Feature: Add MSP AOA sensor support for relaxed static stability aircraft control#11484
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Miki4751 wants to merge 2 commits intoiNavFlight:masterfrom
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Feature: Add MSP AOA sensor support for relaxed static stability aircraft control#11484Miki4751 wants to merge 2 commits intoiNavFlight:masterfrom
Miki4751 wants to merge 2 commits intoiNavFlight:masterfrom
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…rcraft control - Add AOA sensor driver framework with MSP and virtual sensor support - Add sideslip angle field to MSP sensor message - Add NORMAL/CANARD aircraft layout support with gradual intervention - Add AOA sensor status display in CLI diagnostics - Add OSD elements for AOA display - Add logic condition support for AOA values - Add fw_aoa_intervention_threshold parameter (0-100%, default 80%)
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Review Summary by QodoAdd MSP AOA sensor support for relaxed static stability aircraft control WalkthroughsDescription• Add AOA sensor driver framework with MSP and virtual sensor support • Implement relaxed static stability aircraft control for NORMAL and CANARD layouts • Add gradual AOA intervention with configurable threshold for conventional aircraft • Integrate AOA data into OSD, logic conditions, and CLI diagnostics • Add MSP protocol support for AOA sensor data reception Diagramflowchart LR
MSP["MSP Protocol"] -->|"AOA Data"| AOAMSP["AOA MSP Driver"]
AOAMSP -->|"Virtual Interface"| AOASENSOR["AOA Sensor Core"]
AOASENSOR -->|"Raw AOA/Sideslip"| AOAPROCESS["AOA Processing"]
AOAPROCESS -->|"Filtered Data"| CONTROL["AOA Control Logic"]
CONTROL -->|"NORMAL Layout"| GRADUAL["Gradual Intervention"]
CONTROL -->|"CANARD Layout"| DIRECT["Direct Servo Control"]
GRADUAL -->|"PID Output"| SERVOS["Servo Mixer"]
DIRECT -->|"PID Output"| SERVOS
AOAPROCESS -->|"Display Data"| OSD["OSD/CLI/Logic Conditions"]
File Changes1. src/main/drivers/aoa/aoa.h
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Code Review by Qodo
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![qodo-code-review[bot]](https://avatars.githubusercontent.com/in/484649?s=60&v=4){kind=small}
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| void mspAoaReceiveNewData(uint8_t * bufferPtr) | ||
| { | ||
| const mspSensorAoaDataMessage_t * pkt = (const mspSensorAoaDataMessage_t *)bufferPtr; | ||
| sensorAoa = pkt->aoa; | ||
| sensorSideslip = pkt->sideslip; | ||
| hasNewData = true; |
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1. mspaoareceivenewdata() lacks size validation 📘 Rule violation ⛨ Security
The new MSP AOA sensor handler casts and reads fields from an incoming buffer without validating the payload length, which can cause out-of-bounds reads/crashes on malformed or truncated packets. This violates the requirement to validate external protocol/payload sizes before use.
Agent Prompt
## Issue description
The MSP AOA sensor message handler reads `aoa` and `sideslip` from an incoming buffer without validating the payload length, risking out-of-bounds reads on malformed/truncated packets.
## Issue Context
`mspProcessSensorCommand()` computes `dataSize` but the `MSP2_SENSOR_AOA` path does not validate it or pass it into `mspAoaReceiveNewData()`. `mspAoaReceiveNewData()` then casts `bufferPtr` to `mspSensorAoaDataMessage_t` and dereferences fields unconditionally.
## Fix Focus Areas
- src/main/fc/fc_msp.c[4440-4491]
- src/main/io/aoa.h[32-34]
- src/main/io/aoa_msp.c[72-78]
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| bool aoaProcess(void) | ||
| { | ||
| if (aoaSensor.dev.read) { | ||
| int16_t rawAoa, rawSideslip; | ||
| aoaSensor.dev.read(&aoaSensor.dev, &rawAoa, &rawSideslip); | ||
| int16_t aoaWithOffset = rawAoa + DEGREES_TO_DECIDEGREES(aoaConfig()->aoa_offset); | ||
| aoaSensor.aoa = constrain(aoaWithOffset, DEGREES_TO_DECIDEGREES(aoaConfig()->aoa_min_angle), DEGREES_TO_DECIDEGREES(aoaConfig()->aoa_max_angle)); | ||
| aoaSensor.sideslip = rawSideslip; | ||
| aoaSensor.lastValidResponseTimeMs = millis(); | ||
| DEBUG_SET(DEBUG_AOA, 0, aoaSensor.aoa); |
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2. aoaprocess() mishandles aoa_no_new_data 📘 Rule violation ☼ Reliability
aoaProcess() constrains and publishes rawAoa even when it is the no-data sentinel (AOA_NO_NEW_DATA), and it updates lastValidResponseTimeMs regardless, making stale/invalid data appear fresh and healthy. This violates the requirement to use consistent sentinel values and avoid stale partial data on failed/invalid reads.
Agent Prompt
## Issue description
`AOA_NO_NEW_DATA` is not handled as a sentinel: it gets constrained into a valid AOA range and the sensor health timestamp is refreshed, which can mask missing/stale data.
## Issue Context
The MSP AOA driver initializes `sensorAoa`/`sensorSideslip` to `AOA_NO_NEW_DATA`. `aoaProcess()` reads these values, applies offset/constrain, and updates `lastValidResponseTimeMs` unconditionally.
## Fix Focus Areas
- src/main/drivers/aoa/aoa.h[33-37]
- src/main/io/aoa_msp.c[40-78]
- src/main/sensors/aoa.c[146-173]
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| static void virtualAoaInit(aoaDev_t * dev) | ||
| { | ||
| UNUSED(dev); | ||
| return highLevelDeviceVTable->init(); | ||
| } | ||
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| static void virtualAoaUpdate(aoaDev_t * dev) | ||
| { | ||
| UNUSED(dev); | ||
| return highLevelDeviceVTable->update(); | ||
| } |
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3. Void return expression 🐞 Bug ≡ Correctness
virtualAoaInit/virtualAoaUpdate are declared void but use `return highLevelDeviceVTable->...()` which is not valid ISO C and can fail compilation (or at least emit warnings) on stricter toolchains.
Agent Prompt
### Issue description
`virtualAoaInit()` and `virtualAoaUpdate()` are `void` functions but currently use `return highLevelDeviceVTable->init();` / `return highLevelDeviceVTable->update();`, which is not valid ISO C and may break builds on stricter embedded toolchains.
### Issue Context
These functions are part of the newly added AOA virtual device adapter and are called through the AOA device vtable.
### Fix Focus Areas
- src/main/drivers/aoa/aoa_virtual.c[39-49]
### Expected fix
Change to simple calls:
- `highLevelDeviceVTable->init(); return;` (or just call without `return`)
- `highLevelDeviceVTable->update(); return;`
ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools
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Summary
This PR adds angle-of-attack (AOA) sensor functionality via the MSP protocol, specifically designed for control of relaxed static stability (RSS) aircraft.
Key Features
For Canard-configured Aircraft
For Conventional-configured Aircraft
fw_aoa_intervention_thresholdparameter (0-100%, default 80%)Additional Features
Configuration
All settings can be configured via CLI:
aoa_hardware- AOA sensor type (NONE/MSP/FAKE)aoa_offset- Calibration offset in degreesaoa_max_angle/aoa_min_angle- AOA range limitsfw_aoa_control_channel- Enable channel (-1 = always enabled)fw_aoa_upper_limit_angle- Maximum positive AOA limitfw_aoa_lower_limit_angle- Minimum negative AOA limitfw_aoa_aircraft_type- NORMAL or CANARD layoutfw_aoa_kp- P gain percentagefw_aoa_intervention_threshold- Intervention threshold percentageValidation
This feature has been extensively validated over a 5-month period using a SpeedyBee F405 flight controller installed in a Freewing J-10 aircraft, with all performance targets fully met.
Future Work
Further optimization is planned to implement optimal AOA control for cruise flight, improving overall efficiency and performance.