.pr_agent_auto_best_practices - iNavFlight/inav GitHub Wiki

 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;
 }

-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;
     }

 const float referenceAirspeed = pidProfile()->fixedWingReferenceAirspeed; // in cm/s
-tpaThrottle = currentControlRateProfile->throttle.pa_breakpoint + (uint16_t)((airspeed - referenceAirspeed) / referenceAirspeed * (currentControlRateProfile->throttle.pa_breakpoint - getThrottleIdleValue()));
+if (referenceAirspeed > 0) {
+    tpaThrottle = currentControlRateProfile->throttle.pa_breakpoint + (uint16_t)((airspeed - referenceAirspeed) / referenceAirspeed * (currentControlRateProfile->throttle.pa_breakpoint - getThrottleIdleValue()));
+} else {
+    // Fallback to regular throttle if reference airspeed is not configured
+    tpaThrottle = rcCommand[THROTTLE];
+}

-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;

 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);
 }

-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;

 #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:
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-# Generated by "Unix Makefiles" Generator, CMake Version 4.1
+# This file should be removed from the pull request and repository.
 
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-
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-

 //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++;
     }
 }