Update Master

src/main/fc/rc_adjustments.c

@@ -276,6 +276,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
         .adjustmentFunction = ADJUSTMENT_TPA_BREAKPOINT,
         .mode = ADJUSTMENT_MODE_STEP,
         .data = { .stepConfig = { .step = 5 }}
+    }, {
+        .adjustmentFunction = ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
     }
 };
 
@@ -566,6 +570,9 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
         case ADJUSTMENT_TPA_BREAKPOINT:
             applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
             break;
+        case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
+            applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, 0, 9);
+            break;
         default:
             break;
     };

src/main/fc/rc_adjustments.h

@@ -77,6 +77,7 @@ typedef enum {
     ADJUSTMENT_VTX_POWER_LEVEL = 49,
     ADJUSTMENT_TPA                      = 50,
     ADJUSTMENT_TPA_BREAKPOINT           = 51,
+    ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 52,
     ADJUSTMENT_FUNCTION_COUNT // must be last
 } adjustmentFunction_e;
 

src/main/io/osd.c

@@ -785,19 +785,19 @@ static const char * navigationStateMessage(void)
             break;
         case MW_NAV_STATE_RTH_START:
             return OSD_MESSAGE_STR(OSD_MSG_STARTING_RTH);
+        case MW_NAV_STATE_RTH_CLIMB:            
+            return OSD_MESSAGE_STR(OSD_MSG_RTH_CLIMB);
         case MW_NAV_STATE_RTH_ENROUTE:
-            // TODO: Break this up between climb and head home
             return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
         case MW_NAV_STATE_HOLD_INFINIT:
             // Used by HOLD flight modes. No information to add.
             break;
         case MW_NAV_STATE_HOLD_TIMED:
-            // TODO: Maybe we can display a count down
-            return OSD_MESSAGE_STR(OSD_MSG_HOLDING_WAYPOINT);
+            // "HOLDING WP FOR xx S" Countdown added in osdGetSystemMessage
             break;
         case MW_NAV_STATE_WP_ENROUTE:
-            // TODO: Show WP number
-            return OSD_MESSAGE_STR(OSD_MSG_TO_WP);
+            // "TO WP" + WP countdown added in osdGetSystemMessage
+            break;
         case MW_NAV_STATE_PROCESS_NEXT:
             return OSD_MESSAGE_STR(OSD_MSG_PREPARE_NEXT_WP);
         case MW_NAV_STATE_DO_JUMP:
@@ -2437,6 +2437,9 @@ static bool osdDrawSingleElement(uint8_t item)
 
             return true;
         }
+    case OSD_NAV_FW_CONTROL_SMOOTHNESS:
+        osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);
+        return true;
     default:
         return false;
     }
@@ -3343,9 +3346,23 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                 }
             } else {
                 if (FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
-                    const char *navStateMessage = navigationStateMessage();
-                    if (navStateMessage) {
-                        messages[messageCount++] = navStateMessage;
+                    if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
+                        // Countdown display for remaining Waypoints
+                        tfp_sprintf(messageBuf, "TO WP %u/%u", posControl.activeWaypointIndex + 1, posControl.waypointCount);                            
+                        messages[messageCount++] = messageBuf;
+                    } else if (NAV_Status.state == MW_NAV_STATE_HOLD_TIMED) {
+                        // WP hold time countdown in seconds
+                        timeMs_t currentTime = millis();
+                        int holdTimeRemaining = posControl.waypointList[posControl.activeWaypointIndex].p1 - (int)((currentTime - posControl.wpReachedTime)/1000);
+                        if (holdTimeRemaining >=0) {
+                            tfp_sprintf(messageBuf, "HOLDING WP FOR %2u S", holdTimeRemaining);
+                            messages[messageCount++] = messageBuf;
+                        }
+                    } else {                            
+                        const char *navStateMessage = navigationStateMessage();                             
+                        if (navStateMessage) {
+                            messages[messageCount++] = navStateMessage;
+                        }
                     }
                 } else if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);

src/main/io/osd.h

@@ -80,6 +80,7 @@
 #define OSD_MSG_EMERG_LANDING_FS    "(EMERGENCY LANDING)"
 #define OSD_MSG_MOVE_EXIT_FS        "!MOVE STICKS TO EXIT FS!"
 #define OSD_MSG_STARTING_RTH        "STARTING RTH"
+#define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
 #define OSD_MSG_HOLDING_WAYPOINT    "HOLDING WAYPOINT"
 #define OSD_MSG_TO_WP               "TO WP"
@@ -216,6 +217,7 @@ typedef enum {
     OSD_GVAR_2,
     OSD_GVAR_3,
     OSD_TPA,
+    OSD_NAV_FW_CONTROL_SMOOTHNESS,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

src/main/io/osd_dji_hd.c

@@ -574,6 +574,8 @@ static const char * navigationStateMessage(void)
             break;
         case MW_NAV_STATE_RTH_START:
             return OSD_MESSAGE_STR("STARTING RTH");
+        case MW_NAV_STATE_RTH_CLIMB:
+            return OSD_MESSAGE_STR("ADJUSTING RTH ALTITUDE");
         case MW_NAV_STATE_RTH_ENROUTE:
             // TODO: Break this up between climb and head home
             return OSD_MESSAGE_STR("EN ROUTE TO HOME");

src/main/navigation/navigation.c

@@ -498,7 +498,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .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
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
-        .mwState = MW_NAV_STATE_RTH_ENROUTE,
+        .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                     = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,   // re-process the state

src/main/navigation/navigation.h

@@ -386,6 +386,7 @@ typedef enum {
     MW_NAV_STATE_LAND_START_DESCENT,      // Start descent
     MW_NAV_STATE_HOVER_ABOVE_HOME,        // Hover/Loitering above home
     MW_NAV_STATE_EMERGENCY_LANDING,       // Emergency landing
+    MW_NAV_STATE_RTH_CLIMB,               // RTH Climb safe altitude    
 } navSystemStatus_State_e;
 
 typedef enum {