diff --git a/.gitignore b/.gitignore
index b2c3b9ff546..87ca5a87c7b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,3 +35,4 @@ make/local.mk
 launch.json
 .vscode/tasks.json
 .vscode/c_cpp_properties.json
+/cmake-build-debug/
diff --git a/docs/ADSB.md b/docs/ADSB.md
new file mode 100644
index 00000000000..345af30a97e
--- /dev/null
+++ b/docs/ADSB.md
@@ -0,0 +1,17 @@
+# ADS-B
+
+[Automatic Dependent Surveillance Broadcast](https://en.wikipedia.org/wiki/Automatic_Dependent_Surveillance%E2%80%93Broadcast)
+is an air traffic surveillance technology that enables aircraft to be accurately tracked by air traffic controllers and other pilots without the need for conventional radar.
+
+## Current state
+
+OSD can be configured to shows the closest aircraft.
+
+## Hardware
+
+All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/messages/common.html#ADSB_VEHICLE) message are supported 
+
+* [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
+* [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+
+
diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
index ec8685d0d4e..55aedd3a30b 100644
--- a/docs/MixerProfile.md
+++ b/docs/MixerProfile.md
@@ -104,6 +104,9 @@ TailSitter is supported by add a 90deg offset to the board alignment. Set the bo
   - Rate Settings
   - ·······
 
+### TailSitter support
+TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing `set platform_type = TAILSITTER`. The `TAILSITTER` platform type is same as `MULTIROTOR` platform type, expect for a 90 deg board alignment offset. In `TAILSITTER` mixer_profile, when motor trust/airplane nose is pointing to the sky, 'airplane bottom'/'multi rotor front' should facing forward in model preview. Set the motor/servo mixer according to multirotor orientation, Model should roll around geography's longitudinal axis, the roll axis of `TAILSITTER` will be yaw axis of `AIRPLANE`. In addition, When `MIXER TRANSITION` input is activated, a 45deg offset will be add to the target angle for angle mode.
+
 ## Happy flying
 
 Remember that this is currently an emerging capability:
diff --git a/docs/Settings.md b/docs/Settings.md
index 5befa0aeffe..b6f056efd87 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4032,6 +4032,36 @@ _// TODO_
 
 ---
 
+### osd_adsb_distance_alert
+
+Distance inside which ADSB data flashes for proximity warning
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3000 | 1 | 64000 |
+
+---
+
+### osd_adsb_distance_warning
+
+Distance in meters of ADSB aircraft that is displayed
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 20000 | 1 | 64000 |
+
+---
+
+### osd_adsb_ignore_plane_above_me_limit
+
+Ignore adsb planes above, limit, 0 disabled (meters)
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 64000 |
+
+---
+
 ### osd_ahi_bordered
 
 Shows a border/corners around the AHI region (pixel OSD only)
@@ -5812,6 +5842,16 @@ Delay before disarming when requested by switch (ms) [0-1000]
 
 ---
 
+### tailsitter_orientation_offset
+
+Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### telemetry_halfduplex
 
 S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details
diff --git a/lib/main/STM32F4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c b/lib/main/STM32F4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
index 5d4d2521693..3c63a978f2c 100644
--- a/lib/main/STM32F4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
+++ b/lib/main/STM32F4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
@@ -343,6 +343,12 @@ static int8_t SCSI_ModeSense6 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     len--;
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
+
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
+  }
+
   return 0;
 }
 
@@ -365,6 +371,12 @@ static int8_t SCSI_ModeSense10 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t
     len--;
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
+
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
+  }
+
   return 0;
 }
 
diff --git a/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c b/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
index ed3deef5959..b1d76cc25da 100644
--- a/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
+++ b/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
@@ -347,6 +347,12 @@ static int8_t SCSI_ModeSense6 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     len--;
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
+
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
+  }
+
   return 0;
 }
 
@@ -370,6 +376,12 @@ static int8_t SCSI_ModeSense10 (USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t
     len--;
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
+
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
+  }
+
   return 0;
 }
 
diff --git a/lib/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c b/lib/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
index d15d9039a54..ffc615dac5a 100644
--- a/lib/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
+++ b/lib/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc_scsi.c
@@ -346,6 +346,12 @@ static int8_t SCSI_ModeSense6(USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *p
     len--;
     hmsc->bot_data[len] = MSC_Mode_Sense6_data[len];
   }
+
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[2] = hmsc->bot_data[2] | (1 << 7);
+  }
+
   return 0;
 }
 
@@ -371,6 +377,11 @@ static int8_t SCSI_ModeSense10(USBD_HandleTypeDef  *pdev, uint8_t lun, uint8_t *
     hmsc->bot_data[len] = MSC_Mode_Sense10_data[len];
   }
 
+  // set bit 7 of the device configuration byte to indicate write protection
+  if (((USBD_StorageTypeDef *)pdev->pMSC_UserData)->IsWriteProtected(lun) != 0) {
+      hmsc->bot_data[3] = hmsc->bot_data[3] | (1 << 7);
+  }
+
   return 0;
 }
 
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
index db4b1f57d1b..ddeda56590c 100755
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -344,6 +344,7 @@ main_sources(COMMON_SRC
     flight/ez_tune.c
     flight/ez_tune.h
 
+    io/adsb.c
     io/beeper.c
     io/beeper.h
     io/servo_sbus.c
diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index d645184e5b4..2437b9d3c2c 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -180,6 +180,8 @@
 #define SYM_CROSS_TRACK_ERROR       0xFC  // 252 Cross track error
 
 
+#define SYM_ADSB                    0xFD // 253 ADSB
+
 #define SYM_LOGO_START              0x101 // 257 to 297, INAV logo
 #define SYM_LOGO_WIDTH              10
 #define SYM_LOGO_HEIGHT             4
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index be4d621549c..84a4c32c232 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -83,6 +83,7 @@
 #include "config/config_eeprom.h"
 #include "config/feature.h"
 
+#include "io/adsb.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
@@ -948,6 +949,33 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, gpsSol.epv);
         break;
 #endif
+    case MSP2_ADSB_VEHICLE_LIST:
+#ifdef USE_ADSB
+        sbufWriteU8(dst, MAX_ADSB_VEHICLES);
+        sbufWriteU8(dst, ADSB_CALL_SIGN_MAX_LENGTH);
+
+        for(uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++){
+
+            adsbVehicle_t *adsbVehicle = findVehicle(i);
+
+            for(uint8_t ii = 0; ii < ADSB_CALL_SIGN_MAX_LENGTH; ii++){
+                sbufWriteU8(dst, adsbVehicle->vehicleValues.callsign[ii]);
+            }
+
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.icao);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.lat);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.lon);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.alt);
+            sbufWriteU16(dst, (uint16_t)CENTIDEGREES_TO_DEGREES(adsbVehicle->vehicleValues.heading));
+            sbufWriteU8(dst,  adsbVehicle->vehicleValues.tslc);
+            sbufWriteU8(dst,  adsbVehicle->vehicleValues.emitterType);
+            sbufWriteU8(dst,  adsbVehicle->ttl);
+        }
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+#endif
+            break;
     case MSP_DEBUG:
         // output some useful QA statistics
         // debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000);         // XX0YY [crystal clock : core clock]
@@ -1518,6 +1546,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #else
         sbufWriteU16(dst, 0);
         sbufWriteU16(dst, 0);
+#endif
+#ifdef USE_ADSB
+        sbufWriteU16(dst, osdConfig()->adsb_distance_warning);
+        sbufWriteU16(dst, osdConfig()->adsb_distance_alert);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
 #endif
         break;
 
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 607a814bed5..246d65c0a7e 100755
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -69,6 +69,7 @@
 #include "io/osd_dji_hd.h"
 #include "io/displayport_msp_osd.h"
 #include "io/servo_sbus.h"
+#include "io/adsb.h"
 
 #include "msp/msp_serial.h"
 
@@ -181,6 +182,14 @@ void taskUpdateCompass(timeUs_t currentTimeUs)
 }
 #endif
 
+#ifdef USE_ADSB
+void taskAdsb(timeUs_t currentTimeUs)
+{
+    UNUSED(currentTimeUs);
+    adsbTtlClean(currentTimeUs);
+}
+#endif
+
 #ifdef USE_BARO
 void taskUpdateBaro(timeUs_t currentTimeUs)
 {
@@ -360,6 +369,9 @@ void fcTasksInit(void)
 #ifdef USE_PITOT
     setTaskEnabled(TASK_PITOT, sensors(SENSOR_PITOT));
 #endif
+#ifdef USE_ADSB
+    setTaskEnabled(TASK_ADSB, true);
+#endif
 #ifdef USE_RANGEFINDER
     setTaskEnabled(TASK_RANGEFINDER, sensors(SENSOR_RANGEFINDER));
 #endif
@@ -495,6 +507,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
+#ifdef USE_ADSB
+        [TASK_ADSB] = {
+        .taskName = "ADSB",
+        .taskFunc = taskAdsb,
+        .desiredPeriod = TASK_PERIOD_HZ(1),      // ADSB is updated at 1 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
+
 #ifdef USE_BARO
     [TASK_BARO] = {
         .taskName = "BARO",
diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h
index 8d4f8ae824e..5b6c6241397 100644
--- a/src/main/fc/runtime_config.h
+++ b/src/main/fc/runtime_config.h
@@ -144,6 +144,7 @@ typedef enum {
     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
     LANDING_DETECTED                    = (1 << 26),
     IN_FLIGHT_EMERG_REARM               = (1 << 27),
+    TAILSITTER                          = (1 << 28), //offset the pitch angle by 90 degrees
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 3df7beebb1e..770844d9fe2 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1191,6 +1191,11 @@ groups:
         field: mixer_config.switchTransitionTimer
         min: 0
         max: 200
+      - name: tailsitter_orientation_offset
+        description: "Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode"
+        default_value: OFF
+        field: mixer_config.tailsitterOrientationOffset
+        type: bool
 
 
 
@@ -3457,6 +3462,31 @@ groups:
         max: 11
         default_value: 9
 
+      - name: osd_adsb_distance_warning
+        description: "Distance in meters of ADSB aircraft that is displayed"
+        default_value: 20000
+        condition: USE_ADSB
+        field: adsb_distance_warning
+        min: 1
+        max: 64000
+        type: uint16_t
+      - name: osd_adsb_distance_alert
+        description: "Distance inside which ADSB data flashes for proximity warning"
+        default_value: 3000
+        condition: USE_ADSB
+        field: adsb_distance_alert
+        min: 1
+        max: 64000
+        type: uint16_t
+      - name: osd_adsb_ignore_plane_above_me_limit
+        description: "Ignore adsb planes above, limit, 0 disabled (meters)"
+        default_value: 0
+        condition: USE_ADSB
+        field: adsb_ignore_plane_above_me_limit
+        min: 0
+        max: 64000
+        type: uint16_t
+
       - name: osd_estimations_wind_compensation
         description: "Use wind estimation for remaining flight time/distance estimation"
         default_value: ON
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index a99520a36b2..d3f9d90d7db 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -704,6 +704,33 @@ static void imuCalculateTurnRateacceleration(fpVector3_t *vEstcentrifugalAccelBF
     lastspeed = currentspeed;
 }
 
+fpQuaternion_t* getTailSitterQuaternion(bool normal2tail){
+    static bool firstRun = true;
+    static fpQuaternion_t qNormal2Tail;
+    static fpQuaternion_t qTail2Normal;
+    if(firstRun){
+        fpAxisAngle_t axisAngle;
+        axisAngle.axis.x = 0;
+        axisAngle.axis.y = 1;
+        axisAngle.axis.z = 0;
+        axisAngle.angle = DEGREES_TO_RADIANS(-90);
+        axisAngleToQuaternion(&qNormal2Tail, &axisAngle);
+        quaternionConjugate(&qTail2Normal, &qNormal2Tail);
+        firstRun = false;
+    }
+    return normal2tail ? &qNormal2Tail : &qTail2Normal;
+}
+
+void imuUpdateTailSitter(void)
+{
+    static bool lastTailSitter=false;
+    if (((bool)STATE(TAILSITTER)) != lastTailSitter){
+        fpQuaternion_t* rotation_for_tailsitter= getTailSitterQuaternion(STATE(TAILSITTER));
+        quaternionMultiply(&orientation, &orientation, rotation_for_tailsitter);
+    }
+    lastTailSitter = STATE(TAILSITTER);
+}
+
 static void imuCalculateEstimatedAttitude(float dT)
 {
 #if defined(USE_MAG)
@@ -800,6 +827,7 @@ static void imuCalculateEstimatedAttitude(float dT)
                             useCOG, courseOverGround,
                             accWeight,
                             magWeight);
+    imuUpdateTailSitter();
     imuUpdateEulerAngles();
 }
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 35674c1f5dc..834841e6580 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -161,6 +161,7 @@ void mixerUpdateStateFlags(void)
     DISABLE_STATE(BOAT);
     DISABLE_STATE(AIRPLANE);
     DISABLE_STATE(MOVE_FORWARD_ONLY);
+    DISABLE_STATE(TAILSITTER);
 
     if (currentMixerConfig.platformType == PLATFORM_AIRPLANE) {
         ENABLE_STATE(FIXED_WING_LEGACY);
@@ -186,6 +187,12 @@ void mixerUpdateStateFlags(void)
         ENABLE_STATE(ALTITUDE_CONTROL);
     }
 
+    if (currentMixerConfig.tailsitterOrientationOffset) {
+        ENABLE_STATE(TAILSITTER);
+    } else {
+        DISABLE_STATE(TAILSITTER);
+    }
+
     if (currentMixerConfig.hasFlaps) {
         ENABLE_STATE(FLAPERON_AVAILABLE);
     } else {
diff --git a/src/main/flight/mixer_profile.c b/src/main/flight/mixer_profile.c
index 64a6c39380d..7b2590ff70b 100644
--- a/src/main/flight/mixer_profile.c
+++ b/src/main/flight/mixer_profile.c
@@ -53,6 +53,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
                          .PIDProfileLinking = SETTING_MIXER_PID_PROFILE_LINKING_DEFAULT,
                          .automated_switch = SETTING_MIXER_AUTOMATED_SWITCH_DEFAULT,
                          .switchTransitionTimer =  SETTING_MIXER_SWITCH_TRANS_TIMER_DEFAULT,
+                         .tailsitterOrientationOffset = SETTING_TAILSITTER_ORIENTATION_OFFSET_DEFAULT,
                      });
         for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++)
         {
diff --git a/src/main/flight/mixer_profile.h b/src/main/flight/mixer_profile.h
index 50fbb4a82f1..947ca701553 100644
--- a/src/main/flight/mixer_profile.h
+++ b/src/main/flight/mixer_profile.h
@@ -18,6 +18,7 @@ typedef struct mixerConfig_s {
     bool PIDProfileLinking;
     bool automated_switch;
     int16_t switchTransitionTimer;
+    bool tailsitterOrientationOffset;
 } mixerConfig_t;
 typedef struct mixerProfile_s {
     mixerConfig_t mixer_config;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index bc794735eb2..16ad2bc431d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -586,7 +586,11 @@ int16_t angleFreefloatDeadband(int16_t deadband, flight_dynamics_index_t axis)
 
 static float computePidLevelTarget(flight_dynamics_index_t axis) {
     // This is ROLL/PITCH, run ANGLE/HORIZON controllers
+#ifdef USE_PROGRAMMING_FRAMEWORK
+    float angleTarget = pidRcCommandToAngle(getRcCommandOverride(rcCommand, axis), pidProfile()->max_angle_inclination[axis]);
+#else
     float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);
+#endif
 
     // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
     if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
@@ -1142,7 +1146,6 @@ void FAST_CODE pidController(float dT)
     }
 
     for (int axis = 0; axis < 3; axis++) {
-        // Step 1: Calculate gyro rates
         pidState[axis].gyroRate = gyro.gyroADCf[axis];
 
         // Step 2: Read target
@@ -1179,6 +1182,11 @@ void FAST_CODE pidController(float dT)
         if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || FLIGHT_MODE(ANGLEHOLD_MODE) || isFlightAxisAngleOverrideActive(axis)) {
             // If axis angle override, get the correct angle from Logic Conditions
             float angleTarget = getFlightAxisAngleOverride(axis, computePidLevelTarget(axis));
+            
+            //apply 45 deg offset for tailsitter when isMixerTransitionMixing is activated
+            if (STATE(TAILSITTER) && isMixerTransitionMixing && axis == FD_PITCH){
+                angleTarget += DEGREES_TO_DECIDEGREES(45);
+            }
 
             if (STATE(AIRPLANE)) {  // update anglehold mode
                 updateAngleHold(&angleTarget, axis);
diff --git a/src/main/io/adsb.c b/src/main/io/adsb.c
new file mode 100644
index 00000000000..573112c2df7
--- /dev/null
+++ b/src/main/io/adsb.c
@@ -0,0 +1,223 @@
+/*
+ * 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 <string.h>
+
+
+#include "adsb.h"
+
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
+#include "common/maths.h"
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+#include "common/mavlink.h"
+#pragma GCC diagnostic pop
+
+
+#include "math.h"
+
+
+#ifdef USE_ADSB
+
+adsbVehicle_t adsbVehiclesList[MAX_ADSB_VEHICLES];
+adsbVehicleStatus_t adsbVehiclesStatus;
+
+adsbVehicleValues_t vehicleValues;
+
+
+adsbVehicleValues_t* getVehicleForFill(void){
+    return &vehicleValues;
+}
+
+// use bsearch function
+adsbVehicle_t *findVehicleByIcao(uint32_t avicao) {
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (avicao == adsbVehiclesList[i].vehicleValues.icao) {
+            return &adsbVehiclesList[i];
+        }
+    }
+    return NULL;
+}
+
+adsbVehicle_t *findVehicleFarthest(void) {
+    adsbVehicle_t *adsbLocal = NULL;
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (adsbVehiclesList[i].ttl > 0 && adsbVehiclesList[i].calculatedVehicleValues.valid && (adsbLocal == NULL || adsbLocal->calculatedVehicleValues.dist < adsbVehiclesList[i].calculatedVehicleValues.dist)) {
+            adsbLocal = &adsbVehiclesList[i];
+        }
+    }
+    return adsbLocal;
+}
+
+uint8_t getActiveVehiclesCount(void) {
+    uint8_t total = 0;
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (adsbVehiclesList[i].ttl > 0) {
+            total++;
+        }
+    }
+    return total;
+}
+
+adsbVehicle_t *findVehicleClosest(void) {
+    adsbVehicle_t *adsbLocal = NULL;
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (adsbVehiclesList[i].ttl > 0 && adsbVehiclesList[i].calculatedVehicleValues.valid && (adsbLocal == NULL || adsbLocal->calculatedVehicleValues.dist > adsbVehiclesList[i].calculatedVehicleValues.dist)) {
+            adsbLocal = &adsbVehiclesList[i];
+        }
+    }
+    return adsbLocal;
+}
+
+adsbVehicle_t *findFreeSpaceInList(void) {
+    //find expired first
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (adsbVehiclesList[i].ttl == 0) {
+            return &adsbVehiclesList[i];
+        }
+    }
+
+    return NULL;
+}
+
+adsbVehicle_t *findVehicleNotCalculated(void) {
+    //find expired first
+    for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+        if (adsbVehiclesList[i].calculatedVehicleValues.valid == false) {
+            return &adsbVehiclesList[i];
+        }
+    }
+
+    return NULL;
+}
+
+adsbVehicle_t* findVehicle(uint8_t index)
+{
+    if (index < MAX_ADSB_VEHICLES){
+        return &adsbVehiclesList[index];
+    }
+
+    return NULL;
+}
+
+adsbVehicleStatus_t* getAdsbStatus(void){
+    return &adsbVehiclesStatus;
+}
+
+void gpsDistanceCmBearing(int32_t currentLat1, int32_t currentLon1, int32_t destinationLat2, int32_t destinationLon2, uint32_t *dist, int32_t *bearing) {
+    float GPS_scaleLonDown = cos_approx((fabsf((float) gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f);
+    const float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees
+    const float dLon = (float) (destinationLon2 - currentLon1) * GPS_scaleLonDown;
+
+    *dist = sqrtf(sq(dLat) + sq(dLon)) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR;
+    *bearing = 9000.0f + RADIANS_TO_CENTIDEGREES(atan2_approx(-dLat, dLon));      // Convert the output radians to 100xdeg
+    *bearing = wrap_36000(*bearing);
+};
+
+void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal) {
+
+    // no valid lat lon or altitude
+    if((vehicleValuesLocal->flags & (ADSB_FLAGS_VALID_ALTITUDE | ADSB_FLAGS_VALID_COORDS)) != (ADSB_FLAGS_VALID_ALTITUDE | ADSB_FLAGS_VALID_COORDS)){
+        return;
+    }
+
+    adsbVehiclesStatus.vehiclesMessagesTotal++;
+    adsbVehicle_t *vehicle = NULL;
+
+    vehicle = findVehicleByIcao(vehicleValuesLocal->icao);
+    if(vehicle != NULL && vehicleValuesLocal->tslc > ADSB_MAX_SECONDS_KEEP_INACTIVE_PLANE_IN_LIST){
+        vehicle->ttl = 0;
+        return;
+    }
+
+    // non GPS mode, GPS is not fix, just find free space in list or by icao and save vehicle without calculated values
+    if (!enviromentOkForCalculatingDistaceBearing()) {
+
+        if(vehicle == NULL){
+            vehicle = findFreeSpaceInList();
+        }
+
+        if (vehicle != NULL) {
+            memcpy(&(vehicle->vehicleValues), vehicleValuesLocal, sizeof(vehicle->vehicleValues));
+            vehicle->ttl = ADSB_MAX_SECONDS_KEEP_INACTIVE_PLANE_IN_LIST;
+            vehicle->calculatedVehicleValues.valid = false;
+            return;
+        }
+    } else {
+        // GPS mode, GPS is fixed and has enough sats
+
+
+        if(vehicle == NULL){
+            vehicle = findFreeSpaceInList();
+        }
+
+        if(vehicle == NULL){
+            vehicle = findVehicleNotCalculated();
+        }
+
+        if(vehicle == NULL){
+            vehicle = findVehicleFarthest();
+        }
+
+        if (vehicle != NULL) {
+            memcpy(&(vehicle->vehicleValues), vehicleValuesLocal, sizeof(vehicle->vehicleValues));
+            recalculateVehicle(vehicle);
+            vehicle->ttl = ADSB_MAX_SECONDS_KEEP_INACTIVE_PLANE_IN_LIST;
+            return;
+        }
+    }
+};
+
+void recalculateVehicle(adsbVehicle_t* vehicle){
+    gpsDistanceCmBearing(gpsSol.llh.lat, gpsSol.llh.lon, vehicle->vehicleValues.lat, vehicle->vehicleValues.lon, &(vehicle->calculatedVehicleValues.dist), &(vehicle->calculatedVehicleValues.dir));
+
+    if (vehicle != NULL && vehicle->calculatedVehicleValues.dist > ADSB_LIMIT_CM) {
+        vehicle->ttl = 0;
+        return;
+    }
+
+    vehicle->calculatedVehicleValues.verticalDistance = vehicle->vehicleValues.alt - (int32_t)getEstimatedActualPosition(Z) - GPS_home.alt;
+    vehicle->calculatedVehicleValues.valid = true;
+}
+
+void adsbTtlClean(timeUs_t currentTimeUs) {
+
+    static timeUs_t adsbTtlLastCleanServiced = 0;
+    timeDelta_t adsbTtlSinceLastCleanServiced = cmpTimeUs(currentTimeUs, adsbTtlLastCleanServiced);
+
+
+    if (adsbTtlSinceLastCleanServiced > 1000000) // 1s
+    {
+        for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
+            if (adsbVehiclesList[i].ttl > 0) {
+                adsbVehiclesList[i].ttl--;
+            }
+        }
+
+        adsbTtlLastCleanServiced = currentTimeUs;
+    }
+};
+
+bool enviromentOkForCalculatingDistaceBearing(void){
+    return (STATE(GPS_FIX) && gpsSol.numSat > 4);
+}
+
+#endif
+
diff --git a/src/main/io/adsb.h b/src/main/io/adsb.h
new file mode 100644
index 00000000000..86eefd8aac1
--- /dev/null
+++ b/src/main/io/adsb.h
@@ -0,0 +1,67 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "common/time.h"
+#include "fc/runtime_config.h"
+
+#define ADSB_CALL_SIGN_MAX_LENGTH 9
+#define ADSB_MAX_SECONDS_KEEP_INACTIVE_PLANE_IN_LIST 10
+
+typedef struct {
+    bool valid;
+    int32_t dir;   // centidegrees direction to plane, pivot is inav FC
+    uint32_t dist;  // CM distance to plane, pivot is inav FC
+    int32_t verticalDistance; // CM, vertical distance to plane, pivot is inav FC
+} adsbVehicleCalculatedValues_t;
+
+typedef struct {
+    uint32_t icao; // ICAO address
+    int32_t lat; // Latitude, expressed as degrees * 1E7
+    int32_t lon; // Longitude, expressed as degrees * 1E7
+    int32_t alt;  // Barometric/Geometric Altitude (ASL), in cm
+    uint16_t heading; // Course over ground in centidegrees
+    uint16_t flags; // Flags to indicate various statuses including valid data fields
+    uint8_t altitudeType; // Type from ADSB_ALTITUDE_TYPE enum
+    char callsign[ADSB_CALL_SIGN_MAX_LENGTH]; // The callsign, 8 chars + NULL
+    uint8_t emitterType; // Type from ADSB_EMITTER_TYPE enum
+    uint8_t tslc; // Time since last communication in seconds
+} adsbVehicleValues_t;
+
+typedef struct {
+    adsbVehicleValues_t vehicleValues;
+    adsbVehicleCalculatedValues_t calculatedVehicleValues;
+    uint8_t ttl;
+} adsbVehicle_t;
+
+
+
+typedef struct {
+   uint32_t vehiclesMessagesTotal;
+} adsbVehicleStatus_t;
+
+void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal);
+adsbVehicle_t * findVehicleClosest(void);
+adsbVehicle_t * findVehicle(uint8_t index);
+uint8_t getActiveVehiclesCount(void);
+void adsbTtlClean(timeUs_t currentTimeUs);
+adsbVehicleStatus_t* getAdsbStatus(void);
+adsbVehicleValues_t* getVehicleForFill(void);
+bool enviromentOkForCalculatingDistaceBearing(void);
+void recalculateVehicle(adsbVehicle_t* vehicle);
\ No newline at end of file
diff --git a/src/main/io/displayport_msp_bf_compat.c b/src/main/io/displayport_msp_bf_compat.c
index 4229e035b03..dd120a2295d 100644
--- a/src/main/io/displayport_msp_bf_compat.c
+++ b/src/main/io/displayport_msp_bf_compat.c
@@ -578,6 +578,48 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
     case (SYM_AH_V_START+4):
     case (SYM_AH_V_START+5):
         return BF_SYM_AH_BAR9_4;
+
+    // BF for ESP_RADAR Symbols
+    case SYM_HUD_CARDINAL:
+        return BF_SYM_ARROW_SOUTH;
+    case SYM_HUD_CARDINAL + 1:
+        return BF_SYM_ARROW_16;
+    case SYM_HUD_CARDINAL + 2:
+        return BF_SYM_ARROW_15;
+    case SYM_HUD_CARDINAL + 3:
+        return BF_SYM_ARROW_WEST;
+    case SYM_HUD_CARDINAL + 4:
+        return BF_SYM_ARROW_12;
+    case SYM_HUD_CARDINAL + 5:
+        return BF_SYM_ARROW_11;
+    case SYM_HUD_CARDINAL + 6:
+        return BF_SYM_ARROW_NORTH;
+    case SYM_HUD_CARDINAL + 7:
+        return BF_SYM_ARROW_7;
+    case SYM_HUD_CARDINAL + 8:
+        return BF_SYM_ARROW_6;
+    case SYM_HUD_CARDINAL + 9:
+        return BF_SYM_ARROW_EAST;
+    case SYM_HUD_CARDINAL + 10:
+        return BF_SYM_ARROW_3;
+    case SYM_HUD_CARDINAL + 11:
+        return BF_SYM_ARROW_2;
+
+    case SYM_HUD_ARROWS_R3:
+        return BF_SYM_AH_RIGHT;
+    case SYM_HUD_ARROWS_L3:
+        return BF_SYM_AH_LEFT;
+
+    case SYM_HUD_SIGNAL_0:
+        return BF_SYM_AH_BAR9_1;
+    case SYM_HUD_SIGNAL_1:
+        return BF_SYM_AH_BAR9_3;
+    case SYM_HUD_SIGNAL_2:
+        return BF_SYM_AH_BAR9_4;
+    case SYM_HUD_SIGNAL_3:
+        return BF_SYM_AH_BAR9_5;
+    case SYM_HUD_SIGNAL_4:
+        return BF_SYM_AH_BAR9_7;
 /*
     case SYM_VARIO_UP_2A:
         return BF_SYM_VARIO_UP_2A;
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 22e11250963..9e2874b582b 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -62,6 +62,7 @@
 #include "drivers/time.h"
 #include "drivers/vtx_common.h"
 
+#include "io/adsb.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
 #include "io/osd.h"
@@ -2085,7 +2086,73 @@ static bool osdDrawSingleElement(uint8_t item)
             osdFormatCentiNumber(&buff[2], centiHDOP, 0, 1, 0, digits, false);
             break;
         }
+#ifdef USE_ADSB
+        case OSD_ADSB_WARNING:
+        {
+            static uint8_t adsblen = 1;
+            uint8_t arrowPositionX = 0;
+
+            for (int i = 0; i <= adsblen; i++) {
+                buff[i] = SYM_BLANK;
+            }
+
+            buff[adsblen]='\0';
+            displayWrite(osdDisplayPort, elemPosX, elemPosY, buff); // clear any previous chars because variable element size
+            adsblen=1;
+            adsbVehicle_t *vehicle = findVehicleClosest();
+
+            if(vehicle != NULL){
+                recalculateVehicle(vehicle);
+            }
+
+            if (
+                    vehicle != NULL &&
+                    (vehicle->calculatedVehicleValues.dist > 0) &&
+                    vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_warning) &&
+                    (osdConfig()->adsb_ignore_plane_above_me_limit == 0 || METERS_TO_CENTIMETERS(osdConfig()->adsb_ignore_plane_above_me_limit) > vehicle->calculatedVehicleValues.verticalDistance)
+            ){
+                buff[0] = SYM_ADSB;
+                osdFormatDistanceStr(&buff[1], (int32_t)vehicle->calculatedVehicleValues.dist);
+                adsblen = strlen(buff);
+
+                buff[adsblen-1] = SYM_BLANK;
+
+                arrowPositionX = adsblen-1;
+                osdFormatDistanceStr(&buff[adsblen], vehicle->calculatedVehicleValues.verticalDistance);
+                adsblen = strlen(buff)-1;
+
+                if (vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_alert)) {
+                    TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
+                }
+            }
+
+            buff[adsblen]='\0';
+            displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY, buff, elemAttr);
+
+            if (arrowPositionX > 0){
+                int16_t panHomeDirOffset = 0;
+                if (osdConfig()->pan_servo_pwm2centideg != 0){
+                    panHomeDirOffset = osdGetPanServoOffset();
+                }
+                int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading());
+                osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX + arrowPositionX, elemPosY), CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir) - flightDirection + panHomeDirOffset);
+            }
 
+            return true;
+        }
+        case OSD_ADSB_INFO:
+        {
+            buff[0] = SYM_ADSB;
+            if(getAdsbStatus()->vehiclesMessagesTotal > 0){
+                tfp_sprintf(buff + 1, "%2d", getActiveVehiclesCount());
+            }else{
+                buff[1] = '-';
+            }
+
+            break;
+        }
+
+#endif
     case OSD_MAP_NORTH:
         {
             static uint16_t drawn = 0;
@@ -3767,6 +3834,11 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .baro_temp_alarm_min = SETTING_OSD_BARO_TEMP_ALARM_MIN_DEFAULT,
     .baro_temp_alarm_max = SETTING_OSD_BARO_TEMP_ALARM_MAX_DEFAULT,
 #endif
+#ifdef USE_ADSB
+    .adsb_distance_warning = SETTING_OSD_ADSB_DISTANCE_WARNING_DEFAULT,
+    .adsb_distance_alert = SETTING_OSD_ADSB_DISTANCE_ALERT_DEFAULT,
+    .adsb_ignore_plane_above_me_limit = SETTING_OSD_ADSB_IGNORE_PLANE_ABOVE_ME_LIMIT_DEFAULT,
+#endif
 #ifdef USE_SERIALRX_CRSF
     .snr_alarm = SETTING_OSD_SNR_ALARM_DEFAULT,
     .crsf_lq_format = SETTING_OSD_CRSF_LQ_FORMAT_DEFAULT,
@@ -4006,6 +4078,8 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
     osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_2] = OSD_POS(2, 9);
     osdLayoutsConfig->item_pos[0][OSD_SWITCH_INDICATOR_3] = OSD_POS(2, 10);
 
+    osdLayoutsConfig->item_pos[0][OSD_ADSB_WARNING] = OSD_POS(2, 7);
+    osdLayoutsConfig->item_pos[0][OSD_ADSB_INFO] = OSD_POS(2, 8);
 #if defined(USE_ESC_SENSOR)
     osdLayoutsConfig->item_pos[0][OSD_ESC_RPM] = OSD_POS(1, 2);
     osdLayoutsConfig->item_pos[0][OSD_ESC_TEMPERATURE] = OSD_POS(1, 3);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 5bcf6d34740..8ce197f9bd4 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -280,6 +280,8 @@ typedef enum {
     OSD_MULTI_FUNCTION,
     OSD_ODOMETER,
     OSD_PILOT_LOGO,
+    OSD_ADSB_WARNING,
+    OSD_ADSB_INFO,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 
@@ -455,6 +457,11 @@ typedef struct osdConfig_s {
     bool            use_pilot_logo;                     // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo.
     uint8_t         inav_to_pilot_logo_spacing;         // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
     uint16_t        arm_screen_display_time;            // Length of time the arm screen is displayed
+    #ifdef USE_ADSB
+    uint16_t adsb_distance_warning;                     // in metres
+    uint16_t adsb_distance_alert;                       // in metres
+    uint16_t adsb_ignore_plane_above_me_limit;          // in metres
+#endif
 } osdConfig_t;
 
 PG_DECLARE(osdConfig_t, osdConfig);
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index eba96690a27..5cd108e560d 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -99,3 +99,5 @@
 #define MSP2_INAV_EZ_TUNE_SET                   0x2071
 
 #define MSP2_INAV_SELECT_MIXER_PROFILE          0x2080
+
+#define MSP2_ADSB_VEHICLE_LIST                  0x2090
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
index 57707c725b1..0d91876cb72 100755
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -70,6 +70,9 @@ typedef enum {
 #ifdef USE_BARO
     TASK_BARO,
 #endif
+#ifdef USE_ADSB
+    TASK_ADSB,
+#endif
 #ifdef USE_PITOT
     TASK_PITOT,
 #endif
diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index 86e41880f89..1f149faeff6 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -28,6 +28,7 @@
 
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
+#include "fc/runtime_config.h"
 
 #include "drivers/sensor.h"
 
@@ -45,6 +46,7 @@
 
 static bool standardBoardAlignment = true;     // board orientation correction
 static fpMat3_t boardRotMatrix;
+static fpMat3_t tailRotMatrix;
 
 // no template required since defaults are zero
 PG_REGISTER(boardAlignment_t, boardAlignment, PG_BOARD_ALIGNMENT, 0);
@@ -56,19 +58,19 @@ static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
 
 void initBoardAlignment(void)
 {
-    if (isBoardAlignmentStandard(boardAlignment())) {
-        standardBoardAlignment = true;
-    } else {
-        fp_angles_t rotationAngles;
-
-        standardBoardAlignment = false;
-
-        rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
-        rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
-        rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees  );
-
-        rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
-    }
+    standardBoardAlignment=isBoardAlignmentStandard(boardAlignment());
+    fp_angles_t rotationAngles;
+    
+    rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
+    rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
+    rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees  );
+
+    rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
+    fp_angles_t tailSitter_rotationAngles;
+    tailSitter_rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(0);
+    tailSitter_rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(900);
+    tailSitter_rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(0);
+    rotationMatrixFromAngles(&tailRotMatrix, &tailSitter_rotationAngles);
 }
 
 void updateBoardAlignment(int16_t roll, int16_t pitch)
@@ -85,15 +87,23 @@ void updateBoardAlignment(int16_t roll, int16_t pitch)
     initBoardAlignment();
 }
 
+void applyTailSitterAlignment(fpVector3_t *fpVec)
+{
+    if (!STATE(TAILSITTER)) {
+        return;
+    }
+    rotationMatrixRotateVector(fpVec, fpVec, &tailRotMatrix);
+}
+
 void applyBoardAlignment(float *vec)
 {
-    if (standardBoardAlignment) {
+    if (standardBoardAlignment && (!STATE(TAILSITTER))) {
         return;
     }
 
     fpVector3_t fpVec = { .v = { vec[X], vec[Y], vec[Z] } };
     rotationMatrixRotateVector(&fpVec, &fpVec, &boardRotMatrix);
-
+    applyTailSitterAlignment(&fpVec);
     vec[X] = lrintf(fpVec.x);
     vec[Y] = lrintf(fpVec.y);
     vec[Z] = lrintf(fpVec.z);
diff --git a/src/main/sensors/boardalignment.h b/src/main/sensors/boardalignment.h
index 6bf01272650..17cd08e5ff3 100644
--- a/src/main/sensors/boardalignment.h
+++ b/src/main/sensors/boardalignment.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include "config/parameter_group.h"
+#include "common/vector.h"
 
 typedef struct boardAlignment_s {
     int16_t rollDeciDegrees;
@@ -30,4 +31,5 @@ PG_DECLARE(boardAlignment_t, boardAlignment);
 void initBoardAlignment(void);
 void updateBoardAlignment(int16_t roll, int16_t pitch);
 void applySensorAlignment(float * dest, float * src, uint8_t rotation);
-void applyBoardAlignment(float *vec);
\ No newline at end of file
+void applyBoardAlignment(float *vec);
+void applyTailSitterAlignment(fpVector3_t *vec);
\ No newline at end of file
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 9c7ba99d9f9..02a9df69c44 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -472,7 +472,7 @@ void compassUpdate(timeUs_t currentTimeUs)
         fpVector3_t rotated;
 
         rotationMatrixRotateVector(&rotated, &v, &mag.dev.magAlign.externalRotation);
-
+        applyTailSitterAlignment(&rotated);
          mag.magADC[X] = rotated.x;
          mag.magADC[Y] = rotated.y;
          mag.magADC[Z] = rotated.z;
diff --git a/src/main/target/common.h b/src/main/target/common.h
index f01b596bdac..79776b8e38b 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -183,6 +183,14 @@
 
 #define USE_CMS_FONT_PREVIEW
 
+//ADSB RECEIVER
+#ifdef USE_GPS
+#define USE_ADSB
+#define MAX_ADSB_VEHICLES               5
+#define ADSB_LIMIT_CM                   6400000
+#endif
+
+
 //Designed to free space of F722 and F411 MCUs
 #if (MCU_FLASH_SIZE > 512)
 #define USE_VTX_FFPV
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index f06eda57df6..438e119a568 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -58,6 +58,7 @@
 #include "flight/pid.h"
 #include "flight/servos.h"
 
+#include "io/adsb.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/serial.h"
@@ -1062,6 +1063,50 @@ static bool handleIncoming_RC_CHANNELS_OVERRIDE(void) {
     return true;
 }
 
+#ifdef USE_ADSB
+static bool handleIncoming_ADSB_VEHICLE(void) {
+    mavlink_adsb_vehicle_t msg;
+    mavlink_msg_adsb_vehicle_decode(&mavRecvMsg, &msg);
+
+    adsbVehicleValues_t* vehicle = getVehicleForFill();
+    if(vehicle != NULL){
+        vehicle->icao = msg.ICAO_address;
+        vehicle->lat = msg.lat;
+        vehicle->lon = msg.lon;
+        vehicle->alt = (int32_t)(msg.altitude / 10);
+        vehicle->heading = msg.heading;
+        vehicle->flags = msg.flags;
+        vehicle->altitudeType = msg.altitude_type;
+        memcpy(&(vehicle->callsign), msg.callsign, sizeof(vehicle->callsign));
+        vehicle->emitterType = msg.emitter_type;
+        vehicle->tslc = msg.tslc;
+
+        adsbNewVehicle(vehicle);
+    }
+
+    //debug vehicle
+   /* if(vehicle != NULL){
+
+        char name[9] = "DUMMY    ";
+
+        vehicle->icao = 666;
+        vehicle->lat = 492383514;
+        vehicle->lon = 165148681;
+        vehicle->alt = 100000;
+        vehicle->heading = 180;
+        vehicle->flags = ADSB_FLAGS_VALID_ALTITUDE | ADSB_FLAGS_VALID_COORDS;
+        vehicle->altitudeType = 0;
+        memcpy(&(vehicle->callsign), name, sizeof(vehicle->callsign));
+        vehicle->emitterType = 6;
+        vehicle->tslc = 0;
+
+        adsbNewVehicle(vehicle);
+    }*/
+
+    return true;
+}
+#endif
+
 static bool processMAVLinkIncomingTelemetry(void)
 {
     while (serialRxBytesWaiting(mavlinkPort) > 0) {
@@ -1084,6 +1129,10 @@ static bool processMAVLinkIncomingTelemetry(void)
                     return handleIncoming_MISSION_REQUEST();
                 case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
                     return handleIncoming_RC_CHANNELS_OVERRIDE();
+#ifdef USE_ADSB
+                case MAVLINK_MSG_ID_ADSB_VEHICLE:
+                    return handleIncoming_ADSB_VEHICLE();
+#endif
                 default:
                     return false;
             }