Update flight modes to reflect the latest changes in INAV

Updated to bring the flight modes in line with the latest changes. There were some older modes missing, missing modes from INAV 8.0, plus there have been extra modes added to the telemetry in INAV 9. In INAV 9 the 470 sensor is changed to a uint32_t. That is expected in the telemetry anyway.

-Added Course Hold, which has been missing for countless versions
- Corrected RTH mode magic number when using CRSF
- Added Land, Turtle, Loiter, WRTH, and Angle Hold
- Modes are in both SmartPort and CRSF telemetry

**Completed so far**
Tested using the FrSky system (SmartPort). All modes tested except for `Turtle`.

**To do**
- [ ] Test using CRSF
- [ ] Create sound files for the new modes
- [ ] Test sound files

Author: MrD-RC

src/SCRIPTS/TELEMETRY/iNav.lua

@@ -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
+		local modeB = data.mode * 0.00001
+		local modeC = data.mode * 0.0001
+		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
 

src/SCRIPTS/TELEMETRY/iNav/crsf.lua

@@ -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 = 10000215
+		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

src/SCRIPTS/TELEMETRY/iNav/modes.lua

@@ -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 "'" }