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -0,0 +1,713 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT)
+
+#ifndef DISABLE_MSP_DJI_COMPAT
+
+#include "io/displayport_msp_dji_compat.h"
+#include "io/dji_osd_symbols.h"
+#include "drivers/osd_symbols.h"
+
+uint8_t getDJICharacter(uint8_t ch, uint8_t page)
+{
+    uint16_t ech = ch | ((page & 0x3)<< 8) ;
+
+    if (ech >= 0x20 && ech <= 0x5F) { // ASCII range
+        return ch;
+    }
+
+    if (ech >= SYM_AH_DECORATION_MIN && ech <= SYM_AH_DECORATION_MAX) {
+        return DJI_SYM_AH_DECORATION;
+    }
+
+    switch (ech) {
+        case SYM_RSSI:
+            return DJI_SYM_RSSI;
+
+/*
+        case SYM_LQ:
+            return DJI_SYM_LINK_QUALITY;
+*/
+
+        case SYM_LAT:
+            return DJI_SYM_LAT;
+
+        case SYM_LON:
+            return DJI_SYM_LON;
+
+        case SYM_SAT_L:
+            return DJI_SYM_SAT_L;
+
+        case SYM_SAT_R:
+            return DJI_SYM_SAT_R;
+
+        case SYM_HOME_NEAR:
+            return DJI_SYM_HOMEFLAG;
+
+        case SYM_DEGREES:
+            return DJI_SYM_GPS_DEGREE;
+
+/*
+        case SYM_HEADING:
+            return DJI_SYM_HEADING;
+
+        case SYM_SCALE:
+            return DJI_SYM_SCALE;
+
+        case SYM_HDP_L:
+            return DJI_SYM_HDP_L;
+
+        case SYM_HDP_R:
+            return DJI_SYM_HDP_R;
+*/
+        case SYM_HOME:
+            return DJI_SYM_HOMEFLAG;
+
+        case SYM_2RSS:
+            return DJI_SYM_RSSI;
+
+/*
+        case SYM_DB:
+            return DJI_SYM_DB
+
+        case SYM_DBM:
+            return DJI_SYM_DBM;
+
+        case SYM_SNR:
+            return DJI_SYM_SNR;
+*/
+
+        case SYM_AH_DECORATION_UP:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_AH_DECORATION_DOWN:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        case SYM_DECORATION:
+            return DJI_SYM_ARROW_SMALL_UP;
+        
+        case SYM_DECORATION + 1: // NE pointing arrow
+            return DJI_SYM_ARROW_7;
+
+        case SYM_DECORATION + 2: // E pointing arrow
+            return DJI_SYM_ARROW_EAST;
+
+        case SYM_DECORATION + 3: // SE pointing arrow
+            return DJI_SYM_ARROW_3;
+
+        case SYM_DECORATION + 4: // S pointing arrow
+            return DJI_SYM_ARROW_SOUTH;
+
+        case SYM_DECORATION + 5: // SW pointing arrow
+            return DJI_SYM_ARROW_15;
+
+        case SYM_DECORATION + 6: // W pointing arrow
+            return DJI_SYM_ARROW_WEST;
+
+        case SYM_DECORATION + 7: // NW pointing arrow
+            return DJI_SYM_ARROW_11;
+
+        case SYM_VOLT:
+            return DJI_SYM_VOLT;
+
+        case SYM_MAH:
+            return DJI_SYM_MAH;
+
+        case SYM_AH_KM:
+            return 'K';
+
+        case SYM_AH_MI:
+            return 'M';
+/*
+        case SYM_VTX_POWER:
+            return DJI_SYM_VTX_POWER;
+
+        case SYM_AH_NM:
+            return DJI_SYM_AH_NM;
+
+        case SYM_MAH_NM_0:
+            return DJI_SYM_MAH_NM_0;
+
+        case SYM_MAH_NM_1:
+            return DJI_SYM_MAH_NM_1;
+
+        case SYM_MAH_KM_0:
+            return DJI_SYM_MAH_KM_0;
+
+        case SYM_MAH_KM_1:
+            return DJI_SYM_MAH_KM_1;
+
+        case SYM_MILLIOHM:
+            return DJI_SYM_MILLIOHM;
+*/
+        case SYM_BATT_FULL:
+            return DJI_SYM_BATT_FULL;
+
+        case SYM_BATT_5:
+            return DJI_SYM_BATT_5;
+
+        case SYM_BATT_4:
+            return DJI_SYM_BATT_4;
+
+        case SYM_BATT_3:
+            return DJI_SYM_BATT_3;
+
+        case SYM_BATT_2:
+            return DJI_SYM_BATT_2;
+
+        case SYM_BATT_1:
+            return DJI_SYM_BATT_1;
+
+        case SYM_BATT_EMPTY:
+            return DJI_SYM_BATT_EMPTY;
+
+        case SYM_AMP:
+            return DJI_SYM_AMP;
+/*
+        case SYM_WH:
+            return DJI_SYM_WH;
+
+        case SYM_WH_KM:
+            return DJI_SYM_WH_KM;
+
+        case SYM_WH_MI:
+            return DJI_SYM_WH_MI;
+
+        case SYM_WH_NM:
+            return DJI_SYM_WH_NM;
+*/
+        case SYM_WATT:
+            return DJI_SYM_WATT;
+/*
+        case SYM_MW:
+            return DJI_SYM_MW;
+
+        case SYM_KILOWATT:
+            return DJI_SYM_KILOWATT;
+*/
+        case SYM_FT:
+            return DJI_SYM_FT;
+
+        case SYM_ALT_FT:
+            return DJI_SYM_FT;
+
+        case SYM_ALT_M:
+            return DJI_SYM_M;
+
+        case SYM_TOTAL:
+            return DJI_SYM_FLY_H;
+/*
+
+        case SYM_ALT_KM:
+            return DJI_SYM_ALT_KM;
+
+        case SYM_ALT_KFT:
+            return DJI_SYM_ALT_KFT;
+
+        case SYM_DIST_M:
+            return DJI_SYM_DIST_M;
+
+        case SYM_DIST_KM:
+            return DJI_SYM_DIST_KM;
+
+        case SYM_DIST_FT:
+            return DJI_SYM_DIST_FT;
+
+        case SYM_DIST_MI:
+            return DJI_SYM_DIST_MI;
+
+        case SYM_DIST_NM:
+            return DJI_SYM_DIST_NM;
+*/
+        case SYM_M:
+            return DJI_SYM_M;
+
+        case SYM_KM:
+            return 'K';
+
+        case SYM_MI:
+            return 'M';
+/*
+        case SYM_NM:
+            return DJI_SYM_NM;
+*/
+        case SYM_WIND_HORIZONTAL:
+            return 'W';     // W for wind
+
+/*
+        case SYM_WIND_VERTICAL:
+            return DJI_SYM_WIND_VERTICAL;
+
+        case SYM_3D_KT:
+            return DJI_SYM_3D_KT;
+*/
+        case SYM_AIR:
+            return 'A';     // A for airspeed
+
+        case SYM_3D_KMH:
+            return DJI_SYM_KPH;
+
+        case SYM_3D_MPH:
+            return DJI_SYM_MPH;
+
+        case SYM_RPM:
+            return DJI_SYM_RPM;
+
+        case SYM_FTS:
+            return DJI_SYM_FTPS;
+/*
+        case SYM_100FTM:
+            return DJI_SYM_100FTM;
+*/
+        case SYM_MS:
+            return DJI_SYM_MPS;
+
+        case SYM_KMH:
+            return DJI_SYM_KPH;
+
+        case SYM_MPH:
+            return DJI_SYM_MPH;
+/*
+        case SYM_KT:
+            return DJI_SYM_KT
+
+        case SYM_MAH_MI_0:
+            return DJI_SYM_MAH_MI_0;
+
+        case SYM_MAH_MI_1:
+            return DJI_SYM_MAH_MI_1;
+*/
+        case SYM_THR:
+            return DJI_SYM_THR;
+
+        case SYM_TEMP_F:
+            return DJI_SYM_F;
+
+        case SYM_TEMP_C:
+            return DJI_SYM_C;
+
+        case SYM_BLANK:
+            return DJI_SYM_BLANK;
+
+        case SYM_ON_H:
+            return DJI_SYM_ON_H;
+
+        case SYM_FLY_H:
+            return DJI_SYM_FLY_H;
+
+        case SYM_ON_M:
+            return DJI_SYM_ON_M;
+
+        case SYM_FLY_M:
+            return DJI_SYM_FLY_M;
+/*
+        case SYM_GLIDESLOPE:
+            return DJI_SYM_GLIDESLOPE;
+
+        case SYM_WAYPOINT:
+            return DJI_SYM_WAYPOINT;
+
+        case SYM_CLOCK:
+            return DJI_SYM_CLOCK;
+
+        case SYM_ZERO_HALF_TRAILING_DOT:
+            return DJI_SYM_ZERO_HALF_TRAILING_DOT;
+
+        case SYM_ZERO_HALF_LEADING_DOT:
+            return DJI_SYM_ZERO_HALF_LEADING_DOT;
+*/
+
+        case SYM_AUTO_THR0:
+            return 'A';
+
+        case SYM_AUTO_THR1:
+            return DJI_SYM_THR;
+
+        case SYM_ROLL_LEFT:
+            return DJI_SYM_ROLL;
+
+        case SYM_ROLL_LEVEL:
+            return DJI_SYM_ROLL;
+
+        case SYM_ROLL_RIGHT:
+            return DJI_SYM_ROLL;
+
+        case SYM_PITCH_UP:
+            return DJI_SYM_PITCH;
+
+        case SYM_PITCH_DOWN:
+            return DJI_SYM_PITCH;
+
+        case SYM_GFORCE:
+            return 'G';
+
+/*
+        case SYM_GFORCE_X:
+            return DJI_SYM_GFORCE_X;
+
+        case SYM_GFORCE_Y:
+            return DJI_SYM_GFORCE_Y;
+
+        case SYM_GFORCE_Z:
+            return DJI_SYM_GFORCE_Z;
+*/
+        case SYM_BARO_TEMP:
+            return DJI_SYM_TEMPERATURE;
+
+        case SYM_IMU_TEMP:
+            return DJI_SYM_TEMPERATURE;
+
+        case SYM_TEMP:
+            return DJI_SYM_TEMPERATURE;
+
+        case SYM_ESC_TEMP:
+            return DJI_SYM_TEMPERATURE;
+/*
+        case SYM_TEMP_SENSOR_FIRST:
+            return DJI_SYM_TEMP_SENSOR_FIRST;
+
+        case SYM_TEMP_SENSOR_LAST:
+            return DJI_SYM_TEMP_SENSOR_LAST;
+
+        case TEMP_SENSOR_SYM_COUNT:
+            return DJI_TEMP_SENSOR_SYM_COUNT;
+*/
+        case SYM_HEADING_N:
+            return DJI_SYM_HEADING_N;
+
+        case SYM_HEADING_S:
+            return DJI_SYM_HEADING_S;
+
+        case SYM_HEADING_E:
+            return DJI_SYM_HEADING_E;
+
+        case SYM_HEADING_W:
+            return DJI_SYM_HEADING_W;
+
+        case SYM_HEADING_DIVIDED_LINE:
+            return DJI_SYM_HEADING_DIVIDED_LINE;
+
+        case SYM_HEADING_LINE:
+            return DJI_SYM_HEADING_LINE;
+
+        case SYM_MAX:
+            return DJI_SYM_MAX;
+/*
+        case SYM_PROFILE:
+            return DJI_SYM_PROFILE;
+*/
+        case SYM_SWITCH_INDICATOR_LOW:
+            return DJI_SYM_STICK_OVERLAY_SPRITE_LOW;
+
+        case SYM_SWITCH_INDICATOR_MID:
+            return DJI_SYM_STICK_OVERLAY_SPRITE_MID;
+
+        case SYM_SWITCH_INDICATOR_HIGH:
+            return DJI_SYM_STICK_OVERLAY_SPRITE_HIGH;
+/*
+        case SYM_AH:
+            return DJI_SYM_AH;
+
+        case SYM_GLIDE_DIST:
+            return DJI_SYM_GLIDE_DIST;
+
+        case SYM_GLIDE_MINS:
+            return DJI_SYM_GLIDE_MINS;
+
+        case SYM_AH_V_FT_0:
+            return DJI_SYM_AH_V_FT_0;
+
+        case SYM_AH_V_FT_1:
+            return DJI_SYM_AH_V_FT_1;
+
+        case SYM_AH_V_M_0:
+            return DJI_SYM_AH_V_M_0;
+
+        case SYM_AH_V_M_1:
+            return DJI_SYM_AH_V_M_1;
+
+        case SYM_FLIGHT_MINS_REMAINING:
+            return DJI_SYM_FLIGHT_MINS_REMAINING;
+
+        case SYM_FLIGHT_HOURS_REMAINING:
+            return DJI_SYM_FLIGHT_HOURS_REMAINING;
+
+        case SYM_GROUND_COURSE:
+            return DJI_SYM_GROUND_COURSE;
+
+        case SYM_CROSS_TRACK_ERROR:
+            return DJI_SYM_CROSS_TRACK_ERROR;
+
+        case SYM_LOGO_START:
+            return DJI_SYM_LOGO_START;
+
+        case SYM_LOGO_WIDTH:
+            return DJI_SYM_LOGO_WIDTH;
+
+        case SYM_LOGO_HEIGHT:
+            return DJI_SYM_LOGO_HEIGHT;
+*/
+        case SYM_AH_LEFT:
+            return DJI_SYM_AH_LEFT;
+
+        case SYM_AH_RIGHT:
+            return DJI_SYM_AH_RIGHT;
+
+/*
+        case SYM_AH_DECORATION_COUNT:
+            return DJI_SYM_AH_DECORATION_COUNT;
+*/
+        case SYM_AH_CH_LEFT:
+        case SYM_AH_CH_TYPE3:
+        case SYM_AH_CH_TYPE4:
+        case SYM_AH_CH_TYPE5:
+        case SYM_AH_CH_TYPE6:
+        case SYM_AH_CH_TYPE7:
+        case SYM_AH_CH_TYPE8:
+        case SYM_AH_CH_AIRCRAFT1:
+            return DJI_SYM_CROSSHAIR_LEFT;
+
+        case SYM_AH_CH_CENTER:
+        case (SYM_AH_CH_TYPE3+1):
+        case (SYM_AH_CH_TYPE4+1):
+        case (SYM_AH_CH_TYPE5+1):
+        case (SYM_AH_CH_TYPE6+1):
+        case (SYM_AH_CH_TYPE7+1):
+        case (SYM_AH_CH_TYPE8+1):
+        case SYM_AH_CH_AIRCRAFT2:
+            return DJI_SYM_CROSSHAIR_CENTRE;
+
+        case SYM_AH_CH_RIGHT:
+        case (SYM_AH_CH_TYPE3+2):
+        case (SYM_AH_CH_TYPE4+2):
+        case (SYM_AH_CH_TYPE5+2):
+        case (SYM_AH_CH_TYPE6+2):
+        case (SYM_AH_CH_TYPE7+2):
+        case (SYM_AH_CH_TYPE8+2):
+        case SYM_AH_CH_AIRCRAFT3:
+            return DJI_SYM_CROSSHAIR_RIGHT;
+        
+        case SYM_AH_CH_AIRCRAFT0:
+        case SYM_AH_CH_AIRCRAFT4:
+            return DJI_SYM_BLANK;
+
+        case SYM_ARROW_UP:
+            return DJI_SYM_ARROW_NORTH;
+
+        case SYM_ARROW_2:
+            return DJI_SYM_ARROW_8;
+
+        case SYM_ARROW_3:
+            return DJI_SYM_ARROW_7;
+
+        case SYM_ARROW_4:
+            return DJI_SYM_ARROW_6;
+
+        case SYM_ARROW_RIGHT:
+            return DJI_SYM_ARROW_EAST;
+
+        case SYM_ARROW_6:
+            return DJI_SYM_ARROW_4;
+
+        case SYM_ARROW_7:
+            return DJI_SYM_ARROW_3;
+
+        case SYM_ARROW_8:
+            return DJI_SYM_ARROW_2;
+
+        case SYM_ARROW_DOWN:
+            return DJI_SYM_ARROW_SOUTH;
+
+        case SYM_ARROW_10:
+            return DJI_SYM_ARROW_16;
+
+        case SYM_ARROW_11:
+            return DJI_SYM_ARROW_15;
+
+        case SYM_ARROW_12:
+            return DJI_SYM_ARROW_14;
+
+        case SYM_ARROW_LEFT:
+            return DJI_SYM_ARROW_WEST;
+
+        case SYM_ARROW_14:
+            return DJI_SYM_ARROW_12;
+
+        case SYM_ARROW_15:
+            return DJI_SYM_ARROW_11;
+
+        case SYM_ARROW_16:
+            return DJI_SYM_ARROW_10;
+
+        case SYM_AH_H_START:
+            return DJI_SYM_AH_BAR9_0;
+
+        case (SYM_AH_H_START+1):
+            return DJI_SYM_AH_BAR9_1;
+
+        case (SYM_AH_H_START+2):
+            return DJI_SYM_AH_BAR9_2;
+
+        case (SYM_AH_H_START+3):
+            return DJI_SYM_AH_BAR9_3;
+
+        case (SYM_AH_H_START+4):
+            return DJI_SYM_AH_BAR9_4;
+
+        case (SYM_AH_H_START+5):
+            return DJI_SYM_AH_BAR9_5;
+
+        case (SYM_AH_H_START+6):
+            return DJI_SYM_AH_BAR9_6;
+
+        case (SYM_AH_H_START+7):
+            return DJI_SYM_AH_BAR9_7;
+
+        case (SYM_AH_H_START+8):
+            return DJI_SYM_AH_BAR9_8;
+
+        // DJI does not have vertical artificial horizon. replace with middle horizontal one
+        case SYM_AH_V_START:
+        case (SYM_AH_V_START+1):
+        case (SYM_AH_V_START+2):
+        case (SYM_AH_V_START+3):
+        case (SYM_AH_V_START+4):
+        case (SYM_AH_V_START+5):
+            return DJI_SYM_AH_BAR9_4;
+
+        // DJI for ESP_RADAR Symbols
+        case SYM_HUD_CARDINAL:
+            return DJI_SYM_ARROW_SOUTH;
+        case SYM_HUD_CARDINAL + 1:
+            return DJI_SYM_ARROW_16;
+        case SYM_HUD_CARDINAL + 2:
+            return DJI_SYM_ARROW_15;
+        case SYM_HUD_CARDINAL + 3:
+            return DJI_SYM_ARROW_WEST;
+        case SYM_HUD_CARDINAL + 4:
+            return DJI_SYM_ARROW_12;
+        case SYM_HUD_CARDINAL + 5:
+            return DJI_SYM_ARROW_11;
+        case SYM_HUD_CARDINAL + 6:
+            return DJI_SYM_ARROW_NORTH;
+        case SYM_HUD_CARDINAL + 7:
+            return DJI_SYM_ARROW_7;
+        case SYM_HUD_CARDINAL + 8:
+            return DJI_SYM_ARROW_6;
+        case SYM_HUD_CARDINAL + 9:
+            return DJI_SYM_ARROW_EAST;
+        case SYM_HUD_CARDINAL + 10:
+            return DJI_SYM_ARROW_3;
+        case SYM_HUD_CARDINAL + 11:
+            return DJI_SYM_ARROW_2;
+
+        case SYM_HUD_SIGNAL_0:
+            return DJI_SYM_AH_BAR9_1;
+        case SYM_HUD_SIGNAL_1:
+            return DJI_SYM_AH_BAR9_3;
+        case SYM_HUD_SIGNAL_2:
+            return DJI_SYM_AH_BAR9_4;
+        case SYM_HUD_SIGNAL_3:
+            return DJI_SYM_AH_BAR9_5;
+        case SYM_HUD_SIGNAL_4:
+            return DJI_SYM_AH_BAR9_7;
+
+        case SYM_VARIO_UP_2A:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_VARIO_UP_1A:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_VARIO_DOWN_1A:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        case SYM_VARIO_DOWN_2A:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        case SYM_ALT:
+            return DJI_SYM_ALTITUDE;
+/*
+        case SYM_HUD_SIGNAL_0:
+            return DJI_SYM_HUD_SIGNAL_0;
+
+        case SYM_HUD_SIGNAL_1:
+            return DJI_SYM_HUD_SIGNAL_1;
+
+        case SYM_HUD_SIGNAL_2:
+            return DJI_SYM_HUD_SIGNAL_2;
+
+        case SYM_HUD_SIGNAL_3:
+            return DJI_SYM_HUD_SIGNAL_3;
+
+        case SYM_HUD_SIGNAL_4:
+            return DJI_SYM_HUD_SIGNAL_4;
+
+        case SYM_HOME_DIST:
+            return DJI_SYM_HOME_DIST;
+
+        case SYM_FLIGHT_DIST_REMAINING:
+            return DJI_SYM_FLIGHT_DIST_REMAINING;
+*/
+        case SYM_HUD_ARROWS_L1:
+            return DJI_SYM_ARROW_SMALL_LEFT;
+
+        case SYM_HUD_ARROWS_L2:
+            return DJI_SYM_ARROW_SMALL_LEFT;
+
+        case SYM_HUD_ARROWS_L3:
+            return DJI_SYM_ARROW_SMALL_LEFT;
+
+        case SYM_HUD_ARROWS_R1:
+            return DJI_SYM_ARROW_SMALL_RIGHT;
+
+        case SYM_HUD_ARROWS_R2:
+            return DJI_SYM_ARROW_SMALL_RIGHT;
+
+        case SYM_HUD_ARROWS_R3:
+            return DJI_SYM_ARROW_SMALL_RIGHT;
+
+        case SYM_HUD_ARROWS_U1:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_HUD_ARROWS_U2:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_HUD_ARROWS_U3:
+            return DJI_SYM_ARROW_SMALL_UP;
+
+        case SYM_HUD_ARROWS_D1:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        case SYM_HUD_ARROWS_D2:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        case SYM_HUD_ARROWS_D3:
+            return DJI_SYM_ARROW_SMALL_DOWN;
+
+        default:
+            break;
+    }
+
+    return '?'; // Missing/not mapped character
+}
+
+#endif
+
+#endif
diff --git a/src/main/io/displayport_msp_bf_compat.h b/src/main/io/displayport_msp_dji_compat.h
similarity index 69%
rename from src/main/io/displayport_msp_bf_compat.h
rename to src/main/io/displayport_msp_dji_compat.h
index 95dab7b518..6380770aa0 100644
--- a/src/main/io/displayport_msp_bf_compat.h
+++ b/src/main/io/displayport_msp_dji_compat.h
@@ -22,15 +22,15 @@
 
 #include "platform.h"
 
-#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_BF_COMPAT)
+#if defined(USE_OSD) && defined(USE_MSP_DISPLAYPORT) && !defined(DISABLE_MSP_DJI_COMPAT)
 #include "osd.h"
-uint8_t getBfCharacter(uint8_t ch, uint8_t page);
-#define isBfCompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_BFCOMPAT_HD)
+uint8_t getDJICharacter(uint8_t ch, uint8_t page);
+#define isDJICompatibleVideoSystem(osdConfigPtr) (osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT || osdConfigPtr->video_system == VIDEO_SYSTEM_DJICOMPAT_HD)
 #else
-#define getBfCharacter(x, page) (x)
+#define getDJICharacter(x, page) (x)
 #ifdef OSD_UNIT_TEST
-#define isBfCompatibleVideoSystem(osdConfigPtr) (true)
+#define isDJICompatibleVideoSystem(osdConfigPtr) (true)
 #else
-#define isBfCompatibleVideoSystem(osdConfigPtr) (false)
+#define isDJICompatibleVideoSystem(osdConfigPtr) (false)
 #endif
 #endif
\ No newline at end of file
diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index d587104e9b..2e425e6aec 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -51,7 +51,7 @@
 #include "msp/msp_serial.h"
 
 #include "displayport_msp_osd.h"
-#include "displayport_msp_bf_compat.h"
+#include "displayport_msp_dji_compat.h"
 
 #define FONT_VERSION 3
 
@@ -307,7 +307,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
         uint8_t len = 4;
         do {
             bitArrayClr(dirty, pos);
-            subcmd[len] = isBfCompatibleVideoSystem(osdConfig()) ? getBfCharacter(screen[pos++], page): screen[pos++];
+            subcmd[len] = isDJICompatibleVideoSystem(osdConfig()) ? getDJICharacter(screen[pos++], page): screen[pos++];
             len++;
 
             if (bitArrayGet(dirty, pos)) {
@@ -315,7 +315,7 @@ static int drawScreen(displayPort_t *displayPort) // 250Hz
             }
         } while (next == pos && next < endOfLine && getAttrPage(attrs[next]) == page && getAttrBlink(attrs[next]) == blink);
 
-        if (!isBfCompatibleVideoSystem(osdConfig())) {
+        if (!isDJICompatibleVideoSystem(osdConfig())) {
             attributes |= (page << DISPLAYPORT_MSP_ATTR_FONTPAGE);
         }
 
@@ -465,7 +465,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
     if (mspOsdSerialInit()) {
         switch(videoSystem) {
         case VIDEO_SYSTEM_AUTO:
-        case VIDEO_SYSTEM_BFCOMPAT:
+        case VIDEO_SYSTEM_DJICOMPAT:
         case VIDEO_SYSTEM_PAL:
             currentOsdMode = SD_3016;
             screenRows = PAL_ROWS;
@@ -486,7 +486,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
             screenRows = DJI_ROWS;
             screenCols = DJI_COLS;
             break;
-        case VIDEO_SYSTEM_BFCOMPAT_HD:
+        case VIDEO_SYSTEM_DJICOMPAT_HD:
         case VIDEO_SYSTEM_AVATAR:
             currentOsdMode = HD_5320;
             screenRows = AVATAR_ROWS;
@@ -500,10 +500,10 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
         init();
         displayInit(&mspOsdDisplayPort, &mspOsdVTable);
 
-        if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT) {
-            mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode";
-        } else if (osdVideoSystem == VIDEO_SYSTEM_BFCOMPAT_HD) {
-            mspOsdDisplayPort.displayPortType = "MSP DisplayPort: BetaFlight Compatability mode (HD)";
+        if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT) {
+            mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode";
+        } else if (osdVideoSystem == VIDEO_SYSTEM_DJICOMPAT_HD) {
+            mspOsdDisplayPort.displayPortType = "MSP DisplayPort: DJI Compatability mode (HD)";
         } else {
             mspOsdDisplayPort.displayPortType = "MSP DisplayPort";
         }
diff --git a/src/main/io/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h
new file mode 100644
index 0000000000..66972a810e
--- /dev/null
+++ b/src/main/io/dji_osd_symbols.h
@@ -0,0 +1,164 @@
+/* @file max7456_symbols.h
+ * @brief max7456 symbols for the mwosd font set
+ *
+ * @author Nathan Tsoi nathan@vertile.com
+ *
+ * Copyright (C) 2016 Nathan Tsoi
+ *
+ * This program 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.
+ *
+ * This program 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
+
+//Misc
+#define DJI_SYM_NONE                    0x00
+#define DJI_SYM_END_OF_FONT             0xFF
+#define DJI_SYM_BLANK                   0x20
+#define DJI_SYM_HYPHEN                  0x2D
+#define DJI_SYM_BBLOG                   0x10
+#define DJI_SYM_HOMEFLAG                0x11
+#define DJI_SYM_RPM                     0x12
+#define DJI_SYM_ROLL                    0x14
+#define DJI_SYM_PITCH                   0x15
+#define DJI_SYM_TEMPERATURE             0x7A
+#define DJI_SYM_MAX                     0x24
+
+// GPS and navigation
+#define DJI_SYM_LAT                     0x89
+#define DJI_SYM_LON                     0x98
+#define DJI_SYM_ALTITUDE                0x7F
+#define DJI_SYM_OVER_HOME               0x05
+
+// RSSI
+#define DJI_SYM_RSSI                    0x01
+
+// Throttle Position (%)
+#define DJI_SYM_THR                     0x04
+
+// Unit Icons (Metric)
+#define DJI_SYM_M                       0x0C
+#define DJI_SYM_C                       0x0E
+
+// Unit Icons (Imperial)
+#define DJI_SYM_F                       0x0D
+#define DJI_SYM_FT                      0x0F
+
+// Heading Graphics
+#define DJI_SYM_HEADING_N               0x18
+#define DJI_SYM_HEADING_S               0x19
+#define DJI_SYM_HEADING_E               0x1A
+#define DJI_SYM_HEADING_W               0x1B
+#define DJI_SYM_HEADING_DIVIDED_LINE    0x1C
+#define DJI_SYM_HEADING_LINE            0x1D
+
+// AH Center screen Graphics
+#define DJI_SYM_CROSSHAIR_LEFT          0x72
+#define DJI_SYM_CROSSHAIR_CENTRE        0x73
+#define DJI_SYM_CROSSHAIR_RIGHT         0x74
+#define DJI_SYM_AH_RIGHT                0x02
+#define DJI_SYM_AH_LEFT                 0x03
+#define DJI_SYM_AH_DECORATION           0x13
+#define DJI_SYM_SMALL_CROSSHAIR         0x7E
+
+// Satellite Graphics
+#define DJI_SYM_SAT_L                   0x1E
+#define DJI_SYM_SAT_R                   0x1F
+
+// Direction arrows
+#define DJI_SYM_ARROW_SOUTH             0x60
+#define DJI_SYM_ARROW_2                 0x61
+#define DJI_SYM_ARROW_3                 0x62
+#define DJI_SYM_ARROW_4                 0x63
+#define DJI_SYM_ARROW_EAST              0x64
+#define DJI_SYM_ARROW_6                 0x65
+#define DJI_SYM_ARROW_7                 0x66
+#define DJI_SYM_ARROW_8                 0x67
+#define DJI_SYM_ARROW_NORTH             0x68
+#define DJI_SYM_ARROW_10                0x69
+#define DJI_SYM_ARROW_11                0x6A
+#define DJI_SYM_ARROW_12                0x6B
+#define DJI_SYM_ARROW_WEST              0x6C
+#define DJI_SYM_ARROW_14                0x6D
+#define DJI_SYM_ARROW_15                0x6E
+#define DJI_SYM_ARROW_16                0x6F
+
+#define DJI_SYM_ARROW_SMALL_UP          0x75
+#define DJI_SYM_ARROW_SMALL_DOWN        0x76
+#define DJI_SYM_ARROW_SMALL_RIGHT       0x77
+#define DJI_SYM_ARROW_SMALL_LEFT        0x78
+
+// AH Bars
+#define DJI_SYM_AH_BAR9_0               0x80
+#define DJI_SYM_AH_BAR9_1               0x81
+#define DJI_SYM_AH_BAR9_2               0x82
+#define DJI_SYM_AH_BAR9_3               0x83
+#define DJI_SYM_AH_BAR9_4               0x84
+#define DJI_SYM_AH_BAR9_5               0x85
+#define DJI_SYM_AH_BAR9_6               0x86
+#define DJI_SYM_AH_BAR9_7               0x87
+#define DJI_SYM_AH_BAR9_8               0x88
+
+// Progress bar
+#define DJI_SYM_PB_START                0x8A
+#define DJI_SYM_PB_FULL                 0x8B
+#define DJI_SYM_PB_HALF                 0x8C
+#define DJI_SYM_PB_EMPTY                0x8D
+#define DJI_SYM_PB_END                  0x8E
+#define DJI_SYM_PB_CLOSE                0x8F
+
+// Batt evolution
+#define DJI_SYM_BATT_FULL               0x90
+#define DJI_SYM_BATT_5                  0x91
+#define DJI_SYM_BATT_4                  0x92
+#define DJI_SYM_BATT_3                  0x93
+#define DJI_SYM_BATT_2                  0x94
+#define DJI_SYM_BATT_1                  0x95
+#define DJI_SYM_BATT_EMPTY              0x96
+
+// Batt Icons
+#define DJI_SYM_MAIN_BATT               0x97
+
+// Voltage and amperage
+#define DJI_SYM_VOLT                    0x06
+#define DJI_SYM_AMP                     0x9A
+#define DJI_SYM_MAH                     0x07
+#define DJI_SYM_WATT                    0x57  // 0x57 is 'W'
+
+// Time
+#define DJI_SYM_ON_H                    0x70
+#define DJI_SYM_FLY_H                   0x71
+#define DJI_SYM_ON_M                    0x9B
+#define DJI_SYM_FLY_M                   0x9C
+
+// Speed
+#define DJI_SYM_KPH                     0x9E
+#define DJI_SYM_MPH                     0x9D
+#define DJI_SYM_MPS                     0x9F
+#define DJI_SYM_FTPS                    0x99
+
+// Menu cursor
+#define DJI_SYM_CURSOR                  DJI_SYM_AH_LEFT
+
+// Stick overlays
+#define DJI_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08
+#define DJI_SYM_STICK_OVERLAY_SPRITE_MID  0x09
+#define DJI_SYM_STICK_OVERLAY_SPRITE_LOW  0x0A
+#define DJI_SYM_STICK_OVERLAY_CENTER      0x0B
+#define DJI_SYM_STICK_OVERLAY_VERTICAL    0x16
+#define DJI_SYM_STICK_OVERLAY_HORIZONTAL  0x17
+
+// GPS degree/minute/second symbols
+#define DJI_SYM_GPS_DEGREE              DJI_SYM_STICK_OVERLAY_SPRITE_HIGH  // kind of looks like the degree symbol
+#define DJI_SYM_GPS_MINUTE              0x27 // '
+#define DJI_SYM_GPS_SECOND              0x22 // "
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 56245ea04a..f3f00ae7bd 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -70,7 +70,7 @@
 #include "io/osd_common.h"
 #include "io/osd_hud.h"
 #include "io/osd_utils.h"
-#include "io/displayport_msp_bf_compat.h"
+#include "io/displayport_msp_dji_compat.h"
 #include "io/vtx.h"
 #include "io/vtx_string.h"
 
@@ -253,51 +253,6 @@ bool osdIsNotMetric(void) {
     return !(osdConfig()->units == OSD_UNIT_METRIC || osdConfig()->units == OSD_UNIT_METRIC_MPH);
 }
 
-/*
- * Aligns text to the left side. Adds spaces at the end to keep string length unchanged.
- */
-/* -- Currently unused --
-static void osdLeftAlignString(char *buff)
-{
-    uint8_t sp = 0, ch = 0;
-    uint8_t len = strlen(buff);
-    while (buff[sp] == ' ') sp++;
-    for (ch = 0; ch < (len - sp); ch++) buff[ch] = buff[ch + sp];
-    for (sp = ch; sp < len; sp++) buff[sp] = ' ';
-}*/
-
-/*
- * This is a simplified distance conversion code that does not use any scaling
- * but is fully compatible with the DJI G2 MSP Displayport OSD implementation.
- * (Based on osdSimpleAltitudeSymbol() implementation)
- */
-/* void osdSimpleDistanceSymbol(char *buff, int32_t dist) {
-
-    int32_t convertedDistance;
-    char suffix;
-
-    switch ((osd_unit_e)osdConfig()->units) {
-        case OSD_UNIT_UK:
-            FALLTHROUGH;
-        case OSD_UNIT_GA:
-            FALLTHROUGH;
-        case OSD_UNIT_IMPERIAL:
-            convertedDistance = CENTIMETERS_TO_FEET(dist);
-            suffix = SYM_ALT_FT;
-            break;
-        case OSD_UNIT_METRIC_MPH:
-            FALLTHROUGH;
-        case OSD_UNIT_METRIC:
-            convertedDistance = CENTIMETERS_TO_METERS(dist);
-            suffix = SYM_ALT_M; // Intentionally use the altitude symbol, as the distance symbol is not defined in BFCOMPAT mode
-            break;
-    }
-
-    tfp_sprintf(buff, "%5d", (int) convertedDistance); // 5 digits, allowing up to 99999 meters/feet, which should be plenty for 99.9% of use cases
-    buff[5] = suffix;
-    buff[6] = '\0';
-} */
-
 /**
  * Converts distance into a string based on the current unit system
  * prefixed by a a symbol to indicate the unit used.
@@ -313,12 +268,12 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
     uint8_t symbol_mi = SYM_DIST_MI;
     uint8_t symbol_nm = SYM_DIST_NM;
 
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values
-    if (isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is not supported, there's no need to check for it and change the values
+    if (isDJICompatibleVideoSystem(osdConfig())) {
         // Add one digit so up no switch to scaled decimal occurs above 99
         digits = 4U;
         sym_index = 4U;
-        // Use altitude symbols on purpose, as it seems distance symbols are not defined in BFCOMPAT mode
+        // Use altitude symbols on purpose, as it seems distance symbols are not defined in DJICOMPAT mode
         symbol_m = SYM_ALT_M;
         symbol_km = SYM_ALT_KM;
         symbol_ft = SYM_ALT_FT;
@@ -570,8 +525,8 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
         buff[0] = ' ';
     }
 
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values  
-    if (isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is not supported, there's no need to check for it and change the values  
+    if (isDJICompatibleVideoSystem(osdConfig())) {
         totalDigits++;
         digits++;
         symbolIndex++;
@@ -792,21 +747,21 @@ static void osdFormatCoordinate(char *buff, char sym, int32_t val)
     int32_t decimalPart = abs(val % (int)GPS_DEGREES_DIVIDER);
     STATIC_ASSERT(GPS_DEGREES_DIVIDER == 1e7, adjust_max_decimal_digits);
     int decimalDigits;
-    bool bfcompat = false;  // Assume BFCOMPAT mode is no enabled
+    bool djiCompat = false;  // Assume DJICOMPAT mode is no enabled
 
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-        if(isBfCompatibleVideoSystem(osdConfig())) {
-            bfcompat = true;
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+        if(isDJICompatibleVideoSystem(osdConfig())) {
+            djiCompat = true;
         }
 #endif
 
-    if (!bfcompat) {
+    if (!djiCompat) {
         decimalDigits = tfp_sprintf(buff + 1 + integerDigits, "%07d", (int)decimalPart);
         // Embbed the decimal separator
         buff[1 + integerDigits - 1] += SYM_ZERO_HALF_TRAILING_DOT - '0';
         buff[1 + integerDigits] += SYM_ZERO_HALF_LEADING_DOT - '0';
     } else {
-        // BFCOMPAT mode enabled
+        // DJICOMPAT mode enabled
         decimalDigits = tfp_sprintf(buff + 1 + integerDigits, ".%06d", (int)decimalPart);
     }
     // Fill up to coordinateLength with zeros
@@ -1752,8 +1707,8 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_MAIN_BATT_VOLTAGE: {
         uint8_t base_digits = 2U;
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-        if(isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+        if(isDJICompatibleVideoSystem(osdConfig())) {
             base_digits = 3U;   // Add extra digit to account for decimal point taking an extra character space
         }
 #endif
@@ -1763,8 +1718,8 @@ static bool osdDrawSingleElement(uint8_t item)
 
     case OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE: {
         uint8_t base_digits = 2U;
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-        if(isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+        if(isDJICompatibleVideoSystem(osdConfig())) {
             base_digits = 3U;   // Add extra digit to account for decimal point taking an extra character space
         }
 #endif
@@ -1787,9 +1742,9 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_MAH_DRAWN: {
         uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value
 
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-        if (isBfCompatibleVideoSystem(osdConfig())) {
-            //BFcompat is unable to work with scaled values and it only has mAh symbol to work with
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+        if (isDJICompatibleVideoSystem(osdConfig())) {
+            //DJIcompat is unable to work with scaled values and it only has mAh symbol to work with
             tfp_sprintf(buff, "%5d", (int)getMAhDrawn());   // Use 5 digits to allow packs below 100Ah
             buff[5] = SYM_MAH;
             buff[6] = '\0';
@@ -1828,9 +1783,9 @@ static bool osdDrawSingleElement(uint8_t item)
         else if (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH) {
             uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value
 
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-            if (isBfCompatibleVideoSystem(osdConfig())) {
-                //BFcompat is unable to work with scaled values and it only has mAh symbol to work with
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+            if (isDJICompatibleVideoSystem(osdConfig())) {
+                //DJIcompat is unable to work with scaled values and it only has mAh symbol to work with
                 tfp_sprintf(buff, "%5d", (int)getBatteryRemainingCapacity());   // Use 5 digits to allow packs below 100Ah
                 buff[5] = SYM_MAH;
                 buff[6] = '\0';
@@ -2139,8 +2094,8 @@ static bool osdDrawSingleElement(uint8_t item)
             buff[1] = SYM_HDP_R;
             int32_t centiHDOP = 100 * gpsSol.hdop / HDOP_SCALE;
             uint8_t digits = 2U;
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values
-            if (isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is not supported, there's no need to check for it and change the values
+            if (isDJICompatibleVideoSystem(osdConfig())) {
                 digits = 3U;
             }
 #endif
@@ -2799,8 +2754,8 @@ static bool osdDrawSingleElement(uint8_t item)
                 // time will be longer than 99 minutes. If it is, it will show 99:^^
                 if (glideTime > (99 * 60) + 59) {
                     tfp_sprintf(buff + 1, "%02d:", (int)(glideTime / 60));
-                    buff[4] = SYM_DIRECTION;
-                    buff[5] = SYM_DIRECTION;
+                    buff[4] = SYM_DECORATION;
+                    buff[5] = SYM_DECORATION;
                 } else {
                     tfp_sprintf(buff + 1, "%02d:%02d", (int)(glideTime / 60), (int)(glideTime % 60));
                 }
@@ -3147,8 +3102,8 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_MAIN_BATT_CELL_VOLTAGE:
         {
             uint8_t base_digits = 3U;
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-            if(isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+            if(isDJICompatibleVideoSystem(osdConfig())) {
                 base_digits = 4U;   // Add extra digit to account for decimal point taking an extra character space
             }
 #endif
@@ -3159,8 +3114,8 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE:
         {
             uint8_t base_digits = 3U;
-#ifndef DISABLE_MSP_BF_COMPAT // IF BFCOMPAT is not supported, there's no need to check for it
-            if(isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
+            if(isDJICompatibleVideoSystem(osdConfig())) {
                 base_digits = 4U;   // Add extra digit to account for decimal point taking an extra character space
             }
 #endif
@@ -3215,8 +3170,8 @@ static bool osdDrawSingleElement(uint8_t item)
             timeUs_t currentTimeUs = micros();
             timeDelta_t efficiencyTimeDelta = cmpTimeUs(currentTimeUs, efficiencyUpdated);
             uint8_t digits = 3U;
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values
-            if (isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is not supported, there's no need to check for it and change the values
+            if (isDJICompatibleVideoSystem(osdConfig())) {
                 // Increase number of digits so values above 99 don't get scaled by osdFormatCentiNumber
                 digits = 4U;
             }
@@ -3248,7 +3203,7 @@ static bool osdDrawSingleElement(uint8_t item)
                     }
                     if (!efficiencyValid) {
                         buff[0] = buff[1] = buff[2] = buff[3] = '-';    
-                        buff[digits] = SYM_MAH_MI_0;        // This will overwrite the "-" at buff[3] if not in BFCOMPAT mode
+                        buff[digits] = SYM_MAH_MI_0;        // This will overwrite the "-" at buff[3] if not in DJICOMPAT mode
                         buff[digits + 1] = SYM_MAH_MI_1;
                         buff[digits + 2] = '\0';
                     }
@@ -3418,7 +3373,7 @@ static bool osdDrawSingleElement(uint8_t item)
             horizontalWindSpeed = getEstimatedHorizontalWindSpeed(&angle);
             int16_t windDirection = osdGetHeadingAngle( CENTIDEGREES_TO_DEGREES((int)angle) - DECIDEGREES_TO_DEGREES(attitude.values.yaw) + 22);
             buff[0] = SYM_WIND_HORIZONTAL;
-            buff[1] = SYM_DIRECTION + (windDirection*2 / 90);
+            buff[1] = SYM_DECORATION + (windDirection*2 / 90);
             osdFormatWindSpeedStr(buff + 2, horizontalWindSpeed, valid);
             break;
         }
@@ -3435,10 +3390,10 @@ static bool osdDrawSingleElement(uint8_t item)
             float verticalWindSpeed;
             verticalWindSpeed = -getEstimatedWindSpeed(Z);  //from NED to NEU
             if (verticalWindSpeed < 0) {
-                buff[1] = SYM_AH_DIRECTION_DOWN;
+                buff[1] = SYM_AH_DECORATION_DOWN;
                 verticalWindSpeed = -verticalWindSpeed;
             } else {
-                buff[1] = SYM_AH_DIRECTION_UP;
+                buff[1] = SYM_AH_DECORATION_UP;
             }
             osdFormatWindSpeedStr(buff + 2, verticalWindSpeed, valid);
             break;
@@ -3552,7 +3507,7 @@ static bool osdDrawSingleElement(uint8_t item)
             } else {
                 referenceSymbol = '-';
             }
-            displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_DIRECTION);
+            displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_DECORATION);
             displayWriteChar(osdDisplayPort, elemPosX, elemPosY + 1, referenceSymbol);
             return true;
         }
@@ -4186,8 +4141,8 @@ uint8_t drawLogos(bool singular, uint8_t row) {
     uint8_t logoColOffset = 0;
     bool usePilotLogo = (osdConfig()->use_pilot_logo && osdDisplayIsHD());
 
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is in use, the pilot logo cannot be used, due to font issues.
-    if (isBfCompatibleVideoSystem(osdConfig()))
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is in use, the pilot logo cannot be used, due to font issues.
+    if (isDJICompatibleVideoSystem(osdConfig()))
         usePilotLogo = false;
 #endif
 
@@ -4727,8 +4682,8 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
 
     tfp_sprintf(outBuff, ": ");
     uint8_t digits = 3U;    // Total number of digits (including decimal point)
-#ifndef DISABLE_MSP_BF_COMPAT   // IF BFCOMPAT is not supported, there's no need to check for it and change the values
-    if (isBfCompatibleVideoSystem(osdConfig())) {
+#ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is not supported, there's no need to check for it and change the values
+    if (isDJICompatibleVideoSystem(osdConfig())) {
         // Add one digit so no switch to scaled decimal occurs above 99
         digits = 4U;
     }
diff --git a/src/main/io/osd_grid.c b/src/main/io/osd_grid.c
index 5d7e8736d9..9e79194498 100644
--- a/src/main/io/osd_grid.c
+++ b/src/main/io/osd_grid.c
@@ -315,16 +315,16 @@ void osdGridDrawSidebars(displayPort_t *display)
     // Arrows
     if (osdConfig()->sidebar_scroll_arrows) {
         displayWriteChar(display, elemPosX - hudwidth, elemPosY - hudheight - 1,
-            left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK);
+            left.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK);
 
         displayWriteChar(display, elemPosX + hudwidth, elemPosY - hudheight - 1,
-            right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DIRECTION_UP : SYM_BLANK);
+            right.arrow == OSD_SIDEBAR_ARROW_UP ? SYM_AH_DECORATION_UP : SYM_BLANK);
 
         displayWriteChar(display, elemPosX - hudwidth, elemPosY + hudheight + 1,
-            left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK);
+            left.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK);
 
         displayWriteChar(display, elemPosX + hudwidth, elemPosY + hudheight + 1,
-            right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DIRECTION_DOWN : SYM_BLANK);
+            right.arrow == OSD_SIDEBAR_ARROW_DOWN ? SYM_AH_DECORATION_DOWN : SYM_BLANK);
     }
 
     // Draw AH sides
diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index 07bc181d1c..8a6a68f467 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -207,7 +207,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
 
     if (poiType == 1) { // POI from the ESP radar
         error_x = hudWrap360(poiP1 - DECIDEGREES_TO_DEGREES(osdGetHeading()));
-        osdHudWrite(poi_x - 1, poi_y, SYM_DIRECTION + ((error_x + 22) / 45) % 8, 1);
+        osdHudWrite(poi_x - 1, poi_y, SYM_DECORATION + ((error_x + 22) / 45) % 8, 1);
         osdHudWrite(poi_x + 1, poi_y, SYM_HUD_SIGNAL_0 + poiP2, 1);
     }
     else if (poiType == 2) { // Waypoint,
@@ -248,7 +248,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
             tfp_sprintf(buff, "%3d", altc);
         }
 
-        buff[0] = (poiAltitude >= 0) ? SYM_AH_DIRECTION_UP : SYM_AH_DIRECTION_DOWN;
+        buff[0] = (poiAltitude >= 0) ? SYM_AH_DECORATION_UP : SYM_AH_DECORATION_DOWN;
     } else { // Display the distance by default 
         switch ((osd_unit_e)osdConfig()->units) {
             case OSD_UNIT_UK:
diff --git a/src/main/io/osd_utils.c b/src/main/io/osd_utils.c
index 6675be8783..9c9fb0608a 100644
--- a/src/main/io/osd_utils.c
+++ b/src/main/io/osd_utils.c
@@ -20,7 +20,7 @@
 #include "common/maths.h"
 #include "common/typeconversion.h"
 #include "drivers/osd_symbols.h"
-#include "io/displayport_msp_bf_compat.h"
+#include "io/displayport_msp_dji_compat.h"
 
 #if defined(USE_OSD) || defined(OSD_UNIT_TEST)
 
@@ -45,7 +45,7 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
     int decimals = maxDecimals;
     bool negative = false;
     bool scaled = false;
-    bool explicitDecimal = isBfCompatibleVideoSystem(osdConfig());
+    bool explicitDecimal = isDJICompatibleVideoSystem(osdConfig());
 
     buff[length] = '\0';
 

From 10d7dd58c42bfab845172e98104c0254663d6552 Mon Sep 17 00:00:00 2001
From: Scavanger <andreas.kanzler@outlook.com>
Date: Wed, 15 May 2024 22:20:16 -0300
Subject: [PATCH 089/132] snapp

---
 docs/Broken USB recovery.md | 118 ++++++++++++++++++++++++++++++++++++
 1 file changed, 118 insertions(+)
 create mode 100644 docs/Broken USB recovery.md

diff --git a/docs/Broken USB recovery.md b/docs/Broken USB recovery.md
new file mode 100644
index 0000000000..46db627c83
--- /dev/null
+++ b/docs/Broken USB recovery.md	
@@ -0,0 +1,118 @@
+# Broken USB recovery 
+
+It is possible to flash INAV without USB over UART 1 or 3.
+
+## Prerequisites:
+- USB/UART adapter (FT232, CP2102, etc.)
+- STM32 Cube Programmer (https://www.st.com/en/development-tools/stm32cubeprog.html)
+
+To gain access to the FC via Configurator, MSP must be activated on a UART as standard. Some FCs already have this enabled by default, if not a custom firmware must be created.
+
+The following targets have MSP activated on a UART by default:
+
+| Target | Standard MSP Port |
+|-----------| ----------- |
+| AOCODARCF4V3 | UART5 |
+| ATOMRCF405NAVI_DELUXE | UART1 |
+| FF_F35_LIGHTNING | UART1 |
+| FLYCOLORF7V2 | UART4 |
+| GEPRCF405_BT_HD | UART5* |
+| GEPRCF722_BT_HD | UART4* |
+| IFLIGHT_BLITZ_F7_AIO | UART1 |
+| JHEMCUF405WING | UART6 |
+| JHEMCUH743HD | UART4 |
+| KAKUTEH7 | UART1 and UART2* |
+| KAKUTEH7WING | UART6 |
+| MAMBAF405_2022A | UART4 |
+| MAMBAF405US | UART4 |
+| MAMBAF722 | UART4 |
+| MAMBAF722 APP | UART4*|
+| MAMBAF722WING | UART4 |
+| MAMBAF722_X8 | UART4 |
+| MAMBAH743 | UART4* |
+| MATEKF405SE | UART1 |
+| NEUTRONRCH743BT | UART3* |
+| SDMODELH7V1 | UART1 and UART2 |
+| SKYSTARSH743HD | UART4 |
+| SPEEDYBEEF4 | UART5* |
+| SPEEDYBEEF405MINI | UART4* |
+| SPEEDYBEEF405V3 | UART4* |
+| SPEEDYBEEF405V4 | UART4* |
+| SPEEDYBEEF405WING | UART6 |
+| SPEEDYBEEF7 | UART6 |
+| SPRACINGF4EVO | UART1 |
+| TMOTORF7V2 | UART5 |
+
+(*) No Pads/Pins, Port is used interally (Bluetooth)
+
+## Custom firmware:
+
+If the FC does not have MSP activated on a UART by default or does not have a connector for it, a custom firmware must be built. 
+The following procedure describes the process under Windows 10/11:
+
+Please read [Building in Windows 2010 or 11 with Linux Subsystem](https://github.com/iNavFlight/inav/blob/master/docs/development/Building%20in%20Windows%2010%20or%2011%20with%20Linux%20Subsystem.md)
+and follow the instructions up to "Building with Make".
+
+To activate MSP by default, go to the directory `src/main/target/[your target]`.
+If no config.c exists, create a new text file with this name and the following content:
+
+```
+/*
+ * 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 <stdint.h>
+
+#include "platform.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].msp_baudrateIndex = BAUD_115200;
+}
+
+```
+
+If the file already exists, add the following lines in the function `void targetConfiguration(void)` (before the last `}`)
+
+```
+serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].functionMask = FUNCTION_MSP;
+serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].msp_baudrateIndex = BAUD_115200;
+```
+
+Replace the X in SERIAL_PORT_USARTX (in both lines) with the number of UART/serial port on which MSP is to be activated.
+
+Example:
+For UART 2: `SERIAL_PORT_USART2`
+For UART 3: `SERIAL_PORT_USART3`
+etc.
+
+Save the file and build the firmware as described in the document above.
+
+## Flashing via Uart:
+
+1. Disconnect ALL peripherals and the USB Cable from the FC. To power the FC use a battery or use the 5V provided from the USB/Serial Converter. 
+2. Connect UART 1 or 3 (other UARTS will not work) and GND to the USB/Serial converter (RX -> TX, TX -> RX)
+3. Keep the boot/dfu button pressed
+4. Switch on the FC / supply with power
+5. Start STM32 CubeProgrammer and go to "Erasing & Programming", second option in the menu.
+6. Select UART (blue dropdown field) and select the COM port of the USB/Serial adapter and press "Connect". The corresponding processor should now be displayed below.
+7. Click on "Full flash erase". This is also necessary if you are flashing the same firmware version that was previously on the FC, otherwise MSP may not be activated on the UART.
+8. Under "Download" load the previously created firmware (`INAV_X.X.X_[Your Target].hex`) or the standard firmware if UART is already activated there. The option "Verify programming" is optional but recommended. Make sure that "Skip flash erase while programming" is NOT activated.
+9. Click "Start Programming"
+
+After the process is completed, switch the FC off and on again and then the Configurator can connect to the FC via USB/serial adapter and the previously configured UART.

From 3d9d1f3b91aa255c80919d90d89dbfa755894a64 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 16 May 2024 07:43:56 +0100
Subject: [PATCH 090/132] Update docs

---
 docs/Betaflight 4.3 compatible OSD.md | 50 ---------------------------
 docs/DJI compatible OSD.md            | 50 +++++++++++++++++++++++++++
 2 files changed, 50 insertions(+), 50 deletions(-)
 delete mode 100644 docs/Betaflight 4.3 compatible OSD.md
 create mode 100644 docs/DJI compatible OSD.md

diff --git a/docs/Betaflight 4.3 compatible OSD.md b/docs/Betaflight 4.3 compatible OSD.md
deleted file mode 100644
index 0e9644dae2..0000000000
--- a/docs/Betaflight 4.3 compatible OSD.md	
+++ /dev/null
@@ -1,50 +0,0 @@
-# Betaflight 4.3 compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode")
-
-INAV 6.0 includes a special mode for MSP DisplayPort that supports incomplete implementations of MSP DisplayPort that only support BetaFlight, like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4.
-
-Different flight controllers have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs.
-
-While there is some overlap between the glyphs in BetaFlight and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the BetaFlight font, a question mark `?` will be displayed.
-
-This mode can be enabled by selecting BF43COMPAT or BFHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
-
-`set osd_video_system = BF43COMPAT`
-
-or
-
-`set osd_video_system = BFHDCOMPAT`
-
-## Limitations
-
-* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as BFHDCOMPAT in the OSD tab of the configurator.
-* Unsupported Glyphs show up as `?`
-
-## FAQ
-
-### I see a lot of `?` on my OSD.
-
-That is expected, when your INAV OSD widgets use glyphs that don't have a suitable mapping in BetaFlight's font.
-
-### Does it work with the G2 and Original Air Unit/Vista?
-
-Yes.
-
-### Is this a replacement for WTFOS?
-
-Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than BetaFlight compatibility mode, being able to display all INAV's glyphs.
-
-### Can INAV fix DJI's product?
-
-No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767).
-
-### BetaFlight X.Y now has more symbols, can you update INAV?
-
-Maybe. If a future version of BetaFlight includes more Glyphs that can be mapped into INAV it is fairly simple to add the mapping, but the problem with DJI's implemenation persists. Even if we update the mapping, if DJI does not update the fonts on their side the problem will persist.
-
-### Can you replace glyph `X` with text `x description`?
-
-While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround.
-
-### Does DJI support Canvas Mode?
-
-Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD.
diff --git a/docs/DJI compatible OSD.md b/docs/DJI compatible OSD.md
new file mode 100644
index 0000000000..6af2567030
--- /dev/null
+++ b/docs/DJI compatible OSD.md	
@@ -0,0 +1,50 @@
+# DJI compatible MSP DisplayPort OSD (DJI O3 "Canvas Mode")
+
+INAV 6.0 includes a special mode for MSP DisplayPort that supports DJI's incomplete implementations of MSP DisplayPort. This can be found on products like the DJI O3 Air Unit. INAV 6.1 expands this to include HD canvas sizes from BetaFlight 4.4.
+
+Different flight controller firmware have different OSD symbols and elements and require different fonts. BetaFlight's font is a single page and supports a maximum of 256 glyphs, INAV's font is currently 2 pages and supports up to 512 different glyphs. DJI's font is single page and based, but not the same as, BetaFlight's font.
+
+While there is some overlap between the glyphs in DJI and INAV, it is not possible to perform a 1 to 1 mapping for all the them. In cases where there is no suitable glyph in the DJI font, a question mark `?` will be displayed.
+
+This mode can be enabled by selecting DJI43COMPAT or DJIHDCOMPAT as video format in the OSD tab of the configurator or by typing the following command on the CLI:
+
+`set osd_video_system = DJI43COMPAT`
+
+or
+
+`set osd_video_system = DJIHDCOMPAT`
+
+## Limitations
+
+* Canvas size needs to be manually changed to HD on the Display menu in DJI's goggles (you may need a firmware update) and set as DJIHDCOMPAT in the OSD tab of the configurator.
+* Unsupported Glyphs show up as `?`
+
+## FAQ
+
+### I see a lot of `?` on my OSD.
+
+That is expected. When your INAV OSD widgets use glyphs that don't have a suitable mapping in DJI's font.
+
+### Does it work with the G2 and Original Air Unit/Vista?
+
+Yes.
+
+### Is this a replacement for WTFOS?
+
+Not exactly. WTFOS is a full implementation of MSP-Displayport for rooted Air Unit/Vista/Googles V2 and actually works much better than DJI compatibility mode. It can use all of INAV's OSD elements as intended. If you have the option of WTFOS or DJI compatability mode. WTFOS is the best option.
+
+### Can INAV fix DJI's product?
+
+No. OSD renderinng happens on the googles/air unit side of things. Please ask DJI to fix their incomplete MSP DisplayPort implemenation. You can probably request it in [DJI's forum](https://forum.dji.com/forum.php?mod=forumdisplay&fid=129&filter=typeid&typeid=767). To see what you're missing out on with O3. Check out what WTFOS did with the original system. Not only could the pilots upload the fonts of their choosing (who doesn't want a cool SneakyFPV font on their OSD). But there were no problems supporting and firmware. Plus, there was even an option to save the OSD to a file and overlay that over your DVR video. If you're reading this far. Please recommend to DJI that they fix their product, to at least what was possible with WTFOS.
+
+### DJI's font now has more symbols, can you update INAV?
+
+Maybe. If a future version of DJI's font includes more Glyphs that can be mapped into INAV. It is fairly simple to add the mapping. However, the best solution would be full support of MSP DisplayPort by DJI. Then there will never be an issue with missing icons. As the latest INAV font would be able to be uploaded on to the goggles.
+
+### Can you replace glyph `X` with text `x description`?
+
+While it might technically be possible to replace some glyphs with text in multiple cells, it will introduce a lot of complexity in the OSD rendering and configuration for something we hope is a temporary workaround.
+
+### Does DJI support Canvas Mode?
+
+Actually, no. What DJI calls Canvas Mode is actually MSP DisplayPort and is a character based OSD. Currently, the only true implementaion of Canvas Mode is with FrSKY PixelOSD. This was found on some F722 flight controllers from Matek.

From a818190ed12761ea7977f29f4d963c2a51310064 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 18 May 2024 13:49:04 +0200
Subject: [PATCH 091/132] Use letter `Q` for DJI LinkQuality OSD element

---
 src/main/io/displayport_msp_dji_compat.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
index de4fa8656f..46e14c0047 100644
--- a/src/main/io/displayport_msp_dji_compat.c
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -41,10 +41,8 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_RSSI:
             return DJI_SYM_RSSI;
 
-/*
         case SYM_LQ:
-            return DJI_SYM_LINK_QUALITY;
-*/
+            return 'Q';
 
         case SYM_LAT:
             return DJI_SYM_LAT;

From ec7ebd1c4b3c66155896c0615e3c0f11590b62d7 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 18 May 2024 14:15:59 +0200
Subject: [PATCH 092/132] Do not render DJI logo on OSD when using DJI Compat
 modes

---
 src/main/io/osd.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f3f00ae7bd..62186908ff 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4140,10 +4140,13 @@ uint8_t drawLogos(bool singular, uint8_t row) {
     uint8_t logoRow = row;
     uint8_t logoColOffset = 0;
     bool usePilotLogo = (osdConfig()->use_pilot_logo && osdDisplayIsHD());
+    bool useINAVLogo = (singular && !usePilotLogo) || !singular;
 
 #ifndef DISABLE_MSP_DJI_COMPAT   // IF DJICOMPAT is in use, the pilot logo cannot be used, due to font issues.
-    if (isDJICompatibleVideoSystem(osdConfig()))
+    if (isDJICompatibleVideoSystem(osdConfig())) {
         usePilotLogo = false;
+        useINAVLogo = false;
+    }
 #endif
 
     uint8_t logoSpacing = osdConfig()->inav_to_pilot_logo_spacing;
@@ -4160,7 +4163,7 @@ uint8_t drawLogos(bool singular, uint8_t row) {
     }
 
     // Draw INAV logo
-    if ((singular && !usePilotLogo) || !singular) {
+    if (useINAVLogo) {
         unsigned logo_c = SYM_LOGO_START;
         uint8_t logo_x = logoColOffset;
         for (uint8_t lRow = 0; lRow < SYM_LOGO_HEIGHT; lRow++) {
@@ -4191,7 +4194,7 @@ uint8_t drawLogos(bool singular, uint8_t row) {
     }
 
     return logoRow;
-    }
+}
 
 #ifdef USE_STATS
 uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool isBootStats)

From 3efb86c848123475d904f97ab6ee1ecb3716a0f3 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 18 May 2024 14:16:29 +0200
Subject: [PATCH 093/132] Do not render DJI logo on OSD when using DJI compat
 mode

---
 src/main/io/osd.c | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 62186908ff..b2407b2325 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -4181,9 +4181,9 @@ uint8_t drawLogos(bool singular, uint8_t row) {
         logoRow = row;
         if (singular) {
             logo_x = logoColOffset;
-    } else {
-            logo_x = logoColOffset + SYM_LOGO_WIDTH + logoSpacing;
-    }
+        } else {
+                logo_x = logoColOffset + SYM_LOGO_WIDTH + logoSpacing;
+        }
 
         for (uint8_t lRow = 0; lRow < SYM_LOGO_HEIGHT; lRow++) {
             for (uint8_t lCol = 0; lCol < SYM_LOGO_WIDTH; lCol++) {
@@ -4193,6 +4193,10 @@ uint8_t drawLogos(bool singular, uint8_t row) {
         }
     }
 
+    if (!usePilotLogo && !useINAVLogo) {
+        logoRow += SYM_LOGO_HEIGHT;
+    }
+
     return logoRow;
 }
 

From 3615e6fb0981d7e03125fe454e8acaff7b1f6a34 Mon Sep 17 00:00:00 2001
From: dzaro-dev <23706061+dzaro-dev@users.noreply.github.com>
Date: Sat, 18 May 2024 16:58:22 +0100
Subject: [PATCH 094/132] Adding Crosshair Styles

---
 src/main/io/dji_osd_symbols.h | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/src/main/io/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h
index 66972a810e..3ef5a6c5e9 100644
--- a/src/main/io/dji_osd_symbols.h
+++ b/src/main/io/dji_osd_symbols.h
@@ -71,6 +71,26 @@
 #define DJI_SYM_AH_DECORATION           0x13
 #define DJI_SYM_SMALL_CROSSHAIR         0x7E
 
+// Crosshair Styles
+#define DJI_SYM_AH_CH_TYPE3             0x00
+#define DJI_SYM_AH_CH_TYPE3_1           0x7E
+#define DJI_SYM_AH_CH_TYPE3_2           0x00
+#define DJI_SYM_AH_CH_TYPE4             0x2D
+#define DJI_SYM_AH_CH_TYPE4_1           0x7E
+#define DJI_SYM_AH_CH_TYPE4_2           0x2D
+#define DJI_SYM_AH_CH_TYPE5             0x17
+#define DJI_SYM_AH_CH_TYPE5_1           0x7E
+#define DJI_SYM_AH_CH_TYPE5_2           0x17
+#define DJI_SYM_AH_CH_TYPE6             0x00
+#define DJI_SYM_AH_CH_TYPE6_1           0x09
+#define DJI_SYM_AH_CH_TYPE6_2           0x00
+#define DJI_SYM_AH_CH_TYPE7             0x78
+#define DJI_SYM_AH_CH_TYPE7_1           0x7E
+#define DJI_SYM_AH_CH_TYPE7_2           0x77
+#define DJI_SYM_AH_CH_TYPE8             0x02
+#define DJI_SYM_AH_CH_TYPE8_1           0x7E
+#define DJI_SYM_AH_CH_TYPE8_2           0x03
+
 // Satellite Graphics
 #define DJI_SYM_SAT_L                   0x1E
 #define DJI_SYM_SAT_R                   0x1F

From cc4b3db899a995eae8514c63309d985338efa2d3 Mon Sep 17 00:00:00 2001
From: dzaro-dev <23706061+dzaro-dev@users.noreply.github.com>
Date: Sat, 18 May 2024 17:02:59 +0100
Subject: [PATCH 095/132] Adding Crosshair Styles

---
 src/main/io/displayport_msp_dji_compat.c | 73 ++++++++++++++++++------
 1 file changed, 54 insertions(+), 19 deletions(-)

diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
index de4fa8656f..93ec60b9ce 100644
--- a/src/main/io/displayport_msp_dji_compat.c
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -469,40 +469,75 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
 
         case SYM_AH_RIGHT:
             return DJI_SYM_AH_RIGHT;
-
 /*
         case SYM_AH_DECORATION_COUNT:
             return DJI_SYM_AH_DECORATION_COUNT;
 */
         case SYM_AH_CH_LEFT:
-        case SYM_AH_CH_TYPE3:
-        case SYM_AH_CH_TYPE4:
-        case SYM_AH_CH_TYPE5:
-        case SYM_AH_CH_TYPE6:
-        case SYM_AH_CH_TYPE7:
-        case SYM_AH_CH_TYPE8:
         case SYM_AH_CH_AIRCRAFT1:
             return DJI_SYM_CROSSHAIR_LEFT;
 
+        case SYM_AH_CH_TYPE3:
+            return DJI_SYM_AH_CH_TYPE3;
+        
+        case SYM_AH_CH_TYPE4:
+            return DJI_SYM_AH_CH_TYPE4;
+        
+        case SYM_AH_CH_TYPE5:
+            return DJI_SYM_AH_CH_TYPE5;
+        
+        case SYM_AH_CH_TYPE6:
+            return DJI_SYM_AH_CH_TYPE6;
+        
+        case SYM_AH_CH_TYPE7:
+            return DJI_SYM_AH_CH_TYPE7;
+        
+        case SYM_AH_CH_TYPE8:
+            return DJI_SYM_AH_CH_TYPE8;
+
         case SYM_AH_CH_CENTER:
-        case (SYM_AH_CH_TYPE3+1):
-        case (SYM_AH_CH_TYPE4+1):
-        case (SYM_AH_CH_TYPE5+1):
-        case (SYM_AH_CH_TYPE6+1):
-        case (SYM_AH_CH_TYPE7+1):
-        case (SYM_AH_CH_TYPE8+1):
         case SYM_AH_CH_AIRCRAFT2:
             return DJI_SYM_CROSSHAIR_CENTRE;
 
+        case (SYM_AH_CH_TYPE3+1):
+            return DJI_SYM_AH_CH_TYPE3_1;
+        
+        case (SYM_AH_CH_TYPE4+1):
+            return DJI_SYM_AH_CH_TYPE4_1;
+        
+        case (SYM_AH_CH_TYPE5+1):
+            return DJI_SYM_AH_CH_TYPE5_1;
+        
+        case (SYM_AH_CH_TYPE6+1):
+            return DJI_SYM_AH_CH_TYPE6_1;
+        
+        case (SYM_AH_CH_TYPE7+1):
+            return DJI_SYM_AH_CH_TYPE7_1;
+        
+        case (SYM_AH_CH_TYPE8+1):
+            return DJI_SYM_AH_CH_TYPE8_1;
+
         case SYM_AH_CH_RIGHT:
-        case (SYM_AH_CH_TYPE3+2):
-        case (SYM_AH_CH_TYPE4+2):
-        case (SYM_AH_CH_TYPE5+2):
-        case (SYM_AH_CH_TYPE6+2):
-        case (SYM_AH_CH_TYPE7+2):
-        case (SYM_AH_CH_TYPE8+2):
         case SYM_AH_CH_AIRCRAFT3:
             return DJI_SYM_CROSSHAIR_RIGHT;
+
+        case (SYM_AH_CH_TYPE3+2):
+            return DJI_SYM_AH_CH_TYPE3_2;
+        
+        case (SYM_AH_CH_TYPE4+2):
+            return DJI_SYM_AH_CH_TYPE4_2;
+        
+        case (SYM_AH_CH_TYPE5+2):
+            return DJI_SYM_AH_CH_TYPE5_2;
+        
+        case (SYM_AH_CH_TYPE6+2):
+            return DJI_SYM_AH_CH_TYPE6_2;
+        
+        case (SYM_AH_CH_TYPE7+2):
+            return DJI_SYM_AH_CH_TYPE7_2;
+        
+        case (SYM_AH_CH_TYPE8+2):
+            return DJI_SYM_AH_CH_TYPE8_2;
         
         case SYM_AH_CH_AIRCRAFT0:
         case SYM_AH_CH_AIRCRAFT4:

From 5e85fe07b1d8ca589390c060f915c9c64ecb26ba Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sat, 18 May 2024 20:31:04 +0100
Subject: [PATCH 096/132] Allow pilots the option to hide question marks from
 the OSD.

---
 docs/Settings.md                         | 10 ++++++
 src/main/fc/settings.yaml                | 41 +++---------------------
 src/main/io/displayport_msp_dji_compat.c |  2 +-
 src/main/io/osd.c                        |  5 ++-
 src/main/io/osd.h                        |  5 ++-
 5 files changed, 24 insertions(+), 39 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 30533330ad..29a745544e 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4412,6 +4412,16 @@ Value under which the OSD axis g force indicators will blink (g)
 
 ---
 
+### osd_highlight_djis_missing_font_symbols
+
+Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| ON | OFF | ON |
+
+---
+
 ### osd_home_position_arm_screen
 
 Should home position coordinates be displayed on the arming screen.
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index dfa7bb97d3..d276aca274 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3453,7 +3453,6 @@ groups:
         min: 8
         max: 11
         default_value: 9
-
       - name: osd_adsb_distance_warning
         description: "Distance in meters of ADSB aircraft that is displayed"
         default_value: 20000
@@ -3478,7 +3477,6 @@ groups:
         min: 0
         max: 64000
         type: uint16_t
-
       - name: osd_estimations_wind_compensation
         description: "Use wind estimation for remaining flight time/distance estimation"
         default_value: ON
@@ -3491,12 +3489,10 @@ groups:
         condition: USE_WIND_ESTIMATOR
         field: estimations_wind_mps
         type: bool
-
       - name: osd_failsafe_switch_layout
         description: "If enabled the OSD automatically switches to the first layout during failsafe"
         default_value: OFF
         type: bool
-
       - name: osd_plus_code_digits
         description: "Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm."
         field: plus_code_digits
@@ -3508,213 +3504,186 @@ groups:
         field: plus_code_short
         default_value: "0"
         table: osd_plus_code_short
-
       - name: osd_ahi_style
         description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD."
         field: ahi_style
         default_value: "DEFAULT"
         table: osd_ahi_style
         type: uint8_t
-
       - name: osd_force_grid
         field: force_grid
         type: bool
         default_value: OFF
         description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
-
       - name: osd_ahi_bordered
         field: ahi_bordered
         type: bool
         description: Shows a border/corners around the AHI region (pixel OSD only)
         default_value: OFF
-
       - name: osd_ahi_width
         field: ahi_width
         max: 255
         description: AHI width in pixels (pixel OSD only)
         default_value: 132
-
       - name: osd_ahi_height
         field: ahi_height
         max: 255
         description: AHI height in pixels (pixel OSD only)
         default_value: 162
-
       - name: osd_ahi_vertical_offset
         field: ahi_vertical_offset
         min: -128
         max: 127
         description: AHI vertical offset from center (pixel OSD only)
         default_value: -18
-
       - name: osd_sidebar_horizontal_offset
         field: sidebar_horizontal_offset
         min: -128
         max: 127
         default_value: 0
         description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
-
       - name: osd_left_sidebar_scroll_step
         field: left_sidebar_scroll_step
         max: 255
         default_value: 0
         description: How many units each sidebar step represents. 0 means the default value for the scroll type.
-
       - name: osd_right_sidebar_scroll_step
         field: right_sidebar_scroll_step
         max: 255
         default_value: 0
         description: Same as left_sidebar_scroll_step, but for the right sidebar
-
       - name: osd_sidebar_height
         field: sidebar_height
         min: 0
         max: 5
         default_value: 3
         description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)
-
       - name: osd_ahi_pitch_interval
         field: ahi_pitch_interval
         min: 0
         max: 30
         default_value: 0
         description: Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD)
-
       - name: osd_home_position_arm_screen
         type: bool
         default_value: ON
         description: Should home position coordinates be displayed on the arming screen.
-
       - name: osd_pan_servo_index
         description: Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
         field: pan_servo_index
         min: 0
         max: 16
         default_value: 0
-
       - name: osd_pan_servo_pwm2centideg
         description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction.
         field: pan_servo_pwm2centideg
         default_value: 0
         min: -36
         max: 36
-
       - name: osd_pan_servo_offcentre_warning
         description: Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled.
         field: pan_servo_offcentre_warning
         min: 0
         max: 45
         default_value: 10
-
       - name: osd_pan_servo_indicator_show_degrees
         description: Show the degress of offset from centre on the pan servo OSD display element.
         field: pan_servo_indicator_show_degrees
         type: bool
         default_value: OFF
-
       - 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: osd_mah_precision
         description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity
         field: mAh_precision
         min: 4
         max: 6
         default_value: 4
-
       - name: osd_use_pilot_logo
         description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
         field: use_pilot_logo
         type: bool
         default_value: OFF
-
       - name: osd_inav_to_pilot_logo_spacing
         description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
         field: inav_to_pilot_logo_spacing
         min: 0
         max: 20
         default_value: 8
-
       - name: osd_arm_screen_display_time
         description: Amount of time to display the arm screen [ms]
         field: arm_screen_display_time
         min: 1000
         max: 5000
         default_value: 1500
-
       - name: osd_switch_indicator_zero_name
         description: "Character to use for OSD switch incicator 0."
         field: osd_switch_indicator0_name
         type: string
         max: 5
         default_value: "FLAP"
-
       - name: osd_switch_indicator_one_name
         description: "Character to use for OSD switch incicator 1."
         field: osd_switch_indicator1_name
         type: string
         max: 5
         default_value: "GEAR"
-
       - name: osd_switch_indicator_two_name
         description: "Character to use for OSD switch incicator 2."
         field: osd_switch_indicator2_name
         type: string
         max: 5
         default_value: "CAM"
-
       - name: osd_switch_indicator_three_name
         description: "Character to use for OSD switch incicator 3."
         field: osd_switch_indicator3_name
         type: string
         max: 5
         default_value: "LIGT"
-
       - name: osd_switch_indicator_zero_channel
         description: "RC Channel to use for OSD switch indicator 0."
         field: osd_switch_indicator0_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
-
       - name: osd_switch_indicator_one_channel
         description: "RC Channel to use for OSD switch indicator 1."
         field: osd_switch_indicator1_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
-
       - name: osd_switch_indicator_two_channel
         description: "RC Channel to use for OSD switch indicator 2."
         field: osd_switch_indicator2_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
-
       - name: osd_switch_indicator_three_channel
         description: "RC Channel to use for OSD switch indicator 3."
         field: osd_switch_indicator3_channel
         min: 5
         max: MAX_SUPPORTED_RC_CHANNEL_COUNT
         default_value: 5
-
       - name: osd_switch_indicators_align_left
         description: "Align text to left of switch indicators"
         field: osd_switch_indicators_align_left
         type: bool
         default_value: ON
-
       - name: osd_system_msg_display_time
         description: System message display cycle time for multiple messages (milliseconds).
         field: system_msg_display_time
         default_value: 1000
         min: 500
         max: 5000
-
+      - name: osd_highlight_djis_missing_font_symbols
+        description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
+        field: highlight_djis_fuckup
+        default_value: ON
+        type: bool
   - name: PG_OSD_COMMON_CONFIG
     type: osdCommonConfig_t
     headers: ["io/osd_common.h"]
diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
index de4fa8656f..e6c2d0b3c0 100644
--- a/src/main/io/displayport_msp_dji_compat.c
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -705,7 +705,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
             break;
     }
 
-    return '?'; // Missing/not mapped character
+    return (osdConfig()->highlight_djis_fuckup) ? '?' : SYM_BLANK; // Missing/not mapped character
 }
 
 #endif
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index f3f00ae7bd..881a8b4e76 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -223,7 +223,7 @@ static bool osdDisplayHasCanvas;
 
 #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
 
-PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 10);
+PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 11);
 PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1);
 
 void osdStartedSaveProcess(void) {
@@ -3874,6 +3874,9 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .airspeed_alarm_min = SETTING_OSD_AIRSPEED_ALARM_MIN_DEFAULT,
     .airspeed_alarm_max = SETTING_OSD_AIRSPEED_ALARM_MAX_DEFAULT,
 #endif
+#ifndef DISABLE_MSP_DJI_COMPAT
+    .highlight_djis_fuckup = SETTING_OSD_HIGHLIGHT_DJIS_MISSING_FONT_SYMBOLS_DEFAULT,
+#endif
 
     .video_system = SETTING_OSD_VIDEO_SYSTEM_DEFAULT,
     .row_shiftdown = SETTING_OSD_ROW_SHIFTDOWN_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index ca5dca6613..ed60e26e4b 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -457,7 +457,10 @@ typedef struct osdConfig_s {
     bool            use_pilot_logo;                     // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo.
     uint8_t         inav_to_pilot_logo_spacing;         // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
     uint16_t        arm_screen_display_time;            // Length of time the arm screen is displayed
-    #ifdef USE_ADSB
+#ifndef DISABLE_MSP_DJI_COMPAT
+    bool            highlight_djis_fuckup;              // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol
+#endif
+#ifdef USE_ADSB
     uint16_t adsb_distance_warning;                     // in metres
     uint16_t adsb_distance_alert;                       // in metres
     uint16_t adsb_ignore_plane_above_me_limit;          // in metres

From 135406decf4e63ef89fc4afc47885a54b7b5949d Mon Sep 17 00:00:00 2001
From: dzaro-dev <23706061+dzaro-dev@users.noreply.github.com>
Date: Sun, 19 May 2024 00:44:12 +0100
Subject: [PATCH 097/132] Update dji_osd_symbols.h as per request

---
 src/main/io/dji_osd_symbols.h | 40 +++++++++++++++++------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/src/main/io/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h
index 3ef5a6c5e9..2489bb176d 100644
--- a/src/main/io/dji_osd_symbols.h
+++ b/src/main/io/dji_osd_symbols.h
@@ -71,26 +71,6 @@
 #define DJI_SYM_AH_DECORATION           0x13
 #define DJI_SYM_SMALL_CROSSHAIR         0x7E
 
-// Crosshair Styles
-#define DJI_SYM_AH_CH_TYPE3             0x00
-#define DJI_SYM_AH_CH_TYPE3_1           0x7E
-#define DJI_SYM_AH_CH_TYPE3_2           0x00
-#define DJI_SYM_AH_CH_TYPE4             0x2D
-#define DJI_SYM_AH_CH_TYPE4_1           0x7E
-#define DJI_SYM_AH_CH_TYPE4_2           0x2D
-#define DJI_SYM_AH_CH_TYPE5             0x17
-#define DJI_SYM_AH_CH_TYPE5_1           0x7E
-#define DJI_SYM_AH_CH_TYPE5_2           0x17
-#define DJI_SYM_AH_CH_TYPE6             0x00
-#define DJI_SYM_AH_CH_TYPE6_1           0x09
-#define DJI_SYM_AH_CH_TYPE6_2           0x00
-#define DJI_SYM_AH_CH_TYPE7             0x78
-#define DJI_SYM_AH_CH_TYPE7_1           0x7E
-#define DJI_SYM_AH_CH_TYPE7_2           0x77
-#define DJI_SYM_AH_CH_TYPE8             0x02
-#define DJI_SYM_AH_CH_TYPE8_1           0x7E
-#define DJI_SYM_AH_CH_TYPE8_2           0x03
-
 // Satellite Graphics
 #define DJI_SYM_SAT_L                   0x1E
 #define DJI_SYM_SAT_R                   0x1F
@@ -182,3 +162,23 @@
 #define DJI_SYM_GPS_DEGREE              DJI_SYM_STICK_OVERLAY_SPRITE_HIGH  // kind of looks like the degree symbol
 #define DJI_SYM_GPS_MINUTE              0x27 // '
 #define DJI_SYM_GPS_SECOND              0x22 // "
+
+// Crosshair Styles
+#define DJI_SYM_AH_CH_TYPE3             DJI_SYM_NONE
+#define DJI_SYM_AH_CH_TYPE3_1           DJI_SYM_SMALL_CROSSHAIR
+#define DJI_SYM_AH_CH_TYPE3_2           DJI_SYM_NONE
+#define DJI_SYM_AH_CH_TYPE4             DJI_SYM_HYPHEN
+#define DJI_SYM_AH_CH_TYPE4_1           DJI_SYM_SMALL_CROSSHAIR
+#define DJI_SYM_AH_CH_TYPE4_2           DJI_SYM_HYPHEN
+#define DJI_SYM_AH_CH_TYPE5             DJI_SYM_STICK_OVERLAY_HORIZONTAL
+#define DJI_SYM_AH_CH_TYPE5_1           DJI_SYM_SMALL_CROSSHAIR
+#define DJI_SYM_AH_CH_TYPE5_2           DJI_SYM_STICK_OVERLAY_HORIZONTAL
+#define DJI_SYM_AH_CH_TYPE6             DJI_SYM_NONE
+#define DJI_SYM_AH_CH_TYPE6_1           DJI_SYM_STICK_OVERLAY_SPRITE_MID
+#define DJI_SYM_AH_CH_TYPE6_2           DJI_SYM_NONE
+#define DJI_SYM_AH_CH_TYPE7             DJI_SYM_ARROW_SMALL_LEFT
+#define DJI_SYM_AH_CH_TYPE7_1           DJI_SYM_SMALL_CROSSHAIR
+#define DJI_SYM_AH_CH_TYPE7_2           DJI_SYM_ARROW_SMALL_RIGHT
+#define DJI_SYM_AH_CH_TYPE8             DJI_SYM_AH_LEFT
+#define DJI_SYM_AH_CH_TYPE8_1           DJI_SYM_SMALL_CROSSHAIR
+#define DJI_SYM_AH_CH_TYPE8_2           DJI_SYM_AH_RIGHT

From 655b325fcef1f550046a1cb4f643f62fbe48aeb3 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 19 May 2024 08:33:14 +0100
Subject: [PATCH 098/132] Tidy up DJI crosshairs

Re-ordered to keep the same crosshairs together.
---
 src/main/io/displayport_msp_dji_compat.c | 98 ++++++++++--------------
 src/main/io/dji_osd_symbols.h            | 20 -----
 2 files changed, 42 insertions(+), 76 deletions(-)

diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
index 93ec60b9ce..ba6f7399c6 100644
--- a/src/main/io/displayport_msp_dji_compat.c
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -476,73 +476,59 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
         case SYM_AH_CH_LEFT:
         case SYM_AH_CH_AIRCRAFT1:
             return DJI_SYM_CROSSHAIR_LEFT;
-
-        case SYM_AH_CH_TYPE3:
-            return DJI_SYM_AH_CH_TYPE3;
-        
-        case SYM_AH_CH_TYPE4:
-            return DJI_SYM_AH_CH_TYPE4;
-        
-        case SYM_AH_CH_TYPE5:
-            return DJI_SYM_AH_CH_TYPE5;
-        
-        case SYM_AH_CH_TYPE6:
-            return DJI_SYM_AH_CH_TYPE6;
-        
-        case SYM_AH_CH_TYPE7:
-            return DJI_SYM_AH_CH_TYPE7;
-        
-        case SYM_AH_CH_TYPE8:
-            return DJI_SYM_AH_CH_TYPE8;
-
         case SYM_AH_CH_CENTER:
         case SYM_AH_CH_AIRCRAFT2:
             return DJI_SYM_CROSSHAIR_CENTRE;
-
-        case (SYM_AH_CH_TYPE3+1):
-            return DJI_SYM_AH_CH_TYPE3_1;
-        
-        case (SYM_AH_CH_TYPE4+1):
-            return DJI_SYM_AH_CH_TYPE4_1;
-        
-        case (SYM_AH_CH_TYPE5+1):
-            return DJI_SYM_AH_CH_TYPE5_1;
-        
-        case (SYM_AH_CH_TYPE6+1):
-            return DJI_SYM_AH_CH_TYPE6_1;
-        
-        case (SYM_AH_CH_TYPE7+1):
-            return DJI_SYM_AH_CH_TYPE7_1;
-        
-        case (SYM_AH_CH_TYPE8+1):
-            return DJI_SYM_AH_CH_TYPE8_1;
-
         case SYM_AH_CH_RIGHT:
         case SYM_AH_CH_AIRCRAFT3:
             return DJI_SYM_CROSSHAIR_RIGHT;
-
-        case (SYM_AH_CH_TYPE3+2):
-            return DJI_SYM_AH_CH_TYPE3_2;
-        
-        case (SYM_AH_CH_TYPE4+2):
-            return DJI_SYM_AH_CH_TYPE4_2;
-        
-        case (SYM_AH_CH_TYPE5+2):
-            return DJI_SYM_AH_CH_TYPE5_2;
-        
-        case (SYM_AH_CH_TYPE6+2):
-            return DJI_SYM_AH_CH_TYPE6_2;
-        
-        case (SYM_AH_CH_TYPE7+2):
-            return DJI_SYM_AH_CH_TYPE7_2;
-        
-        case (SYM_AH_CH_TYPE8+2):
-            return DJI_SYM_AH_CH_TYPE8_2;
         
         case SYM_AH_CH_AIRCRAFT0:
         case SYM_AH_CH_AIRCRAFT4:
             return DJI_SYM_BLANK;
 
+        case SYM_AH_CH_TYPE3:
+            return DJI_SYM_NONE;
+        case (SYM_AH_CH_TYPE3+1):
+            return DJI_SYM_SMALL_CROSSHAIR;
+        case (SYM_AH_CH_TYPE3+2):
+            return DJI_SYM_NONE;
+        
+        case SYM_AH_CH_TYPE4:
+            return DJI_SYM_HYPHEN;
+        case (SYM_AH_CH_TYPE4+1):
+            return DJI_SYM_SMALL_CROSSHAIR;
+        case (SYM_AH_CH_TYPE4+2):
+            return DJI_SYM_HYPHEN;
+        
+        case SYM_AH_CH_TYPE5:
+            return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
+        case (SYM_AH_CH_TYPE5+1):
+            return DJI_SYM_SMALL_CROSSHAIR;
+        case (SYM_AH_CH_TYPE5+2):
+            return DJI_SYM_STICK_OVERLAY_HORIZONTAL;
+        
+        case SYM_AH_CH_TYPE6:
+            return DJI_SYM_NONE;
+        case (SYM_AH_CH_TYPE6+1):
+            return DJI_SYM_STICK_OVERLAY_SPRITE_MID;
+        case (SYM_AH_CH_TYPE6+2):
+            return DJI_SYM_NONE;
+        
+        case SYM_AH_CH_TYPE7:
+            return DJI_SYM_ARROW_SMALL_LEFT;
+        case (SYM_AH_CH_TYPE7+1):
+            return DJI_SYM_SMALL_CROSSHAIR;
+        case (SYM_AH_CH_TYPE7+2):
+            return DJI_SYM_ARROW_SMALL_RIGHT;
+        
+        case SYM_AH_CH_TYPE8:
+            return DJI_SYM_AH_LEFT;
+        case (SYM_AH_CH_TYPE8+1):
+            return DJI_SYM_SMALL_CROSSHAIR;
+        case (SYM_AH_CH_TYPE8+2):
+            return DJI_SYM_AH_RIGHT;
+
         case SYM_ARROW_UP:
             return DJI_SYM_ARROW_NORTH;
 
diff --git a/src/main/io/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h
index 2489bb176d..66972a810e 100644
--- a/src/main/io/dji_osd_symbols.h
+++ b/src/main/io/dji_osd_symbols.h
@@ -162,23 +162,3 @@
 #define DJI_SYM_GPS_DEGREE              DJI_SYM_STICK_OVERLAY_SPRITE_HIGH  // kind of looks like the degree symbol
 #define DJI_SYM_GPS_MINUTE              0x27 // '
 #define DJI_SYM_GPS_SECOND              0x22 // "
-
-// Crosshair Styles
-#define DJI_SYM_AH_CH_TYPE3             DJI_SYM_NONE
-#define DJI_SYM_AH_CH_TYPE3_1           DJI_SYM_SMALL_CROSSHAIR
-#define DJI_SYM_AH_CH_TYPE3_2           DJI_SYM_NONE
-#define DJI_SYM_AH_CH_TYPE4             DJI_SYM_HYPHEN
-#define DJI_SYM_AH_CH_TYPE4_1           DJI_SYM_SMALL_CROSSHAIR
-#define DJI_SYM_AH_CH_TYPE4_2           DJI_SYM_HYPHEN
-#define DJI_SYM_AH_CH_TYPE5             DJI_SYM_STICK_OVERLAY_HORIZONTAL
-#define DJI_SYM_AH_CH_TYPE5_1           DJI_SYM_SMALL_CROSSHAIR
-#define DJI_SYM_AH_CH_TYPE5_2           DJI_SYM_STICK_OVERLAY_HORIZONTAL
-#define DJI_SYM_AH_CH_TYPE6             DJI_SYM_NONE
-#define DJI_SYM_AH_CH_TYPE6_1           DJI_SYM_STICK_OVERLAY_SPRITE_MID
-#define DJI_SYM_AH_CH_TYPE6_2           DJI_SYM_NONE
-#define DJI_SYM_AH_CH_TYPE7             DJI_SYM_ARROW_SMALL_LEFT
-#define DJI_SYM_AH_CH_TYPE7_1           DJI_SYM_SMALL_CROSSHAIR
-#define DJI_SYM_AH_CH_TYPE7_2           DJI_SYM_ARROW_SMALL_RIGHT
-#define DJI_SYM_AH_CH_TYPE8             DJI_SYM_AH_LEFT
-#define DJI_SYM_AH_CH_TYPE8_1           DJI_SYM_SMALL_CROSSHAIR
-#define DJI_SYM_AH_CH_TYPE8_2           DJI_SYM_AH_RIGHT

From 508b3ddc904b9c1ddf9194fd4d51e4eaf3b063e9 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 19 May 2024 09:07:16 +0100
Subject: [PATCH 099/132] Remove unused define from DJI OSD symbols

I searched the code and DJI_SYM_CURSOR isn't used anywhere. The only OSD use of cursor at all is in the CMS, which just uses the '>' character.

So this define can go. After that the dji_osd_symbols.h file is a pure character to variable map.
---
 src/main/io/dji_osd_symbols.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/io/dji_osd_symbols.h b/src/main/io/dji_osd_symbols.h
index 2489bb176d..35a034c7f5 100644
--- a/src/main/io/dji_osd_symbols.h
+++ b/src/main/io/dji_osd_symbols.h
@@ -147,9 +147,6 @@
 #define DJI_SYM_MPS                     0x9F
 #define DJI_SYM_FTPS                    0x99
 
-// Menu cursor
-#define DJI_SYM_CURSOR                  DJI_SYM_AH_LEFT
-
 // Stick overlays
 #define DJI_SYM_STICK_OVERLAY_SPRITE_HIGH 0x08
 #define DJI_SYM_STICK_OVERLAY_SPRITE_MID  0x09

From 536c5c3958f8623d02cf3c46ae9956b005a381b6 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 19 May 2024 20:24:18 +0200
Subject: [PATCH 100/132] Make Iterm Lock configurable

---
 src/main/fc/settings.yaml | 12 ++++++++++++
 src/main/flight/pid.c     |  9 ++++++---
 src/main/flight/pid.h     |  5 +++++
 3 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 307f6d9cb5..3abe94e12c 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2227,6 +2227,18 @@ groups:
         field: fixedWingLevelTrimGain
         min: 0
         max: 20
+      - name: fw_iterm_lock_time_max_ms
+        description: Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release
+        default_value: 500
+        field: fwItermLockTimeMaxMs
+        min: 100
+        max: 1000
+      - name: fw_iterm_lock_rate_threshold
+        description: Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term
+        field: fwItermLockRateLimit
+        default_value: 40
+        min: 10
+        max: 100
 
   - name: PG_PID_AUTOTUNE_CONFIG
     type: pidAutotuneConfig_t
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 479d8e8d34..711b3a0af0 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -178,7 +178,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
 static EXTENDED_FASTRAM float fixedWingLevelTrim;
 static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 8);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 9);
 
 PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .bank_mc = {
@@ -312,6 +312,8 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
         .smithPredictorDelay = SETTING_SMITH_PREDICTOR_DELAY_DEFAULT,
         .smithPredictorFilterHz = SETTING_SMITH_PREDICTOR_LPF_HZ_DEFAULT,
 #endif
+        .fwItermLockTimeMaxMs = SETTING_FW_ITERM_LOCK_TIME_MAX_MS_DEFAULT,
+        .fwItermLockRateLimit = SETTING_FW_ITERM_LOCK_RATE_THRESHOLD_DEFAULT,
 );
 
 bool pidInitFilters(void)
@@ -748,7 +750,8 @@ static void nullRateController(pidState_t *pidState, float dT, float dT_inv) {
 
 static void fwRateAttenuation(pidState_t *pidState, const float rateTarget, const float rateError) {
     const float maxRate = currentControlRateProfile->stabilized.rates[pidState->axis] * 10.0f;
-    const float dampingFactor = attenuation(rateTarget, maxRate / 2.5f);
+
+    const float dampingFactor = attenuation(rateTarget, maxRate * pidProfile()->fwItermLockRateLimit / 100.0f);
 
     /*
      * Iterm damping is applied (down to 0) when:
@@ -770,7 +773,7 @@ static void fwRateAttenuation(pidState_t *pidState, const float rateTarget, cons
         pidState->attenuation.targetOverThresholdTimeMs = 0;
     }
 
-    pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < 500) ? 0.0f : 1.0f);
+    pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < pidProfile()->fwItermLockTimeMaxMs) ? 0.0f : 1.0f);
 
     //P & D damping factors are always the same and based on current damping factor
     pidState->attenuation.aP = dampingFactor;
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index c8df7231ed..93e713b61a 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -155,6 +155,11 @@ typedef struct pidProfile_s {
     float smithPredictorDelay;
     uint16_t smithPredictorFilterHz;
 #endif
+
+
+    uint16_t fwItermLockTimeMaxMs;
+    uint8_t fwItermLockRateLimit;
+
 } pidProfile_t;
 
 typedef struct pidAutotuneConfig_s {

From 2118cebf255d2cce359863636d68f19ad6538c0e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 19 May 2024 20:24:41 +0200
Subject: [PATCH 101/132] Iterm Lock configurability

---
 src/main/fc/settings.yaml | 6 ++++++
 src/main/flight/pid.c     | 3 ++-
 src/main/flight/pid.h     | 1 +
 3 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 3abe94e12c..a2d2195bde 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2239,6 +2239,12 @@ groups:
         default_value: 40
         min: 10
         max: 100
+      - name: fw_iterm_lock_engage_threshold
+        description: Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number
+        default_value: 10
+        min: 5
+        max: 25
+        field: fwItermLockEngageThreshold
 
   - name: PG_PID_AUTOTUNE_CONFIG
     type: pidAutotuneConfig_t
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 711b3a0af0..a9d1291877 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -314,6 +314,7 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
 #endif
         .fwItermLockTimeMaxMs = SETTING_FW_ITERM_LOCK_TIME_MAX_MS_DEFAULT,
         .fwItermLockRateLimit = SETTING_FW_ITERM_LOCK_RATE_THRESHOLD_DEFAULT,
+        .fwItermLockEngageThreshold = SETTING_FW_ITERM_LOCK_ENGAGE_THRESHOLD_DEFAULT,
 );
 
 bool pidInitFilters(void)
@@ -761,7 +762,7 @@ static void fwRateAttenuation(pidState_t *pidState, const float rateTarget, cons
      */
 
     //If error is greater than 10% or max rate
-    const bool errorThresholdReached = fabsf(rateError) > maxRate * 0.1f;
+    const bool errorThresholdReached = fabsf(rateError) > maxRate * pidProfile()->fwItermLockEngageThreshold / 100.0f;
 
     //If stick (setpoint) was moved above threshold in the last 500ms
     if (fabsf(rateTarget) > maxRate * 0.2f) {
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 93e713b61a..26aeb86990 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -159,6 +159,7 @@ typedef struct pidProfile_s {
 
     uint16_t fwItermLockTimeMaxMs;
     uint8_t fwItermLockRateLimit;
+    uint8_t fwItermLockEngageThreshold;
 
 } pidProfile_t;
 

From fc9457f4708b616594de728681ae072bc03bcda6 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sun, 19 May 2024 20:25:52 +0200
Subject: [PATCH 102/132] Docs update

---
 docs/Settings.md | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/docs/Settings.md b/docs/Settings.md
index 9f3baaed66..96141fa65d 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1302,6 +1302,36 @@ Fixed-wing rate stabilisation I-gain for YAW
 
 ---
 
+### fw_iterm_lock_engage_threshold
+
+Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 10 | 5 | 25 |
+
+---
+
+### fw_iterm_lock_rate_threshold
+
+Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 40 | 10 | 100 |
+
+---
+
+### fw_iterm_lock_time_max_ms
+
+Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 500 | 100 | 1000 |
+
+---
+
 ### fw_level_pitch_gain
 
 I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations

From 5a2b1ee9a7a21090c2586fe9d8b8088ee98760a4 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 21 May 2024 11:39:23 +0100
Subject: [PATCH 103/132] move activewp and rxupdaterate fields

---
 src/main/blackbox/blackbox.c | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 727488cc1b..4433e7b4ab 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -402,13 +402,15 @@ static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
 
 // Rarely-updated fields
 static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
+    {"activeWpNumber",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},    
     {"flightModeFlags",       -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"stateFlags",            -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
 
     {"failsafePhase",         -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxSignalReceived",      -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
-
+    {"rxUpdateRate",          -1, UNSIGNED, PREDICT(PREVIOUS),      ENCODING(UNSIGNED_VB)},
+    
     {"hwHealthStatus",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"powerSupplyImpedance",  -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"sagCompensatedVBat",    -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
@@ -436,8 +438,6 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
     {"escRPM",                -1, UNSIGNED, PREDICT(0),             ENCODING(UNSIGNED_VB)},
     {"escTemperature",        -1, SIGNED,   PREDICT(PREVIOUS),      ENCODING(SIGNED_VB)},
 #endif
-    {"rxUpdateRate",          -1, UNSIGNED, PREDICT(PREVIOUS),      ENCODING(UNSIGNED_VB)},
-    {"activeWpNumber",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
 };
 
 typedef enum BlackboxState {
@@ -1259,7 +1259,8 @@ static void writeSlowFrame(void)
     int32_t values[3];
 
     blackboxWrite('S');
-
+    
+    blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
     blackboxWriteUnsignedVB(slowHistory.flightModeFlags);
     blackboxWriteUnsignedVB(slowHistory.stateFlags);
 
@@ -1268,9 +1269,11 @@ static void writeSlowFrame(void)
      */
     values[0] = slowHistory.failsafePhase;
     values[1] = slowHistory.rxSignalReceived ? 1 : 0;
-    values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;
+    values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;    
     blackboxWriteTag2_3S32(values);
 
+    blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);    
+
     blackboxWriteUnsignedVB(slowHistory.hwHealthStatus);
 
     blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance);
@@ -1296,8 +1299,6 @@ static void writeSlowFrame(void)
     blackboxWriteUnsignedVB(slowHistory.escRPM);
     blackboxWriteSignedVB(slowHistory.escTemperature);
 #endif
-    blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
-    blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
 
     blackboxSlowFrameIterationTimer = 0;
 }
@@ -1307,6 +1308,7 @@ static void writeSlowFrame(void)
  */
 static void loadSlowState(blackboxSlowState_t *slow)
 {
+    slow->activeWpNumber = getActiveWpNumber();
     memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
     // Also log Nav auto enabled flight modes rather than just those selected by boxmode
     if (FLIGHT_MODE(ANGLE_MODE)) {
@@ -1328,6 +1330,7 @@ static void loadSlowState(blackboxSlowState_t *slow)
     slow->failsafePhase = failsafePhase();
     slow->rxSignalReceived = rxIsReceivingSignal();
     slow->rxFlightChannelsValid = rxAreFlightChannelsValid();
+    slow->rxUpdateRate = getRcUpdateFrequency();    
     slow->hwHealthStatus = (getHwGyroStatus()           << 2 * 0) |     // Pack hardware health status into a bit field.
                            (getHwAccelerometerStatus()  << 2 * 1) |     // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value
                            (getHwCompassStatus()        << 2 * 2) |     // Report GYRO in 2 lowest bits, then ACC, COMPASS, BARO, GPS, RANGEFINDER and PITOT
@@ -1379,9 +1382,6 @@ static void loadSlowState(blackboxSlowState_t *slow)
     slow->escRPM = escSensor->rpm;
     slow->escTemperature = escSensor->temperature;
 #endif
-
-    slow->rxUpdateRate = getRcUpdateFrequency();
-    slow->activeWpNumber = getActiveWpNumber();
 }
 
 /**

From 946241d995ca8b7c8c762330a31b9d2ed9f1d1be Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 21 May 2024 21:41:30 +0100
Subject: [PATCH 104/132] Made it more boring

---
 src/main/fc/settings.yaml                | 2 +-
 src/main/io/displayport_msp_dji_compat.c | 2 +-
 src/main/io/osd.c                        | 2 +-
 src/main/io/osd.h                        | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d276aca274..fa21316463 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3681,7 +3681,7 @@ groups:
         max: 5000
       - name: osd_highlight_djis_missing_font_symbols
         description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
-        field: highlight_djis_fuckup
+        field: highlight_djis_missing_characters
         default_value: ON
         type: bool
   - name: PG_OSD_COMMON_CONFIG
diff --git a/src/main/io/displayport_msp_dji_compat.c b/src/main/io/displayport_msp_dji_compat.c
index e6c2d0b3c0..cf57b49be6 100644
--- a/src/main/io/displayport_msp_dji_compat.c
+++ b/src/main/io/displayport_msp_dji_compat.c
@@ -705,7 +705,7 @@ uint8_t getDJICharacter(uint8_t ch, uint8_t page)
             break;
     }
 
-    return (osdConfig()->highlight_djis_fuckup) ? '?' : SYM_BLANK; // Missing/not mapped character
+    return (osdConfig()->highlight_djis_missing_characters) ? '?' : SYM_BLANK; // Missing/not mapped character
 }
 
 #endif
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 881a8b4e76..34135ce2fd 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3875,7 +3875,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .airspeed_alarm_max = SETTING_OSD_AIRSPEED_ALARM_MAX_DEFAULT,
 #endif
 #ifndef DISABLE_MSP_DJI_COMPAT
-    .highlight_djis_fuckup = SETTING_OSD_HIGHLIGHT_DJIS_MISSING_FONT_SYMBOLS_DEFAULT,
+    .highlight_djis_missing_characters = SETTING_OSD_HIGHLIGHT_DJIS_MISSING_FONT_SYMBOLS_DEFAULT,
 #endif
 
     .video_system = SETTING_OSD_VIDEO_SYSTEM_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index ed60e26e4b..7ac1405499 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -458,7 +458,7 @@ typedef struct osdConfig_s {
     uint8_t         inav_to_pilot_logo_spacing;         // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
     uint16_t        arm_screen_display_time;            // Length of time the arm screen is displayed
 #ifndef DISABLE_MSP_DJI_COMPAT
-    bool            highlight_djis_fuckup;              // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol
+    bool            highlight_djis_missing_characters;  // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol
 #endif
 #ifdef USE_ADSB
     uint16_t adsb_distance_warning;                     // in metres

From b4dfc9302a84b31f03e79ed179c8754aab99fb76 Mon Sep 17 00:00:00 2001
From: HishamGhosheh <hisham.ghosheh@gmail.com>
Date: Thu, 23 May 2024 01:57:25 +0200
Subject: [PATCH 105/132] Add JHEF405PRO (aka GHF405AIO-HD) support

---
 src/main/target/JHEF405PRO/CMakeLists.txt |   1 +
 src/main/target/JHEF405PRO/target.c       |  34 +++++
 src/main/target/JHEF405PRO/target.h       | 154 ++++++++++++++++++++++
 3 files changed, 189 insertions(+)
 create mode 100644 src/main/target/JHEF405PRO/CMakeLists.txt
 create mode 100644 src/main/target/JHEF405PRO/target.c
 create mode 100644 src/main/target/JHEF405PRO/target.h

diff --git a/src/main/target/JHEF405PRO/CMakeLists.txt b/src/main/target/JHEF405PRO/CMakeLists.txt
new file mode 100644
index 0000000000..eb7f010883
--- /dev/null
+++ b/src/main/target/JHEF405PRO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(JHEF405PRO)
diff --git a/src/main/target/JHEF405PRO/target.c b/src/main/target/JHEF405PRO/target.c
new file mode 100644
index 0000000000..23c1604c0c
--- /dev/null
+++ b/src/main/target/JHEF405PRO/target.c
@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {    
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, 0, 1),  // S3
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 0, 0),  // S4
+
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_PPM, 0, 0),       // PPM
+    DEF_TIM(TIM1, CH2, PA9, TIM_USE_LED,  0, 1 ),     //LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/JHEF405PRO/target.h b/src/main/target/JHEF405PRO/target.h
new file mode 100644
index 0000000000..43547cd2ef
--- /dev/null
+++ b/src/main/target/JHEF405PRO/target.h
@@ -0,0 +1,154 @@
+/*
+ * This 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.
+ *
+ * This software 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 software.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "JHEF405PRO"
+#define USBD_PRODUCT_STRING  "JHEF405PRO"
+
+#define LED0                PC14
+#define BEEPER              PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN        PA5
+#define SPI1_MISO_PIN   	PA6
+#define SPI1_MOSI_PIN       PA7
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW90_DEG
+#define ICM42605_CS_PIN         PB12
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+#define USE_EXTI
+#define GYRO_INT_EXTI       PB13
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** SPI3 OSD & Flash ***************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN        PC10
+#define SPI3_MISO_PIN       PC11
+#define SPI3_MOSI_PIN       PC12
+
+// OSD
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS     BUS_SPI3
+#define MAX7456_CS_PIN      PB14
+
+// Flash
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PB3
+#define M25P16_SPI_BUS          BUS_SPI3
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+// Baro
+#define USE_BARO
+#define BARO_I2C_BUS            DEFAULT_I2C_BUS
+#define USE_BARO_DPS310
+
+// Mag
+#define USE_MAG
+#define USE_MAG_ALL
+#define MAG_I2C_BUS             DEFAULT_I2C_BUS
+
+// Temperature
+#define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
+
+// Range finder
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_HCSR04_I2C
+#define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
+
+// PITOT
+#define PITOT_I2C_BUS           DEFAULT_I2C_BUS
+
+// *************** UART *****************************
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_PIN        PA8 // TODO validate
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PB6
+
+#define USE_UART2
+#define UART2_RX_PIN            PD6
+#define UART2_TX_PIN            PD5
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       6
+
+// *************** ADC ***************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define CURRENT_METER_SCALE         250
+
+// ***************  OTHERS *************************
+#define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD | FEATURE_TELEMETRY)
+
+// Rx defaults
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+// *************** LED2812 ************************
+#define USE_LED_STRIP
+#define WS2811_PIN              PA9
+
+
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+//TIMER
+#define MAX_PWM_OUTPUT_PORTS       4
+
+#define USE_DSHOT

From b7a24063af29560cc5a95cfdbbdded5ea3d638f4 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Thu, 23 May 2024 09:43:41 +0200
Subject: [PATCH 106/132] Add PSA about ICM426xx changes in INAV 7.1

Some users have reported issues with INAV 7.1+ when upgrading from previews versions in aircraft that had this gyro.

Recalibrating the gyro, or redoing the setup in INAV 7.1 seems to have fixed most of them.
---
 readme.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/readme.md b/readme.md
index a70c42d4c8..a83ba6c6cf 100644
--- a/readme.md
+++ b/readme.md
@@ -6,6 +6,10 @@
 
 > INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.
 
+# ICM426xx IMUs PSA
+
+> The filtering settings for the ICM426xx has changed to matche what is used by Ardupilot and Betaflight in INAV 7.1. When upgrading from older versions you may need to recalibrate the Accelerometer and if you are not using INAV's default tune you may also want to check if the tune is still good.
+
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
 
 # PosHold, Navigation and RTH without compass PSA

From e37ed9f270ba1729463e4d01f29923584d70c9fd Mon Sep 17 00:00:00 2001
From: HishamGhosheh <hisham.ghosheh@gmail.com>
Date: Thu, 23 May 2024 10:27:55 +0200
Subject: [PATCH 107/132] Add SKIP_RELEASES to JHEF405PRO

---
 src/main/target/JHEF405PRO/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/JHEF405PRO/CMakeLists.txt b/src/main/target/JHEF405PRO/CMakeLists.txt
index eb7f010883..939221cf74 100644
--- a/src/main/target/JHEF405PRO/CMakeLists.txt
+++ b/src/main/target/JHEF405PRO/CMakeLists.txt
@@ -1 +1 @@
-target_stm32f405xg(JHEF405PRO)
+target_stm32f405xg(JHEF405PRO SKIP_RELEASES)

From 39bd781552867e2e22a176cac222498270bfed2d Mon Sep 17 00:00:00 2001
From: Scavanger <andreas.kanzler@outlook.com>
Date: Thu, 23 May 2024 10:51:41 -0300
Subject: [PATCH 108/132] USB-Rescue

---
 cmake/at32.cmake            |  5 ++++
 cmake/sitl.cmake            |  4 +++
 cmake/stm32.cmake           |  5 ++++
 docs/Broken USB recovery.md | 49 ++++---------------------------------
 src/main/fc/config.c        |  8 ++++++
 5 files changed, 27 insertions(+), 44 deletions(-)

diff --git a/cmake/at32.cmake b/cmake/at32.cmake
index 54e178deb7..6ac70bc528 100644
--- a/cmake/at32.cmake
+++ b/cmake/at32.cmake
@@ -326,6 +326,11 @@ function(target_at32)
 
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
+
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     if(args_COMPILE_DEFINITIONS)
         list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
     endif()
diff --git a/cmake/sitl.cmake b/cmake/sitl.cmake
index ee43aa9a93..39e6456830 100644
--- a/cmake/sitl.cmake
+++ b/cmake/sitl.cmake
@@ -99,6 +99,10 @@ function (target_sitl name)
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
 
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     string(TOLOWER ${PROJECT_NAME} lowercase_project_name)
     set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name})
     if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}")
diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
index f02185e9af..c4534a3050 100644
--- a/cmake/stm32.cmake
+++ b/cmake/stm32.cmake
@@ -333,6 +333,11 @@ function(target_stm32)
 
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
+
+    if (MSP_UART) 
+        list(APPEND target_definitions "MSP_UART=${MSP_UART}")
+    endif()
+
     if(args_COMPILE_DEFINITIONS)
         list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
     endif()
diff --git a/docs/Broken USB recovery.md b/docs/Broken USB recovery.md
index 46db627c83..3406653b98 100644
--- a/docs/Broken USB recovery.md	
+++ b/docs/Broken USB recovery.md	
@@ -53,55 +53,16 @@ The following procedure describes the process under Windows 10/11:
 Please read [Building in Windows 2010 or 11 with Linux Subsystem](https://github.com/iNavFlight/inav/blob/master/docs/development/Building%20in%20Windows%2010%20or%2011%20with%20Linux%20Subsystem.md)
 and follow the instructions up to "Building with Make".
 
-To activate MSP by default, go to the directory `src/main/target/[your target]`.
-If no config.c exists, create a new text file with this name and the following content:
+In the step 'prepare build environment' add the option `-DMSP_UART=SERIAL_PORT_USARTX` to `cmake`
 
-```
-/*
- * 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 <stdint.h>
-
-#include "platform.h"
-#include "io/serial.h"
-
-void targetConfiguration(void)
-{
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].functionMask = FUNCTION_MSP;
-    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].msp_baudrateIndex = BAUD_115200;
-}
-
-```
-
-If the file already exists, add the following lines in the function `void targetConfiguration(void)` (before the last `}`)
-
-```
-serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].functionMask = FUNCTION_MSP;
-serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USARTX)].msp_baudrateIndex = BAUD_115200;
-```
-
-Replace the X in SERIAL_PORT_USARTX (in both lines) with the number of UART/serial port on which MSP is to be activated.
+Replace the X in SERIAL_PORT_USARTX with the number of UART/serial port on which MSP is to be activated.
 
 Example:
-For UART 2: `SERIAL_PORT_USART2`
-For UART 3: `SERIAL_PORT_USART3`
+For UART 2: `cmake -DMSP_UART=SERIAL_PORT_USART2 ..`
+For UART 3: `cmake -DMSP_UART=SERIAL_PORT_USART3 ..`
 etc.
 
-Save the file and build the firmware as described in the document above.
+Build the firmware as described in the document above (`make [YOUR_TARGET]`).
 
 ## Flashing via Uart:
 
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index c9a50c60a2..e5f164988d 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -284,6 +284,14 @@ void createDefaultConfig(void)
     featureSet(FEATURE_AIRMODE);
 
     targetConfiguration();
+
+#ifdef MSP_UART
+    int port = findSerialPortIndexByIdentifier(MSP_UART);
+    if (port) {
+        serialConfigMutable()->portConfigs[port].functionMask = FUNCTION_MSP;
+        serialConfigMutable()->portConfigs[port].msp_baudrateIndex = BAUD_115200;
+    }
+#endif
 }
 
 void resetConfigs(void)

From a974ccc85b6f3f79a67f58149c6b960b603e15eb Mon Sep 17 00:00:00 2001
From: Ray Morris <deepmagicbeginshere@gmail.com>
Date: Fri, 24 May 2024 10:01:08 -0500
Subject: [PATCH 109/132] revert buggy inav_use_gps_no_baro to default off

---
 src/main/fc/settings.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d2d8c5c433..de413d456a 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2288,10 +2288,10 @@ groups:
         field: use_gps_velned
         type: bool
       - name: inav_use_gps_no_baro
-        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
+        description: "Defines if INAV should use only use GPS data for altitude estimation and not barometer. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
         field: use_gps_no_baro
         type: bool
-        default_value: ON
+        default_value: OFF
       - name: inav_allow_dead_reckoning
         description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
         default_value: OFF

From 4e1e59eb1f16ccfea2d4d4728bdf094eabcced66 Mon Sep 17 00:00:00 2001
From: Ray Morris <deepmagicbeginshere@gmail.com>
Date: Fri, 24 May 2024 13:07:07 -0500
Subject: [PATCH 110/132] inav_use_gps_no_baro Settings.md

---
 docs/Settings.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 9c31498ef1..9817422595 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -1844,11 +1844,11 @@ Allows to chose when the home position is reset. Can help prevent resetting home
 
 ### inav_use_gps_no_baro
 
-Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
+Defines if INAV should use only use GPS data for altitude estimation and not barometer. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| ON | OFF | ON |
+| OFF | OFF | ON |
 
 ---
 

From 9be624037c2c812b3e08a352e3d952febdf77dcb Mon Sep 17 00:00:00 2001
From: WizzardDr <93602460+WizzardDr@users.noreply.github.com>
Date: Fri, 24 May 2024 22:13:13 +0100
Subject: [PATCH 111/132] Skip `pollVersion()` and `pollGnssCapabilities()` if
 `gps_auto_config = OFF`

Modified gps_ublox.c to skip `pollVersion()` and `pollGnssCapabilities()` if `gps_auto_config = OFF`. This is to support an RX only UART connection of the GPS module.
---
 src/main/io/gps_ublox.c | 37 +++++++++++++++++++------------------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index 8375774e04..8c07161328 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -1048,25 +1048,26 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
     gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN;
     gpsState.autoConfigStep = 0;
 
-    do {
-        pollVersion();
-        gpsState.autoConfigStep++;
-        ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
-    } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
-
-    gpsState.autoConfigStep = 0;
-    ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
-    // M7 and earlier will never get pass this step, so skip it (#9440).
-    // UBLOX documents that this is M8N and later
-    if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
-	do {
-	    pollGnssCapabilities();
-	    gpsState.autoConfigStep++;
-	    ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
-	} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
-    }
     // Configure GPS module if enabled
     if (gpsState.gpsConfig->autoConfig) {
+        do {
+            pollVersion();
+            gpsState.autoConfigStep++;
+            ptWaitTimeout((gpsState.hwVersion != UBX_HW_VERSION_UNKNOWN), GPS_CFG_CMD_TIMEOUT_MS);
+        } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
+
+        gpsState.autoConfigStep = 0;
+        ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
+        // M7 and earlier will never get pass this step, so skip it (#9440).
+        // UBLOX documents that this is M8N and later
+        if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
+        do {
+            pollGnssCapabilities();
+            gpsState.autoConfigStep++;
+            ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
+        } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
+        }
+
         // Configure GPS
         ptSpawn(gpsConfigure);
     }
@@ -1079,7 +1080,7 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         ptSemaphoreWait(semNewDataReady);
         gpsProcessNewSolutionData(false);
 
-        if ((gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
+        if ((gpsState.gpsConfig->autoConfig) && (gpsState.gpsConfig->provider == GPS_UBLOX || gpsState.gpsConfig->provider == GPS_UBLOX7PLUS)) {
             if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) {
                 gpsState.lastCapaPoolMs = millis();
 

From 06eb0ef3c04135df62ae42ac87e9f1d9c9acd387 Mon Sep 17 00:00:00 2001
From: Fernando Schuindt <f.schuindtcs@gmail.com>
Date: Wed, 29 May 2024 01:23:33 -0300
Subject: [PATCH 112/132] Fix OSD mentioned twice on README.md feature list

---
 readme.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/readme.md b/readme.md
index a70c42d4c8..b8e9f21105 100644
--- a/readme.md
+++ b/readme.md
@@ -51,7 +51,6 @@ Fly safe, fly smart with INAV 7.1 and a compass by your side!
 * SmartAudio and IRC Tramp VTX support
 * Telemetry: SmartPort, FPort, MAVlink, LTM, CRSF
 * Multi-color RGB LED Strip support
-* On Screen Display (OSD) - both character and pixel style
 * And many more!
 
 For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.

From 2667c03850189242486e5554ae62bea741a797a3 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Thu, 30 May 2024 13:03:25 +0100
Subject: [PATCH 113/132] update flight modes

---
 src/main/blackbox/blackbox.c | 57 +++++++++++++++++++-----------------
 src/main/fc/fc_core.c        |  2 +-
 src/main/flight/pid.c        |  4 +--
 3 files changed, 33 insertions(+), 30 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 4433e7b4ab..419b7b4add 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -402,15 +402,22 @@ static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
 
 // Rarely-updated fields
 static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
-    {"activeWpNumber",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},    
+    /* "flightModeFlags" renamed internally to more correct ref of rcModeFlags, since it logs rc boxmode selections,
+     * but name kept for external compatibility reasons.
+     * "activeFlightModeFlags" logs actual active flight modes rather than rc boxmodes.
+     * 'active' should at least distinguish it from the existing "flightModeFlags" */
+     
+    {"activeWpNumber",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"flightModeFlags",       -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"flightModeFlags2",      -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"activeFlightModeFlags", -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"stateFlags",            -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
 
     {"failsafePhase",         -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxSignalReceived",      -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxUpdateRate",          -1, UNSIGNED, PREDICT(PREVIOUS),      ENCODING(UNSIGNED_VB)},
-    
+
     {"hwHealthStatus",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"powerSupplyImpedance",  -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"sagCompensatedVBat",    -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
@@ -533,7 +540,9 @@ typedef struct blackboxGpsState_s {
 
 // This data is updated really infrequently:
 typedef struct blackboxSlowState_s {
-    uint32_t flightModeFlags; // extend this data size (from uint16_t)
+    uint32_t rcModeFlags;
+    uint32_t rcModeFlags2;
+    uint32_t activeFlightModeFlags;
     uint32_t stateFlags;
     uint8_t failsafePhase;
     bool rxSignalReceived;
@@ -566,7 +575,7 @@ extern boxBitmask_t rcModeActivationMask;
 static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
 
 static uint32_t blackboxLastArmingBeep = 0;
-static uint32_t blackboxLastFlightModeFlags = 0;
+static uint32_t blackboxLastRcModeFlags = 0;
 
 static struct {
     uint32_t headerIndex;
@@ -1259,9 +1268,11 @@ static void writeSlowFrame(void)
     int32_t values[3];
 
     blackboxWrite('S');
-    
+
     blackboxWriteUnsignedVB(slowHistory.activeWpNumber);
-    blackboxWriteUnsignedVB(slowHistory.flightModeFlags);
+    blackboxWriteUnsignedVB(slowHistory.rcModeFlags);
+    blackboxWriteUnsignedVB(slowHistory.rcModeFlags2);
+    blackboxWriteUnsignedVB(slowHistory.activeFlightModeFlags);
     blackboxWriteUnsignedVB(slowHistory.stateFlags);
 
     /*
@@ -1269,10 +1280,10 @@ static void writeSlowFrame(void)
      */
     values[0] = slowHistory.failsafePhase;
     values[1] = slowHistory.rxSignalReceived ? 1 : 0;
-    values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;    
+    values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;
     blackboxWriteTag2_3S32(values);
 
-    blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);    
+    blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
 
     blackboxWriteUnsignedVB(slowHistory.hwHealthStatus);
 
@@ -1309,28 +1320,20 @@ static void writeSlowFrame(void)
 static void loadSlowState(blackboxSlowState_t *slow)
 {
     slow->activeWpNumber = getActiveWpNumber();
-    memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
+
+    slow->rcModeFlags = rcModeActivationMask.bits[0];   // first 32 bits of boxId_e
+    slow->rcModeFlags2 = rcModeActivationMask.bits[1];  // remaining bits of boxId_e
+
     // Also log Nav auto enabled flight modes rather than just those selected by boxmode
-    if (FLIGHT_MODE(ANGLE_MODE)) {
-        slow->flightModeFlags |= (1 << BOXANGLE);
-    }
-    if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
-        slow->flightModeFlags |= (1 << BOXNAVALTHOLD);
-    }
-    if (FLIGHT_MODE(NAV_RTH_MODE)) {
-        slow->flightModeFlags |= (1 << BOXNAVRTH);
-    }
     if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
-        slow->flightModeFlags |= (1 << BOXHEADINGHOLD);
-    }
-    if (navigationRequiresTurnAssistance()) {
-        slow->flightModeFlags |= (1 << BOXTURNASSIST);
+        slow->rcModeFlags |= (1 << BOXHEADINGHOLD);
     }
+    slow->activeFlightModeFlags = flightModeFlags;
     slow->stateFlags = stateFlags;
     slow->failsafePhase = failsafePhase();
     slow->rxSignalReceived = rxIsReceivingSignal();
     slow->rxFlightChannelsValid = rxAreFlightChannelsValid();
-    slow->rxUpdateRate = getRcUpdateFrequency();    
+    slow->rxUpdateRate = getRcUpdateFrequency();
     slow->hwHealthStatus = (getHwGyroStatus()           << 2 * 0) |     // Pack hardware health status into a bit field.
                            (getHwAccelerometerStatus()  << 2 * 1) |     // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value
                            (getHwCompassStatus()        << 2 * 2) |     // Report GYRO in 2 lowest bits, then ACC, COMPASS, BARO, GPS, RANGEFINDER and PITOT
@@ -1498,7 +1501,7 @@ void blackboxStart(void)
      * it finally plays the beep for this arming event.
      */
     blackboxLastArmingBeep = getArmingBeepTimeMicros();
-    memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); // record startup status
+    memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags)); // record startup status
 
     blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
 }
@@ -2023,10 +2026,10 @@ static void blackboxCheckAndLogArmingBeep(void)
 static void blackboxCheckAndLogFlightMode(void)
 {
     // Use != so that we can still detect a change if the counter wraps
-    if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
+    if (memcmp(&rcModeActivationMask, &blackboxLastRcModeFlags, sizeof(blackboxLastRcModeFlags))) {
         flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
-        eventData.lastFlags = blackboxLastFlightModeFlags;
-        memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
+        eventData.lastFlags = blackboxLastRcModeFlags;
+        memcpy(&blackboxLastRcModeFlags, &rcModeActivationMask, sizeof(blackboxLastRcModeFlags));
         memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
         blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
     }
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 4b231548b9..d96c198f83 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -704,7 +704,7 @@ void processRx(timeUs_t currentTimeUs)
     }
 
     /* Turn assistant mode */
-    if (IS_RC_MODE_ACTIVE(BOXTURNASSIST)) {
+    if (IS_RC_MODE_ACTIVE(BOXTURNASSIST) || navigationRequiresTurnAssistance()) {
          ENABLE_FLIGHT_MODE(TURN_ASSISTANT);
     } else {
         DISABLE_FLIGHT_MODE(TURN_ASSISTANT);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a9d1291877..cb6502b010 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -1099,7 +1099,7 @@ void checkItermFreezingActive(pidState_t *pidState, flight_dynamics_index_t axis
     if (usedPidControllerType == PID_TYPE_PIFF && pidProfile()->fixedWingYawItermBankFreeze != 0 && axis == FD_YAW) {
         // Do not allow yaw I-term to grow when bank angle is too large
         float bankAngle = DECIDEGREES_TO_DEGREES(attitude.values.roll);
-        if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance())){
+        if (fabsf(bankAngle) > pidProfile()->fixedWingYawItermBankFreeze && !(FLIGHT_MODE(AUTO_TUNE) || FLIGHT_MODE(TURN_ASSISTANT))) {
             pidState->itermFreezeActive = true;
         } else
         {
@@ -1242,7 +1242,7 @@ void FAST_CODE pidController(float dT)
     }
 
     // Apply Turn Assistance
-    if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
+    if (FLIGHT_MODE(TURN_ASSISTANT) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
         float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]));
         float pitchAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH]));
         pidTurnAssistant(pidState, bankAngleTarget, pitchAngleTarget);

From 5191ec369485f4d4941cf96ac8143595863d8dbf Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 09:56:39 +0200
Subject: [PATCH 114/132] Update readme.md

Fix small typo that sneaked in.
---
 readme.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/readme.md b/readme.md
index c18b029563..fac247ef9a 100644
--- a/readme.md
+++ b/readme.md
@@ -8,7 +8,7 @@
 
 # ICM426xx IMUs PSA
 
-> The filtering settings for the ICM426xx has changed to matche what is used by Ardupilot and Betaflight in INAV 7.1. When upgrading from older versions you may need to recalibrate the Accelerometer and if you are not using INAV's default tune you may also want to check if the tune is still good.
+> The filtering settings for the ICM426xx has changed to match what is used by Ardupilot and Betaflight in INAV 7.1. When upgrading from older versions you may need to recalibrate the Accelerometer and if you are not using INAV's default tune you may also want to check if the tune is still good.
 
 ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
 

From 5a3e21dfbed2d91cf0f09fcd6ebf6b64b5443715 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 16:41:39 +0200
Subject: [PATCH 115/132] Add extra infor about special labels

---
 src/main/drivers/pwm_mapping.h |  5 +++++
 src/main/fc/fc_msp.c           | 23 +++++++++++++++--------
 2 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index e9b3a0f957..cfb96afadb 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -53,6 +53,11 @@ typedef enum {
     SERVO_TYPE_SBUS_PWM
 } servoProtocolType_e;
 
+typedef enum {
+    PIN_LABEL_NONE = 0,
+    PIN_LABEL_LED
+} pinLabel_e;
+
 typedef enum {
     PWM_INIT_ERROR_NONE = 0,
     PWM_INIT_ERROR_TOO_MANY_MOTORS,
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 75e18ef368..2398b0d415 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1589,15 +1589,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             }
         break;
     case MSP2_INAV_OUTPUT_MAPPING_EXT2:
-        for (uint8_t i = 0; i < timerHardwareCount; ++i)
-            if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
-                #if defined(SITL_BUILD)
-                sbufWriteU8(dst, i);
-                #else
-                sbufWriteU8(dst, timer2id(timerHardware[i].tim));
-                #endif
-                sbufWriteU32(dst, timerHardware[i].usageFlags);
+        {
+            ioTag_t led_tag = IO_TAG(WS2811_PIN);
+            for (uint8_t i = 0; i < timerHardwareCount; ++i)
+
+                if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
+                    #if defined(SITL_BUILD)
+                    sbufWriteU8(dst, i);
+                    #else
+                    sbufWriteU8(dst, timer2id(timerHardware[i].tim));
+                    #endif
+                    sbufWriteU32(dst, timerHardware[i].usageFlags);
+                    // Extra label to help identify repurposed PINs.
+                    // Eventually, we can try to add more labels for PPM pins, etc.
+                    sbufWriteU8(dst, timerHardware[i].tag == led_tag ? PIN_LABEL_LED : PIN_LABEL_NONE);
             }
+        }
         break;
     
 

From 0b50f5519efe77a0aa51ca6bad35aba20330e80a Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 17:33:37 +0200
Subject: [PATCH 116/132] Fix sitl build

---
 src/main/fc/fc_msp.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 2398b0d415..44fefaa378 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1600,9 +1600,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                     sbufWriteU8(dst, timer2id(timerHardware[i].tim));
                     #endif
                     sbufWriteU32(dst, timerHardware[i].usageFlags);
+                    #if defined(SITIL_BUILD)
+                    sbufWriteU8(dst, 0);
+                    #else
                     // Extra label to help identify repurposed PINs.
                     // Eventually, we can try to add more labels for PPM pins, etc.
                     sbufWriteU8(dst, timerHardware[i].tag == led_tag ? PIN_LABEL_LED : PIN_LABEL_NONE);
+                    #endif
             }
         }
         break;

From d78aa93c234183d34e908b3f1aafc2478b5951c4 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 17:37:25 +0200
Subject: [PATCH 117/132] sitl can be a pain. One more fix :)

---
 src/main/fc/fc_msp.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 44fefaa378..5deb8efafb 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1590,7 +1590,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
     case MSP2_INAV_OUTPUT_MAPPING_EXT2:
         {
+            #if defined(SITIL_BUILD)
             ioTag_t led_tag = IO_TAG(WS2811_PIN);
+            #endif
             for (uint8_t i = 0; i < timerHardwareCount; ++i)
 
                 if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {

From ad151352bd5c908029030237c6c51aa7ad0c900e Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 17:41:41 +0200
Subject: [PATCH 118/132] s/defined/!defined/g

---
 src/main/fc/fc_msp.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 5deb8efafb..17b51f037a 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1590,7 +1590,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
     case MSP2_INAV_OUTPUT_MAPPING_EXT2:
         {
-            #if defined(SITIL_BUILD)
+            #if !defined(SITIL_BUILD)
             ioTag_t led_tag = IO_TAG(WS2811_PIN);
             #endif
             for (uint8_t i = 0; i < timerHardwareCount; ++i)

From d33488d91a343411220242ca74280c5101a5494b Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 17:45:26 +0200
Subject: [PATCH 119/132] Now, tripple checked. ;)

---
 src/main/fc/fc_msp.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 17b51f037a..f70c00f221 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1590,7 +1590,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
     case MSP2_INAV_OUTPUT_MAPPING_EXT2:
         {
-            #if !defined(SITIL_BUILD)
+            #if !defined(SITL_BUILD)
             ioTag_t led_tag = IO_TAG(WS2811_PIN);
             #endif
             for (uint8_t i = 0; i < timerHardwareCount; ++i)
@@ -1602,7 +1602,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                     sbufWriteU8(dst, timer2id(timerHardware[i].tim));
                     #endif
                     sbufWriteU32(dst, timerHardware[i].usageFlags);
-                    #if defined(SITIL_BUILD)
+                    #if defined(SITL_BUILD)
                     sbufWriteU8(dst, 0);
                     #else
                     // Extra label to help identify repurposed PINs.

From e88b85f4ea4e4eaf4e56d119de3d73ba66d45544 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 18:12:42 +0200
Subject: [PATCH 120/132] Make sure LED is at the end of the PWM list

---
 src/main/target/AIRBOTF7/target.c              |  6 +++---
 src/main/target/ANYFCM7/target.c               | 15 ++++++++-------
 src/main/target/BLUEJAYF4/target.c             |  4 ++--
 src/main/target/F4BY/target.c                  | 18 ++++++++++--------
 src/main/target/FOXEERF745AIO/target.c         |  4 ++--
 src/main/target/FRSKYPILOT/target.c            |  4 ----
 src/main/target/IFLIGHT_BLITZ_ATF435/target.c  |  2 +-
 src/main/target/MATEKF405/target.c             |  2 +-
 src/main/target/NEUTRONRCF435MINI/target.c     |  6 +++---
 src/main/target/NEUTRONRCF435WING/target.c     |  3 +--
 src/main/target/OMNIBUSF4/CMakeLists.txt       |  1 -
 src/main/target/OMNIBUSF4/target.c             |  7 ++-----
 src/main/target/SAGEATF4/target.c              | 12 ++++++------
 .../target/SPEEDYBEEF405MINI/CMakeLists.txt    |  1 -
 src/main/target/SPEEDYBEEF405MINI/target.c     | 11 +++--------
 src/main/target/SPRACINGF7DUAL/target.c        |  4 +++-
 src/main/target/TAKERF722SE/target.c           |  2 +-
 src/main/target/TMOTORF7V2/target.c            |  2 +-
 src/main/target/TMOTORVELOXF7V2/target.c       |  2 +-
 19 files changed, 48 insertions(+), 58 deletions(-)

diff --git a/src/main/target/AIRBOTF7/target.c b/src/main/target/AIRBOTF7/target.c
index 22d2564821..6cad05c41f 100644
--- a/src/main/target/AIRBOTF7/target.c
+++ b/src/main/target/AIRBOTF7/target.c
@@ -42,13 +42,13 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6500,    DEVHW_MPU6500,  GYRO_1_SPI_BUS,
 #endif
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,                   0, 0), // LED
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                   0, 0), // Cam control, SS, UNUSED
-
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), //S1
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0), //S2
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), //S3
     DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0), //S4
+							  //
+    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,                   0, 0), // LED
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                   0, 0), // Cam control, SS, UNUSED
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ANYFCM7/target.c b/src/main/target/ANYFCM7/target.c
index 7dd30d2250..aae6922a37 100644
--- a/src/main/target/ANYFCM7/target.c
+++ b/src/main/target/ANYFCM7/target.c
@@ -26,12 +26,6 @@
 #define TIM_EN_N    TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL
 
 timerHardware_t timerHardware[] = {
-    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // S1_IN
-    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                 0, 0 ), // S2_IN
-    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
-    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
-    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
-    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                 0, 0 ), // S6_IN DMA2_ST7
 
     DEF_TIM(TIM4,  CH3,  PB8,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S10_OUT 1 DMA1_ST7
     DEF_TIM(TIM2,  CH3,  PA2,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S6_OUT  2 DMA1_ST1
@@ -39,10 +33,17 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH4,  PA3,  TIM_USE_OUTPUT_AUTO,               0, 1 ), // S1_OUT  4 DMA1_ST7 DMA1_ST6
     DEF_TIM(TIM5,  CH2,  PA1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT DMA1_ST4
     DEF_TIM(TIM1,  CH2N, PB0,  TIM_USE_OUTPUT_AUTO,               0, 1 ), // S3_OUT DMA2_ST6 DMA2_ST2
-    DEF_TIM(TIM3,  CH2,  PB5,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S4_OUT DMA1_ST5
+    DEF_TIM(TIM3,  CH2,  PB5,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S4_OUT DMA1_ST5 -- Used to have TIM_USE_LED
     DEF_TIM(TIM5,  CH1,  PA0,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S7_OUT DMA1_ST2
     DEF_TIM(TIM1,  CH3N, PB1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S8_OUT DMA2_ST6
     DEF_TIM(TIM3,  CH1,  PB4,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S9_OUT DMA1_ST4
+
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,   0, 0 ), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                 0, 0 ), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                 0, 0 ), // S6_IN DMA2_ST7
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
index ba48551f76..37afb69b1c 100644
--- a/src/main/target/BLUEJAYF4/target.c
+++ b/src/main/target/BLUEJAYF4/target.c
@@ -29,8 +29,8 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM5, CH2,  PA1, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT - DMA1_ST4
     DEF_TIM(TIM2, CH3,  PA2, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S3_OUT - DMA1_ST1
     DEF_TIM(TIM9, CH2,  PA3, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S4_OUT - no DMA
-    //DEF_TIM(TIM5, CH4,  PA3, TIM_USE_OUTPUT_AUTO,               0, 1 ), // S4_OUT - DMA1_ST3 (Could be DMA1_ST1 with dmaopt=0)
-    DEF_TIM(TIM3, CH4,  PB0, TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S5_OUT - DMA1_ST2
+    //DEF_TIM(TIM5, CH4,  PA3, TIM_USE_OUTPUT_AUTO,             0, 1 ), // S4_OUT - DMA1_ST3 (Could be DMA1_ST1 with dmaopt=0)
+    DEF_TIM(TIM3, CH4,  PB0, TIM_USE_OUTPUT_AUTO, 		0, 0 ), // S5_OUT - DMA1_ST2 -- used to be TIM_USE_LED
     DEF_TIM(TIM3, CH3,  PB1, TIM_USE_OUTPUT_AUTO,               0, 0 ), // S6_OUT - DMA1_ST7
 };
 
diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c
index 8d1b4622f6..b1654e27ec 100644
--- a/src/main/target/F4BY/target.c
+++ b/src/main/target/F4BY/target.c
@@ -6,14 +6,6 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    // DEF_TIM(TIM3, CH4, PC9,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // S1_IN
-    // DEF_TIM(TIM3, CH3, PC8,  TIM_USE_PWM,   0, 0), // S2_IN
-    // DEF_TIM(TIM3, CH1, PC6,  TIM_USE_PWM,   0, 0), // S3_IN
-    // DEF_TIM(TIM3, CH2, PC7,  TIM_USE_PWM,   0, 0), // S4_IN
-    // DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM,   0, 0), // S5_IN
-    // DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM,   0, 0), // S6_IN
-    // DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM,   0, 0), // S7_IN
-    // DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM,   0, 0), // S8_IN
 
     DEF_TIM(TIM2, CH1, PA0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1_OUT
     DEF_TIM(TIM2, CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT
@@ -25,6 +17,16 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH4, PE14, TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT
 
     DEF_TIM(TIM9, CH2, PE6,  TIM_USE_ANY, 0, 0), // sonar echo if needed
+
+
+    // DEF_TIM(TIM3, CH4, PC9,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // S1_IN
+    // DEF_TIM(TIM3, CH3, PC8,  TIM_USE_PWM,   0, 0), // S2_IN
+    // DEF_TIM(TIM3, CH1, PC6,  TIM_USE_PWM,   0, 0), // S3_IN
+    // DEF_TIM(TIM3, CH2, PC7,  TIM_USE_PWM,   0, 0), // S4_IN
+    // DEF_TIM(TIM4, CH4, PD15, TIM_USE_PWM,   0, 0), // S5_IN
+    // DEF_TIM(TIM4, CH3, PD14, TIM_USE_PWM,   0, 0), // S6_IN
+    // DEF_TIM(TIM4, CH2, PD13, TIM_USE_PWM,   0, 0), // S7_IN
+    // DEF_TIM(TIM4, CH1, PD12, TIM_USE_PWM,   0, 0), // S8_IN
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/FOXEERF745AIO/target.c b/src/main/target/FOXEERF745AIO/target.c
index f724f65913..382306a8d5 100644
--- a/src/main/target/FOXEERF745AIO/target.c
+++ b/src/main/target/FOXEERF745AIO/target.c
@@ -25,12 +25,12 @@
 
 timerHardware_t timerHardware[] = {
 
-    DEF_TIM(TIM1,  CH1, PA8, TIM_USE_LED, 0, 0),      // LED STRIP - D(2, 6, 0)
-
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MOTOR, 0, 0), // M1 - D(1, 4, 5)
     DEF_TIM(TIM3, CH2, PB5,  TIM_USE_MOTOR, 0, 0), // M2 - D(1, 5, 5)
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR, 0, 0), // M3 - D(1, 2, 5)
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR, 0, 0), // M4 - D(1, 7, 5)
+						   //
+    DEF_TIM(TIM1,  CH1, PA8, TIM_USE_LED, 0, 0),      // LED STRIP - D(2, 6, 0)
 
 };
 
diff --git a/src/main/target/FRSKYPILOT/target.c b/src/main/target/FRSKYPILOT/target.c
index 50b82d7687..95989f5f42 100644
--- a/src/main/target/FRSKYPILOT/target.c
+++ b/src/main/target/FRSKYPILOT/target.c
@@ -39,13 +39,9 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4,  CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7
     DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S8
     DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S9
-#ifdef FRSKYPILOT_LED
-    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_LED | TIM_USE_LED, 0, 0), // S10 now LED, S11 & S12 UART 3 only
-#else
     DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S10
     DEF_TIM(TIM2,  CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 0), // S11
     DEF_TIM(TIM2,  CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 0), // S12
-#endif
 
     DEF_TIM(TIM5, CH1,  PA0,  TIM_USE_BEEPER, 0, 0),    // beeper
 };
diff --git a/src/main/target/IFLIGHT_BLITZ_ATF435/target.c b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c
index 2de0fd5057..947d19c0d2 100644
--- a/src/main/target/IFLIGHT_BLITZ_ATF435/target.c
+++ b/src/main/target/IFLIGHT_BLITZ_ATF435/target.c
@@ -41,7 +41,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,11),    // S5
     DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,10),    // S6
     DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0,5),     //S7
-	DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0,6),     //S8
+    DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0,6),     //S8
     
     DEF_TIM(TMR1, CH1, PA8,   TIM_USE_LED, 0, 0),  // LED STRIP
 };
diff --git a/src/main/target/MATEKF405/target.c b/src/main/target/MATEKF405/target.c
index 1706954b7f..5b6f0ce559 100644
--- a/src/main/target/MATEKF405/target.c
+++ b/src/main/target/MATEKF405/target.c
@@ -29,7 +29,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3  UP(2,1)
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4  UP(2,1)
 
-    DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO | TIM_USE_LED                        , 0, 0), // S5  UP(1,7)
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S5  UP(1,7) -- LED
 
     DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6  UP(2,5)
     DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7  D(1,7)!S5 UP(2,6)
diff --git a/src/main/target/NEUTRONRCF435MINI/target.c b/src/main/target/NEUTRONRCF435MINI/target.c
index 9400ae4be1..0933322bb1 100644
--- a/src/main/target/NEUTRONRCF435MINI/target.c
+++ b/src/main/target/NEUTRONRCF435MINI/target.c
@@ -26,13 +26,13 @@
 
 timerHardware_t timerHardware[] = {
 
-    DEF_TIM(TMR1, CH1, PA8,  TIM_USE_ANY |TIM_USE_LED, 0,6),            // PWM1 - LED MCO1 DMA1 CH2
-
     DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,0),   // motor1 DMA2 CH7
     DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0,2),   // motor2 DMA2 CH6
     DEF_TIM(TMR2, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0,1),   // motor3 DMA2 CH5
     DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0,3),   // motor4 DMA2 CH4
-
+							  //
+    DEF_TIM(TMR1, CH1, PA8,  TIM_USE_ANY |TIM_USE_LED, 0,6),            // PWM1 - LED MCO1 DMA1 CH2
+									//
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/NEUTRONRCF435WING/target.c b/src/main/target/NEUTRONRCF435WING/target.c
index b1cd9031cc..428654ebed 100644
--- a/src/main/target/NEUTRONRCF435WING/target.c
+++ b/src/main/target/NEUTRONRCF435WING/target.c
@@ -26,8 +26,6 @@
 
 timerHardware_t timerHardware[] = {
 
-    DEF_TIM(TMR1, CH1, PA8,  TIM_USE_ANY |TIM_USE_LED, 0,7),            // PWM1 - LED MCO1 DMA1 CH2
-
     DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0,0),   // motor1 DMA2 CH7
     DEF_TIM(TMR1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0,2),   // motor2 DMA2 CH6
     DEF_TIM(TMR2, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0,1),   // motor3 DMA2 CH5
@@ -38,6 +36,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0,8),  // PWM3 - OUT7  DMA2 CH3
     DEF_TIM(TMR2, CH3, PA2,  TIM_USE_OUTPUT_AUTO, 0,11), // PWM4 - OUT8  DMA1 CH7
 
+    DEF_TIM(TMR1, CH1, PA8,  TIM_USE_ANY |TIM_USE_LED, 0,7),            // PWM1 - LED MCO1 DMA1 CH2
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/OMNIBUSF4/CMakeLists.txt b/src/main/target/OMNIBUSF4/CMakeLists.txt
index 72f3bbeca8..a6ccb483bf 100644
--- a/src/main/target/OMNIBUSF4/CMakeLists.txt
+++ b/src/main/target/OMNIBUSF4/CMakeLists.txt
@@ -3,7 +3,6 @@ target_stm32f405xg(DYSF4PROV2)
 target_stm32f405xg(OMNIBUSF4)
 # the OMNIBUSF4SD has an SDCARD instead of flash, a BMP280 baro and therefore a slightly different ppm/pwm and SPI mapping
 target_stm32f405xg(OMNIBUSF4PRO)
-target_stm32f405xg(OMNIBUSF4PRO_LEDSTRIPM5)
 target_stm32f405xg(OMNIBUSF4V3_S5_S6_2SS)
 target_stm32f405xg(OMNIBUSF4V3_S5S6_SS)
 target_stm32f405xg(OMNIBUSF4V3_S6_SS)
diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c
index 86485aa49f..be85e9fbce 100644
--- a/src/main/target/OMNIBUSF4/target.c
+++ b/src/main/target/OMNIBUSF4/target.c
@@ -41,15 +41,12 @@ timerHardware_t timerHardware[] = {
 #elif defined(OMNIBUSF4V3_S6_SS)
     DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                0, 0), // S5_OUT
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,                                                           0, 0), // S6_OUT SOFTSERIAL
-#elif defined(OMNIBUSF4PRO_LEDSTRIPM5)
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_LED,                                                           0, 0), // S5_OUT LED strip
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
 #else
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED,  0, 0), // S5_OUT MOTOR, SERVO or LED
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,  0, 0), // S5_OUT MOTOR, SERVO or LED
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,                0, 0), // S6_OUT
 #endif
 
-#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3)) && !defined(OMNIBUSF4PRO_LEDSTRIPM5)
+#if (defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3))
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED,                                                           0, 0), // LED strip for F4 V2 / F4-Pro-0X and later (RCD_CS for F4)
 #endif
 
diff --git a/src/main/target/SAGEATF4/target.c b/src/main/target/SAGEATF4/target.c
index 2d951598ae..06f571c949 100644
--- a/src/main/target/SAGEATF4/target.c
+++ b/src/main/target/SAGEATF4/target.c
@@ -26,19 +26,19 @@
 
 timerHardware_t timerHardware[] = {
 
-    // DEF_TIM(TMR5, CH4, PA3,  TIM_USE_PPM,  0, 4), 						// PPM UART2_RX_PIN DMA1 CH5
+	// DEF_TIM(TMR5, CH4, PA3,  TIM_USE_PPM,  0, 4), 						// PPM UART2_RX_PIN DMA1 CH5
 
- 	DEF_TIM(TMR4, CH1, PB6,  TIM_USE_MOTOR, 0,0),  // motor1 DMA1 CH1
- 	DEF_TIM(TMR4, CH2, PB7,  TIM_USE_MOTOR, 0,1),  // motor2 DMA1 CH2
- 	DEF_TIM(TMR4, CH3, PB8,  TIM_USE_MOTOR, 0,2), // motor3 DMA1 CH3
- 	DEF_TIM(TMR4, CH4, PB9,  TIM_USE_MOTOR, 0,3), // motor4 DMA1 CH4
+	DEF_TIM(TMR4, CH1, PB6,  TIM_USE_MOTOR, 0,0),  // motor1 DMA1 CH1
+	DEF_TIM(TMR4, CH2, PB7,  TIM_USE_MOTOR, 0,1),  // motor2 DMA1 CH2
+	DEF_TIM(TMR4, CH3, PB8,  TIM_USE_MOTOR, 0,2), // motor3 DMA1 CH3
+	DEF_TIM(TMR4, CH4, PB9,  TIM_USE_MOTOR, 0,3), // motor4 DMA1 CH4
 
 	DEF_TIM(TMR3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0,8), 		// PWM1 - OUT5  DMA2 CH2 DMA2_CHANNEL1->ADC
 	DEF_TIM(TMR3, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0,9), 		// PWM2 - OUT6  DMA2 CH3
 	DEF_TIM(TMR3, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0,10), 		// PWM3 - OUT7  DMA2 CH4
 	DEF_TIM(TMR3, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0,11), 		// PWM4 - OUT8  DMA2 CH5
 
-    DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5),           // PWM1 - LED MCO1 DMA1 CH6
+	DEF_TIM(TMR2, CH3, PB10, TIM_USE_ANY | TIM_USE_LED, 0,5),           // PWM1 - LED MCO1 DMA1 CH6
 	DEF_TIM(TMR5, CH4, PB11, TIM_USE_ANY | TIM_USE_BEEPER, 0,6), 		// PWM2 - BB DMA1 CH7
 };
 
diff --git a/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt b/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt
index e18c0cd5ad..c410560995 100644
--- a/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt
+++ b/src/main/target/SPEEDYBEEF405MINI/CMakeLists.txt
@@ -1,2 +1 @@
 target_stm32f405xg(SPEEDYBEEF405MINI)
-target_stm32f405xg(SPEEDYBEEF405MINI_6OUTPUTS)
diff --git a/src/main/target/SPEEDYBEEF405MINI/target.c b/src/main/target/SPEEDYBEEF405MINI/target.c
index 3cc7fbbebb..b1e6e10f6f 100644
--- a/src/main/target/SPEEDYBEEF405MINI/target.c
+++ b/src/main/target/SPEEDYBEEF405MINI/target.c
@@ -32,15 +32,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO,   1, 0), // S3
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO,   1, 0), // S4
 
-#ifdef SPEEDYBEEF405MINI_6OUTPUTS
-    DEF_TIM(TIM12,  CH1,    PB14,   TIM_USE_OUTPUT_AUTO,     1, 0), // CAM_CTRL
-    DEF_TIM(TIM1,   CH1,    PA8,    TIM_USE_OUTPUT_AUTO,     0, 0), // LED
-#else
-    DEF_TIM(TIM12,  CH1,    PB14,   TIM_USE_ANY,                                                1, 0), // CAM_CTRL
-    DEF_TIM(TIM1,   CH1,    PA8,    TIM_USE_LED,                                                0, 0), // LED
-#endif
+    DEF_TIM(TIM12,  CH1,    PB14,   TIM_USE_ANY,   1, 0), // CAM_CTRL
+    DEF_TIM(TIM1,   CH1,    PA8,    TIM_USE_LED,   0, 0), // LED
 
-    DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY,                            0, 0), //TX2  softserial1_Tx
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY,           0, 0), //TX2  softserial1_Tx
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/SPRACINGF7DUAL/target.c b/src/main/target/SPRACINGF7DUAL/target.c
index e94835b93c..ead356956a 100644
--- a/src/main/target/SPRACINGF7DUAL/target.c
+++ b/src/main/target/SPRACINGF7DUAL/target.c
@@ -56,7 +56,6 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               0, 0), // ESC 7
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               0, 0), // ESC 8
 
-    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_LED,                 0, 0), // LED Strip
     // Additional 2 PWM channels available on UART3 RX/TX pins
     // However, when using led strip the timer cannot be used, but no code appears to prevent that right now
     DEF_TIM(TIM2,  CH3, PB10, TIM_USE_MOTOR,               0, 0), // Shared with UART3 TX PIN and SPI3 TX (OSD)
@@ -67,6 +66,9 @@ timerHardware_t timerHardware[] = {
     // However, when using transponder the timer cannot be used, but no code appears to prevent that right now
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 3
     DEF_TIM(TIM1,  CH3, PA10, TIM_USE_SERVO | TIM_USE_PWM, 0, 1), // PWM 4
+
+
+    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_LED,                 0, 0), // LED Strip
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/TAKERF722SE/target.c b/src/main/target/TAKERF722SE/target.c
index d67062a9fb..c49e383a72 100644
--- a/src/main/target/TAKERF722SE/target.c
+++ b/src/main/target/TAKERF722SE/target.c
@@ -40,7 +40,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
 
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,          0, 0),
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/TMOTORF7V2/target.c b/src/main/target/TMOTORF7V2/target.c
index c21b0f0229..df6004b7a2 100644
--- a/src/main/target/TMOTORF7V2/target.c
+++ b/src/main/target/TMOTORF7V2/target.c
@@ -35,8 +35,8 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0),  // S7
     DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0),  // S8 
     
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),  // LED
     DEF_TIM(TIM2, CH2, PB3, TIM_USE_PWM | TIM_USE_SERVO,      0, 0),  // "C.C"
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                      0, 0),  // LED
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/TMOTORVELOXF7V2/target.c b/src/main/target/TMOTORVELOXF7V2/target.c
index 7d9ae0d329..b5f56ea6b7 100644
--- a/src/main/target/TMOTORVELOXF7V2/target.c
+++ b/src/main/target/TMOTORVELOXF7V2/target.c
@@ -37,7 +37,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH1, PB6,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S7   UP1-6   D(1, 0, 2) // used to be fw motor
     DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S8   UP1-6   D(1, 3, 2) // used to be fw motor
 
-    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_LED,    0,  1), // LED
+    DEF_TIM(TIM1, CH1, PA8,     TIM_USE_LED,       0,  1), // LED
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From 243c6775999d15105fa0bb7e57ef00f92b2fc74a Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 18:24:39 +0200
Subject: [PATCH 121/132] Some targets don't have led pin defined

---
 src/main/fc/fc_msp.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index f70c00f221..4ae4218481 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1590,7 +1590,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
     case MSP2_INAV_OUTPUT_MAPPING_EXT2:
         {
-            #if !defined(SITL_BUILD)
+            #if !defined(SITL_BUILD) && defined(WS2811_PIN)
             ioTag_t led_tag = IO_TAG(WS2811_PIN);
             #endif
             for (uint8_t i = 0; i < timerHardwareCount; ++i)
@@ -1602,7 +1602,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
                     sbufWriteU8(dst, timer2id(timerHardware[i].tim));
                     #endif
                     sbufWriteU32(dst, timerHardware[i].usageFlags);
-                    #if defined(SITL_BUILD)
+                    #if defined(SITL_BUILD) || !defined(WS2811_PIN)
                     sbufWriteU8(dst, 0);
                     #else
                     // Extra label to help identify repurposed PINs.

From 22697304b2173bd1305293b2bef4317c769033d3 Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Fri, 31 May 2024 21:40:01 +0200
Subject: [PATCH 122/132] Update gps_ublox.c

Fix formatting.
---
 src/main/io/gps_ublox.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
index 8c07161328..958de158d3 100755
--- a/src/main/io/gps_ublox.c
+++ b/src/main/io/gps_ublox.c
@@ -1061,11 +1061,11 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         // M7 and earlier will never get pass this step, so skip it (#9440).
         // UBLOX documents that this is M8N and later
         if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
-        do {
-            pollGnssCapabilities();
-            gpsState.autoConfigStep++;
-            ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
-        } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
+            do {
+                pollGnssCapabilities();
+                gpsState.autoConfigStep++;
+                ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
+            } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
         }
 
         // Configure GPS

From 0e9ca2a58d8944f805d1089e20b23f8386206fcb Mon Sep 17 00:00:00 2001
From: Ray Morris <deepmagicbeginshere@gmail.com>
Date: Fri, 31 May 2024 21:49:43 -0500
Subject: [PATCH 123/132] update CMakeLists.txt to version 7.1.2

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f74527e5f1..3a2bd54e6e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,7 @@ else()
     endif()
 endif()
 
-project(INAV VERSION 7.1.1)
+project(INAV VERSION 7.1.2)
 
 enable_language(ASM)
 

From eb676ece935821beac71e16d4aaf551b52d52fa9 Mon Sep 17 00:00:00 2001
From: flywoo <viper_rc@outlook.com>
Date: Sat, 1 Jun 2024 11:39:48 +0800
Subject: [PATCH 124/132] Added new targets FLYWOOF722PRO, F405HD, updated
 F745, F405PRO config

---
 src/main/target/FLYWOOF405PRO/CMakeLists.txt |   1 +
 src/main/target/FLYWOOF405PRO/config.c       |  34 ++++
 src/main/target/FLYWOOF405PRO/target.c       |   3 -
 src/main/target/FLYWOOF405PRO/target.h       |  19 ++-
 src/main/target/FLYWOOF722PRO/CMakeLists.txt |   1 +
 src/main/target/FLYWOOF722PRO/config.c       |  30 ++++
 src/main/target/FLYWOOF722PRO/target.c       |  48 ++++++
 src/main/target/FLYWOOF722PRO/target.h       | 158 +++++++++++++++++++
 src/main/target/FLYWOOF745/target.c          |   9 --
 src/main/target/FLYWOOF745/target.h          |  10 ++
 10 files changed, 296 insertions(+), 17 deletions(-)
 create mode 100644 src/main/target/FLYWOOF405PRO/config.c
 create mode 100644 src/main/target/FLYWOOF722PRO/CMakeLists.txt
 create mode 100644 src/main/target/FLYWOOF722PRO/config.c
 create mode 100644 src/main/target/FLYWOOF722PRO/target.c
 create mode 100644 src/main/target/FLYWOOF722PRO/target.h

diff --git a/src/main/target/FLYWOOF405PRO/CMakeLists.txt b/src/main/target/FLYWOOF405PRO/CMakeLists.txt
index 8447a117c0..2c5382d82e 100644
--- a/src/main/target/FLYWOOF405PRO/CMakeLists.txt
+++ b/src/main/target/FLYWOOF405PRO/CMakeLists.txt
@@ -1 +1,2 @@
 target_stm32f405xg(FLYWOOF405PRO)
+target_stm32f405xg(FLYWOOF405HD)
\ No newline at end of file
diff --git a/src/main/target/FLYWOOF405PRO/config.c b/src/main/target/FLYWOOF405PRO/config.c
new file mode 100644
index 0000000000..dfe6c0ce10
--- /dev/null
+++ b/src/main/target/FLYWOOF405PRO/config.c
@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+
+void targetConfiguration(void)
+{
+    // Make sure S1-S4 default to Motors
+
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS;
+}
diff --git a/src/main/target/FLYWOOF405PRO/target.c b/src/main/target/FLYWOOF405PRO/target.c
index c0f1c4eec2..d4dd134ddd 100644
--- a/src/main/target/FLYWOOF405PRO/target.c
+++ b/src/main/target/FLYWOOF405PRO/target.c
@@ -24,15 +24,12 @@
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // S1 D(1,3,2)
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2 D(1,0,2)
-
     DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,   0, 1), // S3 D(1,7,5)
     DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,   0, 0), // S4 D(1,2,5)
     DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,   0, 0), // S5 D(2,4,7)
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // S6
     DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO,   0, 0), // S8
-
-
     DEF_TIM(TIM1,  CH2, PA9,  TIM_USE_LED,   0, 0), //2812LED  D(1,5,3)
     // DEF_TIM(TIM10, CH1, PB8,  TIM_USE_PPM,   0, 0), // PPM
 };
diff --git a/src/main/target/FLYWOOF405PRO/target.h b/src/main/target/FLYWOOF405PRO/target.h
index 14b5e9e03c..a5a02c5fe8 100644
--- a/src/main/target/FLYWOOF405PRO/target.h
+++ b/src/main/target/FLYWOOF405PRO/target.h
@@ -17,9 +17,13 @@
 
 #pragma once
 
+#ifdef FLYWOOF405PRO
 #define TARGET_BOARD_IDENTIFIER "F4PR"
 #define USBD_PRODUCT_STRING  "FLYWOOF405PRO"
-
+#else
+#define TARGET_BOARD_IDENTIFIER "F4HD"
+#define USBD_PRODUCT_STRING  "FLYWOOF405HD"
+#endif
 
 #define LED0                    PC14  //Green
 #define BEEPER                  PC13
@@ -84,11 +88,12 @@
 #define SPI3_MISO_PIN   	    PC11
 #define SPI3_MOSI_PIN   	    PC12
 
+#ifdef FLYWOOF405PRO
 #define USE_OSD
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3
-#define MAX7456_CS_PIN          PB14//
-
+#define MAX7456_CS_PIN          PB14
+#endif
 // *************** Onboard flash  ********************
 
 #define USE_FLASHFS
@@ -109,6 +114,10 @@
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PA10
 
+#define USE_UART2
+#define UART2_TX_PIN            PD5
+#define UART2_RX_PIN            PD6
+
 #define USE_UART3
 #define UART3_TX_PIN            PB10
 #define UART3_RX_PIN            PB11
@@ -125,7 +134,7 @@
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7
 
-#define SERIAL_PORT_COUNT       6
+#define SERIAL_PORT_COUNT       7
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
@@ -159,6 +168,6 @@
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff
-#define TARGET_IO_PORTD         (BIT(2))
+#define TARGET_IO_PORTD         0xffff
 
 #define MAX_PWM_OUTPUT_PORTS       8
diff --git a/src/main/target/FLYWOOF722PRO/CMakeLists.txt b/src/main/target/FLYWOOF722PRO/CMakeLists.txt
new file mode 100644
index 0000000000..1906be3d59
--- /dev/null
+++ b/src/main/target/FLYWOOF722PRO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(FLYWOOF722PRO)
diff --git a/src/main/target/FLYWOOF722PRO/config.c b/src/main/target/FLYWOOF722PRO/config.c
new file mode 100644
index 0000000000..ae386d4bc0
--- /dev/null
+++ b/src/main/target/FLYWOOF722PRO/config.c
@@ -0,0 +1,30 @@
+/*
+ * 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 <stdint.h>
+#include "platform.h"
+#include "drivers/pwm_mapping.h"
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+	
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS;
+}
diff --git a/src/main/target/FLYWOOF722PRO/target.c b/src/main/target/FLYWOOF722PRO/target.c
new file mode 100644
index 0000000000..e8b78979f9
--- /dev/null
+++ b/src/main/target/FLYWOOF722PRO/target.c
@@ -0,0 +1,48 @@
+/*
+ * 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 <stdint.h>
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_ICM42605,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,    NONE,      0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_BMI270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    //DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PPM,0, 0),  // PPM&SBUS  
+
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),     // S1 - D(1,2)
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),     // S2 - D(1,4)
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO, 0, 0),      //  S3 - D(1,6)
+    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0),     //  S4 - D(1,5)  
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),      //  S5 - D(2,4) 
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),      //  S6 - D(2,1)
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_OUTPUT_AUTO, 0, 0),        //  S7 - D(1,0)
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),        //  S8 - D(1,3)
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED,                          0, 0),  // LED STRIP(1,5)
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/FLYWOOF722PRO/target.h b/src/main/target/FLYWOOF722PRO/target.h
new file mode 100644
index 0000000000..34d6de266c
--- /dev/null
+++ b/src/main/target/FLYWOOF722PRO/target.h
@@ -0,0 +1,158 @@
+/*
+ * 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/>.
+ */
+
+#define TARGET_BOARD_IDENTIFIER "FWF7"
+#define USBD_PRODUCT_STRING     "FLYWOOF722PRO"
+
+/*** Indicators ***/
+#define LED0                    PC15
+#define USE_BEEPER		  
+#define BEEPER                  PC14
+#define BEEPER_INVERTED
+
+/*** SPI/I2C bus ***/
+#define USE_SPI
+#define USE_SPI_DEVICE_1        // Gyro 1/2
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PA4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW180_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+
+
+#define USE_SPI_DEVICE_2        // MAX7456
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3        // FLASH
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11 
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1        // I2C pads
+#define I2C1_SCL                PB8     
+#define I2C1_SDA                PB9 
+
+/*** Onboard flash ***/
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PC13
+#define M25P16_SPI_BUS          BUS_SPI3
+
+/*** OSD ***/
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_CS_PIN          PB12
+#define MAX7456_SPI_BUS         BUS_SPI2
+
+/*** Serial ports ***/
+#define USB_IO
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5   
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       7
+
+/*** BARO & MAG ***/
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC0
+#define ADC_CHANNEL_2_PIN               PC1
+#define ADC_CHANNEL_3_PIN               PC2
+
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                      PB0
+
+/*** LED STRIP ***/
+#define USE_LED_STRIP
+#define WS2811_PIN                      PA8
+ 
+/*** Default settings ***/
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define CURRENT_METER_SCALE_DEFAULT     170
+#define SERIALRX_UART                   SERIAL_PORT_USART1
+#define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER               SERIALRX_SBUS
+
+/*** Timer/PWM output ***/
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define MAX_PWM_OUTPUT_PORTS            6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+/*** Used pins ***/
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
diff --git a/src/main/target/FLYWOOF745/target.c b/src/main/target/FLYWOOF745/target.c
index 04c083ac94..a68d3d3199 100644
--- a/src/main/target/FLYWOOF745/target.c
+++ b/src/main/target/FLYWOOF745/target.c
@@ -32,20 +32,11 @@
 timerHardware_t timerHardware[] = {
 // DEF_TIM(TIM1, CH3, PE13, TIM_USE_PPM,                      0, 1), // PPM,
 // DMA2_ST6
-
-#ifdef FLYWOOF745
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST2
-    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA2_ST7
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M3 , DMA1_ST7
-    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
-    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M5 , DMA2_ST2
-#else /* FLYWOOF745NANO */
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M1 , DMA1_ST7
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M2 , DMA1_ST2
     DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO, 0, 2),   // M3 , DMA2_ST2
     DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1),  // M4 , DMA2_ST4
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),   // M5 , DMA2_ST7
-#endif
     DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M6 , DMA1_ST1
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M7 , DMA1_ST4
     DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),  // M8 , DMA1_ST5
diff --git a/src/main/target/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h
index c2b1937c61..d00c245594 100644
--- a/src/main/target/FLYWOOF745/target.h
+++ b/src/main/target/FLYWOOF745/target.h
@@ -41,6 +41,16 @@
 #define MPU6000_CS_PIN          SPI4_NSS_PIN
 #define MPU6000_SPI_BUS         BUS_SPI4
 
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN       CW270_DEG
+#define BMI270_CS_PIN          SPI4_NSS_PIN
+#define BMI270_SPI_BUS         BUS_SPI4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         SPI4_NSS_PIN
+#define ICM42605_SPI_BUS        BUS_SPI4
+
 #define USB_IO
 #define USE_VCP
 #define VBUS_SENSING_ENABLED

From 985fa2b440403674ae7c9abf9388abec810a70aa Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 2 Jun 2024 16:01:52 +0100
Subject: [PATCH 125/132] Add battery profile to programming framework

---
 src/main/programming/logic_condition.c | 4 ++++
 src/main/programming/logic_condition.h | 1 +
 2 files changed, 5 insertions(+)

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
index 343db2989f..f927ac18d1 100644
--- a/src/main/programming/logic_condition.c
+++ b/src/main/programming/logic_condition.c
@@ -815,6 +815,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
         case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
             return getConfigProfile() + 1;
             break;
+
+        case LOGIC_CONDITION_OPERAND_FLIGHT_BATT_PROFILE: //int
+            return getConfigBatteryProfile() + 1;
+            break;
         
         case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int
             return currentMixerProfileIndex + 1;
diff --git a/src/main/programming/logic_condition.h b/src/main/programming/logic_condition.h
index 3a0c0a87b1..5defafaee6 100644
--- a/src/main/programming/logic_condition.h
+++ b/src/main/programming/logic_condition.h
@@ -142,6 +142,7 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1           // 39
     LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW, // deg                     // 40
     LOGIC_CONDITION_OPERAND_FLIGHT_FW_LAND_STATE,                           // 41
+    LOGIC_CONDITION_OPERAND_FLIGHT_BATT_PROFILE, // int                     // 42
 } logicFlightOperands_e;
 
 typedef enum {

From b9fd9e3f56d67a2ae4c265df4477d78554a218fa Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 2 Jun 2024 19:02:38 +0100
Subject: [PATCH 126/132] Consolidate the old `PIDProfile` and `Profile` in to
 `Control Profile`

-  Consolidate the old `PIDProfile` and `Profile` in to `Control Profile`
- Improve consistency of the order `Control Profile`, `Mixer Profile`, and `Battery Profile`
- Added `mixer_profile` to the `diff`/`dump` commands
- Rename and update the profile documentation
- Update the programming framework documentaion
---
 docs/{Profiles.md => Control Profiles.md} |  49 ++---
 docs/Programming Framework.md             | 228 +++++++++++-----------
 src/main/fc/cli.c                         |  70 ++++---
 3 files changed, 175 insertions(+), 172 deletions(-)
 rename docs/{Profiles.md => Control Profiles.md} (64%)

diff --git a/docs/Profiles.md b/docs/Control Profiles.md
similarity index 64%
rename from docs/Profiles.md
rename to docs/Control Profiles.md
index 925de755f8..af41fed53b 100644
--- a/docs/Profiles.md
+++ b/docs/Control Profiles.md	
@@ -1,56 +1,59 @@
-# Profiles
+# Control Profiles
 
 A profile is a set of configuration settings.
 
-Currently three profiles are supported. The default profile is profile `1`.
+Currently, INAV gives you three control profiles. The default control profile is `1`.
 
-## Changing profiles
+## Changing contorl profiles
 ### Stick Commands
-Profiles can be selected using a GUI or the following stick combinations:
+Control profiles can be selected using a GUI or the following stick combinations:
 
-| Profile | Throttle | Yaw   | Pitch  | Roll   |
-| ------- | -------- | ----- | ------ | ------ |
-| 1       | Down     | Left  | Middle | Left   |
-| 2       | Down     | Left  | Up     | Middle |
-| 3       | Down     | Left  | Middle | Right  |
+| Profile # | Throttle | Yaw   | Pitch  | Roll   |
+| -------- | -------- | ----- | ------ | ------ |
+| 1        | Down     | Left  | Middle | Left   |
+| 2        | Down     | Left  | Up     | Middle |
+| 3        | Down     | Left  | Middle | Right  |
 
 ### CLI
-The CLI `profile` command can also be used to change profiles:
+The CLI `control_profile` command can also be used to change control profiles:
 
 ```
-profile <index>
+control_profile <index>
 ```
 
 ### Programming (4.0.0 onwards)
-You can change profiles using the programming frame work. This allows a lot of flexability in how you change profiles.
+You can change control profiles using the programming frame work. This allows a lot of flexability in how you change profiles.
 
 For example, using a simple switch on channel 15.
 
 [![For example, using a simple switch](https://i.imgur.com/SS9CaaOl.png)](https://i.imgur.com/SS9CaaO.png)
 
-Or using the speed to change profiles. In this example: 
-- when lower than 25 cm/s (basically not flying), profiles are not effected.
-- Below 2682 cm/s (60 mph | 97 Km/h) use Profile 1
-- Above 5364 cm/s (120 mph | 193 Km/h) use Profile 3
-- Between 2683 and 5364 cm/s, use Profile 2
+Or using the speed to change control profiles. In this example: 
+- when lower than 25 cm/s (basically not flying), control profiles are not effected.
+- Below 2682 cm/s (60 mph | 97 Km/h) use control profile 1
+- Above 5364 cm/s (120 mph | 193 Km/h) use control profile 3
+- Between 2683 and 5364 cm/s, use control profile 2
 
 [![Using speed to change profiles](https://i.imgur.com/WjkuhhWl.png)](https://i.imgur.com/WjkuhhW.png)
 
-#### Configurator use with profile changing logic.
+> [!NOTE]
+> From INAV 8.0, the programming framework operator is **Set Control Profile** and the **Flight** Operand is **Active Control Profile**. Pre-INAV 8.0, they were **Set Profile** and **Active Profile** respectively.
 
-If you have logic conditions that change the profiles. You may find that if you manually change the profile using the drop down boxes in the top right of Configurator; that they switch back to a different profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `set profile` operations. Remember to re-enable these switches after you have made your changes.
+#### Configurator use with control profile changing logic.
+
+If you have logic conditions that change the profiles. You may find that if you manually change the control profile; using the drop down boxes in the top right of Configurator. That they switch back to a different control profile. This is because the logic conditions are still running in the background. If this is the case, the simplest solutuion is to temporarily disable the switches that trigger the `Set Control Profile` operations. Remember to re-enable these switches after you have made your changes.
 
 [![Disabled SET PROFILE switches](https://i.imgur.com/AeH9ll7l.png)](https://i.imgur.com/AeH9ll7.png)
 
 ## Profile Contents
-The values contained within a profile can be seen by using the CLI `dump profile` command.
+The values contained within a control profile can be seen by using the CLI `dump control_profile` command.
 
 e.g
 ```
-# dump profile
+# dump control_profile
 
-# profile
-profile 1
+# control_profile
+control_profile 1
 
 set mc_p_pitch = 40
 set mc_i_pitch = 30
diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index 9f95fdb25d..e0199cfd71 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -44,13 +44,13 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
 
 | Operation ID  | Name                          | Notes |
 |---------------|-------------------------------|-------|
-| 0             | TRUE                          | Always evaluates as true |
-| 1             | EQUAL                         | Evaluates `false` if `false` or `0` |
-| 2             | GREATER_THAN                  | `true` if `Operand A` is a higher value than `Operand B` |
-| 3             | LOWER_THAN                    | `true` if `Operand A` is a lower value than `Operand B` |
-| 4             | LOW                           | `true` if `<1333` |
-| 5             | MID                           | `true` if `>=1333 and <=1666` |
-| 6             | HIGH                          | `true` if `>1666` |
+| 0             | True                          | Always evaluates as true |
+| 1             | Equal (A=B)                   | Evaluates `false` if `false` or `0` |
+| 2             | Greater Than (A>B)            | `true` if `Operand A` is a higher value than `Operand B` |
+| 3             | Lower Than (A<B)              | `true` if `Operand A` is a lower value than `Operand B` |
+| 4             | Low                           | `true` if `<1333` |
+| 5             | Mid                           | `true` if `>=1333 and <=1666` |
+| 6             | High                          | `true` if `>1666` |
 | 7             | AND                           | `true` if `Operand A` and `Operand B` are the same value or both `true` |
 | 8             | OR                            | `true` if `Operand A` and/or `OperandB` is `true` |
 | 9             | XOR                           | `true` if `Operand A` or `Operand B` is `true`, but not both |
@@ -58,105 +58,109 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
 | 11            | NOR                           | `true` if `Operand A` and `Operand B` are both `false` |
 | 12            | NOT                           | The boolean opposite to `Operand A` |         
 | 13            | Sticky                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
-| 14            | Basic: Add                           | Add `Operand A` to `Operand B` and returns the result |
-| 15            | Basic: Subtract                           | Substract `Operand B` from `Operand A` and returns the result |
-| 16            | Basic: Multiply                           | Multiply `Operand A` by `Operand B` and returns the result |
-| 17            | Basic: Divide                           | Divide `Operand A` by `Operand B` and returns the result |
+| 14            | Basic: Add                    | Add `Operand A` to `Operand B` and returns the result |
+| 15            | Basic: Subtract               | Substract `Operand B` from `Operand A` and returns the result |
+| 16            | Basic: Multiply               | Multiply `Operand A` by `Operand B` and returns the result |
+| 17            | Basic: Divide                 | Divide `Operand A` by `Operand B` and returns the result |
 | 18            | Set GVAR                      | Store value from `Operand B` into the Global Variable addressed by
 `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
-| 19            | Increase GVAR                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
-| 20            | Decrease GVAR                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 19            | Increase GVAR                 | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 20            | Decrease GVAR                 | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
 | 21            | Set IO Port                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
-| 22            | OVERRIDE_ARMING_SAFETY        | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
-| 23            | OVERRIDE_THROTTLE_SCALE       | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
-| 24            | SWAP_ROLL_YAW                 | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
-| 25            | SET_VTX_POWER_LEVEL           | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol |
-| 26            | INVERT_ROLL                   | Inverts ROLL axis input for PID/PIFF controller |
-| 27            | INVERT_PITCH                  | Inverts PITCH axis input for PID/PIFF controller  |
-| 28            | INVERT_YAW                    | Inverts YAW axis input for PID/PIFF controller |
-| 29            | OVERRIDE_THROTTLE             | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle |
-| 30            | SET_VTX_BAND                  | Sets VTX band. Accepted values are `1-5` |
-| 31            | SET_VTX_CHANNEL               | Sets VTX channel. Accepted values are `1-8` |
-| 32            | SET_OSD_LAYOUT                | Sets OSD layout. Accepted values are `0-3` |
-| 33            | Trigonometry: Sine                           | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 34            | Trigonometry: Cosine                           | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 35            | Trigonometry: Tangent                           | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
-| 36            | MAP_INPUT                     | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
-| 37            | MAP_OUTPUT                    | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
-| 38            | RC_CHANNEL_OVERRIDE           | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"|
-| 39            | SET_HEADING_TARGET            | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
-| 40            | Modulo                           | Modulo. 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 |
-| 43            | Use Lowest Value                           | Finds the lowest value of `Operand A` and `Operand B` |
-| 44            | Use Highest Value                           | Finds the highest value of `Operand A` and `Operand B` |
-| 45			| FLIGHT_AXIS_ANGLE_OVERRIDE	| Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
-| 46			| FLIGHT_AXIS_RATE_OVERRIDE	    | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
-| 47            | EDGE                          | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
-| 48            | DELAY                         | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. |
-| 49            | TIMER                         | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
-| 50            | DELTA                         | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. |
-| 51            | APPROX_EQUAL                  | `true` if `Operand B` is within 1% of `Operand A`. |
-| 52            | LED_PIN_PWM                   | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes)|
+| 22            | Override Arming Safety        | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
+| 23            | Override Throttle Scale       | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
+| 24            | Swap Roll & Yaw               | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
+| 25            | Set VTx Power Level           | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol |
+| 26            | Invert Roll                   | Inverts ROLL axis input for PID/PIFF controller |
+| 27            | Invert Pitch                  | Inverts PITCH axis input for PID/PIFF controller  |
+| 28            | Invert Yaw                    | Inverts YAW axis input for PID/PIFF controller |
+| 29            | Override Throttlw             | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle |
+| 30            | Set VTx Band                  | Sets VTX band. Accepted values are `1-5` |
+| 31            | Set VTx Channel               | Sets VTX channel. Accepted values are `1-8` |
+| 32            | Set OSD Layout                | Sets OSD layout. Accepted values are `0-3` |
+| 33            | Trigonometry: Sine            | Computes SIN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 34            | Trigonometry: Cosine          | Computes COS of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 35            | Trigonometry: Tangent         | Computes TAN of `Operand A` value in degrees. Output is multiplied by `Operand B` value. If `Operand B` is `0`, result is multiplied by `500` |
+| 36            | Map Input                     | Scales `Operand A` from [`0` : `Operand B`] to [`0` : `1000`]. Note: input will be constrained and then scaled |
+| 37            | Map Output                    | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
+| 38            | Override RC Channel           | Overrides channel set by `Operand A` to value of `Operand B`. Note operand A should normally be set as a "Value", NOT as "Get RC Channel"|
+| 39            | Set Heading Target            | Sets heading-hold target to `Operand A`, in centidegrees. Value wraps-around. |
+| 40            | Modulo                        | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
+| 41            | Override Loiter Radius        | 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 Control 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 |
+| 43            | Use Lowest Value              | Finds the lowest value of `Operand A` and `Operand B` |
+| 44            | Use Highest Value             | Finds the highest value of `Operand A` and `Operand B` |
+| 45			| Flight Axis Angle Override	| Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
+| 46			| Flight Axis Rate Override	    | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
+| 47            | Edge                          | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
+| 48            | Delay                         | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. |
+| 49            | Timer                         | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
+| 50            | Delta (|A| >= B)              | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. |
+| 51            | Approx Equals (A ~ B)         | `true` if `Operand B` is within 1% of `Operand A`. |
+| 52            | LED Pin PWM                   | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes). |
+| 53            | Disable GPS Sensor Fix        | Disables the GNSS sensor fix. For testing GNSS failure. |
+| 54            | Mag calibration               | Trigger a magnetometer calibration. |
 
 ### Operands
 
 | Operand Type  | Name                  | Notes |
 |---------------|-----------------------|-------|
-| 0             | VALUE                 | Value derived from `value` field |
-| 1             | GET_RC_CHANNEL        | `value` points to RC channel number, indexed from 1 |
-| 2             | FLIGHT                | `value` points to flight parameter table |
-| 3             | FLIGHT_MODE           | `value` points to flight modes table |
-| 4             | LC                    | `value` points to other logic condition ID |
-| 5             | GVAR                  | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
-| 5             | PID                   | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 |
+| 0             | Value                 | Value derived from `value` field |
+| 1             | Get RC Channel        | `value` points to RC channel number, indexed from 1 |
+| 2             | Flight                | `value` points to **Flight** Parameters table |
+| 3             | Flight Mode           | `value` points to **Flight_Mode** table |
+| 4             | Logic Condition       | `value` points to other logic condition ID |
+| 5             | Get Global Variable   | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
+| 5             | Programming PID       | Output of a Programming PID indexed by `value`. `PID 1` means: value in PID 1 |
+| 6             | Waypoints             | `value` points to the **Waypoint** parameter table |
 
-#### FLIGHT
+#### Flight Parameters
 
-| Operand Value | Name                          | Notes |
-|---------------|-------------------------------|-------|
-| 0             | ARM_TIMER                     | in `seconds` |
-| 1             | HOME_DISTANCE                 | in `meters` |
-| 2             | TRIP_DISTANCE                 | in `meters` |
-| 3             | RSSI                          |  |
-| 4             | VBAT                          | in `Volts * 100`, eg. `12.1V` is `1210` |
-| 5             | CELL_VOLTAGE                  | in `Volts * 100`, eg. `12.1V` is `1210` |
-| 6             | CURRENT                       | in `Amps * 100`, eg. `9A` is `900` |
-| 7             | MAH_DRAWN                     | in `mAh`                              |
-| 8             | GPS_SATS                      |  |
-| 9             | GROUD_SPEED                   | in `cm/s` |
-| 10            | 3D_SPEED                      | in `cm/s` |
-| 11            | AIR_SPEED                     | in `cm/s` |
-| 12            | ALTITUDE                      | in `cm` |
-| 13            | VERTICAL_SPEED                | in `cm/s` |
-| 14            | TROTTLE_POS                   | in `%` |
-| 15            | ATTITUDE_ROLL                 | in `degrees` |
-| 16            | ATTITUDE_PITCH                | in `degrees` |
-| 17            | IS_ARMED                      | boolean `0`/`1` |
-| 18            | IS_AUTOLAUNCH                 | boolean `0`/`1` |
-| 19            | IS_ALTITUDE_CONTROL           | boolean `0`/`1` |
-| 20            | IS_POSITION_CONTROL           | boolean `0`/`1` |
-| 21            | IS_EMERGENCY_LANDING          | boolean `0`/`1` |
-| 22            | IS_RTH                        | boolean `0`/`1` |
-| 23            | IS_LANDING                    | boolean `0`/`1` |
-| 24            | IS_FAILSAFE                   | boolean `0`/`1` |
-| 25            | STABILIZED_ROLL               | Roll PID controller output `[-500:500]` |
-| 26            | STABILIZED_PITCH              | Pitch PID controller output `[-500:500]` |
-| 27            | STABILIZED_YAW                | Yaw PID controller output `[-500:500]` |
-| 28            | 3D HOME_DISTANCE              | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
-| 29            | CROSSFIRE LQ                  | Crossfire Link quality as returned by the CRSF protocol | 
-| 30            | CROSSFIRE SNR                 | Crossfire SNR as returned by the CRSF protocol |
-| 31            | GPS_VALID                     | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
-| 32            | LOITER_RADIUS                 | The current loiter radius in cm. |
-| 33            | ACTIVE_PROFILE                | integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
-| 34            | BATT_CELLS                    | Number of battery cells detected |
-| 35            | AGL_STATUS                    | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
-| 36            | AGL                           | integer Above The Groud Altitude in `cm` |
-| 37            | RANGEFINDER_RAW               | integer raw distance provided by the rangefinder in `cm` |
-| 38            | ACTIVE_MIXER_PROFILE          | Which mixers are currently active (for vtol etc) |
-| 39            | MIXER_TRANSITION_ACTIVE       | Currently switching between mixers (quad to plane etc) |
-| 40            | ATTITUDE_YAW                  | current heading (yaw) in `degrees` |
-| 41            | FW Land Sate                  | integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare |
+| Operand Value | Name                                  | Notes |
+|---------------|---------------------------------------|-------|
+| 0             | ARM Timer [s]                         | Time since armed in `seconds` |
+| 1             | Home Distance [m]                     | distance from home in `meters` |
+| 2             | Trip distance [m]                     | Trip distance in `meters` |
+| 3             | RSSI                                  |  |
+| 4             | Vbat [centi-Volt] [1V = 100]          | VBAT Voltage in `Volts * 100`, eg. `12.1V` is `1210` |
+| 5             | Cell voltage [centi-Volt] [1V = 100]  | Average cell voltage in `Volts * 100`, eg. `12.1V` is `1210` |
+| 6             | Current [centi-Amp] [1A = 100]        | Current in `Amps * 100`, eg. `9A` is `900` |
+| 7             | Current drawn [mAh]                   | Total used current in `mAh` |
+| 8             | GPS Sats                              |  |
+| 9             | Ground speed [cm/s]                   | Ground speed in `cm/s` |
+| 10            | 3D speed [cm/s]                       | 3D speed in `cm/s` |
+| 11            | Air speed [cm/s]                      | Air speed in `cm/s` |
+| 12            | Altitude [cm]                         | Altitude in `cm` |
+| 13            | Vertical speed [cm/s]                 | Vertical speed in `cm/s` |
+| 14            | Throttle position [%]                 | Throttle position in `%` |
+| 15            | Roll [deg]                            | Roll attitude in `degrees` |
+| 16            | Pitch [deg]                           | Pitch attitude in `degrees` |
+| 17            | Is Armed                              | Is the system armed? boolean `0`/`1` |
+| 18            | Is Autolaunch                         | Is auto launch active? boolean `0`/`1` |
+| 19            | Is Controlling Altitude               | Is altitude being controlled? boolean `0`/`1` |
+| 20            | Is Controlling Position               | Is the position being controlled? boolean `0`/`1` |
+| 21            | Is Emergency Landing                  | Is the aircraft emergency landing? boolean `0`/`1` |
+| 22            | Is RTH                                | Is RTH active? boolean `0`/`1` |
+| 23            | Is Landing                            | Is the aircaft automatically landing? boolean `0`/`1` |
+| 24            | Is Failsafe                           | Is the flight controller in a failsafe? boolean `0`/`1` |
+| 25            | Stabilized Roll                       | Roll PID controller output `[-500:500]` |
+| 26            | Stabilized Pitch                      | Pitch PID controller output `[-500:500]` |
+| 27            | Stabilized Yaw                        | Yaw PID controller output `[-500:500]` |
+| 28            | 3D home distance [m]                  | 3D distance to home in `meters`. Calculated from Home distance and Altitude using Pythagorean theorem |
+| 29            | CRSF LQ                               | Link quality as returned by the CRSF protocol | 
+| 30            | CRSF SNR                              | SNR as returned by the CRSF protocol |
+| 31            | GPS Valid Fix                         | Boolean `0`/`1`. True when the GPS has a valid 3D Fix |
+| 32            | Loiter Radius [cm]                    | The current loiter radius in cm. |
+| 33            | Active Control Profile                | Integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
+| 34            | Battery cells                         | Number of battery cells detected |
+| 35            | AGL status [0/1]                      | Boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
+| 36            | AGL [cm]                              | Integer altitude above The Groud Altitude in `cm` |
+| 37            | Rangefinder [cm]                      | Integer raw distance provided by the rangefinder in `cm` |
+| 38            | Active Mixer Profile                  | Which mixer is currently active (for vtol etc) |
+| 39            | Mixer Transition Active               | Boolean `0`/`1`. Are we currently switching between mixers (quad to plane etc) |
+| 40            | Yaw [deg]                             | Current heading (yaw) in `degrees` |
+| 41            | FW Land Sate                          | Integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare |
+| 42            | Current battery profile               | The active battery profile. Integer `[1..MAX_PROFILE_COUNT]` |
 
 #### FLIGHT_MODE
 
@@ -164,22 +168,22 @@ The flight mode operands return `true` when the mode is active. These are modes
 
 | Operand Value | Name              | Notes |
 |---------------|-------------------|-------|
-| 0             | FAILSAFE          | `true` when a **Failsafe** state has been triggered. |
-| 1             | MANUAL            | `true` when you are in the **Manual** flight mode. |
+| 0             | Failsafe          | `true` when a **Failsafe** state has been triggered. |
+| 1             | Manual            | `true` when you are in the **Manual** flight mode. |
 | 2             | RTH               | `true` when you are in the **Return to Home** flight mode. |
-| 3             | POSHOLD           | `true` when you are in the **Position Hold** or **Loiter** flight modes. |
-| 4             | CRUISE            | `true` when you are in the **Cruise** flight mode. |
-| 5             | ALTHOLD           | `true` when you the **Altitude Hold** flight mode modifier is active. |
-| 6             | ANGLE             | `true` when you are in the **Angle** flight mode. |
-| 7             | HORIZON           | `true` when you are in the **Horizon** flight mode. |
-| 8             | AIR               | `true` when you the **Airmode** flight mode modifier is active. |
-| 9             | USER1             | `true` when the **USER 1** mode is active. |
-| 10            | USER2             | `true` when the **USER 2** mode is active. |
-| 11            | COURSE_HOLD       | `true` when you are in the **Course Hold** flight mode. |
-| 12            | USER3             | `true` when the **USER 3** mode is active. |
-| 13            | USER4             | `true` when the **USER 4** mode is active. |
-| 14            | ACRO              | `true` when you are in the **Acro** flight mode. |
-| 15            | WAYPOINT_MISSION  | `true` when you are in the **WP Mission** flight mode. | 
+| 3             | Position Hold     | `true` when you are in the **Position Hold** or **Loiter** flight modes. |
+| 4             | Cruise            | `true` when you are in the **Cruise** flight mode. |
+| 5             | Altitude Hold     | `true` when you the **Altitude Hold** flight mode modifier is active. |
+| 6             | Angle             | `true` when you are in the **Angle** flight mode. |
+| 7             | Horizon           | `true` when you are in the **Horizon** flight mode. |
+| 8             | Air               | `true` when you the **Airmode** flight mode modifier is active. |
+| 9             | USER 1            | `true` when the **USER 1** mode is active. |
+| 10            | USER 2            | `true` when the **USER 2** mode is active. |
+| 11            | Course Hold       | `true` when you are in the **Course Hold** flight mode. |
+| 12            | USER 3            | `true` when the **USER 3** mode is active. |
+| 13            | USER 4            | `true` when the **USER 4** mode is active. |
+| 14            | Acro              | `true` when you are in the **Acro** flight mode. |
+| 15            | Waypoint Mission  | `true` when you are in the **WP Mission** flight mode. | 
 
 #### WAYPOINTS
 
@@ -335,5 +339,3 @@ choose *value* and enter the channel number. Choosing "get RC value" is a common
 which does something other than what you probably want.
 
 ![screenshot of override an RC channel with a value](./assets/images/ipf_set_get_rc_channel.png)
-
-
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 3bedf7d324..aba1f58b90 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -293,7 +293,7 @@ static void cliPutp(void *p, char ch)
 
 typedef enum {
     DUMP_MASTER = (1 << 0),
-    DUMP_PROFILE = (1 << 1),
+    DUMP_CONTROL_PROFILE = (1 << 1),
     DUMP_BATTERY_PROFILE = (1 << 2),
     DUMP_MIXER_PROFILE = (1 << 3),
     DUMP_ALL = (1 << 4),
@@ -3336,30 +3336,30 @@ static void cliPlaySound(char *cmdline)
     beeper(beeperModeForTableIndex(i));
 }
 
-static void cliProfile(char *cmdline)
+static void cliControlProfile(char *cmdline)
 {
     // CLI profile index is 1-based
     if (isEmpty(cmdline)) {
-        cliPrintLinef("profile %d", getConfigProfile() + 1);
+        cliPrintLinef("control_profile %d", getConfigProfile() + 1);
         return;
     } else {
         const int i = fastA2I(cmdline) - 1;
         if (i >= 0 && i < MAX_PROFILE_COUNT) {
             setConfigProfileAndWriteEEPROM(i);
-            cliProfile("");
+            cliControlProfile("");
         }
     }
 }
 
-static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask)
+static void cliDumpControlProfile(uint8_t profileIndex, uint8_t dumpMask)
 {
     if (profileIndex >= MAX_PROFILE_COUNT) {
         // Faulty values
         return;
     }
     setConfigProfile(profileIndex);
-    cliPrintHashLine("profile");
-    cliPrintLinef("profile %d\r\n", getConfigProfile() + 1);
+    cliPrintHashLine("control_profile");
+    cliPrintLinef("control_profile %d\r\n", getConfigProfile() + 1);
     dumpAllValues(PROFILE_VALUE, dumpMask);
     dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
     dumpAllValues(EZ_TUNE_VALUE, dumpMask);
@@ -3981,12 +3981,12 @@ static void printConfig(const char *cmdline, bool doDiff)
     const char *options;
     if ((options = checkCommand(cmdline, "master"))) {
         dumpMask = DUMP_MASTER; // only
-    } else if ((options = checkCommand(cmdline, "profile"))) {
-        dumpMask = DUMP_PROFILE; // only
-    } else if ((options = checkCommand(cmdline, "battery_profile"))) {
-        dumpMask = DUMP_BATTERY_PROFILE; // only
+    } else if ((options = checkCommand(cmdline, "control_profile"))) {
+        dumpMask = DUMP_CONTROL_PROFILE; // only
     } else if ((options = checkCommand(cmdline, "mixer_profile"))) {
         dumpMask = DUMP_MIXER_PROFILE; // only
+    } else if ((options = checkCommand(cmdline, "battery_profile"))) {
+        dumpMask = DUMP_BATTERY_PROFILE; // only
     } else if ((options = checkCommand(cmdline, "all"))) {
         dumpMask = DUMP_ALL;   // all profiles and rates
     } else {
@@ -3997,16 +3997,16 @@ static void printConfig(const char *cmdline, bool doDiff)
         dumpMask = dumpMask | DO_DIFF;
     }
 
-    const int currentProfileIndexSave = getConfigProfile();
-    const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
+    const int currentControlProfileIndexSave = getConfigProfile();
     const int currentMixerProfileIndexSave = getConfigMixerProfile();
+    const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
     backupConfigs();
     // reset all configs to defaults to do differencing
     resetConfigs();
     // restore the profile indices, since they should not be reset for proper comparison
-    setConfigProfile(currentProfileIndexSave);
-    setConfigBatteryProfile(currentBatteryProfileIndexSave);
+    setConfigProfile(currentControlProfileIndexSave);
     setConfigMixerProfile(currentMixerProfileIndexSave);
+    setConfigBatteryProfile(currentBatteryProfileIndexSave);
 
     if (checkCommand(options, "showdefaults")) {
         dumpMask = dumpMask | SHOW_DEFAULTS;   // add default values as comments for changed values
@@ -4128,25 +4128,25 @@ static void printConfig(const char *cmdline, bool doDiff)
 
         if (dumpMask & DUMP_ALL) {
             // dump all profiles
-            const int currentProfileIndexSave = getConfigProfile();
-            const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
+            const int currentControlProfileIndexSave = getConfigProfile();
             const int currentMixerProfileIndexSave = getConfigMixerProfile();
+            const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
+            for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
+                cliDumpControlProfile(ii, dumpMask);
+            }
             for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) {
                 cliDumpMixerProfile(ii, dumpMask);
             }
-            for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
-                cliDumpProfile(ii, dumpMask);
-            }
             for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) {
                 cliDumpBatteryProfile(ii, dumpMask);
             }
-            setConfigProfile(currentProfileIndexSave);
-            setConfigBatteryProfile(currentBatteryProfileIndexSave);
+            setConfigProfile(currentControlProfileIndexSave);
             setConfigMixerProfile(currentMixerProfileIndexSave);
+            setConfigBatteryProfile(currentBatteryProfileIndexSave);
 
             cliPrintHashLine("restore original profile selection");
+            cliPrintLinef("profile %d", currentControlProfileIndexSave + 1);
             cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1);
-            cliPrintLinef("profile %d", currentProfileIndexSave + 1);
             cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
 
 #ifdef USE_CLI_BATCH
@@ -4154,18 +4154,19 @@ static void printConfig(const char *cmdline, bool doDiff)
 #endif
         } else {
             // dump just the current profiles
+            cliDumpControlProfile(getConfigProfile(), dumpMask);
             cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
-            cliDumpProfile(getConfigProfile(), dumpMask);
             cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
         }
     }
+
+    if (dumpMask & DUMP_CONTROL_PROFILE) {
+        cliDumpControlProfile(getConfigProfile(), dumpMask);
+    }
+
     if (dumpMask & DUMP_MIXER_PROFILE) {
         cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
     }
-    
-    if (dumpMask & DUMP_PROFILE) {
-        cliDumpProfile(getConfigProfile(), dumpMask);
-    }
 
     if (dumpMask & DUMP_BATTERY_PROFILE) {
         cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
@@ -4279,9 +4280,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", NULL, cliDefaults),
     CLI_COMMAND_DEF("dfu", "DFU mode on reboot", NULL, cliDfu),
     CLI_COMMAND_DEF("diff", "list configuration changes from default",
-        "[master|battery_profile|profile|rates|all] {showdefaults}", cliDiff),
+        "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDiff),
     CLI_COMMAND_DEF("dump", "dump configuration",
-        "[master|battery_profile|profile|rates|all] {showdefaults}", cliDump),
+        "[master|battery_profile|control_profile|mixer_profile|rates|all] {showdefaults}", cliDump),
 #ifdef USE_RX_ELERES
     CLI_COMMAND_DEF("eleres_bind", NULL, NULL, cliEleresBind),
 #endif // USE_RX_ELERES
@@ -4322,12 +4323,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("msc", "switch into msc mode", NULL, cliMsc),
 #endif
     CLI_COMMAND_DEF("play_sound", NULL, "[<index>]\r\n", cliPlaySound),
-    CLI_COMMAND_DEF("profile", "change profile",
-        "[<index>]", cliProfile),
-    CLI_COMMAND_DEF("battery_profile", "change battery profile",
-        "[<index>]", cliBatteryProfile),
-    CLI_COMMAND_DEF("mixer_profile", "change mixer profile",
-        "[<index>]", cliMixerProfile),
+    CLI_COMMAND_DEF("control_profile", "change control profile", "[<index>]", cliControlProfile),
+    CLI_COMMAND_DEF("mixer_profile", "change mixer profile", "[<index>]", cliMixerProfile),
+    CLI_COMMAND_DEF("battery_profile", "change battery profile", "[<index>]", cliBatteryProfile),
     CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
     CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
 #if defined(USE_SAFE_HOME)

From c012de6ca6295d16ac5dc8074f9476e9e77037a9 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 2 Jun 2024 19:59:24 +0100
Subject: [PATCH 127/132] Make `battery_capacity_unit` a global setting

Remove `battery_capacity_unit` from battery profiles.
---
 docs/Battery.md                           |  3 ---
 src/main/fc/fc_msp.c                      | 16 ++++++++--------
 src/main/fc/settings.yaml                 | 12 ++++++------
 src/main/flight/rth_estimator.c           |  2 +-
 src/main/io/osd.c                         |  6 +++---
 src/main/sensors/battery.c                |  9 +++++----
 src/main/sensors/battery_config_structs.h | 21 +++++++++++----------
 7 files changed, 34 insertions(+), 35 deletions(-)

diff --git a/docs/Battery.md b/docs/Battery.md
index f6bdbd5039..e519c32541 100644
--- a/docs/Battery.md
+++ b/docs/Battery.md
@@ -201,7 +201,6 @@ Up to 3 battery profiles are supported. You can select the battery profile from
 - `vbat_max_cell_voltage`
 - `vbat_warning_cell_voltage`
 - `vbat_min_cell_voltage`
-- `battery_capacity_unit`
 - `battery_capacity`
 - `battery_capacity_warning`
 - `battery_capacity_critical`
@@ -253,7 +252,6 @@ feature BAT_PROF_AUTOSWITCH
 battery_profile 1
 
 set bat_cells = 3
-set battery_capacity_unit = MAH
 set battery_capacity = 2200
 set battery_capacity_warning = 440
 set battery_capacity_critical = 220
@@ -262,7 +260,6 @@ set battery_capacity_critical = 220
 battery_profile 2
 
 set bat_cells = 4
-set battery_capacity_unit = MAH
 set battery_capacity = 1500
 set battery_capacity_warning = 300
 set battery_capacity_critical = 150
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 4ae4218481..2109d3e08a 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -856,7 +856,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU32(dst, currentBatteryProfile->capacity.value);
         sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
         sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
-        sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
+        sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
         break;
 
     case MSP2_INAV_MISC2:
@@ -895,7 +895,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU32(dst, currentBatteryProfile->capacity.value);
         sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
         sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
-        sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
+        sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
         break;
 
 #ifdef USE_GPS
@@ -2081,13 +2081,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
-            currentBatteryProfileMutable->capacity.unit = sbufReadU8(src);
+            batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
             if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
                 batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
                 return MSP_RESULT_ERROR;
             }
-            if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) {
-                currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH;
+            if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
+                batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
                 return MSP_RESULT_ERROR;
             }
         } else
@@ -2120,13 +2120,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
-            currentBatteryProfileMutable->capacity.unit = sbufReadU8(src);
+            batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
             if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
                 batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
                 return MSP_RESULT_ERROR;
             }
-            if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) {
-                currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH;
+            if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
+                batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
                 return MSP_RESULT_ERROR;
             }
         } else
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d9aa83c93c..3c19249575 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -890,6 +890,12 @@ groups:
         condition: USE_ADC
         min: 0
         max: 65535
+      - name: battery_capacity_unit
+        description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
+        default_value: "MAH"
+        field: capacity_unit
+        table: bat_capacity_unit
+        type: uint8_t
       - name: current_meter_scale
         description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt."
         default_value: :target
@@ -996,12 +1002,6 @@ groups:
         field: capacity.critical
         min: 0
         max: 4294967295
-      - name: battery_capacity_unit
-        description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
-        default_value: "MAH"
-        field: capacity.unit
-        table: bat_capacity_unit
-        type: uint8_t
       - name: controlrate_profile
         description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile"
         default_value: 0
diff --git a/src/main/flight/rth_estimator.c b/src/main/flight/rth_estimator.c
index 708c71bd1c..e0ca0fba20 100644
--- a/src/main/flight/rth_estimator.c
+++ b/src/main/flight/rth_estimator.c
@@ -222,7 +222,7 @@ float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) {
 
     // check requirements
     const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn();
-    const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH &&currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;
+    const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH && currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;
     const bool isNavigationOK = navigationPositionEstimateIsHealthy() && isImuHeadingValid();
 
     if (!(areBatterySettingsOK && areRTHEstimatorSettingsOK && isNavigationOK)) {
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 34135ce2fd..a3a298962a 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1780,7 +1780,7 @@ static bool osdDrawSingleElement(uint8_t item)
             tfp_sprintf(buff, "  NA");
         else if (!batteryWasFullWhenPluggedIn())
             tfp_sprintf(buff, "  NF");
-        else if (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH) {
+        else if (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH) {
             uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value
 
 #ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
@@ -1803,11 +1803,11 @@ static bool osdDrawSingleElement(uint8_t item)
                 buff[mah_digits + 1] = '\0';
                 unitsDrawn = true;
             }
-        } else // currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH
+        } else // batteryMetersConfig()->capacityUnit == BAT_CAPACITY_UNIT_MWH
             osdFormatCentiNumber(buff + 1, getBatteryRemainingCapacity() / 10, 0, 2, 0, 3, false);
 
         if (!unitsDrawn) {
-        buff[4] = currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH;
+        buff[4] = batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH;
         buff[5] = '\0';
         }
 
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 2ca7024694..a29fa2e07c 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -97,7 +97,7 @@ static int32_t mWhDrawn = 0;                    // energy (milliWatt hours) draw
 batteryState_e batteryState;
 const batteryProfile_t *currentBatteryProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 2);
+PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 3);
 
 void pgResetFn_batteryProfiles(batteryProfile_t *instance)
 {
@@ -118,7 +118,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
                 .value = SETTING_BATTERY_CAPACITY_DEFAULT,
                 .warning = SETTING_BATTERY_CAPACITY_WARNING_DEFAULT,
                 .critical = SETTING_BATTERY_CAPACITY_CRITICAL_DEFAULT,
-                .unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT,
             },
 
             .controlRateProfile = 0,
@@ -167,7 +166,7 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
     }
 }
 
-PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 2);
 
 PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig,
 
@@ -186,6 +185,8 @@ PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig,
 
     .voltageSource = SETTING_BAT_VOLTAGE_SRC_DEFAULT,
 
+    .capacity_unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT,
+
     .cruise_power = SETTING_CRUISE_POWER_DEFAULT,
     .idle_power = SETTING_IDLE_POWER_DEFAULT,
     .rth_energy_margin = SETTING_RTH_ENERGY_MARGIN_DEFAULT,
@@ -405,7 +406,7 @@ void batteryUpdate(timeUs_t timeDelta)
 
         if ((currentBatteryProfile->capacity.value > 0) && batteryFullWhenPluggedIn) {
             uint32_t capacityDiffBetweenFullAndEmpty = currentBatteryProfile->capacity.value - currentBatteryProfile->capacity.critical;
-            int32_t drawn = (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn);
+            int32_t drawn = (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn);
             batteryRemainingCapacity = (drawn > (int32_t)capacityDiffBetweenFullAndEmpty ? 0 : capacityDiffBetweenFullAndEmpty - drawn);
         }
 
diff --git a/src/main/sensors/battery_config_structs.h b/src/main/sensors/battery_config_structs.h
index 81eafef44a..829ac8d879 100644
--- a/src/main/sensors/battery_config_structs.h
+++ b/src/main/sensors/battery_config_structs.h
@@ -61,16 +61,18 @@ typedef struct batteryMetersConfig_s {
 #endif
 
     struct {
-        int16_t scale;          // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
-        int16_t offset;         // offset of the current sensor in millivolt steps
-        currentSensor_e type;   // type of current meter used, either ADC or virtual
+        int16_t scale;                  // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
+        int16_t offset;                 // offset of the current sensor in millivolt steps
+        currentSensor_e type;           // type of current meter used, either ADC or virtual
     } current;
 
     batVoltageSource_e voltageSource;
 
-    uint32_t cruise_power;      // power drawn by the motor(s) at cruise throttle/speed (cW)
-    uint16_t idle_power;        // power drawn by the system when the motor(s) are stopped (cW)
-    uint8_t rth_energy_margin;  // Energy that should be left after RTH (%), used for remaining time/distance before RTH
+    batCapacityUnit_e capacity_unit;    // Describes unit of capacity.value, capacity.warning and capacity.critical
+
+    uint32_t cruise_power;              // power drawn by the motor(s) at cruise throttle/speed (cW)
+    uint16_t idle_power;                // power drawn by the system when the motor(s) are stopped (cW)
+    uint8_t rth_energy_margin;          // Energy that should be left after RTH (%), used for remaining time/distance before RTH
 
     float throttle_compensation_weight;
 
@@ -90,10 +92,9 @@ typedef struct batteryProfile_s {
 #endif
 
     struct {
-        uint32_t value;                     // mAh or mWh (see capacity.unit)
-        uint32_t warning;                   // mAh or mWh (see capacity.unit)
-        uint32_t critical;                  // mAh or mWh (see capacity.unit)
-        batCapacityUnit_e unit;             // Describes unit of capacity.value, capacity.warning and capacity.critical
+        uint32_t value;                     // mAh or mWh (see batteryMetersConfig()->capacity_unit)
+        uint32_t warning;                   // mAh or mWh (see batteryMetersConfig()->capacity_unit)
+        uint32_t critical;                  // mAh or mWh (see batteryMetersConfig()->capacity_unit)
     } capacity;
 
     uint8_t controlRateProfile;

From 18c7ec44a51aedd3fcb3baae4bee381a5619772b Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 2 Jun 2024 20:02:12 +0100
Subject: [PATCH 128/132] Fix missed CLI command in the diff

---
 src/main/fc/cli.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index aba1f58b90..18243fdefc 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -4145,7 +4145,7 @@ static void printConfig(const char *cmdline, bool doDiff)
             setConfigBatteryProfile(currentBatteryProfileIndexSave);
 
             cliPrintHashLine("restore original profile selection");
-            cliPrintLinef("profile %d", currentControlProfileIndexSave + 1);
+            cliPrintLinef("control_profile %d", currentControlProfileIndexSave + 1);
             cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1);
             cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
 

From b8707b76cb0abed7372b5564a3b070e966cf6758 Mon Sep 17 00:00:00 2001
From: flywoo <viper_rc@outlook.com>
Date: Tue, 4 Jun 2024 11:09:23 +0800
Subject: [PATCH 129/132] Update F722PRO default features

---
 src/main/target/FLYWOOF722PRO/target.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/target/FLYWOOF722PRO/target.h b/src/main/target/FLYWOOF722PRO/target.h
index 34d6de266c..ae12a32470 100644
--- a/src/main/target/FLYWOOF722PRO/target.h
+++ b/src/main/target/FLYWOOF722PRO/target.h
@@ -140,6 +140,7 @@
  
 /*** Default settings ***/
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define DEFAULT_FEATURES  (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define CURRENT_METER_SCALE_DEFAULT     170
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL

From b68619c6c8b3b096cfafbcaac53a80332b172cef Mon Sep 17 00:00:00 2001
From: flywoo <viper_rc@outlook.com>
Date: Tue, 4 Jun 2024 14:49:28 +0800
Subject: [PATCH 130/132] Update F722PRO target.h

---
 src/main/target/FLYWOOF722PRO/config.c | 1 -
 src/main/target/FLYWOOF722PRO/target.h | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/target/FLYWOOF722PRO/config.c b/src/main/target/FLYWOOF722PRO/config.c
index ae386d4bc0..57ecfa64ff 100644
--- a/src/main/target/FLYWOOF722PRO/config.c
+++ b/src/main/target/FLYWOOF722PRO/config.c
@@ -24,7 +24,6 @@
 void targetConfiguration(void)
 {
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
-	
     timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
     timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS;
 }
diff --git a/src/main/target/FLYWOOF722PRO/target.h b/src/main/target/FLYWOOF722PRO/target.h
index ae12a32470..3f11b44e31 100644
--- a/src/main/target/FLYWOOF722PRO/target.h
+++ b/src/main/target/FLYWOOF722PRO/target.h
@@ -148,7 +148,7 @@
 
 /*** Timer/PWM output ***/
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
-#define MAX_PWM_OUTPUT_PORTS            6
+#define MAX_PWM_OUTPUT_PORTS            8
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 

From 033869b9da0c65828c518dba24be5ae468169e1f Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 6 Jun 2024 12:04:29 +0100
Subject: [PATCH 131/132] Update settings.yaml

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 3c19249575..4a22ecb871 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2866,7 +2866,7 @@ groups:
         description: "Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s"
         default_value: 1863
         field: fw.launch_accel_thresh
-        min: 1500
+        min: 1350
         max: 20000
       - name: nav_fw_launch_max_angle
         description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"

From 4fb7204d378c86f7cfe164097ddfe104b73f0ef8 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Thu, 6 Jun 2024 12:06:26 +0100
Subject: [PATCH 132/132] Update Settings.md

---
 docs/Settings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index a1c339c1d8..3d0758ab2a 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2958,7 +2958,7 @@ Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G =
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 1863 | 1500 | 20000 |
+| 1863 | 1350 | 20000 |
 
 ---