From 59963a182dca413ae6df7fd7594186b34acea98b Mon Sep 17 00:00:00 2001
From: mfoo <private>
Date: Thu, 21 Sep 2023 11:55:49 +0200
Subject: [PATCH 1/4] Target: add Speedybee F405 Wing

---
 Tools/AP_Bootloader/board_types.txt           |   1 +
 Tools/bootloaders/SpeedyBeeF405WING_bl.bin    | Bin 0 -> 14312 bytes
 Tools/bootloaders/SpeedyBeeF405WING_bl.elf    | Bin 0 -> 367996 bytes
 Tools/bootloaders/SpeedyBeeF405WING_bl.hex    | 897 ++++++++++++++++++
 .../hwdef/SpeedyBeeF405WING/defaults.parm     |   9 +
 .../hwdef/SpeedyBeeF405WING/hwdef-bl.dat      |  37 +
 .../hwdef/SpeedyBeeF405WING/hwdef.dat         | 224 +++++
 7 files changed, 1168 insertions(+)
 create mode 100755 Tools/bootloaders/SpeedyBeeF405WING_bl.bin
 create mode 100755 Tools/bootloaders/SpeedyBeeF405WING_bl.elf
 create mode 100644 Tools/bootloaders/SpeedyBeeF405WING_bl.hex
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 1416ef0a15..9f40a72741 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -192,3 +192,4 @@ AP_HW_NeutronRC_H7_BT                2000
 # OpenDroneID enabled boards. Use 10000 + the base board ID
 AP_HW_CubeOrange_ODID               10140
 AP_HW_Pixhawk6_ODID                 10053
+AP_HW_SpeedyBeeF405WING              1106
diff --git a/Tools/bootloaders/SpeedyBeeF405WING_bl.bin b/Tools/bootloaders/SpeedyBeeF405WING_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..342e1162e4a85a3d1d906a25ea5e1f7cf0484db7
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/Tools/bootloaders/SpeedyBeeF405WING_bl.hex b/Tools/bootloaders/SpeedyBeeF405WING_bl.hex
new file mode 100644
index 0000000000..ae47f49033
--- /dev/null
+++ b/Tools/bootloaders/SpeedyBeeF405WING_bl.hex
@@ -0,0 +1,897 @@
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/defaults.parm
new file mode 100644
index 0000000000..fe1e4e7096
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/defaults.parm
@@ -0,0 +1,9 @@
+# WS2812 LED
+NTF_LED_LEN,4
+NTF_LED_TYPES 257
+SERVO12_FUNCTION,120
+
+#Serial Port defaults
+SERIAL1_PROTOCOL 23
+SERIAL4_PROTOCOL -1
+SERIAL6_PROTOCOL 2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef-bl.dat
new file mode 100644
index 0000000000..84d03b16a6
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef-bl.dat
@@ -0,0 +1,37 @@
+# hw definition file for processing by chibios_pins.py
+# for speedybeef4 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1106
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# LEDs
+PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0)
+PA13 LED_ACTIVITY OUTPUT LOW GPIO(1)
+define HAL_LED_ON 0
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PA4 MPU_CS CS
+PB12 OSD_CS CS
+PC14 SDCARD_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
new file mode 100644
index 0000000000..a89bce7bab
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
@@ -0,0 +1,224 @@
+# hw definition file for SpeedyBee F4 WING hardware
+# tested on the Speedybee F405 WING board
+#
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1106
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 32
+
+# reserve 16k for bootloader, 16k for OSD and 32k for flash storage
+FLASH_RESERVE_START_KB 64
+FLASH_SIZE_KB 1024
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 1
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+
+# LEDs
+PA13 LED_GREEN OUTPUT LOW GPIO(0)
+PA14 LED_BLUE OUTPUT LOW GPIO(1)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+
+# buzzer
+PC15 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+# spi1 bus for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA4 MPU_CS CS
+
+# spi2 for OSD
+PB13 SPI2_SCK SPI2
+PC2  SPI2_MISO SPI2
+PC3  SPI2_MOSI SPI2
+PB12 OSD_CS CS
+
+# spi3 for  sdcard
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+PC14 SDCARD_CS CS
+
+# only one I2C bus in normal config
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# analog pins
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC4 RSSI_ADC_PIN      ADC1 SCALE(1)
+
+PC5 PRESSURE_SENS     ADC1 SCALE(1)
+define HAL_DEFAULT_AIRSPEED_PIN 15
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 11.05 # matched to PDB board
+define HAL_BATT_CURR_SCALE 50    # matched to PDB board
+
+# analog rssi pin
+define BOARD_RSSI_ANA_PIN 14
+
+# USART1 (ELRS)
+PA9 USART1_TX USART1
+PA10 USART1_RX USART1
+
+
+# USART2 (RCIN with inverter)
+
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
+
+# alternative with PA3 as USART2_RX
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA ALT(1)
+
+# USART3 (GPS)
+PC10 USART3_TX USART3
+PC11 USART3_RX USART3 NODMA
+
+# UART4 serial4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 NODMA
+
+# USART5 (DJI / VTX)
+PC12 UART5_TX UART5
+PD2  UART5_RX UART5 NODMA
+
+# UART6 (onboard Telemetry)
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define HAL_SERIAL6_BAUD 115
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# PWM out pins. Note that channel order follows the ArduPilot motor
+# order conventions
+PB7  TIM4_CH2  TIM4 PWM(1) GPIO(50)
+PB6  TIM4_CH1  TIM4 PWM(2) GPIO(51)
+PB0  TIM3_CH3  TIM3 PWM(3) GPIO(52)
+PB1  TIM3_CH4  TIM3 PWM(4) GPIO(53)
+PC8  TIM8_CH3  TIM8 PWM(5) GPIO(54)
+PC9  TIM8_CH4  TIM8 PWM(6) GPIO(55)
+PB14 TIM8_CH2N TIM8 PWM(7) GPIO(56)
+
+PA15 TIM2_CH1  TIM2 PWM(8) GPIO(57)
+PB10 TIM2_CH3  TIM2 PWM(9) GPIO(58)
+PB11 TIM2_CH4  TIM2 PWM(10) GPIO(59)
+
+PB15 TIM1_CH3N TIM1 PWM(11) GPIO(60)
+PA8  TIM1_CH1  TIM1 PWM(12) GPIO(61)# LED
+
+# one IMU
+IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# one baro
+BARO SPL06  I2C:0:0x76
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_SPL06_ENABLED 1
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# ICM42688P on SPI1
+SPIDEV icm42605 SPI1 DEVID1  MPU_CS  MODE3  2*MHZ  8*MHZ
+
+# OSD on SPI2
+SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
+
+# SD Card on SPI3
+SPIDEV sdcard SPI3 DEVID3 SDCARD_CS MODE0 400*KHZ 25*MHZ
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+define STM32_PWM_USE_ADVANCED TRUE
+
+# reduce max size of embedded params for apj_tool.py
+define AP_PARAM_MAX_EMBEDDED_PARAM 1024
+define HAL_WITH_DSP FALSE
+
+# save some flash
+
+# disable SMBUS and fuel battery monitors to save flash
+define AP_BATTMON_SMBUS_ENABLE 0
+define AP_BATTMON_FUEL_ENABLE 0
+define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
+define HAL_BATTMON_INA2XX_ENABLED 0
+
+# disable parachute and sprayer to save flash
+define HAL_PARACHUTE_ENABLED 0
+define HAL_SPRAYER_ENABLED 0
+define AP_GRIPPER_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+define AP_ICENGINE_ENABLED 0
+#define LANDING_GEAR_ENABLED 0
+define WINCH_ENABLED 0
+define HAL_ADSB_ENABLED  0
+
+define AC_OAPATHPLANNER_ENABLED 0
+define PRECISION_LANDING 0
+#define HAL_BARO_WIND_COMP_ENABLED 0
+define AP_OPTICALFLOW_ENABLED 0
+
+
+# Disable un-needed hardware drivers
+define HAL_WITH_ESC_TELEM 0
+define AP_FETTEC_ONEWIRE_ENABLED 0
+
+define AP_VOLZ_ENABLED 0
+define AP_ROBOTISSERVO_ENABLE 0
+define HAL_PICCOLO_CAN_ENABLE 0
+define HAL_TORQEEDO_ENABLED 0
+define HAL_RUNCAM_ENABLED 0
+define HAL_HOTT_TELEM_ENABLED 0
+define HAL_NMEA_OUTPUT_ENABLED 0
+define HAL_BUTTON_ENABLED 0
+define AP_NOTIFY_OREOLED_ENABLED 0
+
+#only support MS4525 ANALOG ASP5033 driver
+define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
+define AP_AIRSPEED_MS4525_ENABLED 1
+define AP_AIRSPEED_ANALOG_ENABLED 1
+define AP_AIRSPEED_ASP5033_ENABLED 1
+
+#only support UBLOX and NMEA GPS driver
+define AP_GPS_BACKEND_DEFAULT_ENABLED 0
+define AP_GPS_UBLOX_ENABLED 1
+define AP_GPS_NMEA_ENABLED 1
+
+define AP_TRAMP_ENABLED 1

From b6342f618f421612839a4f654d3d4a8dd4cd8d3c Mon Sep 17 00:00:00 2001
From: mfoo <private>
Date: Thu, 21 Sep 2023 11:55:31 +0200
Subject: [PATCH 2/4] AP_OSD: add wide sidebars support

---
 libraries/AP_OSD/AP_OSD.cpp        | 2 +-
 libraries/AP_OSD/AP_OSD.h          | 1 +
 libraries/AP_OSD/AP_OSD_Screen.cpp | 8 ++++++--
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index 8a953b8623..7e1a3d2aed 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: OSD Options
     // @Description: This sets options that change the display
-    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 19:Right justify TUNED_PN element, 20:Prefix LQ with RF Mode, 21:One decimal attitude, 22:One decimal throttle, 23:Shorten Pluscode 
+    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 17:wide Sidebar, 18:Two decimal vertical speed, 19:Right justify TUNED_PN element, 20:Prefix LQ with RF Mode, 21:One decimal attitude, 22:One decimal throttle, 23:Shorten Pluscode
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK | OPTION_ONE_DECIMAL_ATTITUDE | OPTION_RF_MODE_ALONG_WITH_LQ | OPTION_RIGHT_JUSTIFY_TUNED_PN ),
 
diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index 5d0cc34f9f..11fe4fa77e 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -631,6 +631,7 @@ class AP_OSD
         OPTION_INVERTED_AH_ROLL = 1U<<2,
         OPTION_IMPERIAL_MILES = 1U<<3,
         OPTION_DISABLE_CROSSHAIR = 1U<<4,
+        OPTION_WIDE_SIDEBAR = 1U<<17,
         OPTION_TWO_DECIMALS_VERTICAL_SPEED = 1U<<18,
         OPTION_RIGHT_JUSTIFY_TUNED_PN = 1U<<19,
         OPTION_RF_MODE_ALONG_WITH_LQ = 1U<<20,
diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 2fe5ac5363..6e20d8a574 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -2489,12 +2489,16 @@ void AP_OSD_Screen::draw_sidebars(uint8_t x, uint8_t y)
     // render the altitude ladder
     // similar formula to above, but accounts for negative altitudes
     int alt_symbol_index = fmodf(fmodf(scaled_alt, alt_interval) + alt_interval, alt_interval) / alt_interval * total_sectors;
+    uint8_t sidebar_width = 16;
+    if(check_option(AP_OSD::OPTION_WIDE_SIDEBAR)){
+      sidebar_width=30;
+    }
     for (int i = 0; i < 7; i++){
         if (i == 3) {
             // the middle section of the ladder with the currrent altitude
-            backend->write(x+16, y+i, false, "%c%d%c", SYMBOL(SYM_SIDEBAR_L_ARROW), (int) scaled_alt, u_icon(ALTITUDE));
+            backend->write(x+sidebar_width, y+i, false, "%c%d%c", SYMBOL(SYM_SIDEBAR_L_ARROW), (int) scaled_alt, u_icon(ALTITUDE));
         } else {
-            backend->write(x+16, y+i, false,  "%c", SYMBOL(sidebar_sectors[alt_symbol_index]));
+            backend->write(x+sidebar_width, y+i, false,  "%c", SYMBOL(sidebar_sectors[alt_symbol_index]));
         }
         alt_symbol_index = (alt_symbol_index + 12) % 18;
     }

From 74507cff63d31b7b8ded20504370ba641ee81ed1 Mon Sep 17 00:00:00 2001
From: Michel Pastor <shellixyz@gmail.com>
Date: Sun, 31 Dec 2023 17:36:53 +0100
Subject: [PATCH 3/4] AP_OSD: backport upsream update/fix DisplayPort BF MSP
 symbols

---
 libraries/AP_OSD/AP_OSD.cpp               |  2 +-
 libraries/AP_OSD/AP_OSD.h                 |  4 +++
 libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h | 30 +++++++++++------------
 libraries/AP_OSD/AP_OSD_Screen.cpp        | 15 ++++++++++--
 4 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index 7e1a3d2aed..c2fdb7bbb1 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: OSD Options
     // @Description: This sets options that change the display
-    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 17:wide Sidebar, 18:Two decimal vertical speed, 19:Right justify TUNED_PN element, 20:Prefix LQ with RF Mode, 21:One decimal attitude, 22:One decimal throttle, 23:Shorten Pluscode
+    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 17:wide Sidebar, 18:Two decimal vertical speed, 19:Right justify TUNED_PN element, 20:Prefix LQ with RF Mode, 21:One decimal attitude, 22:One decimal throttle, 23:Shorten Pluscode
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK | OPTION_ONE_DECIMAL_ATTITUDE | OPTION_RF_MODE_ALONG_WITH_LQ | OPTION_RIGHT_JUSTIFY_TUNED_PN ),
 
diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index 11fe4fa77e..3fe7977173 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -314,11 +314,14 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
 #if HAL_PLUSCODE_ENABLE
     void draw_pluscode(uint8_t x, uint8_t y);
 #endif
+
     //helper functions
     void draw_speed(uint8_t x, uint8_t y, bool available, float magnitude = 0, bool blink = false);
     void draw_speed_with_arrow(uint8_t x, uint8_t y, float angle_rad, float magnitude, bool blink = false);
     void draw_distance(uint8_t x, uint8_t y, float distance, bool can_only_be_positive = true, bool available = true);
     void draw_temperature(uint8_t x, uint8_t y, bool available, float value = 0, bool blink = false);
+    char get_arrow_font_index (int32_t angle_cd);
+
 #if HAL_WITH_ESC_TELEM
     void draw_highest_esc_temp(uint8_t x, uint8_t y);
     void draw_rpm(uint8_t x, uint8_t y, float rpm); // helper
@@ -631,6 +634,7 @@ class AP_OSD
         OPTION_INVERTED_AH_ROLL = 1U<<2,
         OPTION_IMPERIAL_MILES = 1U<<3,
         OPTION_DISABLE_CROSSHAIR = 1U<<4,
+        OPTION_BF_ARROWS = 1U<<5,
         OPTION_WIDE_SIDEBAR = 1U<<17,
         OPTION_TWO_DECIMALS_VERTICAL_SPEED = 1U<<18,
         OPTION_RIGHT_JUSTIFY_TUNED_PN = 1U<<19,
diff --git a/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h b/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h
index 7ac7904dbe..27b72e9475 100644
--- a/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h
+++ b/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h
@@ -56,13 +56,13 @@ class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
     static const uint8_t SYM_FS = 0x99;
     static const uint8_t SYM_KMH = 0x9E;
     static const uint8_t SYM_MPH = 0x9D;
-    static const uint8_t SYM_DEGR = 0x1D;
+    static const uint8_t SYM_DEGR = 0x08;
     static const uint8_t SYM_PCNT = 0x25;
     static const uint8_t SYM_RPM = 0x12;
     static const uint8_t SYM_ASPD = 0x41;
-    static const uint8_t SYM_GSPD = 0x70;
-    static const uint8_t SYM_WSPD = 0x1B;
-    static const uint8_t SYM_VSPD = 0x7F;
+    static const uint8_t SYM_GSPD = 0x47;
+    static const uint8_t SYM_WSPD = 0x57;
+    static const uint8_t SYM_VSPD = 0x5E;
     static const uint8_t SYM_WPNO = 0x23;
     static const uint8_t SYM_WPDIR = 0xE6;
     static const uint8_t SYM_WPDST = 0xE7;
@@ -71,10 +71,10 @@ class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
 
     static const uint8_t SYM_SAT_L = 0x1E;
     static const uint8_t SYM_SAT_R = 0x1F;
-    static const uint8_t SYM_HDOP_L = 0x11;
-    static const uint8_t SYM_HDOP_R = 0x08;
+    static const uint8_t SYM_HDOP_L = 0x48;
+    static const uint8_t SYM_HDOP_R = 0x44;
 
-    static const uint8_t SYM_HOME = 0x05;
+    static const uint8_t SYM_HOME = 0x11;
     static const uint8_t SYM_WIND = 0x57;
 
     static const uint8_t SYM_ARROW_START = 0x60;
@@ -103,30 +103,30 @@ class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
 
     static const uint8_t SYM_DEGREES_C = 0x0E;
     static const uint8_t SYM_DEGREES_F = 0x0D;
-    static const uint8_t SYM_GPS_LAT = 0x68;
-    static const uint8_t SYM_GPS_LONG = 0x6C;
-    static const uint8_t SYM_ARMED = 0x08;
-    static const uint8_t SYM_DISARMED = 0x08;
+    static const uint8_t SYM_GPS_LAT = 0x89;
+    static const uint8_t SYM_GPS_LONG = 0x98;
+    static const uint8_t SYM_ARMED = 0x00;
+    static const uint8_t SYM_DISARMED = 0x2A;
     static const uint8_t SYM_ROLL0 = 0x2D;
     static const uint8_t SYM_ROLLR = 0x64;
     static const uint8_t SYM_ROLLL = 0x6C;
     static const uint8_t SYM_PTCH0 = 0x7C;
     static const uint8_t SYM_PTCHUP = 0x68;
     static const uint8_t SYM_PTCHDWN = 0x60;
-    static const uint8_t SYM_XERR = 0xEE;
+    static const uint8_t SYM_XERR = 0x21;
     static const uint8_t SYM_KN = 0xF0;
     static const uint8_t SYM_NM = 0xF1;
-    static const uint8_t SYM_DIST = 0x22;
+    static const uint8_t SYM_DIST = 0x04;
     static const uint8_t SYM_FLY = 0x9C;
     static const uint8_t SYM_EFF = 0xF2;
     static const uint8_t SYM_AH = 0xF3;
     static const uint8_t SYM_MW = 0xF4;
     static const uint8_t SYM_CLK = 0x08;
     static const uint8_t SYM_KILO = 0x4B;
-    static const uint8_t SYM_TERALT = 0xEF;
+    static const uint8_t SYM_TERALT = 0x7F;
     static const uint8_t SYM_FENCE_ENABLED = 0xF5;
     static const uint8_t SYM_FENCE_DISABLED = 0xF6;
-    static const uint8_t SYM_RNGFD = 0x72;
+    static const uint8_t SYM_RNGFD = 0x7F;
     static const uint8_t SYM_LQ = 0xF8;
 
     static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 6e20d8a574..2fa53242e1 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -2202,11 +2202,22 @@ void AP_OSD_Screen::draw_speed(uint8_t x, uint8_t y, bool available, float magni
     backend->write(x+spaces, y, blink, fmt, magnitude_scaled, u_icon(SPEED));
 }
 
+char AP_OSD_Screen::get_arrow_font_index(int32_t angle_cd)
+{
+    uint32_t interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
+    angle_cd = wrap_360_cd(angle_cd);
+    // if using BF font table must translate arrows
+    if (check_option(AP_OSD::OPTION_BF_ARROWS)) {
+        angle_cd = angle_cd > 18000? 54000 - angle_cd : 18000- angle_cd;
+    }
+    return SYMBOL(SYM_ARROW_START) + ((angle_cd + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
+}
+
 // draw a arrow at the given angle, and print the given magnitude
 void AP_OSD_Screen::draw_speed_with_arrow(uint8_t x, uint8_t y, float angle_rad, float magnitude, bool blink)
 {
-    static const int32_t arrow_interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
-    char arrow = SYMBOL(SYM_ARROW_START) + ((int32_t(angle_rad*DEGX100) + arrow_interval / 2) / arrow_interval) % SYMBOL(SYM_ARROW_COUNT);
+    int32_t angle_cd = angle_rad * DEGX100;
+    char arrow = get_arrow_font_index(angle_cd);
     backend->write(x, y, false, "%c", arrow);
     draw_speed(x+1, y, true, magnitude, blink);
 }

From 5338bd49df5384223d0330fc050435f274ad3cda Mon Sep 17 00:00:00 2001
From: mfoo <private>
Date: Sat, 30 Dec 2023 10:16:58 +0100
Subject: [PATCH 4/4] AP_OSD: fix arrow for home distance and waypoint for DJI
 O3

---
 libraries/AP_OSD/AP_OSD_Screen.cpp | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 2fa53242e1..fcfc198528 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -2376,13 +2376,12 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
     if (home_is_set) {
         // const Location &home_loc = ahrs.get_home();
         float distance = home_loc.get_distance(loc);
-        int32_t angle = wrap_360_cd(loc.get_bearing_to(home_loc) - yaw_sensor);
-        int32_t interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
+        int32_t angle_cd = loc.get_bearing_to(home_loc) - yaw_sensor;
         if (distance < 2.0f) {
             //avoid fast rotating arrow at small distances
-            angle = 0;
+            angle_cd = 0;
         }
-        char arrow = SYMBOL(SYM_ARROW_START) + ((angle + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
+        char arrow = get_arrow_font_index(angle_cd);
         backend->write(x, y, false, "%c%c", SYMBOL(SYM_HOME), arrow);
         draw_distance(x+2, y, distance, true);
     } else {
@@ -2948,13 +2947,13 @@ void AP_OSD_Screen::draw_waypoint(uint8_t x, uint8_t y)
         WITH_SEMAPHORE(ahrs.get_semaphore());
         yaw_sensor = ahrs.yaw_sensor;
     }
-    int32_t angle = wrap_360_cd(osd->nav_info.wp_bearing - yaw_sensor);
-    int32_t interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
+    
+    int32_t angle_cd = osd->nav_info.wp_bearing - yaw_sensor;
     if (osd->nav_info.wp_distance < 2.0f) {
         //avoid fast rotating arrow at small distances
-        angle = 0;
+        angle_cd = 0;
     }
-    char arrow = SYMBOL(SYM_ARROW_START) + ((angle + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
+    char arrow = get_arrow_font_index(angle_cd);
     backend->write(x,y, false, "%c%2u%c",SYMBOL(SYM_WPNO), osd->nav_info.wp_number, arrow);
     draw_distance(x+4, y, osd->nav_info.wp_distance, true);
 }