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 01/34] Version to 7.1.1

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

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d8247e7cb5a..f74527e5f1b 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 02/34] 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 4ccb3249536..118221229c5 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 03/34] 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 c61c2aa19e9..f1c72458bff 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 04/34] 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 118221229c5..10eff364f34 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 05/34] 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 1f5ccde178e..8608eb01f51 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 0f63c66ddd5..66abea46399 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 06/34] 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 9e81024c3af..69b4a112b65 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 07/34] 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 849cdc2b7c0..0d4897dd557 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 f0cc50bbaa1..435b09f9e3f 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 69b4a112b65..284afc74109 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 6ebdaeccead..19cc5022ed3 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 d716c58c496..bc5a1482894 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 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 08/34] 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 f0cc50bbaa1..f06845c3662 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 09/34] 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 453b8fda0cc..1bb0165761e 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 10/34] 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 0d0863760de..0c8daea2ca8 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 9e81024c3af..d2a5732de79 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 d716c58c496..121597c93bc 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 11/34] 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 d2a5732de79..c85359ee50d 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 12/34] 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 f06845c3662..c6574db97c6 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 13/34] 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 00000000000..706b818e2b8
--- /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 00000000000..c80a92940a9
--- /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 00000000000..8581cc5bf11
--- /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 00000000000..0c95564162e
--- /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 14/34] 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 00000000000..c4716f616ee
--- /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 00000000000..247efb84e52
--- /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 00000000000..61ab442653d
--- /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 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 15/34] 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 00000000000..fb99881c9bd
--- /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 00000000000..07f44ab29f7
--- /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 00000000000..e8187f936b2
--- /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 00000000000..fd64ff153d6
--- /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 00000000000..5f5a85e7c5d
--- /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 00000000000..fb2fe04f963
--- /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 00000000000..f603cbe43be
--- /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 00000000000..dfd45749d2d
--- /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 00000000000..b0192886d6c
--- /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 00000000000..4f0aea919e7
--- /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 00000000000..adb753b9d17
--- /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 00000000000..92300b52564
--- /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 16/34] 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 f1f5356dcb2..79bfc08d2cb 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 17/34] 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 247efb84e52..d67062a9fbc 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 61ab442653d..817dc535f03 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 18/34] 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 8608eb01f51..9c31498ef19 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 66abea46399..d2d8c5c433e 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 19/34] 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 284afc74109..e8d481a6cf8 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 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 20/34] 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 ba3a5344c20..d632230c240 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 21/34] 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 a82a708f51a..04c083ac94f 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 22/34] 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 09e27045ca6..94dc8bf344a 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 23/34] 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 94dc8bf344a..6fddc02df85 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 24/34] 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 247efb84e52..d67062a9fbc 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 61ab442653d..817dc535f03 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 25/34] 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 7b2590ff70b..5769b56fbdb 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 26/34] 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 e1e6cb29676..0d797e1f756 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 27/34] 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 d97e6d300ce..75bb46668d7 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 9b2b06646c5..a07e55eaaa4 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 28/34] 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 6fddc02df85..09e27045ca6 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 29/34] 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 b443dc49941..eca17c2d656 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 015c9e371c5..5d23d36fc59 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 30/34] 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 eca17c2d656..cedd3b3e9e3 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 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 31/34] change loiter control logic

---
 src/main/navigation/navigation.c           | 54 ++++++++++++----------
 src/main/navigation/navigation_fixedwing.c |  9 ++--
 src/main/navigation/navigation_private.h   |  1 +
 3 files changed, 36 insertions(+), 28 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index cedd3b3e9e3..1d24f9ae57b 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;
-
-    // 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 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 */
+
+    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 2dfebdf8d98..e9991203578 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 5d23d36fc59..ddd2bb908da 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 32/34] 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 1d24f9ae57b..070bd1b4b83 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 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 33/34] 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 070bd1b4b83..b00442895b6 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 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 34/34] 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 0ab403a8ae5..711ee05f37a 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());