Initial cut on DJI HD FPV goggles support

make/source.mk

@@ -101,6 +101,7 @@ COMMON_SRC = \
             io/beeper.c \
             io/esc_serialshot.c \
             io/frsky_osd.c \
+            io/osd_dji_hd.c \
             io/lights.c \
             io/piniobox.c \
             io/pwmdriver_i2c.c \

src/main/fc/fc_init.c

@@ -108,6 +108,7 @@
 #include "io/ledstrip.h"
 #include "io/pwmdriver_i2c.h"
 #include "io/osd.h"
+#include "io/osd_dji_hd.h"
 #include "io/rcdevice_cam.h"
 #include "io/serial.h"
 #include "io/displayport_msp.h"
@@ -265,6 +266,11 @@ void init(void)
     // to run after the sensors have been detected.
     mspSerialInit();
 
+#if defined(USE_DJI_HD_OSD)
+    // DJI OSD uses a special flavour of MSP (subset of Betaflight 4.1.1 MSP) - process as part of serial task
+    djiOsdSerialInit();
+#endif
+
 #if defined(USE_LOG)
     // LOG might use serial output, so we only can init it after serial port is ready
     // From this point on we can use LOG_*() to produce real-time debugging information

src/main/fc/fc_tasks.c

@@ -61,6 +61,7 @@
 #include "io/serial.h"
 #include "io/rcdevice_cam.h"
 #include "io/vtx.h"
+#include "io/osd_dji_hd.h"
 
 #include "msp/msp_serial.h"
 
@@ -97,6 +98,11 @@ void taskHandleSerial(timeUs_t currentTimeUs)
 
     // Allow MSP processing even if in CLI mode
     mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
+
+#if defined(USE_DJI_HD_OSD)
+    // DJI OSD uses a special flavour of MSP (subset of Betaflight 4.1.1 MSP) - process as part of serial task
+    djiOsdSerialProcess();
+#endif
 }
 
 void taskUpdateBattery(timeUs_t currentTimeUs)

src/main/fc/runtime_config.c

@@ -102,18 +102,21 @@ uint32_t sensorsMask(void)
 
 flightModeForTelemetry_e getFlightModeForTelemetry(void)
 {
-    if (FLIGHT_MODE(MANUAL_MODE))
-        return FLM_MANUAL;
-
     if (FLIGHT_MODE(FAILSAFE_MODE))
         return FLM_FAILSAFE;
 
+    if (FLIGHT_MODE(MANUAL_MODE))
+        return FLM_MANUAL;
+
     if (FLIGHT_MODE(NAV_RTH_MODE))
         return FLM_RTH;
 
     if (FLIGHT_MODE(NAV_POSHOLD_MODE))
         return FLM_POSITION_HOLD;
 
+    if (FLIGHT_MODE(NAV_CRUISE_MODE))
+        return FLM_CRUISE;
+
     if (FLIGHT_MODE(NAV_WP_MODE))
         return FLM_MISSION;
 
@@ -129,5 +132,5 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
     if (FLIGHT_MODE(NAV_LAUNCH_MODE))
         return FLM_LAUNCH;
 
-    return FLM_ACRO;
+    return STATE(AIRMODE_ACTIVE) ? FLM_ACRO_AIR : FLM_ACRO;
 }

src/main/fc/runtime_config.h

@@ -134,12 +134,14 @@ extern uint32_t stateFlags;
 typedef enum {
     FLM_MANUAL,
     FLM_ACRO,
+    FLM_ACRO_AIR,
     FLM_ANGLE,
     FLM_HORIZON,
     FLM_ALTITUDE_HOLD,
     FLM_POSITION_HOLD,
     FLM_RTH,
     FLM_MISSION,
+    FLM_CRUISE,
     FLM_LAUNCH,
     FLM_FAILSAFE,
     FLM_COUNT

src/main/fc/settings.yaml

@@ -25,7 +25,7 @@ tables:
     values: ["NONE", "PWM", "PPM", "SERIAL", "MSP", "SPI", "UIB"]
     enum: rxReceiverType_e
   - name: serial_rx
-    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT"]
+    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST"]
   - name: rx_spi_protocol
     values: ["V202_250K", "V202_1M", "SYMA_X", "SYMA_X5C", "CX10", "CX10A", "H8_3D", "INAV", "ELERES"]
     enum: rx_spi_protocol_e