fix ADSB cardinal for broken mag direction by error414 · Pull Request #11076 · iNavFlight/inav

error414 · 2025-10-16T20:40:32Z

User description

Use same calculation for fixed wings as "direction to home". For fixed wing is used posControl.actualState.cog instead of osdGetHeading(), I have no idea why.

But some people reported that direction to ADSB aircraft is wrong, I have no able to reproduce the issue.

PR Type

Bug fix, Enhancement

Description

Fix ADSB cardinal direction calculation for broken magnetic heading
- Refactored flight direction calculation into reusable osdGetFlightDirection() function
- Applied consistent direction calculation across home arrow and ADSB features
Improved GPS environment validation for ADSB distance/bearing calculations
- Enhanced isEnvironmentOkForCalculatingADSBDistanceBearing() to support GPS fix estimation
- Added IMU heading validity checks before drawing direction indicators
Enhanced ADSB info element to display status indicators
- Shows 'G' for GPS issues, 'H' for IMU heading problems, '-' for no device
Code quality improvements and formatting consistency

Diagram Walkthrough

flowchart LR
  A["ADSB Direction Calculation"] --> B["osdGetFlightDirection()"]
  B --> C["Fixed Wing: COG"]
  B --> D["Multirotor: Heading"]
  E["GPS Environment Check"] --> F["isEnvironmentOkForCalculatingADSBDistanceBearing()"]
  F --> G["GPS Fix or Estimation"]
  F --> H["Satellite Count > 4"]
  I["ADSB Info Display"] --> J["Status Indicators"]
  J --> K["G: GPS Issue"]
  J --> L["H: IMU Invalid"]
  J --> M["Number: Aircraft Count"]

File Walkthrough

Relevant files

Bug fix

adsb.c `Enhance GPS validation and rename environment check function` src/main/io/adsb.c Renamed `enviromentOkForCalculatingDistaceBearing()` to `isEnvironmentOkForCalculatingADSBDistanceBearing()` with improved logic Enhanced GPS validation to support GPS fix estimation mode via `USE_GPS_FIX_ESTIMATION` ifdef Added debug vehicle code block (commented out) for testing purposes Improved code formatting and consistency in function implementation	+31/-3
adsb.h `Update function declaration for GPS validation` src/main/io/adsb.h Updated function declaration to match renamed `isEnvironmentOkForCalculatingADSBDistanceBearing()` Maintains API consistency across header and implementation files	+1/-1
osd.c `Refactor direction calculation and add validation checks` src/main/io/osd.c Created new `osdGetFlightDirection()` helper function for consistent direction calculation Refactored home arrow direction calculation to use new helper function Added IMU heading validity checks before drawing ADSB direction indicators Enhanced ADSB info element to display status codes: 'G' for GPS issues, 'H' for IMU heading problems Added environment validation check in ADSB warning display logic Improved code formatting and conditional statement consistency throughout ADSB sections Applied same direction calculation pattern to geozone fence direction feature	+35/-27

Documentation

ADSB.md `Document ADSB info element status indicators` docs/ADSB.md Added documentation for OSD ADSB Info element status indicators Documented meaning of display characters: '-' for no device, 'H' for IMU issues, 'G' for GPS issues, number for aircraft count Separated documentation into distinct sections for Info and Warning elements	+7/-1

qodo-code-review · 2025-10-19T12:57:05Z

PR Compliance Guide 🔍

(Compliance updated until commit `91144d6`)

Below is a summary of compliance checks for this PR:

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided Create ticket/issue
Codebase Duplication Compliance
⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
Custom Compliance
🟢	Generic: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Passed
	Generic: Secure Error Handling Objective: To prevent the leakage of sensitive system information through error messages while providing sufficient detail for internal debugging. Status: Passed
	Generic: Secure Logging Practices Objective: To ensure logs are useful for debugging and auditing without exposing sensitive information like PII, PHI, or cardholder data. Status: Passed
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: No auditing: The new logic for ADSB display, environment checks, and flight direction introduces critical decision paths but adds no auditing/logging of these actions, and it is unclear whether auditing is handled elsewhere. Referred Code case OSD_ADSB_WARNING: { static uint8_t adsbLengthForClearFirstLine = 0; static uint8_t adsbLengthForClearSecondLine = 0; uint8_t buffIndexFirstLine = 0; uint8_t arrowIndexIndex = 0; adsbVehicle_t *vehicle = findVehicleClosestLimit(METERS_TO_CENTIMETERS(osdConfig()->adsb_ignore_plane_above_me_limit)); if (vehicle != NULL) { recalculateVehicle(vehicle); } if ( vehicle != NULL && (vehicle->calculatedVehicleValues.dist > 0 && vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_warning)) && isEnvironmentOkForCalculatingADSBDistanceBearing() ) { adsbLengthForClearFirstLine = 11; ... (clipped 97 lines)
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: Edge cases unhandled: New branches depend on GPS/IMU validity and vehicle presence but perform no explicit error handling or fallback logging when data is borderline (e.g., heading invalid during extended ADSB info rendering), leaving ambiguity about behavior under edge conditions. Referred Code case OSD_ADSB_WARNING: { static uint8_t adsbLengthForClearFirstLine = 0; static uint8_t adsbLengthForClearSecondLine = 0; uint8_t buffIndexFirstLine = 0; uint8_t arrowIndexIndex = 0; adsbVehicle_t *vehicle = findVehicleClosestLimit(METERS_TO_CENTIMETERS(osdConfig()->adsb_ignore_plane_above_me_limit)); if (vehicle != NULL) { recalculateVehicle(vehicle); } if ( vehicle != NULL && (vehicle->calculatedVehicleValues.dist > 0 && vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_warning)) && isEnvironmentOkForCalculatingADSBDistanceBearing() ) { adsbLengthForClearFirstLine = 11; ... (clipped 65 lines)
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: Input validation scope: The new `isEnvironmentOkForCalculatingADSBDistanceBearing()` relaxes conditions with estimated GPS fix but adds no additional validation or safeguards around using estimated data, which may impact downstream calculations. Referred Code bool isEnvironmentOkForCalculatingADSBDistanceBearing(void){ return (gpsSol.numSat > 4 && ( STATE(GPS_FIX) #ifdef USE_GPS_FIX_ESTIMATION \|\| STATE(GPS_ESTIMATED_FIX) #endif ) );

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Compliance check up to commit af27616

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🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
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⚪	🎫 No ticket provided `- [ ] Create ticket/issue <!-- /create_ticket --create_ticket=true --> </details></td></tr>`
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error414 · 2025-10-19T12:57:18Z

Tested in Air

So it didn't break ccurrent implementation.

qodo-code-review · 2025-10-19T12:58:04Z

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
High-level	ADSB direction logic needs GPS validity check The code uses GPS-based Course Over Ground (COG) for fixed-wing aircraft without verifying GPS signal validity. It should fall back to magnetic heading if the GPS fix is lost to prevent displaying incorrect ADSB directional data. Examples: src/main/io/osd.c [2227-2228] int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)flightDirection; src/main/io/osd.c [2247-2248] int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX + 6, elemPosY + 1), (float)(CENTIDEGREES_TO_DEGREES(vehicle->vehicleValues.heading) - flightDirection + panServoDirOffset)); Solution Walkthrough: Before: // In osdDrawSingleElement for OSD_ADSB_WARNING if (arrowIndexIndex > 0) { // Direction is based on aircraft type, without checking GPS status int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); int directionToPeerError = osdGetHeadingAngle(...) - (int)flightDirection; osdDrawDirCardinal(..., directionToPeerError, ...); } ... if (osdConfig()->adsb_warning_style == OSD_ADSB_WARNING_STYLE_EXTENDED) { ... int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); osdDrawDirArrow(..., (float)(... - flightDirection + ...)); } After: // In osdDrawSingleElement for OSD_ADSB_WARNING if (arrowIndexIndex > 0) { // Check for valid GPS fix before using COG bool useCog = STATE(AIRPLANE) && STATE(GPS_FIX); int16_t flightDirection = useCog ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); int directionToPeerError = osdGetHeadingAngle(...) - (int)flightDirection; osdDrawDirCardinal(..., directionToPeerError, ...); } ... if (osdConfig()->adsb_warning_style == OSD_ADSB_WARNING_STYLE_EXTENDED) { ... bool useCog = STATE(AIRPLANE) && STATE(GPS_FIX); int16_t flightDirection = useCog ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); osdDrawDirArrow(..., (float)(... - flightDirection + ...)); } Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies a critical flaw where the code unconditionally uses GPS-derived `posControl.actualState.cog` for fixed-wing aircraft without checking for a valid GPS fix, which could lead to incorrect or misleading ADSB data upon GPS signal loss.	High
General	Avoid redundant variable calculation Calculate the `flightDirection` variable once before the two `if` blocks that use it to avoid redundant computation. src/main/io/osd.c [2225-2251] +int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); if (arrowIndexIndex > 0) { //[direction to vehicle] - int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)flightDirection; osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr); } ////////////////////////////////////////////////////// ////////////////////////////////////////////////////// // Second line, extra info if (osdConfig()->adsb_warning_style == OSD_ADSB_WARNING_STYLE_EXTENDED) { // Vehicle type tfp_sprintf(buff, "%s", getAdsbEmitterTypeString(vehicle->vehicleValues.emitterType)); // Vehicle speed adsbLengthForClearSecondLine = osdFormatVelocityStr(buff + 7, vehicle->vehicleValues.horVelocity, false, false); // draw values buff[6] = SYM_BLANK; // space for direction arrow displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY + 1, buff, elemAttr); // Vehicle direction - int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX + 6, elemPosY + 1), (float)(CENTIDEGREES_TO_DEGREES(vehicle->vehicleValues.heading) - flightDirection + panServoDirOffset)); adsbLengthForClearSecondLine += 7; } Apply / Chat Suggestion importance[1-10]: 5 __ Why: The suggestion correctly identifies that the `flightDirection` variable is calculated twice with identical logic, a redundancy introduced in this PR, and proposes a valid refactoring to improve code quality.	Low
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qodo-code-review · 2025-10-19T14:26:53Z

PR Compliance Guide 🔍

Below is a summary of compliance checks for this PR:

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided `- [ ] Create ticket/issue <!-- /create_ticket --create_ticket=true --> </details></td></tr>`
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⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
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Compliance status legend

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🔴 - Not Compliant
⚪ - Requires Further Human Verification
🏷️ - Compliance label

qodo-code-review · 2025-10-19T14:27:59Z

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
High-level	Use magnetic heading at low speeds For fixed-wing aircraft, use magnetic heading when ground speed is low because Course Over Ground (COG) is unreliable in those conditions. This will prevent the ADSB direction indicator from behaving erratically on the ground. Examples: src/main/io/osd.c [2229-2234] int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); if (arrowIndexIndex > 0) { //[direction to vehicle] int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)flightDirection; osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr); Solution Walkthrough: Before: // src/main/io/osd.c // ... inside OSD_ADSB_WARNING case int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading()); if (arrowIndexIndex > 0) { int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)flightDirection; osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr); } // ... After: // src/main/io/osd.c // ... inside OSD_ADSB_WARNING case #define MIN_GROUND_SPEED_FOR_COG_CM_S 100 // 1m/s int16_t flightDirection; if (STATE(AIRPLANE) && gpsSol.groundSpeed > MIN_GROUND_SPEED_FOR_COG_CM_S) { flightDirection = CENTIDEGREES_TO_DEGREES(posControl.actualState.cog); } else { flightDirection = DECIDEGREES_TO_DEGREES(osdGetHeading()); } if (arrowIndexIndex > 0) { int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)flightDirection; osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr); } // ... Suggestion importance[1-10]: 8 __ Why: The suggestion correctly identifies that `COG` is unreliable at low ground speeds, and the proposed fallback to magnetic heading would prevent erratic ADSB direction indications for fixed-wing aircraft on the ground, significantly improving usability.	Medium
Possible issue	Refine ADSB warning condition for airplanes Modify the `OSD_ADSB_WARNING` check to only validate IMU heading for non-airplane vehicle types, as airplanes use GPS COG for direction. src/main/io/osd.c [2171-2177] case OSD_ADSB_WARNING: { - if (!isEnvironmentOkForCalculatingADSBDistanceBearing() \|\| !isImuHeadingValid()) { + if (!isEnvironmentOkForCalculatingADSBDistanceBearing() \|\| (!STATE(AIRPLANE) && !isImuHeadingValid())) { break; } static uint8_t adsbLengthForClearFirstLine = 0; Apply / Chat Suggestion importance[1-10]: 8 __ Why: The suggestion correctly identifies a logic flaw in the PR where an airplane without a valid compass heading would be incorrectly prevented from displaying ADSB warnings, even though it uses GPS COG for direction. This is a valid bug fix for the new functionality.	Medium
General	Improve ADSB info status display logic Reorder the `OSD_ADSB_INFO` status checks to first verify if an ADSB device is detected before checking for GPS or IMU status. This ensures the '-' indicator for 'no device' is prioritized correctly. src/main/io/osd.c [2274-2288] case OSD_ADSB_INFO: { buff[0] = SYM_ADSB; - if (!isEnvironmentOkForCalculatingADSBDistanceBearing()) { + if (getAdsbStatus()->vehiclesMessagesTotal == 0 && getAdsbStatus()->heartbeatMessagesTotal == 0) { + buff[1] = '-'; + } else if (!isEnvironmentOkForCalculatingADSBDistanceBearing()) { buff[1] = 'G'; } else if (!isImuHeadingValid()) { buff[1] = 'H'; - } else if (getAdsbStatus()->vehiclesMessagesTotal > 0 \|\| getAdsbStatus()->heartbeatMessagesTotal > 0) { + } else { tfp_sprintf(buff + 1, "%1d", getActiveVehiclesCount()); - } else { - buff[1] = '-'; } break; } Apply / Chat Suggestion importance[1-10]: 7 __ Why: The suggestion correctly proposes reordering the checks to align with the documented logic, ensuring that the 'no device' status (`-`) has the highest priority. This improves the clarity and correctness of the status indicator.	Medium
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trailx · 2025-10-20T14:02:02Z

I requested the change to use COG on airplanes. This change to COG aligns with what is currently used for the home arrow on airplanes. It bypasses any potential compass issues which don't matter on airplanes. I had been originally testing ADSB with a GPS unit that was spitting out bad GPS headings, it was throwing off the FC compass - and therefore also throwing off ADSB.

I have tested this, and this PR fixes the ADSB direction issues I was originally having with a fixed wing.

Works great. Thanks @error414 !

* apply good suggestion from qodo-merge-pro

error414 · 2025-11-01T12:07:06Z

Today tested and it works like a charm

QODO:

Improve ADSB info status display logic - I added error handling for ADSB info element,
H = heading error, if you don't use mag, then H is displayed until take of, similar functionality as "return to home" OSD element
G = GPS error, not enought sats, or GPS fix failure
Use magnetic heading at low speeds - I did not eimplemented because none OSD element use it.
Refine ADSB warning condition for airplanes whole condition has been completely rewritten

qodo-code-review · 2025-11-01T12:07:21Z

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qodo-code-review · 2025-11-01T12:08:28Z

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
Possible issue	Fix incorrect ADSB direction condition Modify the `if` condition to include `STATE(AIRPLANE)` to ensure the ADSB direction indicator is drawn for airplanes using GPS COG, even without a valid IMU heading. src/main/io/osd.c [2234-2238] -if (arrowIndexIndex > 0 && isImuHeadingValid()) { +if (arrowIndexIndex > 0 && (STATE(AIRPLANE) \|\| isImuHeadingValid())) { //[direction to vehicle] int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - osdGetFlightDirection(); osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr); } Apply / Chat Suggestion importance[1-10]: 8 __ Why: The suggestion correctly identifies a bug where the ADSB direction indicator would not be displayed for airplanes without a compass, despite the necessary COG data being available. This is a valid functional fix.	Medium
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error414 · 2025-11-01T12:25:30Z

QODO

Fix incorrect ADSB direction condition have no idea what is wrong with my code, function isImuHeadingValid contains checking for GPS health and compass, so it should cover both ways how to calculate heading. For example OSD_HOME_DIR uses similar aproach like ADSB src/main/io/osd.c:1976

error414 marked this pull request as ready for review October 19, 2025 12:56

qodo-code-review Bot added the Review effort 2/5 label Oct 19, 2025

error414 marked this pull request as draft October 19, 2025 13:29

error414 marked this pull request as ready for review October 19, 2025 14:25

error414 marked this pull request as draft October 19, 2025 15:27

error414 force-pushed the ADSB-fix-cardinal-for-broken-mag branch 4 times, most recently from 97c8c7f to 9d5eb63 Compare October 19, 2025 19:43

error414 force-pushed the ADSB-fix-cardinal-for-broken-mag branch from 9d5eb63 to fba6de1 Compare October 24, 2025 16:26

* fix ADSB cardinal for broken mag direction

91144d6

* apply good suggestion from qodo-merge-pro

error414 force-pushed the ADSB-fix-cardinal-for-broken-mag branch from fba6de1 to 91144d6 Compare October 24, 2025 17:06

error414 marked this pull request as ready for review November 1, 2025 12:06

sensei-hacker merged commit 0121d2c into iNavFlight:master Nov 9, 2025
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sensei-hacker added this to the 9.0 milestone Nov 16, 2025

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