master alignment + update docs

Author: breadoven

docs/Programming Framework.md

@@ -169,7 +169,7 @@ for complete documentation on using JavaScript to program your flight controller
 | 29            | CRSF LQ                               | Link quality as returned by the CRSF protocol |
 | 30            | CRSF SNR                              | SNR as returned by the CRSF protocol |
 | 31            | GPS Valid Fix                         | Boolean `0`/`1`. True when the GPS has a valid 3D Fix |
-| 32            | Loiter Radius [cm]                    | The current loiter radius setting in `cm`. |
+| 32            | Loiter Radius [cm]                    | The current loiter radius in cm. |
 | 33            | Active Control Profile                | Integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
 | 34            | Battery cells                         | Number of battery cells detected |
 | 35            | AGL status [0/1]                      | Boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |

docs/Settings.md

@@ -6392,6 +6392,16 @@ Which aux channel to use to change serial output & baud rate (MSP / Telemetry).
 
 ---
 
+### test_setting
+
+For developer use. General use test setting from -1000 to 1000
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | -1000 | 1000 |
+
+---
+
 ### thr_comp_weight
 
 Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)

src/main/blackbox/blackbox.c

@@ -1333,6 +1333,7 @@ static void writeSlowFrame(void)
     blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
 
     blackboxWriteUnsignedVB(slowHistory.hwHealthStatus);
+
     blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance);
     blackboxWriteUnsignedVB(slowHistory.sagCompensatedVBat);
 
@@ -1728,7 +1729,6 @@ static void loadMainState(timeUs_t currentTimeUs)
 
     const uint8_t minServoIndex = getMinServoIndex();
     const int servoCount = getServoCount();
-
     for (int i = 0; i < servoCount; i++) {
         blackboxCurrent->servo[i] = servo[i + minServoIndex];
     }

src/main/flight/rth_estimator.c

@@ -145,6 +145,7 @@ static float estimateRTHEnergyAfterInitialClimb(float distanceToHome, float spee
 
 // returns Wh
 static float calculateRemainingEnergyBeforeRTH(bool takeWindIntoAccount) {
+
     const float RTH_initial_altitude_change = MAX(0, (getFinalRTHAltitude() - getEstimatedActualPosition(Z)) / 100);
 
     float RTH_heading; // degrees
@@ -218,6 +219,7 @@ float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) {
         return -1;
     }
 #endif
+
     // check requirements
     const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn();
     const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH && currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;

src/main/io/osd_canvas.c

@@ -100,28 +100,28 @@ void osdCanvasDrawThrottleGauge(displayPort_t *display, displayCanvas_t *canvas,
         displayCanvasDrawCharacter(canvas, x, y, SYM_THR_GAUGE_HALF, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else
         displayCanvasDrawCharacter(canvas, x, y, SYM_THR_GAUGE_EMPTY, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
-    
+
     if (thrPos >= 80)
         displayCanvasDrawCharacter(canvas, x, y + canvas->gridElementHeight, SYM_THR_GAUGE_FULL, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else if (thrPos >= 70)
         displayCanvasDrawCharacter(canvas, x, y + canvas->gridElementHeight, SYM_THR_GAUGE_HALF, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else
         displayCanvasDrawCharacter(canvas, x, y + canvas->gridElementHeight, SYM_THR_GAUGE_EMPTY, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
-    
+
     if (thrPos >= 60)
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 2), SYM_THR_GAUGE_FULL, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else if (thrPos >= 50)
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 2), SYM_THR_GAUGE_HALF, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 2), SYM_THR_GAUGE_EMPTY, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
-    
+
     if (thrPos >= 40)
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 3), SYM_THR_GAUGE_FULL, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else if (thrPos >= 30)
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 3), SYM_THR_GAUGE_HALF, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 3), SYM_THR_GAUGE_EMPTY, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
-    
+
     if (thrPos >= 20)
         displayCanvasDrawCharacter(canvas, x, y + (canvas->gridElementHeight * 4), SYM_THR_GAUGE_FULL, DISPLAY_CANVAS_BITMAP_OPT_ERASE_TRANSPARENT);
     else if (thrPos >= 10)
@@ -743,6 +743,7 @@ static bool osdCanvasDrawSidebar(uint32_t *configured, displayWidgets_t *widgets
         osdCrosshairPosition(&ex, &ey);
         const int height = 2 * OSD_AH_SIDEBAR_HEIGHT_POS * OSD_CHAR_HEIGHT;
         const int y = (ey - OSD_AH_SIDEBAR_HEIGHT_POS) * OSD_CHAR_HEIGHT;
+
         widgetSidebarConfiguration_t config = {
             .rect.y = y,
             .rect.w = width,

src/main/navigation/navigation_private.h

@@ -352,7 +352,7 @@ typedef enum {
 
     NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
 
-    NAV_CTL_HOLD            = (1 << 17),    // position hold active
+    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position
     NAV_CTL_COURSE          = (1 << 18),    // course hold active  // CR117
 } navigationFSMStateFlags_t;
 
@@ -461,7 +461,7 @@ typedef struct {
     uint32_t                    lastValidPositionTimeMs;
     uint32_t                    lastValidAltitudeTimeMs;
 
-    /* INAV GPS origin (position where GPS fix first acquired) */
+    /* INAV GPS origin (position where GPS fix was first acquired) */
     gpsOrigin_t                 gpsOrigin;
 
     /* Home/RTH parameters - NEU coordinates (geodetic position of home (LLH) is stored in GPS_home variable) */