.pr_agent_accepted_suggestions - iNavFlight/inav GitHub Wiki

 case OSD_MANUAL_YAW_RATE:
-    osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "MYR", 0, currentControlProfile->stabilized.rates[FD_YAW], 3, 0, ADJUSTMENT_YAW_RATE);
+    osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "MYR", 0, currentControlProfile->manual.rates[FD_YAW], 3, 0, ADJUSTMENT_MANUAL_YAW_RATE);
     return true;

-gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
 
+

-case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg
+case LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION: // deg, 0..359, -1 invalid
 #ifdef USE_WIND_ESTIMATOR
     {
         if (isEstimatedWindSpeedValid()) {
-            uint16_t windAngle;
-            getEstimatedHorizontalWindSpeed(&windAngle);
-            int32_t windHeading = windAngle + 18000; // Correct heading to display correctly.
-    
-            windHeading = (CENTIDEGREES_TO_DEGREES((int)windHeading));
-            while (windHeading < 0) {
-                windHeading += 360;
-            }
-            while (windHeading >= 360) {
-                windHeading -= 360;
-            }
-            return windHeading;
-        } else
+            uint16_t windAngleCd;
+            getEstimatedHorizontalWindSpeed(&windAngleCd);
+            // Convert wind vector angle (towards) to heading-from (meteorological) in degrees [0,360)
+            int32_t headingDeg = CENTIDEGREES_TO_DEGREES((int)(windAngleCd + 18000));
+            while (headingDeg < 0) headingDeg += 360;
+            while (headingDeg >= 360) headingDeg -= 360;
+            return headingDeg;
+        } else {
             return -1;
+        }
     }
 #else
-        return -1;
+    return -1;
 #endif
-        break;
+    break;

-case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg
+case LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET: // deg, signed [-180,180], 0 = headwind, left negative
 #ifdef USE_WIND_ESTIMATOR
     {
         if (isEstimatedWindSpeedValid()) {
-            uint16_t windAngle;
-            getEstimatedHorizontalWindSpeed(&windAngle);
-            gvSet(3, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
-            int32_t relativeWindHeading = windAngle + 18000 - DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw);
-    
-            relativeWindHeading = (CENTIDEGREES_TO_DEGREES((int)relativeWindHeading));
-            while (relativeWindHeading < 0) {
-                relativeWindHeading += 360;
-            }
-            while (relativeWindHeading >= 360) {
-                relativeWindHeading -= 360;
-            }
-            
-            relativeWindHeading = -relativeWindHeading;
-            if (relativeWindHeading <= -180) {
-                relativeWindHeading = 180 + (relativeWindHeading + 180);
-            }
-
-            return relativeWindHeading;
-        } else
+            uint16_t windAngleCd;
+            getEstimatedHorizontalWindSpeed(&windAngleCd); // [0,36000)
+            // Convert wind vector angle (towards) to heading-from
+            int32_t windHeadingCd = (int32_t)windAngleCd + 18000; // centidegrees
+            // Normalize to [0,36000)
+            while (windHeadingCd < 0) windHeadingCd += 36000;
+            while (windHeadingCd >= 36000) windHeadingCd -= 36000;
+            // Aircraft yaw is in decidegrees; convert to centidegrees
+            int32_t yawCd = DECIDEGREES_TO_CENTIDEGREES(attitude.values.yaw);
+            // Relative offset: wind heading relative to aircraft nose (right positive)
+            int32_t relCd = windHeadingCd - yawCd; // centidegrees
+            // Normalize to (-18000, 18000]
+            while (relCd <= -18000) relCd += 36000;
+            while (relCd > 18000) relCd -= 36000;
+            // Convert to degrees with sign convention: left negative
+            int32_t relDeg = CENTIDEGREES_TO_DEGREES(relCd);
+            return relDeg;
+        } else {
             return 0;
+        }
     }
 #else
-        return 0;
+    return 0;
 #endif
-        break;
+    break;

 #ifdef USE_FW_AUTOLAND
         if (FLIGHT_MODE(NAV_FW_AUTOLAND)) {
             flightMode = "LAND";
         } else
 #endif
         if (FLIGHT_MODE(FAILSAFE_MODE)) {
             flightMode = "!FS!";
+        } else if (FLIGHT_MODE(MANUAL_MODE)) {
+            flightMode = "MANU";
 #ifdef USE_GEOZONE
         } else if (FLIGHT_MODE(NAV_SEND_TO) && !FLIGHT_MODE(NAV_WP_MODE)) {
             flightMode = "GEO";
-#endif            
-        } else if (FLIGHT_MODE(MANUAL_MODE)) {
-            flightMode = "MANU";
+#endif

-# Consider dependencies only in project.
-set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
+# This file should be removed from the repository.
 
-# The set of languages for which implicit dependencies are needed:
-set(CMAKE_DEPENDS_LANGUAGES
-  "ASM"
-  )
-# The set of files for implicit dependencies of each language:
-set(CMAKE_DEPENDS_CHECK_ASM
-  "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/lib/main/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.S" "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/src/src/main/target/AXISFLYINGF7PRO/CMakeFiles/AXISFLYINGF7PRO_for_bl.elf.dir/__/__/__/__/lib/main/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.S.obj"
-  "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/src/main/startup/startup_stm32f722xx.s" "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/src/src/main/target/AXISFLYINGF7PRO/CMakeFiles/AXISFLYINGF7PRO_for_bl.elf.dir/__/__/startup/startup_stm32f722xx.s.obj"
-  )
-set(CMAKE_ASM_COMPILER_ID "GNU")
-
-# Preprocessor definitions for this target.
-set(CMAKE_TARGET_DEFINITIONS_ASM
-...
-
-# The include file search paths:
-set(CMAKE_ASM_TARGET_INCLUDE_PATH
-  "main/target/AXISFLYINGF7PRO"
-  "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Inc"
-  "/Users/ahmed/Desktop/Projects/INAV-RPiOSD/inav/lib/main/STM32F7/Drivers/CMSIS/Device/ST/STM32F7xx/Include"
-...
-

 case MSP_OSD_CUSTOM_POSITION: {
+    if (dataSize < 3) {
+        return MSP_RESULT_ERROR;
+    }
     uint8_t item;
     sbufReadU8Safe(&item, src);
     if (item < OSD_ITEM_COUNT){ // item == addr
         osdEraseCustomItem(item);
         osdLayoutsConfigMutable()->item_pos[0][item] = sbufReadU16(src) | (1 << 13);
         osdDrawCustomItem(item);
     }
     else{
         return MSP_RESULT_ERROR;
     }
 
     break;
 }

 switch(item){
     case 147:
         customElementIndex = 0;
         break;
     case 148:
         customElementIndex = 1;
         break;
     case 149:
         customElementIndex = 2;
         break;
     case 154:
         customElementIndex = 3;
         break;
     case 155:
         customElementIndex = 4;
         break;
     case 156:
         customElementIndex = 5;
         break;
     case 157:
         customElementIndex = 6;
         break;
     case 158:
         customElementIndex = 7;
         break;
+    default:
+        return;
 }
 
 uint8_t len = customElementLength(customElementIndex);

-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 4.1
+# This file should be removed from the pull request and repository.
 
-# The generator used is:
-set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
-
-# The top level Makefile was generated from the following files:
-set(CMAKE_MAKEFILE_DEPENDS
-  "CMakeCache.txt"
-...
-

-osdLayoutsConfigMutable()->item_pos[0][item] = sbufReadU16(src) | (1 << 13);
+// Suggestion: use the current layout instead of a hardcoded one.
+// Note: `currentLayout` is a global variable defined in `osd.c` and might need to be made accessible here.
+extern uint8_t currentLayout;
+osdLayoutsConfigMutable()->item_pos[currentLayout][item] = sbufReadU16(src) | (1 << 13);

 int16_t osdGet3DSpeed(void)
 {
-    int16_t vert_speed = getEstimatedActualVelocity(Z);
-    int16_t hor_speed = gpsSol.groundSpeed;
+    float vert_speed = getEstimatedActualVelocity(Z);
+    float hor_speed = gpsSol.groundSpeed;
     return (int16_t)calc_length_pythagorean_2D(hor_speed, vert_speed);
 }

 for(int i =_buffer.svinfo.numSvs; i < UBLOX_MAX_SIGNALS; ++i) {
-    satelites[i]->gnssId = 0xFF;
-    satelites[i]->svId = 0xFF;
+    satelites[i].gnssId = 0xFF;
+    satelites[i].svId = 0xFF;
 }

 // Set mavSystemId from telemetryConfig()->mavlink.sysid
-static uint8_t mavSystemId;
+static uint8_t mavSystemId = 1;

-if (IS_RC_MODE_ACTIVE(BOXGCSNAV) & (posControl.navState == NAV_STATE_POSHOLD_3D_IN_PROGRESS)) {
+if (IS_RC_MODE_ACTIVE(BOXGCSNAV) && (posControl.navState == NAV_STATE_POSHOLD_3D_IN_PROGRESS)) {

-wp.p1 = wp.p2 = wp.p3 = 0;
+if (!isnan(msg.param4) && msg.param4 >= 0.0f && msg.param4 < 360.0f) {
+    wp.p1 = msg.param4;
+} else {
+    wp.p1 = -1; // Use -1 to indicate no heading change
+}
+wp.p2 = wp.p3 = 0;
 wp.flag = 0;
 
 setWaypoint(255, ℘);

-if (msg.frame != MAV_FRAME_GLOBAL) {
+if (msg.frame != MAV_FRAME_GLOBAL && msg.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && msg.frame != MAV_FRAME_GLOBAL_TERRAIN_ALT) {
 
         mavlink_msg_command_ack_pack(mavSystemId, mavComponentId, &mavSendMsg,
                                     msg.command,
                                     MAV_RESULT_UNSUPPORTED,
                                     0,  // progress
                                     0,  // result_param2
                                     mavRecvMsg.sysid,
                                     mavRecvMsg.compid);
         mavlinkSendMessage();
         return true;
     }

-#if defined(NEXUSX) || defined(NEXUS_9SERVOS)
+#if defined(NEXUSX) || defined(NEXUSX_9SERVOS)
 #define USE_I2C_DEVICE_2 // clashes with UART3
 #define I2C2_SCL                PB10
 #define I2C2_SDA                PB11
 #define DEFAULT_I2C BUS_I2C2
 #else
 #define DEFAULT_I2C BUS_I2C3
 #endif

+#if defined(NEXUSX_9SERVOS) || defined(NEXUSX_NOI2C)
+#define MAX_PWM_OUTPUT_PORTS        9
+#else
 #define MAX_PWM_OUTPUT_PORTS        8
+#endif

-#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
+#define SENSORS_SET (SENSOR_ACC|SENSOR_BARO)

-if (vectorNormSquared(&vHeadingEF) > 0.01f) {
+if (vectorNormSquared(&vHeadingEF) > 0.01f && vectorNormSquared(&vCoGlocal) > 0.01f) {
     // Normalize to unit vector
     vectorNormalize(&vHeadingEF, &vHeadingEF);
     vectorNormalize(&vCoGlocal, &vCoGlocal);
 
     // error is cross product between reference heading and estimated heading (calculated in EF)
     vectorCrossProduct(&vCoGErr, &vCoGlocal, &vHeadingEF);
 
     // Rotate error back into body frame
     quaternionRotateVector(&vCoGErr, &vCoGErr, &orientation);
 }

 typedef enum {
     CURRENT_SENSOR_NONE = 0,
     CURRENT_SENSOR_ADC,
     CURRENT_SENSOR_VIRTUAL,
     CURRENT_SENSOR_FAKE,
     CURRENT_SENSOR_ESC,
     CURRENT_SENSOR_SMARTPORT,
-    CURRENT_SENSOR_MAX = CURRENT_SENSOR_FAKE
+    CURRENT_SENSOR_MAX = CURRENT_SENSOR_SMARTPORT
 } currentSensor_e;
 
 typedef enum {
     VOLTAGE_SENSOR_NONE = 0,
     VOLTAGE_SENSOR_ADC,
     VOLTAGE_SENSOR_ESC,
     VOLTAGE_SENSOR_FAKE,
     VOLTAGE_SENSOR_SMARTPORT,
-    VOLTAGE_SENSOR_MAX = VOLTAGE_SENSOR_FAKE
+    VOLTAGE_SENSOR_MAX = VOLTAGE_SENSOR_SMARTPORT
 } voltageSensor_e;

 // set magData to zero for case of failed read
 mag->magADCRaw[X] = 0;
+mag->magADCRaw[Y] = 0;
 mag->magADCRaw[Z] = 0;

 //move the rate filter to new servo rules
 int maxMoveFilters = MAX_SERVO_RULES/2;
 int movefilterCount = 0;
-servoMixerSwitch_t servoMixerSwitchHelper[maxMoveFilters]; // helper to keep track of servoSpeedLimitFilter of servo rules
+static servoMixerSwitch_t servoMixerSwitchHelper[MAX_SERVO_RULES/2]; // helper to keep track of servoSpeedLimitFilter of servo rules
 memset(servoMixerSwitchHelper, 0, sizeof(servoMixerSwitchHelper));
 for (int i = 0; i < servoRuleCount; i++) {
     if(currentServoMixer[i].inputSource == INPUT_MIXER_SWITCH_HELPER || movefilterCount >= maxMoveFilters) {
         break;
     }
     if(currentServoMixer[i].speed != 0 && servoSpeedLimitFilter[i].state !=0) {
         servoMixerSwitchHelper[movefilterCount].targetChannel = currentServoMixer[i].targetChannel;
         servoMixerSwitchHelper[movefilterCount].speed = currentServoMixer[i].speed;
         servoMixerSwitchHelper[movefilterCount].rate = currentServoMixer[i].rate;
         servoMixerSwitchHelper[movefilterCount].speedLimitFilterState = servoSpeedLimitFilter[i].state;
         movefilterCount++;
     }
 }

 #define USE_OSD
 #define USE_MAX7456
-MAX7456_SPI_BUS		    BUS_SPI3
+#define MAX7456_SPI_BUS		    BUS_SPI3
 #define MAX7456_CS_PIN          PC13
-...
-#define USE_OSD

-// not able to fins any "TIM_USE_AUTO" DEFINED INSIDE THE typedef enum in timer.h file so used "   TIM_USE_ANY" INSTEAD .
-DEF_TIM(TIM3, CH1, PB4,  TIM_USE_ANY, 0, 0), // S1
-DEF_TIM(TIM3, CH2, PB5,  TIM_USE_ANY, 0, 0), // S2
-DEF_TIM(TIM3, CH3, PB0,  TIM_USE_ANY, 0, 0), // S3
-DEF_TIM(TIM3, CH4, PB1,  TIM_USE_ANY, 0, 0), // S4
-DEF_TIM(TIM2, CH1, PA15, TIM_USE_ANY, 0, 0),// Servo 1
-DEF_TIM(TIM2, CH2, PB3,  TIM_USE_ANY, 0, 0),// Servo 2
+DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0), // S2
+DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0),// Servo 1
+DEF_TIM(TIM2, CH2, PB3,  TIM_USE_OUTPUT_AUTO, 0, 0),// Servo 2

 pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;