INAV 7.1.1

docs/Settings.md

@@ -1814,11 +1814,11 @@ 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 |
 
 ---
 

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);
     }

src/main/fc/fc_core.c

@@ -342,6 +342,10 @@ 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

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"

src/main/fc/settings.yaml

@@ -2266,9 +2266,10 @@ groups:
         min: 0
         max: 255
       - name: inav_use_gps_no_baro
+        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
         field: use_gps_no_baro
         type: bool
-        default_value: 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

src/main/io/osd.c

@@ -1022,7 +1022,7 @@ static const char * divertingToSafehomeMessage(void)
 	    return OSD_MESSAGE_STR(OSD_MSG_DIVERT_SAFEHOME);
 	}
 #endif
-	return NULL;   
+	return NULL;
 }
 
 
@@ -1047,7 +1047,7 @@ 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:
@@ -1088,7 +1088,7 @@ 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:
@@ -2401,7 +2401,7 @@ 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
@@ -5404,6 +5404,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
     static uint8_t statsCurrentPage = 0;
     static bool statsDisplayed = false;
     static bool statsAutoPagingEnabled = true;
+    static bool isThrottleHigh = false;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -5429,6 +5430,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
             statsAutoPagingEnabled = osdConfig()->stats_page_auto_swap_time > 0 ? true : false;
             osdShowStats(statsSinglePageCompatible, statsCurrentPage);
             osdSetNextRefreshIn(STATS_SCREEN_DISPLAY_TIME);
+            isThrottleHigh = checkStickPosition(THR_HI);
         }
 
         armState = ARMING_FLAG(ARMED);
@@ -5494,7 +5496,7 @@ 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 && !isThrottleHigh)) {
             // Time elapsed or canceled by stick commands.
             // Exit to normal OSD operation.
             displayClearScreen(osdDisplayPort);
@@ -5503,6 +5505,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
         } else {
             // Continue "Splash", "Armed" or "Stats" screens.
             displayHeartbeat(osdDisplayPort);
+            isThrottleHigh = checkStickPosition(THR_HI);
         }
 
         return;
@@ -5717,11 +5720,11 @@ 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