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Update flight modes to reflect the latest changes in INAV #193

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Update flight modes to reflect the latest changes in INAV #193

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56e2c97
Update flight modes to reflect the latest changes in INAV
MrD-RC Nov 5, 2025
f1f264f
Updates after testing with CRSF
MrD-RC Nov 6, 2025
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52 changes: 34 additions & 18 deletions src/SCRIPTS/TELEMETRY/iNav.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -210,39 +210,55 @@ function inav.background()
data.headFree = false
data.headingHold = false
data.altHold = false
local modeA = data.mode * 0.0001
local modeB = data.mode * 0.001 % 10
local modeC = data.mode * 0.01 % 10
local modeD = data.mode * 0.1 % 10
local modeE = data.mode % 10
if bit32.band(modeD, 2) == 2 then
local modeA = data.mode * 0.000001 % 10
local modeB = data.mode * 0.00001 % 10
local modeC = data.mode * 0.0001 % 10
local modeD = data.mode * 0.001 % 10
local modeE = data.mode * 0.01 % 10
local modeF = data.mode * 0.1 % 10
local modeG = data.mode % 10
if bit32.band(modeF, 2) == 2 then
data.modeId = 2 -- Horizon
elseif bit32.band(modeD, 1) == 1 then
elseif bit32.band(modeF, 1) == 1 then
data.modeId = 3 -- Angle
else
data.modeId = 4 -- Acro
end
data.headFree = bit32.band(modeB, 4) == 4
data.headingHold = bit32.band(modeC, 1) == 1
if bit32.band(modeE, 4) == 4 then
data.headFree = bit32.band(modeD, 4) == 4
data.headingHold = bit32.band(modeE, 1) == 1
if bit32.band(modeG, 4) == 4 then
data.armed = true
data.altHold = (bit32.band(modeC, 2) == 2 or bit32.band(modeC, 4) == 4)
data.altHold = (bit32.band(modeE, 2) == 2 or bit32.band(modeE, 4) == 4)
homeReset = data.satellites >= 4000
data.modeId = bit32.band(modeC, 4) == 4 and 7 or data.modeId -- Pos hold
data.modeId = bit32.band(modeE, 4) == 4 and 7 or data.modeId -- Pos hold
else
preArmMode = data.modeId
data.modeId = (bit32.band(modeE, 2) == 2 or modeE == 0) and (data.throttle > -920 and 12 or 5) or 6 -- Not OK to arm(5) / Throttle warning(12) / Ready to fly(6)
data.modeId = (bit32.band(modeG, 2) == 2 or modeG == 0) and (data.throttle > -920 and 12 or 5) or 6 -- Not OK to arm(5) / Throttle warning(12) / Ready to fly(6)
end
if bit32.band(modeA, 4) == 4 then
if bit32.band(modeC, 4) == 4 then
data.modeId = 11 -- Failsafe
elseif bit32.band(modeB, 1) == 1 then
elseif bit32.band(modeD, 1) == 1 then
data.modeId = 10 -- RTH
elseif bit32.band(modeD, 4) == 4 then
elseif bit32.band(modeF, 4) == 4 then
data.modeId = 9 -- Manual
elseif bit32.band(modeB, 2) == 2 then
elseif bit32.band(modeD, 2) == 2 then
data.modeId = 8 -- Waypoint
elseif bit32.band(modeB, 8) == 8 then
elseif bit32.band(modeD, 8) == 8 and bit32.band(modeE, 2) == 2 then
data.modeId = 13 -- Cruise
elseif bit32.band(modeD, 8) == 8 then
data.modeId = 20 -- Course Hold
elseif bit32.band(modeA, 1) == 1 then
data.modeId = 19 -- WRTH
elseif bit32.band(modeA, 2) == 2 then
data.modeId = 14 -- Angle Hold
elseif bit32.band(modeB, 1) == 1 then
data.modeId = 15 -- Auto land
elseif bit32.band(modeB, 2) == 2 then
data.modeId = 17 -- Turtle mode
elseif bit32.band(modeB, 4) == 4 then
data.modeId = 16 -- Geofence navigation
elseif bit32.band(modeB, 8) == 8 then
data.modeId = 18 -- Loiter
end
end

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14 changes: 13 additions & 1 deletion src/SCRIPTS/TELEMETRY/iNav/crsf.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,19 @@ local function crsf(data)
elseif data.fm == "WP" then
data.mode = 2015
elseif data.fm == "RTH" then
data.mode = 1615
data.mode = 1215
elseif data.fm == "LAND" then
data.mode = 100015
elseif data.fm == "GEO" then
data.mode = 400015
elseif data.fm == "TURT" then
data.mode = 200005
elseif data.fm == "WRTH" then
data.mode = 1000215
elseif data.fm == "LOTR" then
data.mode = 800215
elseif data.fm == "ANGH" then
data.mode = 2000005
elseif data.fm == "!FS!" then
data.mode = 40004
end
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29 changes: 18 additions & 11 deletions src/SCRIPTS/TELEMETRY/iNav/modes.lua
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Expand Up @@ -3,18 +3,25 @@ local HORUS = ...
-- Modes: t=text / f=flags for text / w=wave file
local modes = {
{ t = "! TELEM !", f = 3 },
{ t = "HORIZON", f = 0, w = "hrznmd" },
{ t = " ANGLE", f = 0, w = "anglmd" },
{ t = " ACRO", f = 0, w = "acromd" },
{ t = " NOT OK ", f = 3 },
{ t = " READY", f = 0, w = "ready" },
{ t = "POS HOLD", f = 0, w = "poshld" },
{ t = "WAYPONT", f = 0, w = "waypt" },
{ t = " MANUAL", f = 0, w = "manmd" },
{ t = " RTH ", f = 3, w = "rtl" },
{ t = "! FAIL !", f = 3, w = "fson" },
{ t = " HORIZON ", f = 0, w = "hrznmd" },
{ t = " ANGLE ", f = 0, w = "anglmd" },
{ t = " ACRO ", f = 0, w = "acromd" },
{ t = " NOT OK ", f = 3 }, -- 5
{ t = " READY ", f = 0, w = "ready" },
{ t = "POS HOLD ", f = 0, w = "poshld" },
{ t = " WAYPONT ", f = 0, w = "waypt" },
{ t = " MANUAL ", f = 0, w = "manmd" },
{ t = " RTH ", f = 3, w = "rtl" }, -- 10
{ t = "! FAIL !", f = 3, w = "fson" },
{ t = "! THROT !", f = 3 },
{ t = " CRUISE", f = 0, w = "cruzmd" }
{ t = " CRUISE ", f = 0, w = "cruzmd" },
{ t = "ANGL HOLD", f = 0, w = "aglhld" },
{ t = " LAND ", f = 0, w = "landin" }, -- 15
{ t = " GEO NAV ", f = 0, w = "geonav" },
{ t = " TURTLE ", f = 0, w = "turtle" },
{ t = " LOITER ", f = 0, w = "loiter" },
{ t = " WP RTH ", f = 0, w = "wrth" },
{ t = "CORSE HLD", f = 0, w = "crsh" } -- 20
}

local units = { [0] = "", "V", "A", "mA", "kts", "m/s", "f/s", "kmh", "MPH", "m", HORUS and "ft" or "'" }
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