iNavFlight · DzikuVx · Mar 23, 2023 · Nov 21, 2022 · Nov 21, 2022 · Nov 21, 2022
diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
@@ -46,16 +46,16 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 10            | NAND                          | `false` if `Operand A` and `Operand B` are both `true`|
 | 11            | NOR                           | `true` if `Operand A` and `Operand B` are both `false` |
 | 12            | NOT                           | The boolean opposite to `Operand A` |         
-| 13            | STICKY                        | `Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`|         
+| 13            | STICKY                        | `Operand A` is the activation operator, `Operand B` is the deactivation operator. After the activation is `true`, the operator will return `true` until Operand B is evaluated as `true`|         
 | 14            | ADD                           | Add `Operand A` to `Operand B` and returns the result |
 | 15            | SUB                           | Substract `Operand B` from `Operand A` and returns the result |
 | 16            | MUL                           | Multiply `Operand A` by `Operand B` and returns the result |
 | 17            | DIV                           | Divide `Operand A` by `Operand B` and returns the result |
 | 18            | GVAR SET                      | Store value from `Operand B` into the Global Variable addressed by `Operand B`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
-| 19            | GVAR INC                      | Increase the GVAR indexed by `Operand A` with value from `Operand B`  |
-| 20            | GVAR DEC                      | Decrease the GVAR indexed by `Operand A` with value from `Operand B`  |
+| 19            | GVAR INC                      | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
+| 20            | GVAR DEC                      | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B`  |
 | 21            | IO PORT SET                   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
-| 22            | OVERRIDE_ARMING_SAFETY        | Allows to arm on any angle even without GPS fix              |
+| 22            | OVERRIDE_ARMING_SAFETY        | Allows the craft to arm on any angle even without GPS fix. WARNING: This bypasses all safety checks, even that the throttle is low, so use with caution. If you only want to check for certain conditions, such as arm without GPS fix. You will need to add logic conditions to check the throttle is low. |
 | 23            | OVERRIDE_THROTTLE_SCALE       | Override throttle scale to the value defined by operand. Operand type `0` and value `50` means throttle will be scaled by 50%. |
 | 24            | SWAP_ROLL_YAW                 | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
 | 25            | SET_VTX_POWER_LEVEL           | Sets VTX power level. Accepted values are `0-3` for SmartAudio and `0-4` for Tramp protocol |
@@ -73,17 +73,17 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 | 37            | MAP_OUTPUT                    | Scales `Operand A` from [`0` : `1000`] to [`0` : `Operand B`]. Note: input will be constrained and then scaled |
 | 38            | RC_CHANNEL_OVERRIDE           | Overrides channel set by `Operand A` to value of `Operand B` |
 | 39            | SET_HEADING_TARGET            | Sets heading-hold target to `Operand A`, in degrees. Value wraps-around. |
-| 40            | MOD                           | Divide `Operand A` by `Operand B` and returns the remainder |
+| 40            | MOD                           | Modulo. Divide `Operand A` by `Operand B` and returns the remainder |
 | 41            | LOITER_RADIUS_OVERRIDE        | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
 | 42            | SET_PROFILE                   | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
 | 43            | MIN                           | Finds the lowest value of `Operand A` and `Operand B` |
 | 44            | MAX                           | Finds the highest value of `Operand A` and `Operand B` |
 | 45			| FLIGHT_AXIS_ANGLE_OVERRIDE	| Sets the target attitude angle for axis. In other words, when active, it enforces Angle mode (Heading Hold for Yaw) on this axis (Angle mode does not have to be active). `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the angle in degrees |
 | 46			| FLIGHT_AXIS_RATE_OVERRIDE	    | Sets the target rate (rotation speed) for axis. `Operand A` defines the axis: `0` - Roll, `1` - Pitch, `2` - Yaw. `Operand B` defines the rate in degrees per second |
-| 47            | EDGE                          | `Operand A` is activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
-| 48            | DELAY                         | This will return `true` when `Operand A` is true, and the delay time in `Operand B` [ms] has been exceeded. |
-| 49            | TIMER                         | `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
-| 50            | DELTA                         | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater. |
+| 47            | EDGE                          | Momentarily true when triggered by `Operand A`. `Operand A` is the activation operator [`boolean`], `Operand B` _(Optional)_ is the time for the edge to stay active [ms]. After activation, operator will return `true` until the time in Operand B is reached. If a pure momentary edge is wanted. Just leave `Operand B` as the default `Value: 0` setting. |
+| 48            | DELAY                         | Delays activation after being triggered. This will return `true` when `Operand A` _is_ true, and the delay time in `Operand B` [ms] has been exceeded. |
+| 49            | TIMER                         | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
+| 50            | DELTA                         | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. |
 | 51            | APPROX_EQUAL                  | `true` if `Operand B` is within 1% of `Operand A`. |
 
 ### Operands
@@ -143,43 +143,45 @@ IPF can be edited using INAV Configurator user interface, or via CLI
 
 #### FLIGHT_MODE
 
+The flight mode operands return `true` when the mode is active. These are modes that you will see in the **Modes** tab. Note: the `USER*` modes are used by camera switchers, PINIO etc. They are not the Waypoint User Actions. See the [Waypoints](#waypoints) section to access those.
+
 | Operand Value | Name              | Notes |
 |---------------|-------------------|-------|
-| 0             | FAILSAFE          |  |
-| 1             | MANUAL            |  |
-| 2             | RTH               |  |
-| 3             | POSHOLD           |  |
-| 4             | CRUISE            |  |
-| 5             | ALTHOLD           |  |
-| 6             | ANGLE             |  |
-| 7             | HORIZON           |  |
-| 8             | AIR               |  |
-| 9             | USER1             |  |
-| 10            | USER2             |  |
-| 11            | COURSE_HOLD       |  |
-| 12            | USER3             |  |
-| 13            | USER4             |  |
-| 14            | ACRO              |  |
-| 15            | WAYPOINT_MISSION  |  | 
+| 0             | FAILSAFE          | `true` when a **Failsafe** state has been triggered. |
+| 1             | MANUAL            | `true` when you are in the **Manual** flight mode. |
+| 2             | RTH               | `true` when you are in the **Return to Home** flight mode. |
+| 3             | POSHOLD           | `true` when you are in the **Position Hold** or **Loiter** flight modes. |
+| 4             | CRUISE            | `true` when you are in the **Cruise** flight mode. |
+| 5             | ALTHOLD           | `true` when you the **Altitude Hold** flight mode modifier is active. |
+| 6             | ANGLE             | `true` when you are in the **Angle** flight mode. |
+| 7             | HORIZON           | `true` when you are in the **Horizon** flight mode. |
+| 8             | AIR               | `true` when you the **Airmode** flight mode modifier is active. |
+| 9             | USER1             | `true` when the **USER 1** mode is active. |
+| 10            | USER2             | `true` when the **USER 21** mode is active. |
+| 11            | COURSE_HOLD       | `true` when you are in the **Course Hold** flight mode. |
+| 12            | USER3             | `true` when the **USER 3** mode is active. |
+| 13            | USER4             | `true` when the **USER 4** mode is active. |
+| 14            | ACRO              | `true` when you are in the **Acro** flight mode. |
+| 15            | WAYPOINT_MISSION  | `true` when you are in the **WP Mission** flight mode. | 
 
 #### WAYPOINTS
 
 | Operand Value | Name                          | Notes |
 |---------------|-------------------------------|-------|
-| 0             | Is WP                         | boolean `0`/`1` |
+| 0             | Is WP                         | Boolean `0`/`1` |
 | 1             | Current Waypoint Index        | Current waypoint leg. Indexed from `1`. To verify WP is in progress, use `Is WP` |
-| 2             | Current Waypoint Action       | Action active in current leg. See ACTIVE_WAYPOINT_ACTION table |
-| 3             | Next Waypoint Action          | Action active in next leg. See ACTIVE_WAYPOINT_ACTION table |
+| 2             | Current Waypoint Action       | `true` when Action active in current leg. See ACTIVE_WAYPOINT_ACTION table |
+| 3             | Next Waypoint Action          | `true` when Action active in next leg. See ACTIVE_WAYPOINT_ACTION table |
 | 4             | Distance to next Waypoint     | Distance to next WP in metres |
 | 5             | Distance from Waypoint        | Distance from the last WP in metres |
-| 6             | User Action 1                 | User Action 1 is active on this waypoint leg [boolean `0`/`1`] |
-| 7             | User Action 2                 | User Action 2 is active on this waypoint leg [boolean `0`/`1`] |
-| 8             | User Action 3                 | User Action 3 is active on this waypoint leg [boolean `0`/`1`] |
-| 9             | User Action 4                 | User Action 4 is active on this waypoint leg [boolean `0`/`1`] |
-| 10            | Next Waypoint User Action 1   | User Action 1 is active on the next waypoint leg [boolean `0`/`1`] |
-| 11            | Next Waypoint User Action 2   | User Action 2 is active on the next waypoint leg [boolean `0`/`1`] |
-| 12            | Next Waypoint User Action 3   | User Action 3 is active on the next waypoint leg [boolean `0`/`1`] |
-| 13            | Next Waypoint User Action 4   | User Action 4 is active on the next waypoint leg [boolean `0`/`1`] |
+| 6             | User Action 1                 | `true` when User Action 1 is active on this waypoint leg [boolean `0`/`1`] |
+| 7             | User Action 2                 | `true` when User Action 2 is active on this waypoint leg [boolean `0`/`1`] |
+| 8             | User Action 3                 | `true` when User Action 3 is active on this waypoint leg [boolean `0`/`1`] |
+| 9             | User Action 4                 | `true` when User Action 4 is active on this waypoint leg [boolean `0`/`1`] |
+| 10            | Next Waypoint User Action 1   | `true` when User Action 1 is active on the next waypoint leg [boolean `0`/`1`] |
+| 11            | Next Waypoint User Action 2   | `true` when User Action 2 is active on the next waypoint leg [boolean `0`/`1`] |
+| 12            | Next Waypoint User Action 3   | `true` when User Action 3 is active on the next waypoint leg [boolean `0`/`1`] |
+| 13            | Next Waypoint User Action 4   | `true` when User Action 4 is active on the next waypoint leg [boolean `0`/`1`] |
 
 
 #### ACTIVE_WAYPOINT_ACTION

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -4384,11 +4384,31 @@ Value below which (negative altitude) to make the OSD relative altitude indicato
 
 ### osd_pan_servo_index
 
-Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
+Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0 | 0 | 10 |
+| 0 | 0 | 16 |
+
+---
+
+### osd_pan_servo_indicator_show_degrees
+
+Show the degress of offset from centre on the pan servo OSD display element.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### osd_pan_servo_offcentre_warning
+
+Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 10 | 0 | 45 |
 
 ---
 

diff --git a/docs/Temperature sensors.md b/docs/Temperature sensors.md
@@ -11,6 +11,25 @@ Up to 8 can be connected to the flight controller.
 * Supply: 2.7 to 5.5V
 * Temperature range: -55 to +125°C
 
+On the purple LM75 (CJMCU-75), address line pins on the bottom of the PCB need to be bridged either to ground or VCC (to define I2C address)
+
+![image](assets/images/CJMCU-75_address.png)
+
+Pin definition:
+| A2  | A1  | A0  |Address|INAV add|
+|-----|-----|-----|-------|--------|
+| GND | GND	| GND	| 0x48	 | 0      |
+| GND	| GND	| VCC	| 0x49	 | 1      |
+| GND	| VCC	| GND	| 0x4A	 | 2      |
+| GND	| VCC	| VCC	| 0x4B	 | 3      |
+| VCC	| GND	| GND	| 0x4C	 | 4      |
+| VCC	| GND	| VCC	| 0x4D	 | 5      |
+| VCC	| VCC	| GND	| 0x4E	 | 6      |
+| VCC	| VCC	| VCC	| 0x4F	 | 7      |
+
+If more than one sensor is used, each sensor must have different address.
+
+
 ## DS18B20
 
 * Package: TO-92, SO-8, µSOP-8

diff --git a/docs/assets/images/CJMCU-75_address.png b/docs/assets/images/CJMCU-75_address.png
diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -498,6 +498,8 @@ main_sources(COMMON_SRC
     io/ledstrip.h
     io/osd.c
     io/osd.h
+    io/osd_utils.c
+    io/osd_utils.h
     io/osd_canvas.c
     io/osd_canvas.h
     io/osd_common.c

diff --git a/src/main/cms/cms.c b/src/main/cms/cms.c
@@ -875,6 +875,7 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
     setServoOutputEnabled(true);
 
     if ((exitType == CMS_EXIT_SAVEREBOOT) || (exitType == CMS_POPUP_SAVEREBOOT)) {
+        processDelayedSave();
         displayClearScreen(pDisplay);
         displayWrite(pDisplay, 5, 3, "REBOOTING...");
 

diff --git a/src/main/common/string_light.c b/src/main/common/string_light.c
@@ -17,6 +17,7 @@
 
 #include <limits.h>
 
+#include "string.h"
 #include "string_light.h"
 #include "typeconversion.h"
 
@@ -50,6 +51,15 @@ int sl_toupper(int c)
     return sl_islower(c) ? (c) - 'a' + 'A' : c;
 }
 
+void sl_toupperptr(char * c)
+{
+    for (unsigned int i = 0; i < strlen(c); i++) {
+        if (c[i] >= 'a' && c[i] <= 'z') {
+           c[i] = c[i] - 'a' + 'A'; 
+        }
+    }
+}
+
 int sl_strcasecmp(const char * s1, const char * s2)
 {
     return sl_strncasecmp(s1, s2, INT_MAX);

diff --git a/src/main/common/string_light.h b/src/main/common/string_light.h
@@ -23,6 +23,7 @@ int sl_isupper(int c);
 int sl_islower(int c);
 int sl_tolower(int c);
 int sl_toupper(int c);
+void sl_toupperptr(char * c);
 
 int sl_strcasecmp(const char * s1, const char * s2);
 int sl_strncasecmp(const char * s1, const char * s2, int n);
diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
@@ -21,7 +21,7 @@
 
 #pragma once
 
-#ifdef USE_OSD
+#if defined(USE_OSD) || defined(OSD_UNIT_TEST)
 
 #define SYM_RSSI                    0x01  // 001 Icon RSSI
 #define SYM_LQ                      0x02  // 002 LQ
@@ -44,8 +44,8 @@
 #define SYM_DBM                     0x13  // 019 dBm
 #define SYM_SNR                     0x14  // 020 SNR
 
-#define SYM_AH_DECORATION_UP        0x15  // 021 Arrow up AHI
-#define SYM_AH_DECORATION_DOWN      0x16  // 022 Arrow down AHI
+#define SYM_AH_DIRECTION_UP         0x15  // 021 Arrow up AHI
+#define SYM_AH_DIRECTION_DOWN       0x16  // 022 Arrow down AHI
 #define SYM_DIRECTION               0x17  // 023 to 030, directional little arrows
 
 #define SYM_VOLT                    0x1F  // 031 VOLTS
@@ -252,6 +252,12 @@
 #define SYM_HUD_ARROWS_D2           0x1B8 // 440 2 arrows down
 #define SYM_HUD_ARROWS_D3           0x1B9 // 441 3 arrows down
 
+#define SYM_HUD_CARDINAL            0x1BA // 442-453 Cardinal direction in 30 degree segments
+
+#define SYM_SERVO_PAN_IS_CENTRED    0x1C6 // 454 Pan servo is centred
+#define SYM_SERVO_PAN_IS_OFFSET_L   0x1C7 // 455 Pan servo is offset left
+#define SYM_SERVO_PAN_IS_OFFSET_R   0x1C8 // 456 Pan servo is offset right
+
 #else
 
 #define TEMP_SENSOR_SYM_COUNT 0

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
@@ -1690,7 +1690,7 @@ static void cliDelay(char* cmdLine) {
         cliPrintLine("CLI delay deactivated");
         return;
     }
-    
+
     ms = fastA2I(cmdLine);
     if (ms) {
         cliDelayMs = ms;
@@ -1699,7 +1699,7 @@ static void cliDelay(char* cmdLine) {
     } else {
         cliShowParseError();
     }
-    
+
 }
 
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
@@ -2288,7 +2288,7 @@ static void cliFlashInfo(char *cmdline)
     UNUSED(cmdline);
 
     const flashGeometry_t *layout = flashGetGeometry();
-    
+
     if (layout->totalSize == 0) {
         cliPrintLine("Flash not available");
         return;
@@ -2323,12 +2323,12 @@ static void cliFlashErase(char *cmdline)
     UNUSED(cmdline);
 
     const flashGeometry_t *layout = flashGetGeometry();
-    
+
     if (layout->totalSize == 0) {
         cliPrintLine("Flash not available");
         return;
     }
-    
+
     cliPrintLine("Erasing...");
     flashfsEraseCompletely();
 
@@ -3194,8 +3194,10 @@ static void cliSet(char *cmdline)
             if (settingNameIsExactMatch(val, name, cmdline, variableNameLength)) {
                 const setting_type_e type = SETTING_TYPE(val);
                 if (type == VAR_STRING) {
+                    // Convert strings to uppercase. Lower case is not supported by the OSD.
+                    sl_toupperptr(eqptr);
                     // if setting the craftname, remove any quotes around the name.  This allows leading spaces in the name
-                    if (strcmp(name, "name") == 0 && eqptr[0] == '"' && eqptr[strlen(eqptr)-1] == '"') {
+                    if ((strcmp(name, "name") == 0 || strcmp(name, "pilot_name") == 0) && (eqptr[0] == '"' && eqptr[strlen(eqptr)-1] == '"')) {
                         settingSetString(val, eqptr + 1, strlen(eqptr)-2);
                     } else {
                         settingSetString(val, eqptr, strlen(eqptr));
@@ -3414,8 +3416,12 @@ static void cliStatus(char *cmdline)
     cliPrint("OSD: ");
 #if defined(USE_OSD)
     displayPort_t *osdDisplayPort = osdGetDisplayPort();
-    cliPrintf("%s [%u x %u]", osdDisplayPort->displayPortType, osdDisplayPort->cols, osdDisplayPort->rows);
-#else 
+    if (osdDisplayPort != NULL) {
+        cliPrintf("%s [%u x %u]", osdDisplayPort->displayPortType, osdDisplayPort->cols, osdDisplayPort->rows);
+    } else {
+        cliPrint("not enabled");
+    }
+#else
     cliPrint("not used");
 #endif
     cliPrintLinefeed();