Release/9.1 to master#11662
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dmavar=0 maps to DMA1 Stream 0, which is already claimed by M1 (TIM8_CH2). When DSHOT is active, the LED strip silently fails to initialize because its DMA stream is already owned. Change to dmavar=8 (DMA2 Stream 0), matching the pattern used by other H7 targets (MATEKH743, MAMBAH743, etc.).
AEDROXH7: fix LED strip DMA conflict with motor outputs
The fixed-wing waypoint cross-track controller (nav_fw_wp_tracking_accuracy) kept its rate/error state in function-local statics that were never reset. After a turn or loiter, where the controller is disengaged (needToCalculateCircularLoiter), the first sample on the next leg was computed from stale data from the previous leg, causing a small heading twitch when rejoining the course line. Re-seed the controller state to the current cross-track error while it is not actively steering, so it re-engages cleanly on the next leg.
When a WP mission JUMP activated its target waypoint, isWaypointReached() could read a wpTurnSmoothingActive flag left over from the previous waypoint. The JUMP defers target setup by one navigation loop, and in that gap the FW position controller re-arms the flag from the previous waypoint's geometry. With nav_fw_wp_turn_smoothing = CUT this marks the jump target as reached on its first loop (and cascades the following WP via the bearing-miss check), so the mission jumps to target+1 instead of the target. Reset wpTurnSmoothingActive when a new active waypoint is set so a freshly activated waypoint cannot inherit the previous waypoint's smoothing-reached state. Turn smoothing is otherwise unchanged: the FW controller recomputes the flag every position update from the new waypoint geometry. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Fixed wing nav: reset WP cross-track tracking state on re-engagement
FW nav: fix WP JUMP target skipped by stale turn-smoothing flag
Removed a link to a specific OLED display from the documentation. Resolves #11660
Remove outdated OLED display link from Display.md
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Test firmware build ready — commit Download firmware for PR #11662 240 targets built. Find your board's
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