Show compass on waypoint frame; clear when waypoint deleted (#4116)

* Clear expired or deleted waypoint frame

* Return 0 to CallbackObserver

* Add a missing comment

* Draw compass for waypoint frame

* Display our own waypoints

.github/workflows/main_matrix.yml

@@ -254,7 +254,7 @@ jobs:
           chmod +x ./output/device-update.sh
 
       - name: Zip firmware
-        run: zip -j -9 -r ./firmware-${{ steps.version.outputs.version }}.zip ./output
+        run: zip -j -9 -r ./firmware-${{ steps.version.outputs.version }}.zip ./output -x *.deb
 
       - uses: actions/download-artifact@v4
         with:

.trunk/configs/.bandit

@@ -0,0 +1,2 @@
+[bandit]
+skips = B101

.vscode/extensions.json

@@ -2,7 +2,7 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "ms-vscode.cpptools",
+		"ms-vscode.cpptools",
         "platformio.platformio-ide",
         "trunk.io"
     ],

.vscode/settings.json

@@ -3,5 +3,6 @@
   "editor.defaultFormatter": "trunk.io",
   "trunk.enableWindows": true,
   "files.insertFinalNewline": false,
-  "files.trimFinalNewlines": false
+  "files.trimFinalNewlines": false,
+  "cmake.configureOnOpen": false
 }

Dockerfile

@@ -48,6 +48,7 @@ USER mesh
 WORKDIR /home/mesh
 COPY --from=builder /tmp/firmware/release/meshtasticd /home/mesh/
 
+RUN mkdir data
 VOLUME /home/mesh/data
 
 CMD [ "sh",  "-cx", "./meshtasticd -d /home/mesh/data --hwid=${HWID:-$RANDOM}" ]

arch/esp32/esp32.ini

@@ -44,7 +44,7 @@ lib_deps =
   ${networking_base.lib_deps}
   ${environmental_base.lib_deps}
   https://github.com/meshtastic/esp32_https_server.git#23665b3adc080a311dcbb586ed5941b5f94d6ea2
-  h2zero/NimBLE-Arduino@^1.4.1
+  h2zero/NimBLE-Arduino@^1.4.2
   https://github.com/dbSuS/libpax.git#7bcd3fcab75037505be9b122ab2b24cc5176b587
   https://github.com/lewisxhe/XPowersLib.git#84b7373faea3118b6c37954d52f98b8a337148d6
   https://github.com/meshtastic/ESP32_Codec2.git#633326c78ac251c059ab3a8c430fcdf25b41672f

arch/nrf52/nrf52.ini

@@ -1,6 +1,6 @@
 [nrf52_base]
 ; Instead of the standard nordicnrf52 platform, we use our fork which has our added variant files
-platform = platformio/nordicnrf52@^10.4.0
+platform = platformio/nordicnrf52@^10.5.0
 extends = arduino_base
 
 build_type = debug

boards/wio-sdk-wm1110.json

@@ -7,13 +7,6 @@
     "cpu": "cortex-m4",
     "extra_flags": "-DARDUINO_WIO_WM1110 -DNRF52840_XXAA",
     "f_cpu": "64000000L",
-    "hwids": [
-      ["0x239A", "0x8029"],
-      ["0x239A", "0x0029"],
-      ["0x239A", "0x002A"],
-      ["0x239A", "0x802A"]
-    ],
-    "usb_product": "WIO-BOOT",
     "mcu": "nrf52840",
     "variant": "Seeed_WIO_WM1110",
     "bsp": {

extra_scripts/README.md

@@ -0,0 +1,3 @@
+# extra_scripts
+
+This directory contains special [scripts](https://docs.platformio.org/en/latest/scripting/index.html) that are used to modify the platformio environment in rare cases.

extra_scripts/disable_adafruit_usb.py

@@ -0,0 +1,20 @@
+# trunk-ignore-all(flake8/F821)
+# trunk-ignore-all(ruff/F821)
+
+Import("env")
+
+# NOTE: This is not currently used, but can serve as an example on how to write extra_scripts
+
+print("Current CLI targets", COMMAND_LINE_TARGETS)
+print("Current Build targets", BUILD_TARGETS)
+print("CPP defs", env.get("CPPDEFINES"))
+
+# Adafruit.py in the platformio build tree is a bit naive and always enables their USB stack for building.  We don't want this.
+# So come in after that python script has run and disable it.  This hack avoids us having to fork that big project and send in a PR
+# which might not be accepted. -@geeksville
+
+env["CPPDEFINES"].remove("USBCON")
+env["CPPDEFINES"].remove("USE_TINYUSB")
+
+# Custom actions when building program/firmware
+# env.AddPreAction("buildprog", callback...)

platformio.ini

@@ -29,8 +29,12 @@ default_envs = tbeam
 ;default_envs = meshtastic-dr-dev
 ;default_envs = m5stack-coreink
 ;default_envs = rak4631
+;default_envs = rak2560
 ;default_envs = rak10701
 ;default_envs = wio-e5
+;default_envs = radiomaster_900_bandit_nano
+;default_envs = radiomaster_900_bandit_micro
+;default_envs = heltec_capsule_sensor_v3
 
 extra_configs =
   arch/*/*.ini
@@ -70,12 +74,13 @@ build_flags = -Wno-missing-field-initializers
   -DRADIOLIB_EXCLUDE_FSK4
   -DRADIOLIB_EXCLUDE_APRS
   -DRADIOLIB_EXCLUDE_LORAWAN
+  -DMESHTASTIC_EXCLUDE_DROPZONE=1
 
 monitor_speed = 115200
 
 lib_deps =
   jgromes/RadioLib@~6.6.0
-  https://github.com/meshtastic/esp8266-oled-ssd1306.git#ee628ee6c9588d4c56c9e3da35f0fc9448ad54a8 ; ESP8266_SSD1306
+  https://github.com/meshtastic/esp8266-oled-ssd1306.git#2b40affbe7f7dc63b6c00fa88e7e12ed1f8e1719 ; ESP8266_SSD1306
   mathertel/OneButton@^2.5.0 ; OneButton library for non-blocking button debounce
   https://github.com/meshtastic/arduino-fsm.git#7db3702bf0cfe97b783d6c72595e3f38e0b19159
   https://github.com/meshtastic/TinyGPSPlus.git#71a82db35f3b973440044c476d4bcdc673b104f4
@@ -118,10 +123,7 @@ lib_deps =
   adafruit/Adafruit BMP280 Library@^2.6.8
   adafruit/Adafruit BMP085 Library@^1.2.4
   adafruit/Adafruit BME280 Library@^2.2.2
-  https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.7.2502
-  boschsensortec/BME68x Sensor Library@^1.1.40407
   adafruit/Adafruit MCP9808 Library@^2.0.0
-  https://github.com/KodinLanewave/INA3221@^1.0.0
   adafruit/Adafruit INA260 Library@^1.5.0
   adafruit/Adafruit INA219@^1.2.0
   adafruit/Adafruit SHTC3 Library@^1.0.0
@@ -131,13 +133,22 @@ lib_deps =
   adafruit/Adafruit MPU6050@^2.2.4
   adafruit/Adafruit LIS3DH@^1.2.4
   adafruit/Adafruit AHTX0@^2.0.5
-  lewisxhe/SensorLib@^0.2.0
   adafruit/Adafruit LSM6DS@^4.7.2
-  mprograms/QMC5883LCompass@^1.2.0
   adafruit/Adafruit VEML7700 Library@^2.1.6
   adafruit/Adafruit SHT4x Library@^1.0.4
   adafruit/Adafruit TSL2591 Library@^1.4.5
+  sparkfun/SparkFun Qwiic Scale NAU7802 Arduino Library@^1.0.5
   ClosedCube OPT3001@^1.1.2
   emotibit/EmotiBit MLX90632@^1.0.8
   dfrobot/DFRobot_RTU@^1.0.3
-  https://github.com/meshtastic/DFRobot_LarkWeatherStation#0e884fc86b7a0b602c7ff3d26b893b997f15c6ac
+
+
+  https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.7.2502
+  boschsensortec/BME68x Sensor Library@^1.1.40407
+  https://github.com/KodinLanewave/INA3221@^1.0.0
+  lewisxhe/SensorLib@^0.2.0
+  mprograms/QMC5883LCompass@^1.2.0
+  
+
+  https://github.com/meshtastic/DFRobot_LarkWeatherStation#dee914270dc7cb3e43fbf034edd85a63a16a12ee
+

src/AccelerometerThread.h

@@ -14,6 +14,10 @@
 #include <Arduino.h>
 #include <SensorBMA423.hpp>
 #include <Wire.h>
+#ifdef RAK_4631
+#include "Fusion/Fusion.h"
+#include <Rak_BMX160.h>
+#endif
 
 #define ACCELEROMETER_CHECK_INTERVAL_MS 100
 #define ACCELEROMETER_CLICK_THRESHOLD 40
@@ -50,12 +54,13 @@ class AccelerometerThread : public concurrency::OSThread
             return;
         }
         acceleremoter_type = type;
-
+#ifndef RAK_4631
         if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
             LOG_DEBUG("AccelerometerThread disabling due to no interested configurations\n");
             disable();
             return;
         }
+#endif
         init();
     }
 
@@ -87,6 +92,72 @@ class AccelerometerThread : public concurrency::OSThread
                 wakeScreen();
                 return 500;
             }
+#ifdef RAK_4631
+        } else if (acceleremoter_type == ScanI2C::DeviceType::BMX160) {
+            sBmx160SensorData_t magAccel;
+            sBmx160SensorData_t gAccel;
+
+            /* Get a new sensor event */
+            bmx160.getAllData(&magAccel, NULL, &gAccel);
+
+            // expirimental calibrate routine. Limited to between 10 and 30 seconds after boot
+            if (millis() > 10 * 1000 && millis() < 30 * 1000) {
+                if (magAccel.x > highestX)
+                    highestX = magAccel.x;
+                if (magAccel.x < lowestX)
+                    lowestX = magAccel.x;
+                if (magAccel.y > highestY)
+                    highestY = magAccel.y;
+                if (magAccel.y < lowestY)
+                    lowestY = magAccel.y;
+                if (magAccel.z > highestZ)
+                    highestZ = magAccel.z;
+                if (magAccel.z < lowestZ)
+                    lowestZ = magAccel.z;
+            }
+
+            int highestRealX = highestX - (highestX + lowestX) / 2;
+
+            magAccel.x -= (highestX + lowestX) / 2;
+            magAccel.y -= (highestY + lowestY) / 2;
+            magAccel.z -= (highestZ + lowestZ) / 2;
+            FusionVector ga, ma;
+            ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
+            ga.axis.y = -gAccel.y;
+            ga.axis.z = gAccel.z;
+            ma.axis.x = -magAccel.x;
+            ma.axis.y = -magAccel.y;
+            ma.axis.z = magAccel.z * 3;
+
+            // If we're set to one of the inverted positions
+            if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
+                ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
+                ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
+            }
+
+            float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
+
+            switch (config.display.compass_orientation) {
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
+                heading += 90;
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
+                heading += 180;
+                break;
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
+            case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
+                heading += 270;
+                break;
+            }
+
+            screen->setHeading(heading);
+
+#endif
         } else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.shake()) {
             wakeScreen();
             return 500;
@@ -149,6 +220,11 @@ class AccelerometerThread : public concurrency::OSThread
             bmaSensor.enableTiltIRQ();
             // It corresponds to isDoubleClick interrupt
             bmaSensor.enableWakeupIRQ();
+#ifdef RAK_4631
+        } else if (acceleremoter_type == ScanI2C::DeviceType::BMX160 && bmx160.begin()) {
+            bmx160.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ); // set output data rate
+
+#endif
         } else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.begin_I2C(accelerometer_found.address)) {
             LOG_DEBUG("LSM6DS3 initializing\n");
             // Default threshold of 2G, less sensitive options are 4, 8 or 16G
@@ -179,6 +255,10 @@ class AccelerometerThread : public concurrency::OSThread
     Adafruit_LIS3DH lis;
     Adafruit_LSM6DS3TRC lsm;
     SensorBMA423 bmaSensor;
+#ifdef RAK_4631
+    RAK_BMX160 bmx160;
+    float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
+#endif
     bool BMA_IRQ = false;
 };
 

src/BluetoothCommon.cpp

@@ -10,4 +10,6 @@ const uint8_t TORADIO_UUID_16[16u] = {0xe7, 0x01, 0x44, 0x12, 0x66, 0x78, 0xdd,
 const uint8_t FROMRADIO_UUID_16[16u] = {0x02, 0x00, 0x12, 0xac, 0x42, 0x02, 0x78, 0xb8,
                                         0xed, 0x11, 0x93, 0x49, 0x9e, 0xe6, 0x55, 0x2c};
 const uint8_t FROMNUM_UUID_16[16u] = {0x53, 0x44, 0xe3, 0x47, 0x75, 0xaa, 0x70, 0xa6,
-                                      0x66, 0x4f, 0x00, 0xa8, 0x8c, 0xa1, 0x9d, 0xed};
+                                      0x66, 0x4f, 0x00, 0xa8, 0x8c, 0xa1, 0x9d, 0xed};
+const uint8_t LOGRADIO_UUID_16[16u] = {0xe2, 0xf2, 0x1e, 0xbe, 0xc5, 0x15, 0xcf, 0xaa,
+                                       0x6b, 0x43, 0xfa, 0x78, 0x38, 0xd2, 0x6f, 0x6c};

src/BluetoothCommon.h

@@ -11,10 +11,11 @@
 #define TORADIO_UUID "f75c76d2-129e-4dad-a1dd-7866124401e7"
 #define FROMRADIO_UUID "2c55e69e-4993-11ed-b878-0242ac120002"
 #define FROMNUM_UUID "ed9da18c-a800-4f66-a670-aa7547e34453"
+#define LOGRADIO_UUID "6c6fd238-78fa-436b-aacf-15c5be1ef2e2"
 
 // NRF52 wants these constants as byte arrays
 // Generated here https://yupana-engineering.com/online-uuid-to-c-array-converter - but in REVERSE BYTE ORDER
-extern const uint8_t MESH_SERVICE_UUID_16[], TORADIO_UUID_16[16u], FROMRADIO_UUID_16[], FROMNUM_UUID_16[];
+extern const uint8_t MESH_SERVICE_UUID_16[], TORADIO_UUID_16[16u], FROMRADIO_UUID_16[], FROMNUM_UUID_16[], LOGRADIO_UUID_16[];
 
 /// Given a level between 0-100, update the BLE attribute
 void updateBatteryLevel(uint8_t level);
@@ -27,4 +28,5 @@ class BluetoothApi
     virtual void clearBonds();
     virtual bool isConnected();
     virtual int getRssi() = 0;
+    virtual void sendLog(const char *logMessage);
 };

src/ButtonThread.cpp

@@ -41,7 +41,11 @@ ButtonThread::ButtonThread() : OSThread("Button")
     }
 #elif defined(BUTTON_PIN)
     int pin = config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN; // Resolved button pin
+#if defined(HELTEC_CAPSULE_SENSOR_V3)
+    this->userButton = OneButton(pin, false, false);
+#else
     this->userButton = OneButton(pin, true, true);
+#endif
     LOG_DEBUG("Using GPIO%02d for button\n", pin);
 #endif
 

src/Fusion/Fusion.h

@@ -0,0 +1,32 @@
+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the Fusion library.  This is the only file that
+ * needs to be included when using the library.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionAxes.h"
+#include "FusionCalibration.h"
+#include "FusionCompass.h"
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include "FusionOffset.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAhrs.c

@@ -0,0 +1,542 @@
+/**
+ * @file FusionAhrs.c
+ * @author Seb Madgwick
+ * @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
+ * measurements into a single measurement of orientation relative to the Earth.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionAhrs.h"
+#include <float.h> // FLT_MAX
+#include <math.h>  // atan2f, cosf, fabsf, powf, sinf
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Initial gain used during the initialisation.
+ */
+#define INITIAL_GAIN (10.0f)
+
+/**
+ * @brief Initialisation period in seconds.
+ */
+#define INITIALISATION_PERIOD (3.0f)
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+static inline FusionVector HalfGravity(const FusionAhrs *const ahrs);
+
+static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs);
+
+static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference);
+
+static inline int Clamp(const int value, const int min, const int max);
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the AHRS algorithm structure.
+ * @param ahrs AHRS algorithm structure.
+ */
+void FusionAhrsInitialise(FusionAhrs *const ahrs)
+{
+    const FusionAhrsSettings settings = {
+        .convention = FusionConventionNwu,
+        .gain = 0.5f,
+        .gyroscopeRange = 0.0f,
+        .accelerationRejection = 90.0f,
+        .magneticRejection = 90.0f,
+        .recoveryTriggerPeriod = 0,
+    };
+    FusionAhrsSetSettings(ahrs, &settings);
+    FusionAhrsReset(ahrs);
+}
+
+/**
+ * @brief Resets the AHRS algorithm.  This is equivalent to reinitialising the
+ * algorithm while maintaining the current settings.
+ * @param ahrs AHRS algorithm structure.
+ */
+void FusionAhrsReset(FusionAhrs *const ahrs)
+{
+    ahrs->quaternion = FUSION_IDENTITY_QUATERNION;
+    ahrs->accelerometer = FUSION_VECTOR_ZERO;
+    ahrs->initialising = true;
+    ahrs->rampedGain = INITIAL_GAIN;
+    ahrs->angularRateRecovery = false;
+    ahrs->halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->accelerometerIgnored = false;
+    ahrs->accelerationRecoveryTrigger = 0;
+    ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    ahrs->magnetometerIgnored = false;
+    ahrs->magneticRecoveryTrigger = 0;
+    ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+}
+
+/**
+ * @brief Sets the AHRS algorithm settings.
+ * @param ahrs AHRS algorithm structure.
+ * @param settings Settings.
+ */
+void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings)
+{
+    ahrs->settings.convention = settings->convention;
+    ahrs->settings.gain = settings->gain;
+    ahrs->settings.gyroscopeRange = settings->gyroscopeRange == 0.0f ? FLT_MAX : 0.98f * settings->gyroscopeRange;
+    ahrs->settings.accelerationRejection = settings->accelerationRejection == 0.0f
+                                               ? FLT_MAX
+                                               : powf(0.5f * sinf(FusionDegreesToRadians(settings->accelerationRejection)), 2);
+    ahrs->settings.magneticRejection =
+        settings->magneticRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->magneticRejection)), 2);
+    ahrs->settings.recoveryTriggerPeriod = settings->recoveryTriggerPeriod;
+    ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+    if ((settings->gain == 0.0f) ||
+        (settings->recoveryTriggerPeriod == 0)) { // disable acceleration and magnetic rejection features if gain is zero
+        ahrs->settings.accelerationRejection = FLT_MAX;
+        ahrs->settings.magneticRejection = FLT_MAX;
+    }
+    if (ahrs->initialising == false) {
+        ahrs->rampedGain = ahrs->settings.gain;
+    }
+    ahrs->rampedGainStep = (INITIAL_GAIN - ahrs->settings.gain) / INITIALISATION_PERIOD;
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
+ * magnetometer measurements.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param magnetometer Magnetometer measurement in arbitrary units.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                      const FusionVector magnetometer, const float deltaTime)
+{
+#define Q ahrs->quaternion.element
+
+    // Store accelerometer
+    ahrs->accelerometer = accelerometer;
+
+    // Reinitialise if gyroscope range exceeded
+    if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) ||
+        (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
+        const FusionQuaternion quaternion = ahrs->quaternion;
+        FusionAhrsReset(ahrs);
+        ahrs->quaternion = quaternion;
+        ahrs->angularRateRecovery = true;
+    }
+
+    // Ramp down gain during initialisation
+    if (ahrs->initialising) {
+        ahrs->rampedGain -= ahrs->rampedGainStep * deltaTime;
+        if ((ahrs->rampedGain < ahrs->settings.gain) || (ahrs->settings.gain == 0.0f)) {
+            ahrs->rampedGain = ahrs->settings.gain;
+            ahrs->initialising = false;
+            ahrs->angularRateRecovery = false;
+        }
+    }
+
+    // Calculate direction of gravity indicated by algorithm
+    const FusionVector halfGravity = HalfGravity(ahrs);
+
+    // Calculate accelerometer feedback
+    FusionVector halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->accelerometerIgnored = true;
+    if (FusionVectorIsZero(accelerometer) == false) {
+
+        // Calculate accelerometer feedback scaled by 0.5
+        ahrs->halfAccelerometerFeedback = Feedback(FusionVectorNormalise(accelerometer), halfGravity);
+
+        // Don't ignore accelerometer if acceleration error below threshold
+        if (ahrs->initialising ||
+            ((FusionVectorMagnitudeSquared(ahrs->halfAccelerometerFeedback) <= ahrs->settings.accelerationRejection))) {
+            ahrs->accelerometerIgnored = false;
+            ahrs->accelerationRecoveryTrigger -= 9;
+        } else {
+            ahrs->accelerationRecoveryTrigger += 1;
+        }
+
+        // Don't ignore accelerometer during acceleration recovery
+        if (ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout) {
+            ahrs->accelerationRecoveryTimeout = 0;
+            ahrs->accelerometerIgnored = false;
+        } else {
+            ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+        }
+        ahrs->accelerationRecoveryTrigger = Clamp(ahrs->accelerationRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
+
+        // Apply accelerometer feedback
+        if (ahrs->accelerometerIgnored == false) {
+            halfAccelerometerFeedback = ahrs->halfAccelerometerFeedback;
+        }
+    }
+
+    // Calculate magnetometer feedback
+    FusionVector halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
+    ahrs->magnetometerIgnored = true;
+    if (FusionVectorIsZero(magnetometer) == false) {
+
+        // Calculate direction of magnetic field indicated by algorithm
+        const FusionVector halfMagnetic = HalfMagnetic(ahrs);
+
+        // Calculate magnetometer feedback scaled by 0.5
+        ahrs->halfMagnetometerFeedback =
+            Feedback(FusionVectorNormalise(FusionVectorCrossProduct(halfGravity, magnetometer)), halfMagnetic);
+
+        // Don't ignore magnetometer if magnetic error below threshold
+        if (ahrs->initialising ||
+            ((FusionVectorMagnitudeSquared(ahrs->halfMagnetometerFeedback) <= ahrs->settings.magneticRejection))) {
+            ahrs->magnetometerIgnored = false;
+            ahrs->magneticRecoveryTrigger -= 9;
+        } else {
+            ahrs->magneticRecoveryTrigger += 1;
+        }
+
+        // Don't ignore magnetometer during magnetic recovery
+        if (ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout) {
+            ahrs->magneticRecoveryTimeout = 0;
+            ahrs->magnetometerIgnored = false;
+        } else {
+            ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
+        }
+        ahrs->magneticRecoveryTrigger = Clamp(ahrs->magneticRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
+
+        // Apply magnetometer feedback
+        if (ahrs->magnetometerIgnored == false) {
+            halfMagnetometerFeedback = ahrs->halfMagnetometerFeedback;
+        }
+    }
+
+    // Convert gyroscope to radians per second scaled by 0.5
+    const FusionVector halfGyroscope = FusionVectorMultiplyScalar(gyroscope, FusionDegreesToRadians(0.5f));
+
+    // Apply feedback to gyroscope
+    const FusionVector adjustedHalfGyroscope = FusionVectorAdd(
+        halfGyroscope,
+        FusionVectorMultiplyScalar(FusionVectorAdd(halfAccelerometerFeedback, halfMagnetometerFeedback), ahrs->rampedGain));
+
+    // Integrate rate of change of quaternion
+    ahrs->quaternion = FusionQuaternionAdd(
+        ahrs->quaternion,
+        FusionQuaternionMultiplyVector(ahrs->quaternion, FusionVectorMultiplyScalar(adjustedHalfGyroscope, deltaTime)));
+
+    // Normalise quaternion
+    ahrs->quaternion = FusionQuaternionNormalise(ahrs->quaternion);
+#undef Q
+}
+
+/**
+ * @brief Returns the direction of gravity scaled by 0.5.
+ * @param ahrs AHRS algorithm structure.
+ * @return Direction of gravity scaled by 0.5.
+ */
+static inline FusionVector HalfGravity(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu: {
+        const FusionVector halfGravity = {.axis = {
+                                              .x = Q.x * Q.z - Q.w * Q.y,
+                                              .y = Q.y * Q.z + Q.w * Q.x,
+                                              .z = Q.w * Q.w - 0.5f + Q.z * Q.z,
+                                          }}; // third column of transposed rotation matrix scaled by 0.5
+        return halfGravity;
+    }
+    case FusionConventionNed: {
+        const FusionVector halfGravity = {.axis = {
+                                              .x = Q.w * Q.y - Q.x * Q.z,
+                                              .y = -1.0f * (Q.y * Q.z + Q.w * Q.x),
+                                              .z = 0.5f - Q.w * Q.w - Q.z * Q.z,
+                                          }}; // third column of transposed rotation matrix scaled by -0.5
+        return halfGravity;
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the direction of the magnetic field scaled by 0.5.
+ * @param ahrs AHRS algorithm structure.
+ * @return Direction of the magnetic field scaled by 0.5.
+ */
+static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = Q.x * Q.y + Q.w * Q.z,
+                                               .y = Q.w * Q.w - 0.5f + Q.y * Q.y,
+                                               .z = Q.y * Q.z - Q.w * Q.x,
+                                           }}; // second column of transposed rotation matrix scaled by 0.5
+        return halfMagnetic;
+    }
+    case FusionConventionEnu: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = 0.5f - Q.w * Q.w - Q.x * Q.x,
+                                               .y = Q.w * Q.z - Q.x * Q.y,
+                                               .z = -1.0f * (Q.x * Q.z + Q.w * Q.y),
+                                           }}; // first column of transposed rotation matrix scaled by -0.5
+        return halfMagnetic;
+    }
+    case FusionConventionNed: {
+        const FusionVector halfMagnetic = {.axis = {
+                                               .x = -1.0f * (Q.x * Q.y + Q.w * Q.z),
+                                               .y = 0.5f - Q.w * Q.w - Q.y * Q.y,
+                                               .z = Q.w * Q.x - Q.y * Q.z,
+                                           }}; // second column of transposed rotation matrix scaled by -0.5
+        return halfMagnetic;
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the feedback.
+ * @param sensor Sensor.
+ * @param reference Reference.
+ * @return Feedback.
+ */
+static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference)
+{
+    if (FusionVectorDotProduct(sensor, reference) < 0.0f) { // if error is >90 degrees
+        return FusionVectorNormalise(FusionVectorCrossProduct(sensor, reference));
+    }
+    return FusionVectorCrossProduct(sensor, reference);
+}
+
+/**
+ * @brief Returns a value limited to maximum and minimum.
+ * @param value Value.
+ * @param min Minimum value.
+ * @param max Maximum value.
+ * @return Value limited to maximum and minimum.
+ */
+static inline int Clamp(const int value, const int min, const int max)
+{
+    if (value < min) {
+        return min;
+    }
+    if (value > max) {
+        return max;
+    }
+    return value;
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope and accelerometer
+ * measurements only.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                    const float deltaTime)
+{
+
+    // Update AHRS algorithm
+    FusionAhrsUpdate(ahrs, gyroscope, accelerometer, FUSION_VECTOR_ZERO, deltaTime);
+
+    // Zero heading during initialisation
+    if (ahrs->initialising) {
+        FusionAhrsSetHeading(ahrs, 0.0f);
+    }
+}
+
+/**
+ * @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
+ * heading measurements.
+ * @param ahrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param heading Heading measurement in degrees.
+ * @param deltaTime Delta time in seconds.
+ */
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                     const float heading, const float deltaTime)
+{
+#define Q ahrs->quaternion.element
+
+    // Calculate roll
+    const float roll = atan2f(Q.w * Q.x + Q.y * Q.z, 0.5f - Q.y * Q.y - Q.x * Q.x);
+
+    // Calculate magnetometer
+    const float headingRadians = FusionDegreesToRadians(heading);
+    const float sinHeadingRadians = sinf(headingRadians);
+    const FusionVector magnetometer = {.axis = {
+                                           .x = cosf(headingRadians),
+                                           .y = -1.0f * cosf(roll) * sinHeadingRadians,
+                                           .z = sinHeadingRadians * sinf(roll),
+                                       }};
+
+    // Update AHRS algorithm
+    FusionAhrsUpdate(ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
+#undef Q
+}
+
+/**
+ * @brief Returns the quaternion describing the sensor relative to the Earth.
+ * @param ahrs AHRS algorithm structure.
+ * @return Quaternion describing the sensor relative to the Earth.
+ */
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs)
+{
+    return ahrs->quaternion;
+}
+
+/**
+ * @brief Sets the quaternion describing the sensor relative to the Earth.
+ * @param ahrs AHRS algorithm structure.
+ * @param quaternion Quaternion describing the sensor relative to the Earth.
+ */
+void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion)
+{
+    ahrs->quaternion = quaternion;
+}
+
+/**
+ * @brief Returns the linear acceleration measurement equal to the accelerometer
+ * measurement with the 1 g of gravity removed.
+ * @param ahrs AHRS algorithm structure.
+ * @return Linear acceleration measurement in g.
+ */
+FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+
+    // Calculate gravity in the sensor coordinate frame
+    const FusionVector gravity = {.axis = {
+                                      .x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
+                                      .y = 2.0f * (Q.y * Q.z + Q.w * Q.x),
+                                      .z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
+                                  }}; // third column of transposed rotation matrix
+
+    // Remove gravity from accelerometer measurement
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu: {
+        return FusionVectorSubtract(ahrs->accelerometer, gravity);
+    }
+    case FusionConventionNed: {
+        return FusionVectorAdd(ahrs->accelerometer, gravity);
+    }
+    }
+    return FUSION_VECTOR_ZERO; // avoid compiler warning
+#undef Q
+}
+
+/**
+ * @brief Returns the Earth acceleration measurement equal to accelerometer
+ * measurement in the Earth coordinate frame with the 1 g of gravity removed.
+ * @param ahrs AHRS algorithm structure.
+ * @return Earth acceleration measurement in g.
+ */
+FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs)
+{
+#define Q ahrs->quaternion.element
+#define A ahrs->accelerometer.axis
+
+    // Calculate accelerometer measurement in the Earth coordinate frame
+    const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+    const float qwqx = Q.w * Q.x;
+    const float qwqy = Q.w * Q.y;
+    const float qwqz = Q.w * Q.z;
+    const float qxqy = Q.x * Q.y;
+    const float qxqz = Q.x * Q.z;
+    const float qyqz = Q.y * Q.z;
+    FusionVector accelerometer = {.axis = {
+                                      .x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
+                                      .y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
+                                      .z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
+                                  }}; // rotation matrix multiplied with the accelerometer
+
+    // Remove gravity from accelerometer measurement
+    switch (ahrs->settings.convention) {
+    case FusionConventionNwu:
+    case FusionConventionEnu:
+        accelerometer.axis.z -= 1.0f;
+        break;
+    case FusionConventionNed:
+        accelerometer.axis.z += 1.0f;
+        break;
+    }
+    return accelerometer;
+#undef Q
+#undef A
+}
+
+/**
+ * @brief Returns the AHRS algorithm internal states.
+ * @param ahrs AHRS algorithm structure.
+ * @return AHRS algorithm internal states.
+ */
+FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs)
+{
+    const FusionAhrsInternalStates internalStates = {
+        .accelerationError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfAccelerometerFeedback))),
+        .accelerometerIgnored = ahrs->accelerometerIgnored,
+        .accelerationRecoveryTrigger =
+            ahrs->settings.recoveryTriggerPeriod == 0
+                ? 0.0f
+                : (float)ahrs->accelerationRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
+        .magneticError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfMagnetometerFeedback))),
+        .magnetometerIgnored = ahrs->magnetometerIgnored,
+        .magneticRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0
+                                       ? 0.0f
+                                       : (float)ahrs->magneticRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
+    };
+    return internalStates;
+}
+
+/**
+ * @brief Returns the AHRS algorithm flags.
+ * @param ahrs AHRS algorithm structure.
+ * @return AHRS algorithm flags.
+ */
+FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs)
+{
+    const FusionAhrsFlags flags = {
+        .initialising = ahrs->initialising,
+        .angularRateRecovery = ahrs->angularRateRecovery,
+        .accelerationRecovery = ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout,
+        .magneticRecovery = ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout,
+    };
+    return flags;
+}
+
+/**
+ * @brief Sets the heading of the orientation measurement provided by the AHRS
+ * algorithm.  This function can be used to reset drift in heading when the AHRS
+ * algorithm is being used without a magnetometer.
+ * @param ahrs AHRS algorithm structure.
+ * @param heading Heading angle in degrees.
+ */
+void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading)
+{
+#define Q ahrs->quaternion.element
+    const float yaw = atan2f(Q.w * Q.z + Q.x * Q.y, 0.5f - Q.y * Q.y - Q.z * Q.z);
+    const float halfYawMinusHeading = 0.5f * (yaw - FusionDegreesToRadians(heading));
+    const FusionQuaternion rotation = {.element = {
+                                           .w = cosf(halfYawMinusHeading),
+                                           .x = 0.0f,
+                                           .y = 0.0f,
+                                           .z = -1.0f * sinf(halfYawMinusHeading),
+                                       }};
+    ahrs->quaternion = FusionQuaternionMultiply(rotation, ahrs->quaternion);
+#undef Q
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAhrs.h

@@ -0,0 +1,112 @@
+/**
+ * @file FusionAhrs.h
+ * @author Seb Madgwick
+ * @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
+ * measurements into a single measurement of orientation relative to the Earth.
+ */
+
+#ifndef FUSION_AHRS_H
+#define FUSION_AHRS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief AHRS algorithm settings.
+ */
+typedef struct {
+    FusionConvention convention;
+    float gain;
+    float gyroscopeRange;
+    float accelerationRejection;
+    float magneticRejection;
+    unsigned int recoveryTriggerPeriod;
+} FusionAhrsSettings;
+
+/**
+ * @brief AHRS algorithm structure.  Structure members are used internally and
+ * must not be accessed by the application.
+ */
+typedef struct {
+    FusionAhrsSettings settings;
+    FusionQuaternion quaternion;
+    FusionVector accelerometer;
+    bool initialising;
+    float rampedGain;
+    float rampedGainStep;
+    bool angularRateRecovery;
+    FusionVector halfAccelerometerFeedback;
+    FusionVector halfMagnetometerFeedback;
+    bool accelerometerIgnored;
+    int accelerationRecoveryTrigger;
+    int accelerationRecoveryTimeout;
+    bool magnetometerIgnored;
+    int magneticRecoveryTrigger;
+    int magneticRecoveryTimeout;
+} FusionAhrs;
+
+/**
+ * @brief AHRS algorithm internal states.
+ */
+typedef struct {
+    float accelerationError;
+    bool accelerometerIgnored;
+    float accelerationRecoveryTrigger;
+    float magneticError;
+    bool magnetometerIgnored;
+    float magneticRecoveryTrigger;
+} FusionAhrsInternalStates;
+
+/**
+ * @brief AHRS algorithm flags.
+ */
+typedef struct {
+    bool initialising;
+    bool angularRateRecovery;
+    bool accelerationRecovery;
+    bool magneticRecovery;
+} FusionAhrsFlags;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionAhrsInitialise(FusionAhrs *const ahrs);
+
+void FusionAhrsReset(FusionAhrs *const ahrs);
+
+void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
+
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                      const FusionVector magnetometer, const float deltaTime);
+
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                    const float deltaTime);
+
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
+                                     const float heading, const float deltaTime);
+
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
+
+FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
+
+FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
+
+FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
+
+FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
+
+void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionAxes.h

@@ -0,0 +1,188 @@
+/**
+ * @file FusionAxes.h
+ * @author Seb Madgwick
+ * @brief Swaps sensor axes for alignment with the body axes.
+ */
+
+#ifndef FUSION_AXES_H
+#define FUSION_AXES_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Axes alignment describing the sensor axes relative to the body axes.
+ * For example, if the body X axis is aligned with the sensor Y axis and the
+ * body Y axis is aligned with sensor X axis but pointing the opposite direction
+ * then alignment is +Y-X+Z.
+ */
+typedef enum {
+    FusionAxesAlignmentPXPYPZ, /* +X+Y+Z */
+    FusionAxesAlignmentPXNZPY, /* +X-Z+Y */
+    FusionAxesAlignmentPXNYNZ, /* +X-Y-Z */
+    FusionAxesAlignmentPXPZNY, /* +X+Z-Y */
+    FusionAxesAlignmentNXPYNZ, /* -X+Y-Z */
+    FusionAxesAlignmentNXPZPY, /* -X+Z+Y */
+    FusionAxesAlignmentNXNYPZ, /* -X-Y+Z */
+    FusionAxesAlignmentNXNZNY, /* -X-Z-Y */
+    FusionAxesAlignmentPYNXPZ, /* +Y-X+Z */
+    FusionAxesAlignmentPYNZNX, /* +Y-Z-X */
+    FusionAxesAlignmentPYPXNZ, /* +Y+X-Z */
+    FusionAxesAlignmentPYPZPX, /* +Y+Z+X */
+    FusionAxesAlignmentNYPXPZ, /* -Y+X+Z */
+    FusionAxesAlignmentNYNZPX, /* -Y-Z+X */
+    FusionAxesAlignmentNYNXNZ, /* -Y-X-Z */
+    FusionAxesAlignmentNYPZNX, /* -Y+Z-X */
+    FusionAxesAlignmentPZPYNX, /* +Z+Y-X */
+    FusionAxesAlignmentPZPXPY, /* +Z+X+Y */
+    FusionAxesAlignmentPZNYPX, /* +Z-Y+X */
+    FusionAxesAlignmentPZNXNY, /* +Z-X-Y */
+    FusionAxesAlignmentNZPYPX, /* -Z+Y+X */
+    FusionAxesAlignmentNZNXPY, /* -Z-X+Y */
+    FusionAxesAlignmentNZNYNX, /* -Z-Y-X */
+    FusionAxesAlignmentNZPXNY, /* -Z+X-Y */
+} FusionAxesAlignment;
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Swaps sensor axes for alignment with the body axes.
+ * @param sensor Sensor axes.
+ * @param alignment Axes alignment.
+ * @return Sensor axes aligned with the body axes.
+ */
+static inline FusionVector FusionAxesSwap(const FusionVector sensor, const FusionAxesAlignment alignment)
+{
+    FusionVector result;
+    switch (alignment) {
+    case FusionAxesAlignmentPXPYPZ:
+        break;
+    case FusionAxesAlignmentPXNZPY:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPXNYNZ:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPXPZNY:
+        result.axis.x = +sensor.axis.x;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNXPYNZ:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNXPZPY:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNXNYPZ:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNXNZNY:
+        result.axis.x = -sensor.axis.x;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPYNXPZ:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPYNZNX:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPYPXNZ:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentPYPZPX:
+        result.axis.x = +sensor.axis.y;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNYPXPZ:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = +sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNYNZPX:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = -sensor.axis.z;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNYNXNZ:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = -sensor.axis.z;
+        return result;
+    case FusionAxesAlignmentNYPZNX:
+        result.axis.x = -sensor.axis.y;
+        result.axis.y = +sensor.axis.z;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZPYNX:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZPXPY:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentPZNYPX:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentPZNXNY:
+        result.axis.x = +sensor.axis.z;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNZPYPX:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = +sensor.axis.y;
+        result.axis.z = +sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNZNXPY:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = -sensor.axis.x;
+        result.axis.z = +sensor.axis.y;
+        return result;
+    case FusionAxesAlignmentNZNYNX:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = -sensor.axis.y;
+        result.axis.z = -sensor.axis.x;
+        return result;
+    case FusionAxesAlignmentNZPXNY:
+        result.axis.x = -sensor.axis.z;
+        result.axis.y = +sensor.axis.x;
+        result.axis.z = -sensor.axis.y;
+        return result;
+    }
+    return sensor; // avoid compiler warning
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCalibration.h

@@ -0,0 +1,49 @@
+/**
+ * @file FusionCalibration.h
+ * @author Seb Madgwick
+ * @brief Gyroscope, accelerometer, and magnetometer calibration models.
+ */
+
+#ifndef FUSION_CALIBRATION_H
+#define FUSION_CALIBRATION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Gyroscope and accelerometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param misalignment Misalignment matrix.
+ * @param sensitivity Sensitivity.
+ * @param offset Offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationInertial(const FusionVector uncalibrated, const FusionMatrix misalignment,
+                                                     const FusionVector sensitivity, const FusionVector offset)
+{
+    return FusionMatrixMultiplyVector(misalignment,
+                                      FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, offset), sensitivity));
+}
+
+/**
+ * @brief Magnetometer calibration model.
+ * @param uncalibrated Uncalibrated measurement.
+ * @param softIronMatrix Soft-iron matrix.
+ * @param hardIronOffset Hard-iron offset.
+ * @return Calibrated measurement.
+ */
+static inline FusionVector FusionCalibrationMagnetic(const FusionVector uncalibrated, const FusionMatrix softIronMatrix,
+                                                     const FusionVector hardIronOffset)
+{
+    return FusionMatrixMultiplyVector(softIronMatrix, FusionVectorSubtract(uncalibrated, hardIronOffset));
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCompass.c

@@ -0,0 +1,51 @@
+/**
+ * @file FusionCompass.c
+ * @author Seb Madgwick
+ * @brief Tilt-compensated compass to calculate the magnetic heading using
+ * accelerometer and magnetometer measurements.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionCompass.h"
+#include "FusionAxes.h"
+#include <math.h> // atan2f
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Calculates the magnetic heading.
+ * @param convention Earth axes convention.
+ * @param accelerometer Accelerometer measurement in any calibrated units.
+ * @param magnetometer Magnetometer measurement in any calibrated units.
+ * @return Heading angle in degrees.
+ */
+float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
+                                    const FusionVector magnetometer)
+{
+    switch (convention) {
+    case FusionConventionNwu: {
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
+        return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
+    }
+    case FusionConventionEnu: {
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
+        const FusionVector east = FusionVectorMultiplyScalar(west, -1.0f);
+        return FusionRadiansToDegrees(atan2f(north.axis.x, east.axis.x));
+    }
+    case FusionConventionNed: {
+        const FusionVector up = FusionVectorMultiplyScalar(accelerometer, -1.0f);
+        const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(up, magnetometer));
+        const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, up));
+        return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
+    }
+    }
+    return 0; // avoid compiler warning
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionCompass.h

@@ -0,0 +1,26 @@
+/**
+ * @file FusionCompass.h
+ * @author Seb Madgwick
+ * @brief Tilt-compensated compass to calculate the magnetic heading using
+ * accelerometer and magnetometer measurements.
+ */
+
+#ifndef FUSION_COMPASS_H
+#define FUSION_COMPASS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
+                                    const FusionVector magnetometer);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionConvention.h

@@ -0,0 +1,25 @@
+/**
+ * @file FusionConvention.h
+ * @author Seb Madgwick
+ * @brief Earth axes convention.
+ */
+
+#ifndef FUSION_CONVENTION_H
+#define FUSION_CONVENTION_H
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Earth axes convention.
+ */
+typedef enum {
+    FusionConventionNwu, /* North-West-Up */
+    FusionConventionEnu, /* East-North-Up */
+    FusionConventionNed, /* North-East-Down */
+} FusionConvention;
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionMath.h

@@ -0,0 +1,503 @@
+/**
+ * @file FusionMath.h
+ * @author Seb Madgwick
+ * @brief Math library.
+ */
+
+#ifndef FUSION_MATH_H
+#define FUSION_MATH_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include <math.h> // M_PI, sqrtf, atan2f, asinf
+#include <stdbool.h>
+#include <stdint.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief 3D vector.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float x;
+        float y;
+        float z;
+    } axis;
+} FusionVector;
+
+/**
+ * @brief Quaternion.
+ */
+typedef union {
+    float array[4];
+
+    struct {
+        float w;
+        float x;
+        float y;
+        float z;
+    } element;
+} FusionQuaternion;
+
+/**
+ * @brief 3x3 matrix in row-major order.
+ * See http://en.wikipedia.org/wiki/Row-major_order
+ */
+typedef union {
+    float array[3][3];
+
+    struct {
+        float xx;
+        float xy;
+        float xz;
+        float yx;
+        float yy;
+        float yz;
+        float zx;
+        float zy;
+        float zz;
+    } element;
+} FusionMatrix;
+
+/**
+ * @brief Euler angles.  Roll, pitch, and yaw correspond to rotations around
+ * X, Y, and Z respectively.
+ */
+typedef union {
+    float array[3];
+
+    struct {
+        float roll;
+        float pitch;
+        float yaw;
+    } angle;
+} FusionEuler;
+
+/**
+ * @brief Vector of zeros.
+ */
+#define FUSION_VECTOR_ZERO ((FusionVector){.array = {0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Vector of ones.
+ */
+#define FUSION_VECTOR_ONES ((FusionVector){.array = {1.0f, 1.0f, 1.0f}})
+
+/**
+ * @brief Identity quaternion.
+ */
+#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){.array = {1.0f, 0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Identity matrix.
+ */
+#define FUSION_IDENTITY_MATRIX ((FusionMatrix){.array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}}})
+
+/**
+ * @brief Euler angles of zero.
+ */
+#define FUSION_EULER_ZERO ((FusionEuler){.array = {0.0f, 0.0f, 0.0f}})
+
+/**
+ * @brief Pi. May not be defined in math.h.
+ */
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+/**
+ * @brief Include this definition or add as a preprocessor definition to use
+ * normal square root operations.
+ */
+// #define FUSION_USE_NORMAL_SQRT
+
+//------------------------------------------------------------------------------
+// Inline functions - Degrees and radians conversion
+
+/**
+ * @brief Converts degrees to radians.
+ * @param degrees Degrees.
+ * @return Radians.
+ */
+static inline float FusionDegreesToRadians(const float degrees)
+{
+    return degrees * ((float)M_PI / 180.0f);
+}
+
+/**
+ * @brief Converts radians to degrees.
+ * @param radians Radians.
+ * @return Degrees.
+ */
+static inline float FusionRadiansToDegrees(const float radians)
+{
+    return radians * (180.0f / (float)M_PI);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Arc sine
+
+/**
+ * @brief Returns the arc sine of the value.
+ * @param value Value.
+ * @return Arc sine of the value.
+ */
+static inline float FusionAsin(const float value)
+{
+    if (value <= -1.0f) {
+        return (float)M_PI / -2.0f;
+    }
+    if (value >= 1.0f) {
+        return (float)M_PI / 2.0f;
+    }
+    return asinf(value);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Fast inverse square root
+
+#ifndef FUSION_USE_NORMAL_SQRT
+
+/**
+ * @brief Calculates the reciprocal of the square root.
+ * See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
+ * @param x Operand.
+ * @return Reciprocal of the square root of x.
+ */
+static inline float FusionFastInverseSqrt(const float x)
+{
+
+    typedef union {
+        float f;
+        int32_t i;
+    } Union32;
+
+    Union32 union32 = {.f = x};
+    union32.i = 0x5F1F1412 - (union32.i >> 1);
+    return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// Inline functions - Vector operations
+
+/**
+ * @brief Returns true if the vector is zero.
+ * @param vector Vector.
+ * @return True if the vector is zero.
+ */
+static inline bool FusionVectorIsZero(const FusionVector vector)
+{
+    return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
+}
+
+/**
+ * @brief Returns the sum of two vectors.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Sum of two vectors.
+ */
+static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x + vectorB.axis.x,
+                                     .y = vectorA.axis.y + vectorB.axis.y,
+                                     .z = vectorA.axis.z + vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns vector B subtracted from vector A.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Vector B subtracted from vector A.
+ */
+static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x - vectorB.axis.x,
+                                     .y = vectorA.axis.y - vectorB.axis.y,
+                                     .z = vectorA.axis.z - vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns the sum of the elements.
+ * @param vector Vector.
+ * @return Sum of the elements.
+ */
+static inline float FusionVectorSum(const FusionVector vector)
+{
+    return vector.axis.x + vector.axis.y + vector.axis.z;
+}
+
+/**
+ * @brief Returns the multiplication of a vector by a scalar.
+ * @param vector Vector.
+ * @param scalar Scalar.
+ * @return Multiplication of a vector by a scalar.
+ */
+static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vector.axis.x * scalar,
+                                     .y = vector.axis.y * scalar,
+                                     .z = vector.axis.z * scalar,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Calculates the Hadamard product (element-wise multiplication).
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Hadamard product.
+ */
+static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+    const FusionVector result = {.axis = {
+                                     .x = vectorA.axis.x * vectorB.axis.x,
+                                     .y = vectorA.axis.y * vectorB.axis.y,
+                                     .z = vectorA.axis.z * vectorB.axis.z,
+                                 }};
+    return result;
+}
+
+/**
+ * @brief Returns the cross product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Cross product.
+ */
+static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+#define A vectorA.axis
+#define B vectorB.axis
+    const FusionVector result = {.axis = {
+                                     .x = A.y * B.z - A.z * B.y,
+                                     .y = A.z * B.x - A.x * B.z,
+                                     .z = A.x * B.y - A.y * B.x,
+                                 }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the dot product.
+ * @param vectorA Vector A.
+ * @param vectorB Vector B.
+ * @return Dot product.
+ */
+static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB)
+{
+    return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
+}
+
+/**
+ * @brief Returns the vector magnitude squared.
+ * @param vector Vector.
+ * @return Vector magnitude squared.
+ */
+static inline float FusionVectorMagnitudeSquared(const FusionVector vector)
+{
+    return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
+}
+
+/**
+ * @brief Returns the vector magnitude.
+ * @param vector Vector.
+ * @return Vector magnitude.
+ */
+static inline float FusionVectorMagnitude(const FusionVector vector)
+{
+    return sqrtf(FusionVectorMagnitudeSquared(vector));
+}
+
+/**
+ * @brief Returns the normalised vector.
+ * @param vector Vector.
+ * @return Normalised vector.
+ */
+static inline FusionVector FusionVectorNormalise(const FusionVector vector)
+{
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
+#endif
+    return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Quaternion operations
+
+/**
+ * @brief Returns the sum of two quaternions.
+ * @param quaternionA Quaternion A.
+ * @param quaternionB Quaternion B.
+ * @return Sum of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
+{
+    const FusionQuaternion result = {.element = {
+                                         .w = quaternionA.element.w + quaternionB.element.w,
+                                         .x = quaternionA.element.x + quaternionB.element.x,
+                                         .y = quaternionA.element.y + quaternionB.element.y,
+                                         .z = quaternionA.element.z + quaternionB.element.z,
+                                     }};
+    return result;
+}
+
+/**
+ * @brief Returns the multiplication of two quaternions.
+ * @param quaternionA Quaternion A (to be post-multiplied).
+ * @param quaternionB Quaternion B (to be pre-multiplied).
+ * @return Multiplication of two quaternions.
+ */
+static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
+{
+#define A quaternionA.element
+#define B quaternionB.element
+    const FusionQuaternion result = {.element = {
+                                         .w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
+                                         .x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
+                                         .y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
+                                         .z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
+                                     }};
+    return result;
+#undef A
+#undef B
+}
+
+/**
+ * @brief Returns the multiplication of a quaternion with a vector.  This is a
+ * normal quaternion multiplication where the vector is treated a
+ * quaternion with a W element value of zero.  The quaternion is post-
+ * multiplied by the vector.
+ * @param quaternion Quaternion.
+ * @param vector Vector.
+ * @return Multiplication of a quaternion with a vector.
+ */
+static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector)
+{
+#define Q quaternion.element
+#define V vector.axis
+    const FusionQuaternion result = {.element = {
+                                         .w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
+                                         .x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
+                                         .y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
+                                         .z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
+                                     }};
+    return result;
+#undef Q
+#undef V
+}
+
+/**
+ * @brief Returns the normalised quaternion.
+ * @param quaternion Quaternion.
+ * @return Normalised quaternion.
+ */
+static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+#ifdef FUSION_USE_NORMAL_SQRT
+    const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#else
+    const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+#endif
+    const FusionQuaternion result = {.element = {
+                                         .w = Q.w * magnitudeReciprocal,
+                                         .x = Q.x * magnitudeReciprocal,
+                                         .y = Q.y * magnitudeReciprocal,
+                                         .z = Q.z * magnitudeReciprocal,
+                                     }};
+    return result;
+#undef Q
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Matrix operations
+
+/**
+ * @brief Returns the multiplication of a matrix with a vector.
+ * @param matrix Matrix.
+ * @param vector Vector.
+ * @return Multiplication of a matrix with a vector.
+ */
+static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector)
+{
+#define R matrix.element
+    const FusionVector result = {.axis = {
+                                     .x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
+                                     .y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
+                                     .z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
+                                 }};
+    return result;
+#undef R
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Conversion operations
+
+/**
+ * @brief Converts a quaternion to a rotation matrix.
+ * @param quaternion Quaternion.
+ * @return Rotation matrix.
+ */
+static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+    const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+    const float qwqx = Q.w * Q.x;
+    const float qwqy = Q.w * Q.y;
+    const float qwqz = Q.w * Q.z;
+    const float qxqy = Q.x * Q.y;
+    const float qxqz = Q.x * Q.z;
+    const float qyqz = Q.y * Q.z;
+    const FusionMatrix matrix = {.element = {
+                                     .xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
+                                     .xy = 2.0f * (qxqy - qwqz),
+                                     .xz = 2.0f * (qxqz + qwqy),
+                                     .yx = 2.0f * (qxqy + qwqz),
+                                     .yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
+                                     .yz = 2.0f * (qyqz - qwqx),
+                                     .zx = 2.0f * (qxqz - qwqy),
+                                     .zy = 2.0f * (qyqz + qwqx),
+                                     .zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
+                                 }};
+    return matrix;
+#undef Q
+}
+
+/**
+ * @brief Converts a quaternion to ZYX Euler angles in degrees.
+ * @param quaternion Quaternion.
+ * @return Euler angles in degrees.
+ */
+static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion)
+{
+#define Q quaternion.element
+    const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
+    const FusionEuler euler = {.angle = {
+                                   .roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
+                                   .pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
+                                   .yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
+                               }};
+    return euler;
+#undef Q
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionOffset.c

@@ -0,0 +1,80 @@
+/**
+ * @file FusionOffset.c
+ * @author Seb Madgwick
+ * @brief Gyroscope offset correction algorithm for run-time calibration of the
+ * gyroscope offset.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionOffset.h"
+#include <math.h> // fabsf
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Cutoff frequency in Hz.
+ */
+#define CUTOFF_FREQUENCY (0.02f)
+
+/**
+ * @brief Timeout in seconds.
+ */
+#define TIMEOUT (5)
+
+/**
+ * @brief Threshold in degrees per second.
+ */
+#define THRESHOLD (3.0f)
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the gyroscope offset algorithm.
+ * @param offset Gyroscope offset algorithm structure.
+ * @param sampleRate Sample rate in Hz.
+ */
+void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate)
+{
+    offset->filterCoefficient = 2.0f * (float)M_PI * CUTOFF_FREQUENCY * (1.0f / (float)sampleRate);
+    offset->timeout = TIMEOUT * sampleRate;
+    offset->timer = 0;
+    offset->gyroscopeOffset = FUSION_VECTOR_ZERO;
+}
+
+/**
+ * @brief Updates the gyroscope offset algorithm and returns the corrected
+ * gyroscope measurement.
+ * @param offset Gyroscope offset algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @return Corrected gyroscope measurement in degrees per second.
+ */
+FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope)
+{
+
+    // Subtract offset from gyroscope measurement
+    gyroscope = FusionVectorSubtract(gyroscope, offset->gyroscopeOffset);
+
+    // Reset timer if gyroscope not stationary
+    if ((fabsf(gyroscope.axis.x) > THRESHOLD) || (fabsf(gyroscope.axis.y) > THRESHOLD) || (fabsf(gyroscope.axis.z) > THRESHOLD)) {
+        offset->timer = 0;
+        return gyroscope;
+    }
+
+    // Increment timer while gyroscope stationary
+    if (offset->timer < offset->timeout) {
+        offset->timer++;
+        return gyroscope;
+    }
+
+    // Adjust offset if timer has elapsed
+    offset->gyroscopeOffset =
+        FusionVectorAdd(offset->gyroscopeOffset, FusionVectorMultiplyScalar(gyroscope, offset->filterCoefficient));
+    return gyroscope;
+}
+
+//------------------------------------------------------------------------------
+// End of file

src/Fusion/FusionOffset.h

@@ -0,0 +1,40 @@
+/**
+ * @file FusionOffset.h
+ * @author Seb Madgwick
+ * @brief Gyroscope offset correction algorithm for run-time calibration of the
+ * gyroscope offset.
+ */
+
+#ifndef FUSION_OFFSET_H
+#define FUSION_OFFSET_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionMath.h"
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Gyroscope offset algorithm structure.  Structure members are used
+ * internally and must not be accessed by the application.
+ */
+typedef struct {
+    float filterCoefficient;
+    unsigned int timeout;
+    unsigned int timer;
+    FusionVector gyroscopeOffset;
+} FusionOffset;
+
+//------------------------------------------------------------------------------
+// Function declarations
+
+void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate);
+
+FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file

src/GPSStatus.h

@@ -124,7 +124,7 @@ class GPSStatus : public Status
         if (isDirty) {
             if (hasLock) {
                 // In debug logs, identify position by @timestamp:stage (stage 3 = notify)
-                LOG_DEBUG("New GPS pos@%x:3 lat=%f, lon=%f, alt=%d, pdop=%.2f, track=%.2f, speed=%.2f, sats=%d\n", p.timestamp,
+                LOG_DEBUG("New GPS pos@%x:3 lat=%f lon=%f alt=%d pdop=%.2f track=%.2f speed=%.2f sats=%d\n", p.timestamp,
                           p.latitude_i * 1e-7, p.longitude_i * 1e-7, p.altitude, p.PDOP * 1e-2, p.ground_track * 1e-5,
                           p.ground_speed * 1e-2, p.sats_in_view);
             } else {

src/Power.cpp

@@ -75,6 +75,10 @@ INA219Sensor ina219Sensor;
 INA3221Sensor ina3221Sensor;
 #endif
 
+#if HAS_RAKPROT && !defined(ARCH_PORTDUINO)
+RAK9154Sensor rak9154Sensor;
+#endif
+
 #ifdef HAS_PMU
 #include "XPowersAXP192.tpp"
 #include "XPowersAXP2101.tpp"
@@ -145,6 +149,12 @@ class AnalogBatteryLevel : public HasBatteryLevel
      */
     virtual int getBatteryPercent() override
     {
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return rak9154Sensor.getBusBatteryPercent();
+        }
+#endif
+
         float v = getBattVoltage();
 
         if (v < noBatVolt)
@@ -184,6 +194,12 @@ class AnalogBatteryLevel : public HasBatteryLevel
     virtual uint16_t getBattVoltage() override
     {
 
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return getRAKVoltage();
+        }
+#endif
+
 #if HAS_TELEMETRY && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU) && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
         if (hasINA()) {
             LOG_DEBUG("Using INA on I2C addr 0x%x for device battery voltage\n", config.power.device_battery_ina_address);
@@ -335,13 +351,20 @@ class AnalogBatteryLevel : public HasBatteryLevel
     virtual bool isVbusIn() override
     {
 #ifdef EXT_PWR_DETECT
+#ifdef HELTEC_CAPSULE_SENSOR_V3
+        // if external powered that pin will be pulled down
+        if (digitalRead(EXT_PWR_DETECT) == LOW) {
+            return true;
+        }
+        // if it's not LOW - check the battery
+#else
         // if external powered that pin will be pulled up
         if (digitalRead(EXT_PWR_DETECT) == HIGH) {
             return true;
         }
         // if it's not HIGH - check the battery
 #endif
-
+#endif
         return getBattVoltage() > chargingVolt;
     }
 
@@ -349,6 +372,11 @@ class AnalogBatteryLevel : public HasBatteryLevel
     /// we can't be smart enough to say 'full'?
     virtual bool isCharging() override
     {
+#if defined(HAS_RAKPROT) && !defined(ARCH_PORTDUINO) && !defined(HAS_PMU)
+        if (hasRAK()) {
+            return (rak9154Sensor.isCharging()) ? OptTrue : OptFalse;
+        }
+#endif
 #ifdef EXT_CHRG_DETECT
         return digitalRead(EXT_CHRG_DETECT) == ext_chrg_detect_value;
 #else
@@ -372,6 +400,18 @@ class AnalogBatteryLevel : public HasBatteryLevel
     float last_read_value = (OCV[NUM_OCV_POINTS - 1] * NUM_CELLS);
     uint32_t last_read_time_ms = 0;
 
+#if defined(HAS_RAKPROT)
+
+    uint16_t getRAKVoltage() { return rak9154Sensor.getBusVoltageMv(); }
+
+    bool hasRAK()
+    {
+        if (!rak9154Sensor.isInitialized())
+            return rak9154Sensor.runOnce() > 0;
+        return rak9154Sensor.isRunning();
+    }
+#endif
+
 #if HAS_TELEMETRY && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR && !defined(ARCH_PORTDUINO)
     uint16_t getINAVoltage()
     {
@@ -421,8 +461,12 @@ Power::Power() : OSThread("Power")
 bool Power::analogInit()
 {
 #ifdef EXT_PWR_DETECT
+#ifdef HELTEC_CAPSULE_SENSOR_V3
+    pinMode(EXT_PWR_DETECT, INPUT_PULLUP);
+#else
     pinMode(EXT_PWR_DETECT, INPUT);
 #endif
+#endif
 #ifdef EXT_CHRG_DETECT
     pinMode(EXT_CHRG_DETECT, ext_chrg_detect_mode);
 #endif

src/RedirectablePrint.cpp

@@ -3,6 +3,7 @@
 #include "RTC.h"
 #include "concurrency/OSThread.h"
 #include "configuration.h"
+#include "main.h"
 #include <assert.h>
 #include <cstring>
 #include <memory>
@@ -166,9 +167,43 @@ size_t RedirectablePrint::log(const char *logLevel, const char *format, ...)
         }
 #endif
 
-        va_end(arg);
-
         isContinuationMessage = !hasNewline;
+
+        if (config.bluetooth.device_logging_enabled && !pauseBluetoothLogging) {
+            bool isBleConnected = false;
+#ifdef ARCH_ESP32
+            isBleConnected = nimbleBluetooth && nimbleBluetooth->isActive() && nimbleBluetooth->isConnected();
+#elif defined(ARCH_NRF52)
+            isBleConnected = nrf52Bluetooth != nullptr && nrf52Bluetooth->isConnected();
+#endif
+            if (isBleConnected) {
+                char *message;
+                size_t initialLen;
+                size_t len;
+                initialLen = strlen(format);
+                message = new char[initialLen + 1];
+                len = vsnprintf(message, initialLen + 1, format, arg);
+                if (len > initialLen) {
+                    delete[] message;
+                    message = new char[len + 1];
+                    vsnprintf(message, len + 1, format, arg);
+                }
+                auto thread = concurrency::OSThread::currentThread;
+#ifdef ARCH_ESP32
+                if (thread)
+                    nimbleBluetooth->sendLog(mt_sprintf("%s | [%s] %s", logLevel, thread->ThreadName.c_str(), message).c_str());
+                else
+                    nimbleBluetooth->sendLog(mt_sprintf("%s | %s", logLevel, message).c_str());
+#elif defined(ARCH_NRF52)
+                if (thread)
+                    nrf52Bluetooth->sendLog(mt_sprintf("%s | [%s] %s", logLevel, thread->ThreadName.c_str(), message).c_str());
+                else
+                    nrf52Bluetooth->sendLog(mt_sprintf("%s | %s", logLevel, message).c_str());
+#endif
+                delete[] message;
+            }
+        }
+        va_end(arg);
 #ifdef HAS_FREE_RTOS
         xSemaphoreGive(inDebugPrint);
 #else

src/configuration.h

@@ -75,11 +75,17 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #endif
 
 // -----------------------------------------------------------------------------
-// Regulatory overrides for producing regional builds
+// Regulatory overrides
 // -----------------------------------------------------------------------------
 
-// Define if region should override user saved region
-// #define LORA_REGIONCODE meshtastic_Config_LoRaConfig_RegionCode_SG_923
+// Override user saved region, for producing region-locked builds
+// #define REGULATORY_LORA_REGIONCODE meshtastic_Config_LoRaConfig_RegionCode_SG_923
+
+// Total system gain in dBm to subtract from Tx power to remain within regulatory ERP limit for non-licensed operators
+// This value should be set in variant.h and is PA gain + antenna gain (if system ships with an antenna)
+#ifndef REGULATORY_GAIN_LORA
+#define REGULATORY_GAIN_LORA 0
+#endif
 
 // -----------------------------------------------------------------------------
 // Feature toggles
@@ -136,6 +142,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define OPT3001_ADDR_ALT 0x44
 #define MLX90632_ADDR 0x3A
 #define DFROBOT_LARK_ADDR 0x42
+#define NAU7802_ADDR 0x2A
 
 // -----------------------------------------------------------------------------
 // ACCELEROMETER
@@ -144,6 +151,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define LIS3DH_ADR 0x18
 #define BMA423_ADDR 0x19
 #define LSM6DS3_ADDR 0x6A
+#define BMX160_ADDR 0x69
 
 // -----------------------------------------------------------------------------
 // LED

src/detect/ScanI2C.cpp

@@ -6,6 +6,7 @@ const ScanI2C::FoundDevice ScanI2C::DEVICE_NONE = ScanI2C::FoundDevice(ScanI2C::
 ScanI2C::ScanI2C() = default;
 
 void ScanI2C::scanPort(ScanI2C::I2CPort port) {}
+void ScanI2C::scanPort(ScanI2C::I2CPort port, uint8_t *address, uint8_t asize) {}
 
 void ScanI2C::setSuppressScreen()
 {
@@ -36,8 +37,8 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
 
 ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
 {
-    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3};
-    return firstOfOrNONE(4, types);
+    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160};
+    return firstOfOrNONE(5, types);
 }
 
 ScanI2C::FoundDevice ScanI2C::find(ScanI2C::DeviceType) const

src/detect/ScanI2C.h

@@ -49,7 +49,9 @@ class ScanI2C
         OPT3001,
         MLX90632,
         AHT10,
+        BMX160,
         DFROBOT_LARK,
+        NAU7802
     } DeviceType;
 
     // typedef uint8_t DeviceAddress;
@@ -86,6 +88,7 @@ class ScanI2C
     ScanI2C();
 
     virtual void scanPort(ScanI2C::I2CPort);
+    virtual void scanPort(ScanI2C::I2CPort, uint8_t *, uint8_t);
 
     /*
      * A bit of a hack, this tells the scanner not to tell later systems there is a screen to avoid enabling it.

src/detect/ScanI2CTwoWire.cpp

@@ -14,6 +14,15 @@
 #define XPOWERS_AXP192_AXP2101_ADDRESS 0x34
 #endif
 
+bool in_array(uint8_t *array, int size, uint8_t lookfor)
+{
+    int i;
+    for (i = 0; i < size; i++)
+        if (lookfor == array[i])
+            return true;
+    return false;
+}
+
 ScanI2C::FoundDevice ScanI2CTwoWire::find(ScanI2C::DeviceType type) const
 {
     concurrency::LockGuard guard((concurrency::Lock *)&lock);
@@ -135,11 +144,11 @@ uint16_t ScanI2CTwoWire::getRegisterValue(const ScanI2CTwoWire::RegisterLocation
         type = T;                                                                                                                \
         break;
 
-void ScanI2CTwoWire::scanPort(I2CPort port)
+void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
 {
     concurrency::LockGuard guard((concurrency::Lock *)&lock);
 
-    LOG_DEBUG("Scanning for i2c devices on port %d\n", port);
+    LOG_DEBUG("Scanning for I2C devices on port %d\n", port);
 
     uint8_t err;
 
@@ -163,6 +172,11 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
 #endif
 
     for (addr.address = 1; addr.address < 127; addr.address++) {
+        if (asize != 0) {
+            if (!in_array(address, asize, addr.address))
+                continue;
+            LOG_DEBUG("Scanning address 0x%x\n", addr.address);
+        }
         i2cBus->beginTransmission(addr.address);
 #ifdef ARCH_PORTDUINO
         if (i2cBus->read() != -1)
@@ -342,6 +356,7 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
 
                 SCAN_SIMPLE_CASE(PMSA0031_ADDR, PMSA0031, "PMSA0031 air quality sensor found\n")
                 SCAN_SIMPLE_CASE(MPU6050_ADDR, MPU6050, "MPU6050 accelerometer found\n");
+                SCAN_SIMPLE_CASE(BMX160_ADDR, BMX160, "BMX160 accelerometer found\n");
                 SCAN_SIMPLE_CASE(BMA423_ADDR, BMA423, "BMA423 accelerometer found\n");
                 SCAN_SIMPLE_CASE(LSM6DS3_ADDR, LSM6DS3, "LSM6DS3 accelerometer found at address 0x%x\n", (uint8_t)addr.address);
                 SCAN_SIMPLE_CASE(TCA9555_ADDR, TCA9555, "TCA9555 I2C expander found\n");
@@ -349,12 +364,13 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
                 SCAN_SIMPLE_CASE(TSL25911_ADDR, TSL2591, "TSL2591 light sensor found\n");
                 SCAN_SIMPLE_CASE(OPT3001_ADDR, OPT3001, "OPT3001 light sensor found\n");
                 SCAN_SIMPLE_CASE(MLX90632_ADDR, MLX90632, "MLX90632 IR temp sensor found\n");
+                SCAN_SIMPLE_CASE(NAU7802_ADDR, NAU7802, "NAU7802 based scale found\n");
 
             default:
                 LOG_INFO("Device found at address 0x%x was not able to be enumerated\n", addr.address);
             }
         } else if (err == 4) {
-            LOG_ERROR("Unknown error at address 0x%x\n", addr);
+            LOG_ERROR("Unknown error at address 0x%x\n", addr.address);
         }
 
         // Check if a type was found for the enumerated device - save, if so
@@ -365,6 +381,11 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
     }
 }
 
+void ScanI2CTwoWire::scanPort(I2CPort port)
+{
+    scanPort(port, nullptr, 0);
+}
+
 TwoWire *ScanI2CTwoWire::fetchI2CBus(ScanI2C::DeviceAddress address) const
 {
     if (address.port == ScanI2C::I2CPort::WIRE) {

src/detect/ScanI2CTwoWire.h

@@ -16,6 +16,8 @@ class ScanI2CTwoWire : public ScanI2C
   public:
     void scanPort(ScanI2C::I2CPort) override;
 
+    void scanPort(ScanI2C::I2CPort, uint8_t *, uint8_t) override;
+
     ScanI2C::FoundDevice find(ScanI2C::DeviceType) const override;
 
     TwoWire *fetchI2CBus(ScanI2C::DeviceAddress) const;
@@ -53,4 +55,4 @@ class ScanI2CTwoWire : public ScanI2C
     uint16_t getRegisterValue(const RegisterLocation &, ResponseWidth) const;
 
     DeviceType probeOLED(ScanI2C::DeviceAddress) const;
-};
+};

src/gps/GPS.cpp

@@ -28,6 +28,12 @@
 #define GPS_STANDBY_THRESHOLD_MINUTES 15
 #endif
 
+// How many seconds of sleep make it worthwhile for the GPS to use powered-on standby
+// Shorter than this, and we'll just wait instead
+#ifndef GPS_IDLE_THRESHOLD_SECONDS
+#define GPS_IDLE_THRESHOLD_SECONDS 10
+#endif
+
 #if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO)
 HardwareSerial *GPS::_serial_gps = &Serial1;
 #else
@@ -772,17 +778,41 @@ GPS::~GPS()
     notifyGPSSleepObserver.observe(&notifyGPSSleep);
 }
 
+const char *GPS::powerStateToString()
+{
+    switch (powerState) {
+    case GPS_OFF:
+        return "OFF";
+    case GPS_IDLE:
+        return "IDLE";
+    case GPS_STANDBY:
+        return "STANDBY";
+    case GPS_ACTIVE:
+        return "ACTIVE";
+    default:
+        return "UNKNOWN";
+    }
+}
+
 void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime)
 {
     // Record the current powerState
     if (on)
-        powerState = GPS_AWAKE;
-    else if (!on && standbyOnly)
+        powerState = GPS_ACTIVE;
+    else if (!enabled) // User has disabled with triple press
+        powerState = GPS_OFF;
+    else if (sleepTime <= GPS_IDLE_THRESHOLD_SECONDS * 1000UL)
+        powerState = GPS_IDLE;
+    else if (standbyOnly)
         powerState = GPS_STANDBY;
     else
         powerState = GPS_OFF;
 
-    LOG_DEBUG("GPS::powerState=%d\n", powerState);
+    LOG_DEBUG("GPS::powerState=%s\n", powerStateToString());
+
+    // If the next update is due *really soon*, don't actually power off or enter standby. Just wait it out.
+    if (!on && powerState == GPS_IDLE)
+        return;
 
     if (on) {
         clearBuffer(); // drop any old data waiting in the buffer before re-enabling
@@ -880,54 +910,69 @@ void GPS::setConnected()
 void GPS::setAwake(bool wantAwake)
 {
 
-    // If user has disabled GPS, make sure it is off, not just in standby
+    // If user has disabled GPS, make sure it is off, not just in standby or idle
     if (!wantAwake && !enabled && powerState != GPS_OFF) {
         setGPSPower(false, false, 0);
         return;
     }
 
     // If GPS power state needs to change
-    if ((wantAwake && powerState != GPS_AWAKE) || (!wantAwake && powerState == GPS_AWAKE)) {
+    if ((wantAwake && powerState != GPS_ACTIVE) || (!wantAwake && powerState == GPS_ACTIVE)) {
         LOG_DEBUG("WANT GPS=%d\n", wantAwake);
 
         // Calculate how long it takes to get a GPS lock
         if (wantAwake) {
+            // Record the time we start looking for a lock
             lastWakeStartMsec = millis();
         } else {
+            // Record by how much we missed our ideal target postion.gps_update_interval (for logging only)
+            // Need to calculate this before we update lastSleepStartMsec, to make the new prediction
+            int32_t lateByMsec = (int32_t)(millis() - lastSleepStartMsec) - (int32_t)getSleepTime();
+
+            // Record the time we finish looking for a lock
             lastSleepStartMsec = millis();
-            if (GPSCycles == 1) { // Skipping initial lock time, as it will likely be much longer than average
-                averageLockTime = lastSleepStartMsec - lastWakeStartMsec;
-            } else if (GPSCycles > 1) {
-                averageLockTime += ((int32_t)(lastSleepStartMsec - lastWakeStartMsec) - averageLockTime) / (int32_t)GPSCycles;
+
+            // How long did it take to get GPS lock this time?
+            uint32_t lockTime = lastSleepStartMsec - lastWakeStartMsec;
+
+            // Update the lock-time prediction
+            // Used pre-emptively, attempting to hit target of gps.position_update_interval
+            switch (GPSCycles) {
+            case 0:
+                LOG_DEBUG("Initial GPS lock took %ds\n", lockTime / 1000);
+                break;
+            case 1:
+                predictedLockTime = lockTime; // Avoid slow ramp-up - start with a real value
+                LOG_DEBUG("GPS Lock took %ds\n", lockTime / 1000);
+                break;
+            default:
+                // Predict lock-time using exponential smoothing: respond slowly to changes
+                predictedLockTime = (lockTime * 0.2) + (predictedLockTime * 0.8); // Latest lock time has 20% weight on prediction
+                LOG_INFO("GPS Lock took %ds. %s by %ds. Next lock predicted to take %ds.\n", lockTime / 1000,
+                         (lateByMsec > 0) ? "Late" : "Early", abs(lateByMsec) / 1000, predictedLockTime / 1000);
             }
             GPSCycles++;
-            LOG_DEBUG("GPS Lock took %d, average %d\n", (lastSleepStartMsec - lastWakeStartMsec) / 1000, averageLockTime / 1000);
         }
 
+        // How long to wait before attempting next GPS update
+        // Aims to hit position.gps_update_interval by using the lock-time prediction
+        uint32_t compensatedSleepTime = (getSleepTime() > predictedLockTime) ? (getSleepTime() - predictedLockTime) : 0;
+
         // If long interval between updates: power off between updates
-        if ((int32_t)getSleepTime() - averageLockTime > GPS_STANDBY_THRESHOLD_MINUTES * MS_IN_MINUTE) {
-            setGPSPower(wantAwake, false, getSleepTime() - averageLockTime);
-            return;
+        if (compensatedSleepTime > GPS_STANDBY_THRESHOLD_MINUTES * MS_IN_MINUTE) {
+            setGPSPower(wantAwake, false, getSleepTime() - predictedLockTime);
         }
 
-        // If waking frequently: standby only. Would use more power trying to reacquire lock each time
-        else if ((int32_t)getSleepTime() - averageLockTime > 10000) { // 10 seconds is enough for standby
+        // If waking relatively frequently: don't power off. Would use more energy trying to reacquire lock each time
+        // We'll either use a "powered-on" standby, or just wait it out, depending on how soon the next update is due
+        // Will decide which inside setGPSPower method
+        else {
 #ifdef GPS_UC6580
-            setGPSPower(wantAwake, false, getSleepTime() - averageLockTime);
+            setGPSPower(wantAwake, false, compensatedSleepTime);
 #else
-            setGPSPower(wantAwake, true, getSleepTime() - averageLockTime);
+            setGPSPower(wantAwake, true, compensatedSleepTime);
 #endif
-            return;
         }
-
-        // Gradually recover from an abnormally long "time to get lock"
-        if (averageLockTime > 20000) {
-            averageLockTime -= 1000; // eventually want to sleep again.
-        }
-
-        // Make sure we don't have a fallthrough where GPS is stuck off
-        if (wantAwake)
-            setGPSPower(true, true, 0);
     }
 }
 
@@ -1033,14 +1078,14 @@ int32_t GPS::runOnce()
     uint32_t timeAsleep = now - lastSleepStartMsec;
 
     auto sleepTime = getSleepTime();
-    if (powerState != GPS_AWAKE && (sleepTime != UINT32_MAX) &&
-        ((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - averageLockTime)))) {
+    if (powerState != GPS_ACTIVE && (sleepTime != UINT32_MAX) &&
+        ((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - predictedLockTime)))) {
         // We now want to be awake - so wake up the GPS
         setAwake(true);
     }
 
     // While we are awake
-    if (powerState == GPS_AWAKE) {
+    if (powerState == GPS_ACTIVE) {
         // LOG_DEBUG("looking for location\n");
         // If we've already set time from the GPS, no need to ask the GPS
         bool gotTime = (getRTCQuality() >= RTCQualityGPS);
@@ -1086,7 +1131,7 @@ int32_t GPS::runOnce()
 
     // 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
     // if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
-    return (powerState == GPS_AWAKE) ? GPS_THREAD_INTERVAL : 5000;
+    return (powerState == GPS_ACTIVE) ? GPS_THREAD_INTERVAL : 5000;
 }
 
 // clear the GPS rx buffer as quickly as possible
@@ -1617,9 +1662,9 @@ bool GPS::whileIdle()
 {
     unsigned int charsInBuf = 0;
     bool isValid = false;
-    if (powerState != GPS_AWAKE) {
+    if (powerState != GPS_ACTIVE) {
         clearBuffer();
-        return (powerState == GPS_AWAKE);
+        return (powerState == GPS_ACTIVE);
     }
 #ifdef SERIAL_BUFFER_SIZE
     if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
@@ -1650,6 +1695,10 @@ bool GPS::whileIdle()
 }
 void GPS::enable()
 {
+    // Clear the old lock-time prediction
+    GPSCycles = 0;
+    predictedLockTime = 0;
+
     enabled = true;
     setInterval(GPS_THREAD_INTERVAL);
     setAwake(true);

src/gps/GPS.h

@@ -39,9 +39,10 @@ typedef enum {
 } GPS_RESPONSE;
 
 enum GPSPowerState : uint8_t {
-    GPS_OFF = 0,
-    GPS_AWAKE = 1,
-    GPS_STANDBY = 2,
+    GPS_OFF = 0,     // Physically powered off
+    GPS_ACTIVE = 1,  // Awake and want a position
+    GPS_STANDBY = 2, // Physically powered on, but soft-sleeping
+    GPS_IDLE = 3,    // Awake, but not wanting another position yet
 };
 
 // Generate a string representation of DOP
@@ -72,7 +73,7 @@ class GPS : private concurrency::OSThread
     uint32_t rx_gpio = 0;
     uint32_t tx_gpio = 0;
     uint32_t en_gpio = 0;
-    int32_t averageLockTime = 0;
+    uint32_t predictedLockTime = 0;
     uint32_t GPSCycles = 0;
 
     int speedSelect = 0;
@@ -93,7 +94,7 @@ class GPS : private concurrency::OSThread
     bool GPSInitFinished = false; // Init thread finished?
     bool GPSInitStarted = false;  // Init thread finished?
 
-    GPSPowerState powerState = GPS_OFF; // GPS_AWAKE if we want a location right now
+    GPSPowerState powerState = GPS_OFF; // GPS_ACTIVE if we want a location right now
 
     uint8_t numSatellites = 0;
 
@@ -288,6 +289,8 @@ class GPS : private concurrency::OSThread
     // delay counter to allow more sats before fixed position stops GPS thread
     uint8_t fixeddelayCtr = 0;
 
+    const char *powerStateToString();
+
   protected:
     GnssModel_t gnssModel = GNSS_MODEL_UNKNOWN;
 };

src/gps/ubx.h

@@ -319,6 +319,8 @@ const uint8_t GPS::_message_SAVE[] = {
 // As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
 // BBR will survive a restart, and power off for a while, but modules with small backup
 // batteries or super caps will not retain the config for a long power off time.
+// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
+// sleep
 
 // VALSET Commands for M10
 // Please refer to the M10 Protocol Specification:
@@ -327,40 +329,42 @@ const uint8_t GPS::_message_SAVE[] = {
 // and:
 // https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
 // for interesting insights.
+//
+// Integration manual:
+// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
+// has details on low-power modes
+
 /*
 CFG-PM2 has been replaced by many CFG-PM commands
-OPERATEMODE E1 2 (0 | 1 | 2)
-POSUPDATEPERIOD U4 1000ms for M10 must be >= 5s try 5
-ACQPERIOD U4 10 seems ok for M10 def ok
-GRIDOFFSET U4 0 seems ok for M10 def ok
-ONTIME U2 1 will try 1
-MINACQTIME U1 0 will try 0 def ok
-MAXACQTIME U1 stick with default of 0 def ok
-DONOTENTEROFF L 1 stay at 1
-WAITTIMEFIX  L 1 stay with 1
-UPDATEEPH L 1 changed to 1 for gps rework default is 1
-EXTINTWAKE L 0 no ext ints
-EXTINTBACKUP L 0 no ext ints
-EXTINTINACTIVE L 0 no ext ints
-EXTINTACTIVITY U4 0 no ext ints
-LIMITPEAKCURRENT L 1 stay with 1
-*/
-// CFG-PMS has been removed
+CFG-PMS has been removed
+
+CFG-PM-OPERATEMODE E1 (0 | 1 | 2) -> 1 (PSMOO), because sporadic position updates are required instead of continous tracking <10s
+(PSMCT) CFG-PM-POSUPDATEPERIOD U4 -> 0ms, no self-timed wakup because receiver power mode is controlled via "software standby
+mode" by legacy UBX-RXM-PMREQ request CFG-PM-ACQPERIOD U4 -> 0ms, because receiver power mode is controlled via "software standby
+mode" by legacy UBX-RXM-PMREQ request CFG-PM-ONTIME U4 -> 0ms, optional I guess CFG-PM-EXTINTBACKUP L -> 1, force receiver into
+BACKUP mode when EXTINT (should be connected to GPS_EN_PIN) pin is "low"
+
+This is required because the receiver never enters low power mode if microcontroller is in deep-sleep.
+Maybe the changing UART_RX levels trigger a wakeup but even with UBX-RXM-PMREQ[12] = 0x00 (all external wakeup sources disabled)
+the receivcer remains in aquisition state -> potentially a bug
+
+Workaround: Control the EXTINT pin by the GPS_EN_PIN signal
+
+As mentioned in the M10 operational issues down below, power save won't allow the use of BDS B1C.
+CFG-SIGNAL-BDS_B1C_ENA L -> 0
 
 // Ram layer config message:
-// b5 62 06 8a 26 00 00 01 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
-// 10 01 8b de
+// 01 01 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
 
 // BBR layer config message:
-// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
-// 10 01 8c 03
-
-const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
-                                               0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
-                                               0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
-const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
-                                               0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
-                                               0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
+// 01 02 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
+*/
+const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x01, 0x01, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
+                                               0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
+                                               0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
+const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x01, 0x02, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
+                                               0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
+                                               0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
 
 /*
 CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR

src/graphics/Screen.cpp

@@ -43,6 +43,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #include "meshUtils.h"
 #include "modules/ExternalNotificationModule.h"
 #include "modules/TextMessageModule.h"
+#include "modules/WaypointModule.h"
 #include "sleep.h"
 #include "target_specific.h"
 
@@ -59,6 +60,9 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #include "platform/portduino/PortduinoGlue.h"
 #endif
 
+/// Convert an integer GPS coords to a floating point
+#define DegD(i) (i * 1e-7)
+
 using namespace meshtastic; /** @todo remove */
 
 namespace graphics
@@ -277,6 +281,30 @@ static void drawFunctionOverlay(OLEDDisplay *display, OLEDDisplayUiState *state)
     }
 }
 
+/// Check if the display can render a string (detect special chars; emoji)
+static bool haveGlyphs(const char *str)
+{
+#if defined(OLED_UA) || defined(OLED_RU)
+    // Don't want to make any assumptions about custom language support
+    return true;
+#endif
+
+    // Check each character with the lookup function for the OLED library
+    // We're not really meant to use this directly..
+    bool have = true;
+    for (uint16_t i = 0; i < strlen(str); i++) {
+        uint8_t result = Screen::customFontTableLookup((uint8_t)str[i]);
+        // If font doesn't support a character, it is substituted for ¿
+        if (result == 191 && (uint8_t)str[i] != 191) {
+            have = false;
+            break;
+        }
+    }
+
+    LOG_DEBUG("haveGlyphs=%d\n", have);
+    return have;
+}
+
 #ifdef USE_EINK
 /// Used on eink displays while in deep sleep
 static void drawDeepSleepScreen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
@@ -301,14 +329,15 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
     display->setTextAlignment(TEXT_ALIGN_LEFT);
     const char *pauseText = "Screen Paused";
     const char *idText = owner.short_name;
+    const bool useId = haveGlyphs(idText); // This bool is used to hide the idText box if we can't render the short name
     constexpr uint16_t padding = 5;
     constexpr uint8_t dividerGap = 1;
     constexpr uint8_t imprecision = 5; // How far the box origins can drift from center. Combat burn-in.
 
     // Dimensions
-    const uint16_t idTextWidth = display->getStringWidth(idText, strlen(idText));
+    const uint16_t idTextWidth = display->getStringWidth(idText, strlen(idText), true); // "true": handle utf8 chars
     const uint16_t pauseTextWidth = display->getStringWidth(pauseText, strlen(pauseText));
-    const uint16_t boxWidth = padding + idTextWidth + padding + padding + pauseTextWidth + padding;
+    const uint16_t boxWidth = padding + (useId ? idTextWidth + padding + padding : 0) + pauseTextWidth + padding;
     const uint16_t boxHeight = padding + FONT_HEIGHT_SMALL + padding;
 
     // Position
@@ -318,7 +347,7 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
     const int16_t boxBottom = boxTop + boxHeight - 1;
     const int16_t idTextLeft = boxLeft + padding;
     const int16_t idTextTop = boxTop + padding;
-    const int16_t pauseTextLeft = boxLeft + padding + idTextWidth + padding + padding;
+    const int16_t pauseTextLeft = boxLeft + (useId ? padding + idTextWidth + padding : 0) + padding;
     const int16_t pauseTextTop = boxTop + padding;
     const int16_t dividerX = boxLeft + padding + idTextWidth + padding;
     const int16_t dividerTop = boxTop + 1 + dividerGap;
@@ -331,12 +360,14 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
     display->drawRect(boxLeft, boxTop, boxWidth, boxHeight);
 
     // Draw: Text
-    display->drawString(idTextLeft, idTextTop, idText);
+    if (useId)
+        display->drawString(idTextLeft, idTextTop, idText);
     display->drawString(pauseTextLeft, pauseTextTop, pauseText);
     display->drawString(pauseTextLeft + 1, pauseTextTop, pauseText); // Faux bold
 
     // Draw: divider
-    display->drawLine(dividerX, dividerTop, dividerX, dividerBottom);
+    if (useId)
+        display->drawLine(dividerX, dividerTop, dividerX, dividerBottom);
 }
 #endif
 
@@ -419,6 +450,37 @@ static bool shouldDrawMessage(const meshtastic_MeshPacket *packet)
     return packet->from != 0 && !moduleConfig.store_forward.enabled;
 }
 
+// Determine whether the waypoint frame should be drawn (waypoint deleted? expired?)
+static bool shouldDrawWaypoint(const meshtastic_MeshPacket *packet)
+{
+#if !MESHTASTIC_EXCLUDE_WAYPOINT
+    // If no waypoint to show
+    if (!devicestate.has_rx_waypoint)
+        return false;
+
+    // Decode the message, to find the expiration time (is waypoint still valid)
+    // This handles "deletion" as well as expiration
+    meshtastic_Waypoint wp;
+    memset(&wp, 0, sizeof(wp));
+    if (pb_decode_from_bytes(packet->decoded.payload.bytes, packet->decoded.payload.size, &meshtastic_Waypoint_msg, &wp)) {
+        // Valid waypoint
+        if (wp.expire > getTime())
+            return devicestate.has_rx_waypoint = true;
+
+        // Expired, or deleted
+        else
+            return devicestate.has_rx_waypoint = false;
+    }
+
+    // If decoding failed
+    LOG_ERROR("Failed to decode waypoint\n");
+    devicestate.has_rx_waypoint = false;
+    return false;
+#else
+    return false;
+#endif
+}
+
 // Draw power bars or a charging indicator on an image of a battery, determined by battery charge voltage or percentage.
 static void drawBattery(OLEDDisplay *display, int16_t x, int16_t y, uint8_t *imgBuffer, const PowerStatus *powerStatus)
 {
@@ -1064,43 +1126,6 @@ static void drawTextMessageFrame(OLEDDisplay *display, OLEDDisplayUiState *state
 #endif
 }
 
-/// Draw the last waypoint we received
-static void drawWaypointFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
-{
-    static char tempBuf[237];
-
-    meshtastic_MeshPacket &mp = devicestate.rx_waypoint;
-    meshtastic_NodeInfoLite *node = nodeDB->getMeshNode(getFrom(&mp));
-
-    display->setTextAlignment(TEXT_ALIGN_LEFT);
-    display->setFont(FONT_SMALL);
-    if (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_INVERTED) {
-        display->fillRect(0 + x, 0 + y, x + display->getWidth(), y + FONT_HEIGHT_SMALL);
-        display->setColor(BLACK);
-    }
-
-    uint32_t seconds = sinceReceived(&mp);
-    uint32_t minutes = seconds / 60;
-    uint32_t hours = minutes / 60;
-    uint32_t days = hours / 24;
-
-    if (config.display.heading_bold) {
-        display->drawStringf(1 + x, 0 + y, tempBuf, "%s ago from %s",
-                             screen->drawTimeDelta(days, hours, minutes, seconds).c_str(),
-                             (node && node->has_user) ? node->user.short_name : "???");
-    }
-    display->drawStringf(0 + x, 0 + y, tempBuf, "%s ago from %s", screen->drawTimeDelta(days, hours, minutes, seconds).c_str(),
-                         (node && node->has_user) ? node->user.short_name : "???");
-
-    display->setColor(WHITE);
-    meshtastic_Waypoint scratch;
-    memset(&scratch, 0, sizeof(scratch));
-    if (pb_decode_from_bytes(mp.decoded.payload.bytes, mp.decoded.payload.size, &meshtastic_Waypoint_msg, &scratch)) {
-        snprintf(tempBuf, sizeof(tempBuf), "Received waypoint: %s", scratch.name);
-        display->drawStringMaxWidth(0 + x, 0 + y + FONT_HEIGHT_SMALL, x + display->getWidth(), tempBuf);
-    }
-}
-
 /// Draw a series of fields in a column, wrapping to multiple columns if needed
 static void drawColumns(OLEDDisplay *display, int16_t x, int16_t y, const char **fields)
 {
@@ -1426,8 +1451,35 @@ static void drawCompassNorth(OLEDDisplay *display, int16_t compassX, int16_t com
     drawLine(display, N1, N4);
 }
 
-/// Convert an integer GPS coords to a floating point
-#define DegD(i) (i * 1e-7)
+// Get a string representation of the time passed since something happened
+static void getTimeAgoStr(uint32_t agoSecs, char *timeStr, uint8_t maxLength)
+{
+    // Use an absolute timestamp in some cases.
+    // Particularly useful with E-Ink displays. Static UI, fewer refreshes.
+    uint8_t timestampHours, timestampMinutes;
+    int32_t daysAgo;
+    bool useTimestamp = deltaToTimestamp(agoSecs, &timestampHours, &timestampMinutes, &daysAgo);
+
+    if (agoSecs < 120) // last 2 mins?
+        snprintf(timeStr, maxLength, "%u seconds ago", agoSecs);
+    // -- if suitable for timestamp --
+    else if (useTimestamp && agoSecs < 15 * SECONDS_IN_MINUTE) // Last 15 minutes
+        snprintf(timeStr, maxLength, "%u minutes ago", agoSecs / SECONDS_IN_MINUTE);
+    else if (useTimestamp && daysAgo == 0) // Today
+        snprintf(timeStr, maxLength, "Last seen: %02u:%02u", (unsigned int)timestampHours, (unsigned int)timestampMinutes);
+    else if (useTimestamp && daysAgo == 1) // Yesterday
+        snprintf(timeStr, maxLength, "Seen yesterday");
+    else if (useTimestamp && daysAgo > 1) // Last six months (capped by deltaToTimestamp method)
+        snprintf(timeStr, maxLength, "%li days ago", (long)daysAgo);
+    // -- if using time delta instead --
+    else if (agoSecs < 120 * 60) // last 2 hrs
+        snprintf(timeStr, maxLength, "%u minutes ago", agoSecs / 60);
+    // Only show hours ago if it's been less than 6 months. Otherwise, we may have bad data.
+    else if ((agoSecs / 60 / 60) < (hours_in_month * 6))
+        snprintf(timeStr, maxLength, "%u hours ago", agoSecs / 60 / 60);
+    else
+        snprintf(timeStr, maxLength, "unknown age");
+}
 
 static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
 {
@@ -1467,34 +1519,8 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
         snprintf(signalStr, sizeof(signalStr), "Signal: %d%%", clamp((int)((node->snr + 10) * 5), 0, 100));
     }
 
-    uint32_t agoSecs = sinceLastSeen(node);
     static char lastStr[20];
-
-    // Use an absolute timestamp in some cases.
-    // Particularly useful with E-Ink displays. Static UI, fewer refreshes.
-    uint8_t timestampHours, timestampMinutes;
-    int32_t daysAgo;
-    bool useTimestamp = deltaToTimestamp(agoSecs, &timestampHours, &timestampMinutes, &daysAgo);
-
-    if (agoSecs < 120) // last 2 mins?
-        snprintf(lastStr, sizeof(lastStr), "%u seconds ago", agoSecs);
-    // -- if suitable for timestamp --
-    else if (useTimestamp && agoSecs < 15 * SECONDS_IN_MINUTE) // Last 15 minutes
-        snprintf(lastStr, sizeof(lastStr), "%u minutes ago", agoSecs / SECONDS_IN_MINUTE);
-    else if (useTimestamp && daysAgo == 0) // Today
-        snprintf(lastStr, sizeof(lastStr), "Last seen: %02u:%02u", (unsigned int)timestampHours, (unsigned int)timestampMinutes);
-    else if (useTimestamp && daysAgo == 1) // Yesterday
-        snprintf(lastStr, sizeof(lastStr), "Seen yesterday");
-    else if (useTimestamp && daysAgo > 1) // Last six months (capped by deltaToTimestamp method)
-        snprintf(lastStr, sizeof(lastStr), "%li days ago", (long)daysAgo);
-    // -- if using time delta instead --
-    else if (agoSecs < 120 * 60) // last 2 hrs
-        snprintf(lastStr, sizeof(lastStr), "%u minutes ago", agoSecs / 60);
-    // Only show hours ago if it's been less than 6 months. Otherwise, we may have bad data.
-    else if ((agoSecs / 60 / 60) < (hours_in_month * 6))
-        snprintf(lastStr, sizeof(lastStr), "%u hours ago", agoSecs / 60 / 60);
-    else
-        snprintf(lastStr, sizeof(lastStr), "unknown age");
+    getTimeAgoStr(sinceLastSeen(node), lastStr, sizeof(lastStr));
 
     static char distStr[20];
     if (config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL) {
@@ -1516,9 +1542,13 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
     }
     bool hasNodeHeading = false;
 
-    if (ourNode && hasValidPosition(ourNode)) {
+    if (ourNode && (hasValidPosition(ourNode) || screen->hasHeading())) {
         const meshtastic_PositionLite &op = ourNode->position;
-        float myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
+        float myHeading;
+        if (screen->hasHeading())
+            myHeading = (screen->getHeading()) * PI / 180; // gotta convert compass degrees to Radians
+        else
+            myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
         drawCompassNorth(display, compassX, compassY, myHeading);
 
         if (hasValidPosition(node)) {
@@ -1565,6 +1595,112 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
     drawColumns(display, x, y, fields);
 }
 
+/// Draw the last waypoint we received
+static void drawWaypointFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
+{
+    // Prepare to draw
+    display->setFont(FONT_SMALL);
+    display->setTextAlignment(TEXT_ALIGN_LEFT);
+
+    // Handle inverted display
+    // Unsure of expected behavior: for now, copy drawNodeInfo
+    if (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_INVERTED)
+        display->fillRect(0 + x, 0 + y, x + display->getWidth(), y + FONT_HEIGHT_SMALL);
+
+    // Decode the waypoint
+    meshtastic_MeshPacket &mp = devicestate.rx_waypoint;
+    meshtastic_Waypoint wp;
+    memset(&wp, 0, sizeof(wp));
+    if (!pb_decode_from_bytes(mp.decoded.payload.bytes, mp.decoded.payload.size, &meshtastic_Waypoint_msg, &wp)) {
+        // This *should* be caught by shouldDrawWaypoint, but we'll short-circuit here just in case
+        display->drawStringMaxWidth(0 + x, 0 + y, x + display->getWidth(), "Couldn't decode waypoint");
+        devicestate.has_rx_waypoint = false;
+        return;
+    }
+
+    // Get timestamp info. Will pass as a field to drawColumns
+    static char lastStr[20];
+    getTimeAgoStr(sinceReceived(&mp), lastStr, sizeof(lastStr));
+
+    // Will contain distance information, passed as a field to drawColumns
+    static char distStr[20];
+
+    // Get our node, to use our own position
+    meshtastic_NodeInfoLite *ourNode = nodeDB->getMeshNode(nodeDB->getNodeNum());
+
+    // Text fields to draw (left of compass)
+    // Last element must be NULL. This signals the end of the char*[] to drawColumns
+    const char *fields[] = {"Waypoint", lastStr, wp.name, distStr, NULL};
+
+    // Co-ordinates for the center of the compass/circle
+    int16_t compassX = 0, compassY = 0;
+    if (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_DEFAULT) {
+        compassX = x + SCREEN_WIDTH - getCompassDiam(display) / 2 - 5;
+        compassY = y + SCREEN_HEIGHT / 2;
+    } else {
+        compassX = x + SCREEN_WIDTH - getCompassDiam(display) / 2 - 5;
+        compassY = y + FONT_HEIGHT_SMALL + (SCREEN_HEIGHT - FONT_HEIGHT_SMALL) / 2;
+    }
+
+    // If our node has a position:
+    if (ourNode && (hasValidPosition(ourNode) || screen->hasHeading())) {
+        const meshtastic_PositionLite &op = ourNode->position;
+        float myHeading;
+        if (screen->hasHeading())
+            myHeading = (screen->getHeading()) * PI / 180; // gotta convert compass degrees to Radians
+        else
+            myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
+        drawCompassNorth(display, compassX, compassY, myHeading);
+
+        // Distance to Waypoint
+        float d = GeoCoord::latLongToMeter(DegD(wp.latitude_i), DegD(wp.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
+        if (config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL) {
+            if (d < (2 * MILES_TO_FEET))
+                snprintf(distStr, sizeof(distStr), "%.0f ft", d * METERS_TO_FEET);
+            else
+                snprintf(distStr, sizeof(distStr), "%.1f mi", d * METERS_TO_FEET / MILES_TO_FEET);
+        } else {
+            if (d < 2000)
+                snprintf(distStr, sizeof(distStr), "%.0f m", d);
+            else
+                snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);
+        }
+
+        // Compass bearing to waypoint
+        float bearingToOther =
+            GeoCoord::bearing(DegD(op.latitude_i), DegD(op.longitude_i), DegD(wp.latitude_i), DegD(wp.longitude_i));
+        // If the top of the compass is a static north then bearingToOther can be drawn on the compass directly
+        // If the top of the compass is not a static north we need adjust bearingToOther based on heading
+        if (!config.display.compass_north_top)
+            bearingToOther -= myHeading;
+        drawNodeHeading(display, compassX, compassY, bearingToOther);
+    }
+
+    // If our node doesn't have position
+    else {
+        // ? in the compass
+        display->drawString(compassX - FONT_HEIGHT_SMALL / 4, compassY - FONT_HEIGHT_SMALL / 2, "?");
+
+        // ? in the distance field
+        if (config.display.units == meshtastic_Config_DisplayConfig_DisplayUnits_IMPERIAL)
+            strncpy(distStr, "? mi", sizeof(distStr));
+        else
+            strncpy(distStr, "? km", sizeof(distStr));
+    }
+
+    // Undo color-inversion, if set prior to drawing header
+    // Unsure of expected behavior? For now: copy drawNodeInfo
+    if (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_INVERTED) {
+        display->setColor(BLACK);
+    }
+
+    // Draw compass circle
+    display->drawCircle(compassX, compassY, getCompassDiam(display) / 2);
+
+    // Must be after distStr is populated
+    drawColumns(display, x, y, fields);
+}
+
 Screen::Screen(ScanI2C::DeviceAddress address, meshtastic_Config_DisplayConfig_OledType screenType, OLEDDISPLAY_GEOMETRY geometry)
     : concurrency::OSThread("Screen"), address_found(address), model(screenType), geometry(geometry), cmdQueue(32)
 {
@@ -1775,6 +1911,8 @@ void Screen::setup()
         textMessageObserver.observe(textMessageModule);
     if (inputBroker)
         inputObserver.observe(inputBroker);
+    if (waypointModule)
+        waypointObserver.observe(waypointModule);
 
     // Modules can notify screen about refresh
     MeshModule::observeUIEvents(&uiFrameEventObserver);
@@ -2102,8 +2240,9 @@ void Screen::setFrames()
     if (devicestate.has_rx_text_message && shouldDrawMessage(&devicestate.rx_text_message)) {
         normalFrames[numframes++] = drawTextMessageFrame;
     }
-    // If we have a waypoint - show it next, unless it's a phone message and we aren't using any special modules
-    if (devicestate.has_rx_waypoint && shouldDrawMessage(&devicestate.rx_waypoint)) {
+
+    // If we have a waypoint (not expired, not deleted)
+    if (devicestate.has_rx_waypoint && shouldDrawWaypoint(&devicestate.rx_waypoint)) {
         normalFrames[numframes++] = drawWaypointFrame;
     }
 
@@ -2705,6 +2844,13 @@ int Screen::handleInputEvent(const InputEvent *event)
     return 0;
 }
 
+int Screen::handleWaypoint(const meshtastic_MeshPacket *arg)
+{
+    // TODO: move to appropriate frame when redrawing
+    setFrames();
+    return 0;
+}
+
 } // namespace graphics
 #else
 graphics::Screen::Screen(ScanI2C::DeviceAddress, meshtastic_Config_DisplayConfig_OledType, OLEDDISPLAY_GEOMETRY) {}

src/graphics/Screen.h

@@ -126,6 +126,8 @@ class Screen : public concurrency::OSThread
         CallbackObserver<Screen, const meshtastic::Status *>(this, &Screen::handleStatusUpdate);
     CallbackObserver<Screen, const meshtastic_MeshPacket *> textMessageObserver =
         CallbackObserver<Screen, const meshtastic_MeshPacket *>(this, &Screen::handleTextMessage);
+    CallbackObserver<Screen, const meshtastic_MeshPacket *> waypointObserver =
+        CallbackObserver<Screen, const meshtastic_MeshPacket *>(this, &Screen::handleWaypoint);
     CallbackObserver<Screen, const UIFrameEvent *> uiFrameEventObserver =
         CallbackObserver<Screen, const UIFrameEvent *>(this, &Screen::handleUIFrameEvent);
     CallbackObserver<Screen, const InputEvent *> inputObserver =
@@ -204,6 +206,17 @@ class Screen : public concurrency::OSThread
         enqueueCmd(cmd);
     }
 
+    // Function to allow the AccelerometerThread to set the heading if a sensor provides it
+    // Mutex needed?
+    void setHeading(long _heading)
+    {
+        hasCompass = true;
+        compassHeading = _heading;
+    }
+
+    bool hasHeading() { return hasCompass; }
+
+    long getHeading() { return compassHeading; }
     // functions for display brightness
     void increaseBrightness();
     void decreaseBrightness();
@@ -325,6 +338,7 @@ class Screen : public concurrency::OSThread
     int handleTextMessage(const meshtastic_MeshPacket *arg);
     int handleUIFrameEvent(const UIFrameEvent *arg);
     int handleInputEvent(const InputEvent *arg);
+    int handleWaypoint(const meshtastic_MeshPacket *arg);
 
     /// Used to force (super slow) eink displays to draw critical frames
     void forceDisplay(bool forceUiUpdate = false);
@@ -428,6 +442,8 @@ class Screen : public concurrency::OSThread
     // Implementation to Adjust Brightness
     uint8_t brightness = BRIGHTNESS_DEFAULT; // H = 254, MH = 192, ML = 130 L = 103
 
+    bool hasCompass = false;
+    float compassHeading;
     /// Holds state for debug information
     DebugInfo debugInfo;
 

src/graphics/TFTDisplay.cpp

@@ -117,8 +117,16 @@ class LGFX : public lgfx::LGFX_Device
 static LGFX *tft = nullptr;
 
 #elif defined(RAK14014)
+#include <RAK14014_FT6336U.h>
 #include <TFT_eSPI.h>
 TFT_eSPI *tft = nullptr;
+FT6336U ft6336u;
+
+static uint8_t _rak14014_touch_int = false; // TP interrupt generation flag.
+static void rak14014_tpIntHandle(void)
+{
+    _rak14014_touch_int = true;
+}
 
 #elif defined(ST7789_CS)
 #include <LovyanGFX.hpp> // Graphics and font library for ST7735 driver chip
@@ -642,8 +650,12 @@ void TFTDisplay::sendCommand(uint8_t com)
 
 void TFTDisplay::setDisplayBrightness(uint8_t _brightness)
 {
+#ifdef RAK14014
+    // todo
+#else
     tft->setBrightness(_brightness);
     LOG_DEBUG("Brightness is set to value: %i \n", _brightness);
+#endif
 }
 
 void TFTDisplay::flipScreenVertically()
@@ -657,6 +669,7 @@ void TFTDisplay::flipScreenVertically()
 bool TFTDisplay::hasTouch(void)
 {
 #ifdef RAK14014
+    return true;
 #elif !defined(M5STACK)
     return tft->touch() != nullptr;
 #else
@@ -667,6 +680,15 @@ bool TFTDisplay::hasTouch(void)
 bool TFTDisplay::getTouch(int16_t *x, int16_t *y)
 {
 #ifdef RAK14014
+    if (_rak14014_touch_int) {
+        _rak14014_touch_int = false;
+        /* The X and Y axes have to be switched */
+        *y = ft6336u.read_touch1_x();
+        *x = TFT_HEIGHT - ft6336u.read_touch1_y();
+        return true;
+    } else {
+        return false;
+    }
 #elif !defined(M5STACK)
     return tft->getTouch(x, y);
 #else
@@ -716,7 +738,10 @@ bool TFTDisplay::connect()
 #elif defined(RAK14014)
     tft->setRotation(1);
     tft->setSwapBytes(true);
-//    tft->fillScreen(TFT_BLACK);
+    //    tft->fillScreen(TFT_BLACK);
+    ft6336u.begin();
+    pinMode(SCREEN_TOUCH_INT, INPUT_PULLUP);
+    attachInterrupt(digitalPinToInterrupt(SCREEN_TOUCH_INT), rak14014_tpIntHandle, FALLING);
 #elif defined(T_DECK) || defined(PICOMPUTER_S3) || defined(CHATTER_2)
     tft->setRotation(1); // T-Deck has the TFT in landscape
 #elif defined(T_WATCH_S3)

src/input/InputBroker.cpp

@@ -1,7 +1,7 @@
 #include "InputBroker.h"
 #include "PowerFSM.h" // needed for event trigger
 
-InputBroker *inputBroker;
+InputBroker *inputBroker = nullptr;
 
 InputBroker::InputBroker(){};
 

src/input/cardKbI2cImpl.cpp

@@ -1,5 +1,7 @@
 #include "cardKbI2cImpl.h"
 #include "InputBroker.h"
+#include "detect/ScanI2CTwoWire.h"
+#include "main.h"
 
 CardKbI2cImpl *cardKbI2cImpl;
 
@@ -7,10 +9,52 @@ CardKbI2cImpl::CardKbI2cImpl() : KbI2cBase("cardKB") {}
 
 void CardKbI2cImpl::init()
 {
+#ifndef ARCH_PORTDUINO
+    if (cardkb_found.address == 0x00) {
+        LOG_DEBUG("Rescanning for I2C keyboard\n");
+        uint8_t i2caddr_scan[] = {CARDKB_ADDR, TDECK_KB_ADDR, BBQ10_KB_ADDR};
+        uint8_t i2caddr_asize = 3;
+        auto i2cScanner = std::unique_ptr<ScanI2CTwoWire>(new ScanI2CTwoWire());
+
+#if defined(I2C_SDA1)
+        i2cScanner->scanPort(ScanI2C::I2CPort::WIRE1, i2caddr_scan, i2caddr_asize);
+#endif
+        i2cScanner->scanPort(ScanI2C::I2CPort::WIRE, i2caddr_scan, i2caddr_asize);
+        auto kb_info = i2cScanner->firstKeyboard();
+
+        if (kb_info.type != ScanI2C::DeviceType::NONE) {
+            cardkb_found = kb_info.address;
+            switch (kb_info.type) {
+            case ScanI2C::DeviceType::RAK14004:
+                kb_model = 0x02;
+                break;
+            case ScanI2C::DeviceType::CARDKB:
+                kb_model = 0x00;
+                break;
+            case ScanI2C::DeviceType::TDECKKB:
+                // assign an arbitrary value to distinguish from other models
+                kb_model = 0x10;
+                break;
+            case ScanI2C::DeviceType::BBQ10KB:
+                // assign an arbitrary value to distinguish from other models
+                kb_model = 0x11;
+                break;
+            default:
+                // use this as default since it's also just zero
+                LOG_WARN("kb_info.type is unknown(0x%02x), setting kb_model=0x00\n", kb_info.type);
+                kb_model = 0x00;
+            }
+        }
+        if (cardkb_found.address == 0x00) {
+            disable();
+            return;
+        }
+    }
+#else
     if (cardkb_found.address == 0x00) {
         disable();
         return;
     }
-
+#endif
     inputBroker->registerSource(this);
 }

src/input/cardKbI2cImpl.h

@@ -1,6 +1,5 @@
 #pragma once
 #include "kbI2cBase.h"
-#include "main.h"
 
 /**
  * @brief The idea behind this class to have static methods for the event handlers.

src/input/kbI2cBase.cpp

@@ -1,6 +1,7 @@
 #include "kbI2cBase.h"
 #include "configuration.h"
 #include "detect/ScanI2C.h"
+#include "detect/ScanI2CTwoWire.h"
 
 extern ScanI2C::DeviceAddress cardkb_found;
 extern uint8_t kb_model;
@@ -29,11 +30,6 @@ uint8_t read_from_14004(TwoWire *i2cBus, uint8_t reg, uint8_t *data, uint8_t len
 
 int32_t KbI2cBase::runOnce()
 {
-    if (cardkb_found.address == 0x00) {
-        // Input device is not detected.
-        return INT32_MAX;
-    }
-
     if (!i2cBus) {
         switch (cardkb_found.port) {
         case ScanI2C::WIRE1:

src/main.cpp

@@ -41,13 +41,13 @@
 #endif
 #if !MESHTASTIC_EXCLUDE_BLUETOOTH
 #include "nimble/NimbleBluetooth.h"
-NimbleBluetooth *nimbleBluetooth;
+NimbleBluetooth *nimbleBluetooth = nullptr;
 #endif
 #endif
 
 #ifdef ARCH_NRF52
 #include "NRF52Bluetooth.h"
-NRF52Bluetooth *nrf52Bluetooth;
+NRF52Bluetooth *nrf52Bluetooth = nullptr;
 #endif
 
 #if HAS_WIFI
@@ -94,23 +94,23 @@ NRF52Bluetooth *nrf52Bluetooth;
 #include "ButtonThread.h"
 #endif
 
+#include "AmbientLightingThread.h"
 #include "PowerFSMThread.h"
 
 #if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
 #include "AccelerometerThread.h"
-#include "AmbientLightingThread.h"
-AccelerometerThread *accelerometerThread;
+AccelerometerThread *accelerometerThread = nullptr;
 #endif
 
 #ifdef HAS_I2S
 #include "AudioThread.h"
-AudioThread *audioThread;
+AudioThread *audioThread = nullptr;
 #endif
 
 using namespace concurrency;
 
 // We always create a screen object, but we only init it if we find the hardware
-graphics::Screen *screen;
+graphics::Screen *screen = nullptr;
 
 // Global power status
 meshtastic::PowerStatus *powerStatus = new meshtastic::PowerStatus();
@@ -154,6 +154,7 @@ bool isVibrating = false;
 bool eink_found = true;
 
 uint32_t serialSinceMsec;
+bool pauseBluetoothLogging = false;
 
 bool pmu_found;
 
@@ -172,7 +173,7 @@ const char *getDeviceName()
     static char name[20];
     snprintf(name, sizeof(name), "%02x%02x", dmac[4], dmac[5]);
     // if the shortname exists and is NOT the new default of ab3c, use it for BLE name.
-    if ((owner.short_name != NULL) && (strcmp(owner.short_name, name) != 0)) {
+    if (strcmp(owner.short_name, name) != 0) {
         snprintf(name, sizeof(name), "%s_%02x%02x", owner.short_name, dmac[4], dmac[5]);
     } else {
         snprintf(name, sizeof(name), "Meshtastic_%02x%02x", dmac[4], dmac[5]);
@@ -241,7 +242,7 @@ void setup()
     initDeepSleep();
 
     // power on peripherals
-#if defined(TTGO_T_ECHO) && defined(PIN_POWER_EN)
+#if defined(PIN_POWER_EN)
     pinMode(PIN_POWER_EN, OUTPUT);
     digitalWrite(PIN_POWER_EN, HIGH);
     // digitalWrite(PIN_POWER_EN1, INPUT);
@@ -421,10 +422,6 @@ void setup()
     auto i2cCount = i2cScanner->countDevices();
     if (i2cCount == 0) {
         LOG_INFO("No I2C devices found\n");
-        Wire.end();
-#ifdef I2C_SDA1
-        Wire1.end();
-#endif
     } else {
         LOG_INFO("%i I2C devices found\n", i2cCount);
     }

src/main.h

@@ -53,6 +53,9 @@ extern Adafruit_DRV2605 drv;
 extern AudioThread *audioThread;
 #endif
 
+// Global Screen singleton.
+extern graphics::Screen *screen;
+
 #if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
 #include "AccelerometerThread.h"
 extern AccelerometerThread *accelerometerThread;
@@ -62,9 +65,6 @@ extern bool isVibrating;
 
 extern int TCPPort; // set by Portduino
 
-// Global Screen singleton.
-extern graphics::Screen *screen;
-
 // extern Observable<meshtastic::PowerStatus> newPowerStatus; //TODO: move this to main-esp32.cpp somehow or a helper class
 
 // extern meshtastic::PowerStatus *powerStatus;
@@ -85,6 +85,8 @@ extern uint32_t serialSinceMsec;
 // This will suppress the current delay and instead try to run ASAP.
 extern bool runASAP;
 
+extern bool pauseBluetoothLogging;
+
 void nrf52Setup(), esp32Setup(), nrf52Loop(), esp32Loop(), rp2040Setup(), clearBonds(), enterDfuMode();
 
 meshtastic_DeviceMetadata getDeviceMetadata();

src/mesh/FloodingRouter.cpp

@@ -20,7 +20,7 @@ ErrorCode FloodingRouter::send(meshtastic_MeshPacket *p)
 bool FloodingRouter::shouldFilterReceived(const meshtastic_MeshPacket *p)
 {
     if (wasSeenRecently(p)) { // Note: this will also add a recent packet record
-        printPacket("Ignoring incoming msg, because we've already seen it", p);
+        printPacket("Ignoring incoming msg we've already seen", p);
         if (config.device.role != meshtastic_Config_DeviceConfig_Role_ROUTER &&
             config.device.role != meshtastic_Config_DeviceConfig_Role_ROUTER_CLIENT &&
             config.device.role != meshtastic_Config_DeviceConfig_Role_REPEATER) {

src/mesh/MeshService.cpp

@@ -373,8 +373,8 @@ int MeshService::onGPSChanged(const meshtastic::GPSStatus *newStatus)
     pos.time = getValidTime(RTCQualityFromNet);
 
     // In debug logs, identify position by @timestamp:stage (stage 4 = nodeDB)
-    LOG_DEBUG("onGPSChanged() pos@%x, time=%u, lat=%d, lon=%d, alt=%d\n", pos.timestamp, pos.time, pos.latitude_i,
-              pos.longitude_i, pos.altitude);
+    LOG_DEBUG("onGPSChanged() pos@%x time=%u lat=%d lon=%d alt=%d\n", pos.timestamp, pos.time, pos.latitude_i, pos.longitude_i,
+              pos.altitude);
 
     // Update our current position in the local DB
     nodeDB->updatePosition(nodeDB->getNodeNum(), pos, RX_SRC_LOCAL);

src/mesh/NodeDB.cpp

@@ -141,11 +141,6 @@ NodeDB::NodeDB()
     if (channelFileCRC != crc32Buffer(&channelFile, sizeof(channelFile)))
         saveWhat |= SEGMENT_CHANNELS;
 
-    if (!devicestate.node_remote_hardware_pins) {
-        meshtastic_NodeRemoteHardwarePin empty[12] = {meshtastic_RemoteHardwarePin_init_default};
-        memcpy(devicestate.node_remote_hardware_pins, empty, sizeof(empty));
-    }
-
     if (config.position.gps_enabled) {
         config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_ENABLED;
         config.position.gps_enabled = 0;
@@ -826,8 +821,8 @@ void NodeDB::updatePosition(uint32_t nodeId, const meshtastic_Position &p, RxSou
 
     if (src == RX_SRC_LOCAL) {
         // Local packet, fully authoritative
-        LOG_INFO("updatePosition LOCAL pos@%x, time=%u, latI=%d, lonI=%d, alt=%d\n", p.timestamp, p.time, p.latitude_i,
-                 p.longitude_i, p.altitude);
+        LOG_INFO("updatePosition LOCAL pos@%x time=%u lat=%d lon=%d alt=%d\n", p.timestamp, p.time, p.latitude_i, p.longitude_i,
+                 p.altitude);
 
         setLocalPosition(p);
         info->position = TypeConversions::ConvertToPositionLite(p);
@@ -842,7 +837,7 @@ void NodeDB::updatePosition(uint32_t nodeId, const meshtastic_Position &p, RxSou
         // recorded based on the packet rxTime
         //
         // FIXME perhaps handle RX_SRC_USER separately?
-        LOG_INFO("updatePosition REMOTE node=0x%x time=%u, latI=%d, lonI=%d\n", nodeId, p.time, p.latitude_i, p.longitude_i);
+        LOG_INFO("updatePosition REMOTE node=0x%x time=%u lat=%d lon=%d\n", nodeId, p.time, p.latitude_i, p.longitude_i);
 
         // First, back up fields that we want to protect from overwrite
         uint32_t tmp_time = info->position.time;

src/mesh/NodeDB.h

@@ -155,8 +155,8 @@ class NodeDB
             localPosition.timestamp = position.timestamp > 0 ? position.timestamp : position.time;
             return;
         }
-        LOG_DEBUG("Setting local position: latitude=%i, longitude=%i, time=%u, timestamp=%u\n", position.latitude_i,
-                  position.longitude_i, position.time, position.timestamp);
+        LOG_DEBUG("Setting local position: lat=%i lon=%i time=%u timestamp=%u\n", position.latitude_i, position.longitude_i,
+                  position.time, position.timestamp);
         localPosition = position;
     }
 

src/mesh/PhoneAPI.cpp

@@ -46,6 +46,7 @@ void PhoneAPI::handleStartConfig()
 
     // even if we were already connected - restart our state machine
     state = STATE_SEND_MY_INFO;
+    pauseBluetoothLogging = true;
 
     LOG_INFO("Starting API client config\n");
     nodeInfoForPhone.num = 0; // Don't keep returning old nodeinfos
@@ -352,9 +353,11 @@ size_t PhoneAPI::getFromRadio(uint8_t *buf)
         fromRadioScratch.config_complete_id = config_nonce;
         config_nonce = 0;
         state = STATE_SEND_PACKETS;
+        pauseBluetoothLogging = false;
         break;
 
     case STATE_SEND_PACKETS:
+        pauseBluetoothLogging = false;
         // Do we have a message from the mesh or packet from the local device?
         LOG_INFO("getFromRadio=STATE_SEND_PACKETS\n");
         if (queueStatusPacketForPhone) {
@@ -398,6 +401,7 @@ size_t PhoneAPI::getFromRadio(uint8_t *buf)
 
 void PhoneAPI::handleDisconnect()
 {
+    pauseBluetoothLogging = false;
     LOG_INFO("PhoneAPI disconnect\n");
 }
 

src/mesh/PhoneAPI.h

@@ -98,8 +98,6 @@ class PhoneAPI
 
     bool isConnected() { return state != STATE_SEND_NOTHING; }
 
-    void setInitialState() { state = STATE_SEND_MY_INFO; }
-
   protected:
     /// Our fromradio packet while it is being assembled
     meshtastic_FromRadio fromRadioScratch = {};

src/mesh/RadioInterface.cpp

@@ -154,8 +154,8 @@ static uint8_t bytes[MAX_RHPACKETLEN];
 void initRegion()
 {
     const RegionInfo *r = regions;
-#ifdef LORA_REGIONCODE
-    for (; r->code != meshtastic_Config_LoRaConfig_RegionCode_UNSET && r->code != LORA_REGIONCODE; r++)
+#ifdef REGULATORY_LORA_REGIONCODE
+    for (; r->code != meshtastic_Config_LoRaConfig_RegionCode_UNSET && r->code != REGULATORY_LORA_REGIONCODE; r++)
         ;
     LOG_INFO("Wanted region %d, regulatory override to %s\n", config.lora.region, r->name);
 #else
@@ -478,8 +478,8 @@ void RadioInterface::applyModemConfig()
 
     power = loraConfig.tx_power;
 
-    if ((power == 0) || ((power > myRegion->powerLimit) && !devicestate.owner.is_licensed))
-        power = myRegion->powerLimit;
+    if ((power == 0) || ((power + REGULATORY_GAIN_LORA > myRegion->powerLimit) && !devicestate.owner.is_licensed))
+        power = myRegion->powerLimit - REGULATORY_GAIN_LORA;
 
     if (power == 0)
         power = 17; // Default to this power level if we don't have a valid regional power limit (powerLimit of myRegion defaults

src/mesh/generated/meshtastic/admin.pb.h

@@ -135,6 +135,8 @@ typedef struct _meshtastic_AdminMessage {
         bool enter_dfu_mode_request;
         /* Delete the file by the specified path from the device */
         char delete_file_request[201];
+        /* Set zero and offset for scale chips */
+        uint32_t set_scale;
         /* Set the owner for this node */
         meshtastic_User set_owner;
         /* Set channels (using the new API).
@@ -238,6 +240,7 @@ extern "C" {
 #define meshtastic_AdminMessage_get_node_remote_hardware_pins_response_tag 20
 #define meshtastic_AdminMessage_enter_dfu_mode_request_tag 21
 #define meshtastic_AdminMessage_delete_file_request_tag 22
+#define meshtastic_AdminMessage_set_scale_tag    23
 #define meshtastic_AdminMessage_set_owner_tag    32
 #define meshtastic_AdminMessage_set_channel_tag  33
 #define meshtastic_AdminMessage_set_config_tag   34
@@ -281,6 +284,7 @@ X(a, STATIC,   ONEOF,    BOOL,     (payload_variant,get_node_remote_hardware_pin
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload_variant,get_node_remote_hardware_pins_response,get_node_remote_hardware_pins_response),  20) \
 X(a, STATIC,   ONEOF,    BOOL,     (payload_variant,enter_dfu_mode_request,enter_dfu_mode_request),  21) \
 X(a, STATIC,   ONEOF,    STRING,   (payload_variant,delete_file_request,delete_file_request),  22) \
+X(a, STATIC,   ONEOF,    UINT32,   (payload_variant,set_scale,set_scale),  23) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload_variant,set_owner,set_owner),  32) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload_variant,set_channel,set_channel),  33) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload_variant,set_config,set_config),  34) \

src/mesh/generated/meshtastic/config.pb.cpp

@@ -46,3 +46,4 @@ PB_BIND(meshtastic_Config_BluetoothConfig, meshtastic_Config_BluetoothConfig, AU
 
 
 
+

src/mesh/generated/meshtastic/config.pb.h

@@ -182,6 +182,25 @@ typedef enum _meshtastic_Config_DisplayConfig_DisplayMode {
     meshtastic_Config_DisplayConfig_DisplayMode_COLOR = 3
 } meshtastic_Config_DisplayConfig_DisplayMode;
 
+typedef enum _meshtastic_Config_DisplayConfig_CompassOrientation {
+    /* The compass and the display are in the same orientation. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0 = 0,
+    /* Rotate the compass by 90 degrees. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90 = 1,
+    /* Rotate the compass by 180 degrees. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180 = 2,
+    /* Rotate the compass by 270 degrees. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270 = 3,
+    /* Don't rotate the compass, but invert the result. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED = 4,
+    /* Rotate the compass by 90 degrees and invert. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED = 5,
+    /* Rotate the compass by 180 degrees and invert. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED = 6,
+    /* Rotate the compass by 270 degrees and invert. */
+    meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED = 7
+} meshtastic_Config_DisplayConfig_CompassOrientation;
+
 typedef enum _meshtastic_Config_LoRaConfig_RegionCode {
     /* Region is not set */
     meshtastic_Config_LoRaConfig_RegionCode_UNSET = 0,
@@ -353,6 +372,9 @@ typedef struct _meshtastic_Config_PowerConfig {
     uint32_t min_wake_secs;
     /* I2C address of INA_2XX to use for reading device battery voltage */
     uint8_t device_battery_ina_address;
+    /* If non-zero, we want powermon log outputs.  With the particular (bitfield) sources enabled.
+ Note: we picked an ID of 32 so that lower more efficient IDs can be used for more frequently used options. */
+    uint64_t powermon_enables;
 } meshtastic_Config_PowerConfig;
 
 typedef struct _meshtastic_Config_NetworkConfig_IpV4Config {
@@ -413,6 +435,8 @@ typedef struct _meshtastic_Config_DisplayConfig {
     bool heading_bold;
     /* Should we wake the screen up on accelerometer detected motion or tap */
     bool wake_on_tap_or_motion;
+    /* Indicates how to rotate or invert the compass output to accurate display on the display. */
+    meshtastic_Config_DisplayConfig_CompassOrientation compass_orientation;
 } meshtastic_Config_DisplayConfig;
 
 /* Lora Config */
@@ -490,6 +514,8 @@ typedef struct _meshtastic_Config_BluetoothConfig {
     meshtastic_Config_BluetoothConfig_PairingMode mode;
     /* Specified PIN for PairingMode.FixedPin */
     uint32_t fixed_pin;
+    /* Enables device (serial style logs) over Bluetooth */
+    bool device_logging_enabled;
 } meshtastic_Config_BluetoothConfig;
 
 typedef struct _meshtastic_Config {
@@ -547,6 +573,10 @@ extern "C" {
 #define _meshtastic_Config_DisplayConfig_DisplayMode_MAX meshtastic_Config_DisplayConfig_DisplayMode_COLOR
 #define _meshtastic_Config_DisplayConfig_DisplayMode_ARRAYSIZE ((meshtastic_Config_DisplayConfig_DisplayMode)(meshtastic_Config_DisplayConfig_DisplayMode_COLOR+1))
 
+#define _meshtastic_Config_DisplayConfig_CompassOrientation_MIN meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0
+#define _meshtastic_Config_DisplayConfig_CompassOrientation_MAX meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED
+#define _meshtastic_Config_DisplayConfig_CompassOrientation_ARRAYSIZE ((meshtastic_Config_DisplayConfig_CompassOrientation)(meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED+1))
+
 #define _meshtastic_Config_LoRaConfig_RegionCode_MIN meshtastic_Config_LoRaConfig_RegionCode_UNSET
 #define _meshtastic_Config_LoRaConfig_RegionCode_MAX meshtastic_Config_LoRaConfig_RegionCode_SG_923
 #define _meshtastic_Config_LoRaConfig_RegionCode_ARRAYSIZE ((meshtastic_Config_LoRaConfig_RegionCode)(meshtastic_Config_LoRaConfig_RegionCode_SG_923+1))
@@ -573,6 +603,7 @@ extern "C" {
 #define meshtastic_Config_DisplayConfig_units_ENUMTYPE meshtastic_Config_DisplayConfig_DisplayUnits
 #define meshtastic_Config_DisplayConfig_oled_ENUMTYPE meshtastic_Config_DisplayConfig_OledType
 #define meshtastic_Config_DisplayConfig_displaymode_ENUMTYPE meshtastic_Config_DisplayConfig_DisplayMode
+#define meshtastic_Config_DisplayConfig_compass_orientation_ENUMTYPE meshtastic_Config_DisplayConfig_CompassOrientation
 
 #define meshtastic_Config_LoRaConfig_modem_preset_ENUMTYPE meshtastic_Config_LoRaConfig_ModemPreset
 #define meshtastic_Config_LoRaConfig_region_ENUMTYPE meshtastic_Config_LoRaConfig_RegionCode
@@ -584,21 +615,21 @@ extern "C" {
 #define meshtastic_Config_init_default           {0, {meshtastic_Config_DeviceConfig_init_default}}
 #define meshtastic_Config_DeviceConfig_init_default {_meshtastic_Config_DeviceConfig_Role_MIN, 0, 0, 0, 0, _meshtastic_Config_DeviceConfig_RebroadcastMode_MIN, 0, 0, 0, 0, "", 0}
 #define meshtastic_Config_PositionConfig_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _meshtastic_Config_PositionConfig_GpsMode_MIN}
-#define meshtastic_Config_PowerConfig_init_default {0, 0, 0, 0, 0, 0, 0, 0}
+#define meshtastic_Config_PowerConfig_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_Config_NetworkConfig_init_default {0, "", "", "", 0, _meshtastic_Config_NetworkConfig_AddressMode_MIN, false, meshtastic_Config_NetworkConfig_IpV4Config_init_default, ""}
 #define meshtastic_Config_NetworkConfig_IpV4Config_init_default {0, 0, 0, 0}
-#define meshtastic_Config_DisplayConfig_init_default {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0}
+#define meshtastic_Config_DisplayConfig_init_default {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0, _meshtastic_Config_DisplayConfig_CompassOrientation_MIN}
 #define meshtastic_Config_LoRaConfig_init_default {0, _meshtastic_Config_LoRaConfig_ModemPreset_MIN, 0, 0, 0, 0, _meshtastic_Config_LoRaConfig_RegionCode_MIN, 0, 0, 0, 0, 0, 0, 0, 0, {0, 0, 0}, 0}
-#define meshtastic_Config_BluetoothConfig_init_default {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0}
+#define meshtastic_Config_BluetoothConfig_init_default {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0, 0}
 #define meshtastic_Config_init_zero              {0, {meshtastic_Config_DeviceConfig_init_zero}}
 #define meshtastic_Config_DeviceConfig_init_zero {_meshtastic_Config_DeviceConfig_Role_MIN, 0, 0, 0, 0, _meshtastic_Config_DeviceConfig_RebroadcastMode_MIN, 0, 0, 0, 0, "", 0}
 #define meshtastic_Config_PositionConfig_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _meshtastic_Config_PositionConfig_GpsMode_MIN}
-#define meshtastic_Config_PowerConfig_init_zero  {0, 0, 0, 0, 0, 0, 0, 0}
+#define meshtastic_Config_PowerConfig_init_zero  {0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_Config_NetworkConfig_init_zero {0, "", "", "", 0, _meshtastic_Config_NetworkConfig_AddressMode_MIN, false, meshtastic_Config_NetworkConfig_IpV4Config_init_zero, ""}
 #define meshtastic_Config_NetworkConfig_IpV4Config_init_zero {0, 0, 0, 0}
-#define meshtastic_Config_DisplayConfig_init_zero {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0}
+#define meshtastic_Config_DisplayConfig_init_zero {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0, _meshtastic_Config_DisplayConfig_CompassOrientation_MIN}
 #define meshtastic_Config_LoRaConfig_init_zero   {0, _meshtastic_Config_LoRaConfig_ModemPreset_MIN, 0, 0, 0, 0, _meshtastic_Config_LoRaConfig_RegionCode_MIN, 0, 0, 0, 0, 0, 0, 0, 0, {0, 0, 0}, 0}
-#define meshtastic_Config_BluetoothConfig_init_zero {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0}
+#define meshtastic_Config_BluetoothConfig_init_zero {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define meshtastic_Config_DeviceConfig_role_tag  1
@@ -634,6 +665,7 @@ extern "C" {
 #define meshtastic_Config_PowerConfig_ls_secs_tag 7
 #define meshtastic_Config_PowerConfig_min_wake_secs_tag 8
 #define meshtastic_Config_PowerConfig_device_battery_ina_address_tag 9
+#define meshtastic_Config_PowerConfig_powermon_enables_tag 32
 #define meshtastic_Config_NetworkConfig_IpV4Config_ip_tag 1
 #define meshtastic_Config_NetworkConfig_IpV4Config_gateway_tag 2
 #define meshtastic_Config_NetworkConfig_IpV4Config_subnet_tag 3
@@ -656,6 +688,7 @@ extern "C" {
 #define meshtastic_Config_DisplayConfig_displaymode_tag 8
 #define meshtastic_Config_DisplayConfig_heading_bold_tag 9
 #define meshtastic_Config_DisplayConfig_wake_on_tap_or_motion_tag 10
+#define meshtastic_Config_DisplayConfig_compass_orientation_tag 11
 #define meshtastic_Config_LoRaConfig_use_preset_tag 1
 #define meshtastic_Config_LoRaConfig_modem_preset_tag 2
 #define meshtastic_Config_LoRaConfig_bandwidth_tag 3
@@ -675,6 +708,7 @@ extern "C" {
 #define meshtastic_Config_BluetoothConfig_enabled_tag 1
 #define meshtastic_Config_BluetoothConfig_mode_tag 2
 #define meshtastic_Config_BluetoothConfig_fixed_pin_tag 3
+#define meshtastic_Config_BluetoothConfig_device_logging_enabled_tag 4
 #define meshtastic_Config_device_tag             1
 #define meshtastic_Config_position_tag           2
 #define meshtastic_Config_power_tag              3
@@ -743,7 +777,8 @@ X(a, STATIC,   SINGULAR, UINT32,   wait_bluetooth_secs,   4) \
 X(a, STATIC,   SINGULAR, UINT32,   sds_secs,          6) \
 X(a, STATIC,   SINGULAR, UINT32,   ls_secs,           7) \
 X(a, STATIC,   SINGULAR, UINT32,   min_wake_secs,     8) \
-X(a, STATIC,   SINGULAR, UINT32,   device_battery_ina_address,   9)
+X(a, STATIC,   SINGULAR, UINT32,   device_battery_ina_address,   9) \
+X(a, STATIC,   SINGULAR, UINT64,   powermon_enables,  32)
 #define meshtastic_Config_PowerConfig_CALLBACK NULL
 #define meshtastic_Config_PowerConfig_DEFAULT NULL
 
@@ -778,7 +813,8 @@ X(a, STATIC,   SINGULAR, UENUM,    units,             6) \
 X(a, STATIC,   SINGULAR, UENUM,    oled,              7) \
 X(a, STATIC,   SINGULAR, UENUM,    displaymode,       8) \
 X(a, STATIC,   SINGULAR, BOOL,     heading_bold,      9) \
-X(a, STATIC,   SINGULAR, BOOL,     wake_on_tap_or_motion,  10)
+X(a, STATIC,   SINGULAR, BOOL,     wake_on_tap_or_motion,  10) \
+X(a, STATIC,   SINGULAR, UENUM,    compass_orientation,  11)
 #define meshtastic_Config_DisplayConfig_CALLBACK NULL
 #define meshtastic_Config_DisplayConfig_DEFAULT NULL
 
@@ -805,7 +841,8 @@ X(a, STATIC,   SINGULAR, BOOL,     ignore_mqtt,     104)
 #define meshtastic_Config_BluetoothConfig_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, BOOL,     enabled,           1) \
 X(a, STATIC,   SINGULAR, UENUM,    mode,              2) \
-X(a, STATIC,   SINGULAR, UINT32,   fixed_pin,         3)
+X(a, STATIC,   SINGULAR, UINT32,   fixed_pin,         3) \
+X(a, STATIC,   SINGULAR, BOOL,     device_logging_enabled,   4)
 #define meshtastic_Config_BluetoothConfig_CALLBACK NULL
 #define meshtastic_Config_BluetoothConfig_DEFAULT NULL
 
@@ -832,14 +869,14 @@ extern const pb_msgdesc_t meshtastic_Config_BluetoothConfig_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define MESHTASTIC_MESHTASTIC_CONFIG_PB_H_MAX_SIZE meshtastic_Config_size
-#define meshtastic_Config_BluetoothConfig_size   10
+#define meshtastic_Config_BluetoothConfig_size   12
 #define meshtastic_Config_DeviceConfig_size      100
-#define meshtastic_Config_DisplayConfig_size     28
+#define meshtastic_Config_DisplayConfig_size     30
 #define meshtastic_Config_LoRaConfig_size        80
 #define meshtastic_Config_NetworkConfig_IpV4Config_size 20
 #define meshtastic_Config_NetworkConfig_size     196
 #define meshtastic_Config_PositionConfig_size    62
-#define meshtastic_Config_PowerConfig_size       40
+#define meshtastic_Config_PowerConfig_size       52
 #define meshtastic_Config_size                   199
 
 #ifdef __cplusplus

src/mesh/generated/meshtastic/deviceonly.pb.h

@@ -308,7 +308,7 @@ extern const pb_msgdesc_t meshtastic_OEMStore_msg;
 #define MESHTASTIC_MESHTASTIC_DEVICEONLY_PB_H_MAX_SIZE meshtastic_OEMStore_size
 #define meshtastic_ChannelFile_size              718
 #define meshtastic_NodeInfoLite_size             166
-#define meshtastic_OEMStore_size                 3368
+#define meshtastic_OEMStore_size                 3384
 #define meshtastic_PositionLite_size             28
 
 #ifdef __cplusplus

src/mesh/generated/meshtastic/localonly.pb.h

@@ -181,7 +181,7 @@ extern const pb_msgdesc_t meshtastic_LocalModuleConfig_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define MESHTASTIC_MESHTASTIC_LOCALONLY_PB_H_MAX_SIZE meshtastic_LocalModuleConfig_size
-#define meshtastic_LocalConfig_size              537
+#define meshtastic_LocalConfig_size              553
 #define meshtastic_LocalModuleConfig_size        685
 
 #ifdef __cplusplus

src/mesh/generated/meshtastic/mesh.pb.h

@@ -67,6 +67,10 @@ typedef enum _meshtastic_HardwareModel {
     meshtastic_HardwareModel_WIPHONE = 20,
     /* WIO Tracker WM1110 family from Seeed Studio. Includes wio-1110-tracker and wio-1110-sdk */
     meshtastic_HardwareModel_WIO_WM1110 = 21,
+    /* RAK2560 Solar base station based on RAK4630 */
+    meshtastic_HardwareModel_RAK2560 = 22,
+    /* Heltec HRU-3601: https://heltec.org/project/hru-3601/ */
+    meshtastic_HardwareModel_HELTEC_HRU_3601 = 23,
     /* B&Q Consulting Station Edition G1: https://uniteng.com/wiki/doku.php?id=meshtastic:station */
     meshtastic_HardwareModel_STATION_G1 = 25,
     /* RAK11310 (RP2040 + SX1262) */
@@ -161,6 +165,8 @@ typedef enum _meshtastic_HardwareModel {
     /* RadioMaster 900 Bandit Nano, https://www.radiomasterrc.com/products/bandit-nano-expresslrs-rf-module
  ESP32-D0WDQ6 With SX1276/SKY66122, SSD1306 OLED and No GPS */
     meshtastic_HardwareModel_RADIOMASTER_900_BANDIT_NANO = 64,
+    /* Heltec Capsule Sensor V3 with ESP32-S3 CPU, Portable LoRa device that can replace GNSS modules or sensors */
+    meshtastic_HardwareModel_HELTEC_CAPSULE_SENSOR_V3 = 65,
     /* ------------------------------------------------------------------------------------------------------------------------------------------
  Reserved ID For developing private Ports. These will show up in live traffic sparsely, so we can use a high number. Keep it within 8 bits.
  ------------------------------------------------------------------------------------------------------------------------------------------ */

src/mesh/generated/meshtastic/powermon.pb.cpp

@@ -0,0 +1,13 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "meshtastic/powermon.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(meshtastic_PowerMon, meshtastic_PowerMon, AUTO)
+
+
+
+

src/mesh/generated/meshtastic/powermon.pb.h

@@ -0,0 +1,85 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MESHTASTIC_MESHTASTIC_POWERMON_PB_H_INCLUDED
+#define PB_MESHTASTIC_MESHTASTIC_POWERMON_PB_H_INCLUDED
+#include <pb.h>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Enum definitions */
+/* Any significant power changing event in meshtastic should be tagged with a powermon state transition.
+If you are making new meshtastic features feel free to add new entries at the end of this definition. */
+typedef enum _meshtastic_PowerMon_State {
+    meshtastic_PowerMon_State_None = 0,
+    meshtastic_PowerMon_State_CPU_DeepSleep = 1,
+    meshtastic_PowerMon_State_CPU_LightSleep = 2,
+    /* The external Vext1 power is on.  Many boards have auxillary power rails that the CPU turns on only
+occasionally.  In cases where that rail has multiple devices on it we usually want to have logging on
+the state of that rail as an independent record.
+For instance on the Heltec Tracker 1.1 board, this rail is the power source for the GPS and screen.
+
+The log messages will be short and complete (see PowerMon.Event in the protobufs for details).
+something like "S:PM:C,0x00001234,REASON" where the hex number is the bitmask of all current states.
+(We use a bitmask for states so that if a log message gets lost it won't be fatal) */
+    meshtastic_PowerMon_State_Vext1_On = 4,
+    meshtastic_PowerMon_State_Lora_RXOn = 8,
+    meshtastic_PowerMon_State_Lora_TXOn = 16,
+    meshtastic_PowerMon_State_Lora_RXActive = 32,
+    meshtastic_PowerMon_State_BT_On = 64,
+    meshtastic_PowerMon_State_LED_On = 128,
+    meshtastic_PowerMon_State_Screen_On = 256,
+    meshtastic_PowerMon_State_Screen_Drawing = 512,
+    meshtastic_PowerMon_State_Wifi_On = 1024,
+    /* GPS is actively trying to find our location
+See GPSPowerState for more details */
+    meshtastic_PowerMon_State_GPS_Active = 2048
+} meshtastic_PowerMon_State;
+
+/* Struct definitions */
+/* Note: There are no 'PowerMon' messages normally in use (PowerMons are sent only as structured logs - slogs).
+But we wrap our State enum in this message to effectively nest a namespace (without our linter yelling at us) */
+typedef struct _meshtastic_PowerMon {
+    char dummy_field;
+} meshtastic_PowerMon;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Helper constants for enums */
+#define _meshtastic_PowerMon_State_MIN meshtastic_PowerMon_State_None
+#define _meshtastic_PowerMon_State_MAX meshtastic_PowerMon_State_GPS_Active
+#define _meshtastic_PowerMon_State_ARRAYSIZE ((meshtastic_PowerMon_State)(meshtastic_PowerMon_State_GPS_Active+1))
+
+
+
+/* Initializer values for message structs */
+#define meshtastic_PowerMon_init_default         {0}
+#define meshtastic_PowerMon_init_zero            {0}
+
+/* Field tags (for use in manual encoding/decoding) */
+
+/* Struct field encoding specification for nanopb */
+#define meshtastic_PowerMon_FIELDLIST(X, a) \
+
+#define meshtastic_PowerMon_CALLBACK NULL
+#define meshtastic_PowerMon_DEFAULT NULL
+
+extern const pb_msgdesc_t meshtastic_PowerMon_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define meshtastic_PowerMon_fields &meshtastic_PowerMon_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MESHTASTIC_MESHTASTIC_POWERMON_PB_H_MAX_SIZE meshtastic_PowerMon_size
+#define meshtastic_PowerMon_size                 0
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

src/mesh/generated/meshtastic/telemetry.pb.cpp

@@ -21,5 +21,8 @@ PB_BIND(meshtastic_AirQualityMetrics, meshtastic_AirQualityMetrics, AUTO)
 PB_BIND(meshtastic_Telemetry, meshtastic_Telemetry, AUTO)
 
 
+PB_BIND(meshtastic_Nau7802Config, meshtastic_Nau7802Config, AUTO)
+
+
 
 

src/mesh/generated/meshtastic/telemetry.pb.h

@@ -61,7 +61,9 @@ typedef enum _meshtastic_TelemetrySensorType {
     /* AHT10 Integrated temperature and humidity sensor */
     meshtastic_TelemetrySensorType_AHT10 = 23,
     /* DFRobot Lark Weather station (temperature, humidity, pressure, wind speed and direction) */
-    meshtastic_TelemetrySensorType_DFROBOT_LARK = 24
+    meshtastic_TelemetrySensorType_DFROBOT_LARK = 24,
+    /* NAU7802 Scale Chip or compatible */
+    meshtastic_TelemetrySensorType_NAU7802 = 25
 } meshtastic_TelemetrySensorType;
 
 /* Struct definitions */
@@ -111,6 +113,8 @@ typedef struct _meshtastic_EnvironmentMetrics {
     uint16_t wind_direction;
     /* Wind speed in m/s */
     float wind_speed;
+    /* Weight in KG */
+    float weight;
 } meshtastic_EnvironmentMetrics;
 
 /* Power Metrics (voltage / current / etc) */
@@ -174,6 +178,14 @@ typedef struct _meshtastic_Telemetry {
     } variant;
 } meshtastic_Telemetry;
 
+/* NAU7802 Telemetry configuration, for saving to flash */
+typedef struct _meshtastic_Nau7802Config {
+    /* The offset setting for the NAU7802 */
+    int32_t zeroOffset;
+    /* The calibration factor for the NAU7802 */
+    float calibrationFactor;
+} meshtastic_Nau7802Config;
+
 
 #ifdef __cplusplus
 extern "C" {
@@ -181,8 +193,9 @@ extern "C" {
 
 /* Helper constants for enums */
 #define _meshtastic_TelemetrySensorType_MIN meshtastic_TelemetrySensorType_SENSOR_UNSET
-#define _meshtastic_TelemetrySensorType_MAX meshtastic_TelemetrySensorType_DFROBOT_LARK
-#define _meshtastic_TelemetrySensorType_ARRAYSIZE ((meshtastic_TelemetrySensorType)(meshtastic_TelemetrySensorType_DFROBOT_LARK+1))
+#define _meshtastic_TelemetrySensorType_MAX meshtastic_TelemetrySensorType_NAU7802
+#define _meshtastic_TelemetrySensorType_ARRAYSIZE ((meshtastic_TelemetrySensorType)(meshtastic_TelemetrySensorType_NAU7802+1))
+
 
 
 
@@ -192,15 +205,17 @@ extern "C" {
 
 /* Initializer values for message structs */
 #define meshtastic_DeviceMetrics_init_default    {0, 0, 0, 0, 0}
-#define meshtastic_EnvironmentMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define meshtastic_EnvironmentMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_PowerMetrics_init_default     {0, 0, 0, 0, 0, 0}
 #define meshtastic_AirQualityMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_Telemetry_init_default        {0, 0, {meshtastic_DeviceMetrics_init_default}}
+#define meshtastic_Nau7802Config_init_default    {0, 0}
 #define meshtastic_DeviceMetrics_init_zero       {0, 0, 0, 0, 0}
-#define meshtastic_EnvironmentMetrics_init_zero  {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define meshtastic_EnvironmentMetrics_init_zero  {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_PowerMetrics_init_zero        {0, 0, 0, 0, 0, 0}
 #define meshtastic_AirQualityMetrics_init_zero   {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
 #define meshtastic_Telemetry_init_zero           {0, 0, {meshtastic_DeviceMetrics_init_zero}}
+#define meshtastic_Nau7802Config_init_zero       {0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define meshtastic_DeviceMetrics_battery_level_tag 1
@@ -222,6 +237,7 @@ extern "C" {
 #define meshtastic_EnvironmentMetrics_uv_lux_tag 12
 #define meshtastic_EnvironmentMetrics_wind_direction_tag 13
 #define meshtastic_EnvironmentMetrics_wind_speed_tag 14
+#define meshtastic_EnvironmentMetrics_weight_tag 15
 #define meshtastic_PowerMetrics_ch1_voltage_tag  1
 #define meshtastic_PowerMetrics_ch1_current_tag  2
 #define meshtastic_PowerMetrics_ch2_voltage_tag  3
@@ -245,6 +261,8 @@ extern "C" {
 #define meshtastic_Telemetry_environment_metrics_tag 3
 #define meshtastic_Telemetry_air_quality_metrics_tag 4
 #define meshtastic_Telemetry_power_metrics_tag   5
+#define meshtastic_Nau7802Config_zeroOffset_tag  1
+#define meshtastic_Nau7802Config_calibrationFactor_tag 2
 
 /* Struct field encoding specification for nanopb */
 #define meshtastic_DeviceMetrics_FIELDLIST(X, a) \
@@ -270,7 +288,8 @@ X(a, STATIC,   SINGULAR, FLOAT,    white_lux,        10) \
 X(a, STATIC,   SINGULAR, FLOAT,    ir_lux,           11) \
 X(a, STATIC,   SINGULAR, FLOAT,    uv_lux,           12) \
 X(a, STATIC,   SINGULAR, UINT32,   wind_direction,   13) \
-X(a, STATIC,   SINGULAR, FLOAT,    wind_speed,       14)
+X(a, STATIC,   SINGULAR, FLOAT,    wind_speed,       14) \
+X(a, STATIC,   SINGULAR, FLOAT,    weight,           15)
 #define meshtastic_EnvironmentMetrics_CALLBACK NULL
 #define meshtastic_EnvironmentMetrics_DEFAULT NULL
 
@@ -313,11 +332,18 @@ X(a, STATIC,   ONEOF,    MESSAGE,  (variant,power_metrics,variant.power_metrics)
 #define meshtastic_Telemetry_variant_air_quality_metrics_MSGTYPE meshtastic_AirQualityMetrics
 #define meshtastic_Telemetry_variant_power_metrics_MSGTYPE meshtastic_PowerMetrics
 
+#define meshtastic_Nau7802Config_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    zeroOffset,        1) \
+X(a, STATIC,   SINGULAR, FLOAT,    calibrationFactor,   2)
+#define meshtastic_Nau7802Config_CALLBACK NULL
+#define meshtastic_Nau7802Config_DEFAULT NULL
+
 extern const pb_msgdesc_t meshtastic_DeviceMetrics_msg;
 extern const pb_msgdesc_t meshtastic_EnvironmentMetrics_msg;
 extern const pb_msgdesc_t meshtastic_PowerMetrics_msg;
 extern const pb_msgdesc_t meshtastic_AirQualityMetrics_msg;
 extern const pb_msgdesc_t meshtastic_Telemetry_msg;
+extern const pb_msgdesc_t meshtastic_Nau7802Config_msg;
 
 /* Defines for backwards compatibility with code written before nanopb-0.4.0 */
 #define meshtastic_DeviceMetrics_fields &meshtastic_DeviceMetrics_msg
@@ -325,14 +351,16 @@ extern const pb_msgdesc_t meshtastic_Telemetry_msg;
 #define meshtastic_PowerMetrics_fields &meshtastic_PowerMetrics_msg
 #define meshtastic_AirQualityMetrics_fields &meshtastic_AirQualityMetrics_msg
 #define meshtastic_Telemetry_fields &meshtastic_Telemetry_msg
+#define meshtastic_Nau7802Config_fields &meshtastic_Nau7802Config_msg
 
 /* Maximum encoded size of messages (where known) */
 #define MESHTASTIC_MESHTASTIC_TELEMETRY_PB_H_MAX_SIZE meshtastic_Telemetry_size
 #define meshtastic_AirQualityMetrics_size        72
 #define meshtastic_DeviceMetrics_size            27
-#define meshtastic_EnvironmentMetrics_size       68
+#define meshtastic_EnvironmentMetrics_size       73
+#define meshtastic_Nau7802Config_size            16
 #define meshtastic_PowerMetrics_size             30
-#define meshtastic_Telemetry_size                79
+#define meshtastic_Telemetry_size                80
 
 #ifdef __cplusplus
 } /* extern "C" */

src/modules/AdminModule.cpp

@@ -299,8 +299,8 @@ void AdminModule::handleGetModuleConfigResponse(const meshtastic_MeshPacket &mp,
 {
     // Skip if it's disabled or no pins are exposed
     if (!r->get_module_config_response.payload_variant.remote_hardware.enabled ||
-        !r->get_module_config_response.payload_variant.remote_hardware.available_pins) {
-        LOG_DEBUG("Remote hardware module disabled or no vailable_pins. Skipping...\n");
+        r->get_module_config_response.payload_variant.remote_hardware.available_pins_count == 0) {
+        LOG_DEBUG("Remote hardware module disabled or no available_pins. Skipping...\n");
         return;
     }
     for (uint8_t i = 0; i < devicestate.node_remote_hardware_pins_count; i++) {

src/modules/CannedMessageModule.cpp

@@ -49,7 +49,7 @@ CannedMessageModule::CannedMessageModule()
             LOG_INFO("CannedMessageModule is enabled\n");
 
             // T-Watch interface currently has no way to select destination type, so default to 'node'
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
             this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NODE;
 #endif
 
@@ -75,7 +75,7 @@ int CannedMessageModule::splitConfiguredMessages()
 
     String messages = cannedMessageModuleConfig.messages;
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
     String separator = messages.length() ? "|" : "";
 
     messages = "[---- Free Text ----]" + separator + messages;
@@ -144,7 +144,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
     }
     if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_SELECT)) {
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
         if (this->currentMessageIndex == 0) {
             this->runState = CANNED_MESSAGE_RUN_STATE_FREETEXT;
 
@@ -170,7 +170,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
         e.frameChanged = true;
         this->currentMessageIndex = -1;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
         this->freetext = ""; // clear freetext
         this->cursor = 0;
         this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
@@ -183,7 +183,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
         (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_LEFT)) ||
         (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_RIGHT))) {
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
         if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_LEFT)) {
             this->payload = 0xb4;
         } else if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_RIGHT)) {
@@ -283,7 +283,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
         }
     }
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
     if (this->runState == CANNED_MESSAGE_RUN_STATE_FREETEXT) {
         String keyTapped = keyForCoordinates(event->touchX, event->touchY);
 
@@ -404,7 +404,7 @@ int32_t CannedMessageModule::runOnce()
         this->freetext = ""; // clear freetext
         this->cursor = 0;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
         this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
 #endif
 
@@ -417,7 +417,7 @@ int32_t CannedMessageModule::runOnce()
         this->freetext = ""; // clear freetext
         this->cursor = 0;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
         this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
 #endif
 
@@ -437,7 +437,7 @@ int32_t CannedMessageModule::runOnce()
                     powerFSM.trigger(EVENT_PRESS);
                     return INT32_MAX;
                 } else {
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
                     sendText(this->dest, indexChannels[this->channel], this->messages[this->currentMessageIndex], true);
 #else
                     sendText(NODENUM_BROADCAST, channels.getPrimaryIndex(), this->messages[this->currentMessageIndex], true);
@@ -454,7 +454,7 @@ int32_t CannedMessageModule::runOnce()
         this->freetext = ""; // clear freetext
         this->cursor = 0;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
         this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
 #endif
 
@@ -471,7 +471,7 @@ int32_t CannedMessageModule::runOnce()
             this->freetext = ""; // clear freetext
             this->cursor = 0;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
             this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
 #endif
 
@@ -484,7 +484,7 @@ int32_t CannedMessageModule::runOnce()
             this->freetext = ""; // clear freetext
             this->cursor = 0;
 
-#ifndef T_WATCH_S3
+#if !defined(T_WATCH_S3) && !defined(RAK14014)
             this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
 #endif
 
@@ -714,7 +714,7 @@ void CannedMessageModule::showTemporaryMessage(const String &message)
     setIntervalFromNow(2000);
 }
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
 
 String CannedMessageModule::keyForCoordinates(uint x, uint y)
 {
@@ -949,7 +949,7 @@ void CannedMessageModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *st
         display->drawString(10 + x, 0 + y + FONT_HEIGHT_SMALL, "Canned Message\nModule disabled.");
     } else if (cannedMessageModule->runState == CANNED_MESSAGE_RUN_STATE_FREETEXT) {
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
         drawKeyboard(display, state, 0, 0);
 #else
 

src/modules/CannedMessageModule.h

@@ -98,7 +98,7 @@ class CannedMessageModule : public SinglePortModule, public Observable<const UIF
     int getNextIndex();
     int getPrevIndex();
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
     void drawKeyboard(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
     String keyForCoordinates(uint x, uint y);
     bool shift = false;
@@ -150,7 +150,7 @@ class CannedMessageModule : public SinglePortModule, public Observable<const UIF
     unsigned long lastTouchMillis = 0;
     String temporaryMessage;
 
-#ifdef T_WATCH_S3
+#if defined(T_WATCH_S3) || defined(RAK14014)
     Letter keyboard[2][4][10] = {{{{"Q", 20, 0, 0, 0, 0},
                                    {"W", 22, 0, 0, 0, 0},
                                    {"E", 17, 0, 0, 0, 0},

src/modules/DropzoneModule.cpp

@@ -0,0 +1,95 @@
+#if !MESHTASTIC_EXCLUDE_DROPZONE
+
+#include "DropzoneModule.h"
+#include "MeshService.h"
+#include "configuration.h"
+#include "gps/GeoCoord.h"
+#include "gps/RTC.h"
+#include "main.h"
+
+#include <assert.h>
+
+#include "modules/Telemetry/Sensor/DFRobotLarkSensor.h"
+#include "modules/Telemetry/UnitConversions.h"
+
+#include <string>
+
+DropzoneModule *dropzoneModule;
+
+int32_t DropzoneModule::runOnce()
+{
+    // Send on a 5 second delay from receiving the matching request
+    if (startSendConditions != 0 && (startSendConditions + 5000U) < millis()) {
+        service.sendToMesh(sendConditions(), RX_SRC_LOCAL);
+        startSendConditions = 0;
+    }
+    // Run every second to check if we need to send conditions
+    return 1000;
+}
+
+ProcessMessage DropzoneModule::handleReceived(const meshtastic_MeshPacket &mp)
+{
+    auto &p = mp.decoded;
+    char matchCompare[54];
+    auto incomingMessage = reinterpret_cast<const char *>(p.payload.bytes);
+    sprintf(matchCompare, "%s conditions", owner.short_name);
+    if (strncasecmp(incomingMessage, matchCompare, strlen(matchCompare)) == 0) {
+        LOG_DEBUG("Received dropzone conditions request\n");
+        startSendConditions = millis();
+    }
+
+    sprintf(matchCompare, "%s conditions", owner.long_name);
+    if (strncasecmp(incomingMessage, matchCompare, strlen(matchCompare)) == 0) {
+        LOG_DEBUG("Received dropzone conditions request\n");
+        startSendConditions = millis();
+    }
+    return ProcessMessage::CONTINUE;
+}
+
+meshtastic_MeshPacket *DropzoneModule::sendConditions()
+{
+    char replyStr[200];
+    /*
+        CLOSED @ {HH:MM:SS}z
+        Wind 2 kts @ 125°
+        29.25 inHg 72°C
+    */
+    uint32_t rtc_sec = getValidTime(RTCQuality::RTCQualityDevice, true);
+    int hour = 0, min = 0, sec = 0;
+    if (rtc_sec > 0) {
+        long hms = rtc_sec % SEC_PER_DAY;
+        hms = (hms + SEC_PER_DAY) % SEC_PER_DAY;
+
+        hour = hms / SEC_PER_HOUR;
+        min = (hms % SEC_PER_HOUR) / SEC_PER_MIN;
+        sec = (hms % SEC_PER_HOUR) % SEC_PER_MIN;
+    }
+
+    // Check if the dropzone is open or closed by reading the analog pin
+    // If pin is connected to GND (below 100 should be lower than floating voltage),
+    // the dropzone is open
+    auto dropzoneStatus = analogRead(A1) < 100 ? "OPEN" : "CLOSED";
+    auto reply = allocDataPacket();
+
+    auto node = nodeDB->getMeshNode(nodeDB->getNodeNum());
+    if (sensor.hasSensor()) {
+        meshtastic_Telemetry telemetry = meshtastic_Telemetry_init_zero;
+        sensor.getMetrics(&telemetry);
+        auto windSpeed = UnitConversions::MetersPerSecondToKnots(telemetry.variant.environment_metrics.wind_speed);
+        auto windDirection = telemetry.variant.environment_metrics.wind_direction;
+        auto temp = telemetry.variant.environment_metrics.temperature;
+        auto baro = UnitConversions::HectoPascalToInchesOfMercury(telemetry.variant.environment_metrics.barometric_pressure);
+        sprintf(replyStr, "%s @ %02d:%02d:%02dz\nWind %.2f kts @ %d°\nBaro %.2f inHg %.2f°C", dropzoneStatus, hour, min, sec,
+                windSpeed, windDirection, baro, temp);
+    } else {
+        LOG_ERROR("No sensor found\n");
+        sprintf(replyStr, "%s @ %02d:%02d:%02d\nNo sensor found", dropzoneStatus, hour, min, sec);
+    }
+    LOG_DEBUG("Conditions reply: %s\n", replyStr);
+    reply->decoded.payload.size = strlen(replyStr); // You must specify how many bytes are in the reply
+    memcpy(reply->decoded.payload.bytes, replyStr, reply->decoded.payload.size);
+
+    return reply;
+}
+
+#endif

src/modules/DropzoneModule.h

@@ -0,0 +1,37 @@
+#pragma once
+#if !MESHTASTIC_EXCLUDE_DROPZONE
+#include "SinglePortModule.h"
+#include "modules/Telemetry/Sensor/DFRobotLarkSensor.h"
+
+/**
+ * An example module that replies to a message with the current conditions
+ * and status at the dropzone when it receives a text message mentioning it's name followed by "conditions"
+ */
+class DropzoneModule : public SinglePortModule, private concurrency::OSThread
+{
+    DFRobotLarkSensor sensor;
+
+  public:
+    /** Constructor
+     * name is for debugging output
+     */
+    DropzoneModule() : SinglePortModule("dropzone", meshtastic_PortNum_TEXT_MESSAGE_APP), concurrency::OSThread("DropzoneModule")
+    {
+        // Set up the analog pin for reading the dropzone status
+        pinMode(PIN_A1, INPUT);
+    }
+
+    virtual int32_t runOnce() override;
+
+  protected:
+    /** Called to handle a particular incoming message
+     */
+    virtual ProcessMessage handleReceived(const meshtastic_MeshPacket &mp) override;
+
+  private:
+    meshtastic_MeshPacket *sendConditions();
+    uint32_t startSendConditions = 0;
+};
+
+extern DropzoneModule *dropzoneModule;
+#endif

src/modules/Modules.cpp

@@ -42,6 +42,7 @@
 #include "modules/Telemetry/DeviceTelemetry.h"
 #endif
 #if HAS_SENSOR && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+#include "main.h"
 #include "modules/Telemetry/AirQualityTelemetry.h"
 #include "modules/Telemetry/EnvironmentTelemetry.h"
 #endif
@@ -70,6 +71,11 @@
 #include "modules/SerialModule.h"
 #endif
 #endif
+
+#if !MESHTASTIC_EXCLUDE_DROPZONE
+#include "modules/DropzoneModule.h"
+#endif
+
 /**
  * Create module instances here.  If you are adding a new module, you must 'new' it here (or somewhere else)
  */
@@ -100,6 +106,10 @@ void setupModules()
 #if !MESHTASTIC_EXCLUDE_ATAK
         atakPluginModule = new AtakPluginModule();
 #endif
+
+#if !MESHTASTIC_EXCLUDE_DROPZONE
+        dropzoneModule = new DropzoneModule();
+#endif
         // Note: if the rest of meshtastic doesn't need to explicitly use your module, you do not need to assign the instance
         // to a global variable.
 

src/modules/PositionModule.cpp

@@ -73,7 +73,7 @@ bool PositionModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, mes
     }
 
     // Log packet size and data fields
-    LOG_DEBUG("POSITION node=%08x l=%d latI=%d lonI=%d msl=%d hae=%d geo=%d pdop=%d hdop=%d vdop=%d siv=%d fxq=%d fxt=%d pts=%d "
+    LOG_DEBUG("POSITION node=%08x l=%d lat=%d lon=%d msl=%d hae=%d geo=%d pdop=%d hdop=%d vdop=%d siv=%d fxq=%d fxt=%d pts=%d "
               "time=%d\n",
               getFrom(&mp), mp.decoded.payload.size, p.latitude_i, p.longitude_i, p.altitude, p.altitude_hae,
               p.altitude_geoidal_separation, p.PDOP, p.HDOP, p.VDOP, p.sats_in_view, p.fix_quality, p.fix_type, p.timestamp,
@@ -209,17 +209,17 @@ meshtastic_MeshPacket *PositionModule::allocReply()
         p.ground_speed = localPosition.ground_speed;
 
     // Strip out any time information before sending packets to other nodes - to keep the wire size small (and because other
-    // nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
-    // devices can get time.
-    if (getRTCQuality() < RTCQualityGPS) {
+    // nodes shouldn't trust it anyways) Note: we allow a device with a local GPS or NTP to include the time, so that devices
+    // without can get time.
+    if (getRTCQuality() < RTCQualityNTP) {
         LOG_INFO("Stripping time %u from position send\n", p.time);
         p.time = 0;
     } else {
-        p.time = getValidTime(RTCQualityGPS);
+        p.time = getValidTime(RTCQualityNTP);
         LOG_INFO("Providing time to mesh %u\n", p.time);
     }
 
-    LOG_INFO("Position reply: time=%i, latI=%i, lonI=%i\n", p.time, p.latitude_i, p.longitude_i);
+    LOG_INFO("Position reply: time=%i lat=%i lon=%i\n", p.time, p.latitude_i, p.longitude_i);
 
     // TAK Tracker devices should send their position in a TAK packet over the ATAK port
     if (config.device.role == meshtastic_Config_DeviceConfig_Role_TAK_TRACKER)

src/modules/Telemetry/AirQualityTelemetry.cpp

@@ -85,53 +85,90 @@ bool AirQualityTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPack
     return false; // Let others look at this message also if they want
 }
 
-bool AirQualityTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
+bool AirQualityTelemetryModule::getAirQualityTelemetry(meshtastic_Telemetry *m)
 {
     if (!aqi.read(&data)) {
         LOG_WARN("Skipping send measurements. Could not read AQIn\n");
         return false;
     }
 
-    meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
-    m.time = getTime();
-    m.which_variant = meshtastic_Telemetry_air_quality_metrics_tag;
-    m.variant.air_quality_metrics.pm10_standard = data.pm10_standard;
-    m.variant.air_quality_metrics.pm25_standard = data.pm25_standard;
-    m.variant.air_quality_metrics.pm100_standard = data.pm100_standard;
+    m->time = getTime();
+    m->which_variant = meshtastic_Telemetry_air_quality_metrics_tag;
+    m->variant.air_quality_metrics.pm10_standard = data.pm10_standard;
+    m->variant.air_quality_metrics.pm25_standard = data.pm25_standard;
+    m->variant.air_quality_metrics.pm100_standard = data.pm100_standard;
 
-    m.variant.air_quality_metrics.pm10_environmental = data.pm10_env;
-    m.variant.air_quality_metrics.pm25_environmental = data.pm25_env;
-    m.variant.air_quality_metrics.pm100_environmental = data.pm100_env;
+    m->variant.air_quality_metrics.pm10_environmental = data.pm10_env;
+    m->variant.air_quality_metrics.pm25_environmental = data.pm25_env;
+    m->variant.air_quality_metrics.pm100_environmental = data.pm100_env;
 
     LOG_INFO("(Sending): PM1.0(Standard)=%i, PM2.5(Standard)=%i, PM10.0(Standard)=%i\n",
-             m.variant.air_quality_metrics.pm10_standard, m.variant.air_quality_metrics.pm25_standard,
-             m.variant.air_quality_metrics.pm100_standard);
+             m->variant.air_quality_metrics.pm10_standard, m->variant.air_quality_metrics.pm25_standard,
+             m->variant.air_quality_metrics.pm100_standard);
 
     LOG_INFO("         | PM1.0(Environmental)=%i, PM2.5(Environmental)=%i, PM10.0(Environmental)=%i\n",
-             m.variant.air_quality_metrics.pm10_environmental, m.variant.air_quality_metrics.pm25_environmental,
-             m.variant.air_quality_metrics.pm100_environmental);
+             m->variant.air_quality_metrics.pm10_environmental, m->variant.air_quality_metrics.pm25_environmental,
+             m->variant.air_quality_metrics.pm100_environmental);
 
-    meshtastic_MeshPacket *p = allocDataProtobuf(m);
-    p->to = dest;
-    p->decoded.want_response = false;
-    if (config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR)
-        p->priority = meshtastic_MeshPacket_Priority_RELIABLE;
-    else
-        p->priority = meshtastic_MeshPacket_Priority_BACKGROUND;
-
-    // release previous packet before occupying a new spot
-    if (lastMeasurementPacket != nullptr)
-        packetPool.release(lastMeasurementPacket);
-
-    lastMeasurementPacket = packetPool.allocCopy(*p);
-    if (phoneOnly) {
-        LOG_INFO("Sending packet to phone\n");
-        service.sendToPhone(p);
-    } else {
-        LOG_INFO("Sending packet to mesh\n");
-        service.sendToMesh(p, RX_SRC_LOCAL, true);
-    }
     return true;
 }
 
+meshtastic_MeshPacket *AirQualityTelemetryModule::allocReply()
+{
+    if (currentRequest) {
+        auto req = *currentRequest;
+        const auto &p = req.decoded;
+        meshtastic_Telemetry scratch;
+        meshtastic_Telemetry *decoded = NULL;
+        memset(&scratch, 0, sizeof(scratch));
+        if (pb_decode_from_bytes(p.payload.bytes, p.payload.size, &meshtastic_Telemetry_msg, &scratch)) {
+            decoded = &scratch;
+        } else {
+            LOG_ERROR("Error decoding AirQualityTelemetry module!\n");
+            return NULL;
+        }
+        // Check for a request for air quality metrics
+        if (decoded->which_variant == meshtastic_Telemetry_air_quality_metrics_tag) {
+            meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
+            if (getAirQualityTelemetry(&m)) {
+                LOG_INFO("Air quality telemetry replying to request\n");
+                return allocDataProtobuf(m);
+            } else {
+                return NULL;
+            }
+        }
+    }
+    return NULL;
+}
+
+bool AirQualityTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
+{
+    meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
+    if (getAirQualityTelemetry(&m)) {
+        meshtastic_MeshPacket *p = allocDataProtobuf(m);
+        p->to = dest;
+        p->decoded.want_response = false;
+        if (config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR)
+            p->priority = meshtastic_MeshPacket_Priority_RELIABLE;
+        else
+            p->priority = meshtastic_MeshPacket_Priority_BACKGROUND;
+
+        // release previous packet before occupying a new spot
+        if (lastMeasurementPacket != nullptr)
+            packetPool.release(lastMeasurementPacket);
+
+        lastMeasurementPacket = packetPool.allocCopy(*p);
+        if (phoneOnly) {
+            LOG_INFO("Sending packet to phone\n");
+            service.sendToPhone(p);
+        } else {
+            LOG_INFO("Sending packet to mesh\n");
+            service.sendToMesh(p, RX_SRC_LOCAL, true);
+        }
+        return true;
+    }
+
+    return false;
+}
+
 #endif

src/modules/Telemetry/AirQualityTelemetry.h

@@ -26,6 +26,11 @@ class AirQualityTelemetryModule : private concurrency::OSThread, public Protobuf
     */
     virtual bool handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshtastic_Telemetry *p) override;
     virtual int32_t runOnce() override;
+    /** Called to get current Air Quality data
+    @return true if it contains valid data
+    */
+    bool getAirQualityTelemetry(meshtastic_Telemetry *m);
+    virtual meshtastic_MeshPacket *allocReply() override;
     /**
      * Send our Telemetry into the mesh
      */

src/modules/Telemetry/DeviceTelemetry.cpp

@@ -52,14 +52,27 @@ bool DeviceTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPacket &
 
 meshtastic_MeshPacket *DeviceTelemetryModule::allocReply()
 {
-    if (ignoreRequest) {
-        return NULL;
+    if (currentRequest) {
+        auto req = *currentRequest;
+        const auto &p = req.decoded;
+        meshtastic_Telemetry scratch;
+        meshtastic_Telemetry *decoded = NULL;
+        memset(&scratch, 0, sizeof(scratch));
+        if (pb_decode_from_bytes(p.payload.bytes, p.payload.size, &meshtastic_Telemetry_msg, &scratch)) {
+            decoded = &scratch;
+        } else {
+            LOG_ERROR("Error decoding DeviceTelemetry module!\n");
+            return NULL;
+        }
+        // Check for a request for device metrics
+        if (decoded->which_variant == meshtastic_Telemetry_device_metrics_tag) {
+            LOG_INFO("Device telemetry replying to request\n");
+
+            meshtastic_Telemetry telemetry = getDeviceTelemetry();
+            return allocDataProtobuf(telemetry);
+        }
     }
-
-    LOG_INFO("Device telemetry replying to request\n");
-
-    meshtastic_Telemetry telemetry = getDeviceTelemetry();
-    return allocDataProtobuf(telemetry);
+    return NULL;
 }
 
 meshtastic_Telemetry DeviceTelemetryModule::getDeviceTelemetry()
@@ -104,4 +117,4 @@ bool DeviceTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
         service.sendToMesh(p, RX_SRC_LOCAL, true);
     }
     return true;
-}
+}

src/modules/Telemetry/EnvironmentTelemetry.cpp

@@ -27,6 +27,7 @@
 #include "Sensor/LPS22HBSensor.h"
 #include "Sensor/MCP9808Sensor.h"
 #include "Sensor/MLX90632Sensor.h"
+#include "Sensor/NAU7802Sensor.h"
 #include "Sensor/OPT3001Sensor.h"
 #include "Sensor/RCWL9620Sensor.h"
 #include "Sensor/SHT31Sensor.h"
@@ -51,6 +52,7 @@ RCWL9620Sensor rcwl9620Sensor;
 AHT10Sensor aht10Sensor;
 MLX90632Sensor mlx90632Sensor;
 DFRobotLarkSensor dfRobotLarkSensor;
+NAU7802Sensor nau7802Sensor;
 
 #define FAILED_STATE_SENSOR_READ_MULTIPLIER 10
 #define DISPLAY_RECEIVEID_MEASUREMENTS_ON_SCREEN true
@@ -125,6 +127,8 @@ int32_t EnvironmentTelemetryModule::runOnce()
                 result = aht10Sensor.runOnce();
             if (mlx90632Sensor.hasSensor())
                 result = mlx90632Sensor.runOnce();
+            if (nau7802Sensor.hasSensor())
+                result = nau7802Sensor.runOnce();
         }
         return result;
     } else {
@@ -223,12 +227,18 @@ void EnvironmentTelemetryModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiSt
                             "Volt/Cur: " + String(lastMeasurement.variant.environment_metrics.voltage, 0) + "V / " +
                                 String(lastMeasurement.variant.environment_metrics.current, 0) + "mA");
     }
+
     if (lastMeasurement.variant.environment_metrics.iaq != 0) {
         display->drawString(x, y += fontHeight(FONT_SMALL), "IAQ: " + String(lastMeasurement.variant.environment_metrics.iaq));
     }
+
     if (lastMeasurement.variant.environment_metrics.distance != 0)
         display->drawString(x, y += fontHeight(FONT_SMALL),
                             "Water Level: " + String(lastMeasurement.variant.environment_metrics.distance, 0) + "mm");
+
+    if (lastMeasurement.variant.environment_metrics.weight != 0)
+        display->drawString(x, y += fontHeight(FONT_SMALL),
+                            "Weight: " + String(lastMeasurement.variant.environment_metrics.weight, 0) + "kg");
 }
 
 bool EnvironmentTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshtastic_Telemetry *t)
@@ -245,8 +255,9 @@ bool EnvironmentTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPac
         LOG_INFO("(Received from %s): voltage=%f, IAQ=%d, distance=%f, lux=%f\n", sender, t->variant.environment_metrics.voltage,
                  t->variant.environment_metrics.iaq, t->variant.environment_metrics.distance, t->variant.environment_metrics.lux);
 
-        LOG_INFO("(Received from %s): wind speed=%fm/s, direction=%d degrees\n", sender,
-                 t->variant.environment_metrics.wind_speed, t->variant.environment_metrics.wind_direction);
+        LOG_INFO("(Received from %s): wind speed=%fm/s, direction=%d degrees, weight=%fkg\n", sender,
+                 t->variant.environment_metrics.wind_speed, t->variant.environment_metrics.wind_direction,
+                 t->variant.environment_metrics.weight);
 
 #endif
         // release previous packet before occupying a new spot
@@ -259,94 +270,129 @@ bool EnvironmentTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPac
     return false; // Let others look at this message also if they want
 }
 
-bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
+bool EnvironmentTelemetryModule::getEnvironmentTelemetry(meshtastic_Telemetry *m)
 {
-    meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
     bool valid = true;
     bool hasSensor = false;
-    m.time = getTime();
-    m.which_variant = meshtastic_Telemetry_environment_metrics_tag;
+    m->time = getTime();
+    m->which_variant = meshtastic_Telemetry_environment_metrics_tag;
 
     if (dfRobotLarkSensor.hasSensor()) {
-        valid = valid && dfRobotLarkSensor.getMetrics(&m);
+        valid = valid && dfRobotLarkSensor.getMetrics(m);
         hasSensor = true;
     }
     if (sht31Sensor.hasSensor()) {
-        valid = valid && sht31Sensor.getMetrics(&m);
+        valid = valid && sht31Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (lps22hbSensor.hasSensor()) {
-        valid = valid && lps22hbSensor.getMetrics(&m);
+        valid = valid && lps22hbSensor.getMetrics(m);
         hasSensor = true;
     }
     if (shtc3Sensor.hasSensor()) {
-        valid = valid && shtc3Sensor.getMetrics(&m);
+        valid = valid && shtc3Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (bmp085Sensor.hasSensor()) {
-        valid = valid && bmp085Sensor.getMetrics(&m);
+        valid = valid && bmp085Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (bmp280Sensor.hasSensor()) {
-        valid = valid && bmp280Sensor.getMetrics(&m);
+        valid = valid && bmp280Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (bme280Sensor.hasSensor()) {
-        valid = valid && bme280Sensor.getMetrics(&m);
+        valid = valid && bme280Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (bme680Sensor.hasSensor()) {
-        valid = valid && bme680Sensor.getMetrics(&m);
+        valid = valid && bme680Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (mcp9808Sensor.hasSensor()) {
-        valid = valid && mcp9808Sensor.getMetrics(&m);
+        valid = valid && mcp9808Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (ina219Sensor.hasSensor()) {
-        valid = valid && ina219Sensor.getMetrics(&m);
+        valid = valid && ina219Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (ina260Sensor.hasSensor()) {
-        valid = valid && ina260Sensor.getMetrics(&m);
+        valid = valid && ina260Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (veml7700Sensor.hasSensor()) {
-        valid = valid && veml7700Sensor.getMetrics(&m);
+        valid = valid && veml7700Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (tsl2591Sensor.hasSensor()) {
-        valid = valid && tsl2591Sensor.getMetrics(&m);
+        valid = valid && tsl2591Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (opt3001Sensor.hasSensor()) {
-        valid = valid && opt3001Sensor.getMetrics(&m);
+        valid = valid && opt3001Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (mlx90632Sensor.hasSensor()) {
-        valid = valid && mlx90632Sensor.getMetrics(&m);
+        valid = valid && mlx90632Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (rcwl9620Sensor.hasSensor()) {
-        valid = valid && rcwl9620Sensor.getMetrics(&m);
+        valid = valid && rcwl9620Sensor.getMetrics(m);
+        hasSensor = true;
+    }
+    if (nau7802Sensor.hasSensor()) {
+        valid = valid && nau7802Sensor.getMetrics(m);
         hasSensor = true;
     }
     if (aht10Sensor.hasSensor()) {
         if (!bmp280Sensor.hasSensor()) {
-            valid = valid && aht10Sensor.getMetrics(&m);
+            valid = valid && aht10Sensor.getMetrics(m);
             hasSensor = true;
         } else {
             // prefer bmp280 temp if both sensors are present, fetch only humidity
             meshtastic_Telemetry m_ahtx = meshtastic_Telemetry_init_zero;
             LOG_INFO("AHTX0+BMP280 module detected: using temp from BMP280 and humy from AHTX0\n");
             aht10Sensor.getMetrics(&m_ahtx);
-            m.variant.environment_metrics.relative_humidity = m_ahtx.variant.environment_metrics.relative_humidity;
+            m->variant.environment_metrics.relative_humidity = m_ahtx.variant.environment_metrics.relative_humidity;
         }
     }
 
-    valid = valid && hasSensor;
+    return valid && hasSensor;
+}
 
-    if (valid) {
+meshtastic_MeshPacket *EnvironmentTelemetryModule::allocReply()
+{
+    if (currentRequest) {
+        auto req = *currentRequest;
+        const auto &p = req.decoded;
+        meshtastic_Telemetry scratch;
+        meshtastic_Telemetry *decoded = NULL;
+        memset(&scratch, 0, sizeof(scratch));
+        if (pb_decode_from_bytes(p.payload.bytes, p.payload.size, &meshtastic_Telemetry_msg, &scratch)) {
+            decoded = &scratch;
+        } else {
+            LOG_ERROR("Error decoding EnvironmentTelemetry module!\n");
+            return NULL;
+        }
+        // Check for a request for environment metrics
+        if (decoded->which_variant == meshtastic_Telemetry_environment_metrics_tag) {
+            meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
+            if (getEnvironmentTelemetry(&m)) {
+                LOG_INFO("Environment telemetry replying to request\n");
+                return allocDataProtobuf(m);
+            } else {
+                return NULL;
+            }
+        }
+    }
+    return NULL;
+}
+
+bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
+{
+    meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
+    if (getEnvironmentTelemetry(&m)) {
         LOG_INFO("(Sending): barometric_pressure=%f, current=%f, gas_resistance=%f, relative_humidity=%f, temperature=%f\n",
                  m.variant.environment_metrics.barometric_pressure, m.variant.environment_metrics.current,
                  m.variant.environment_metrics.gas_resistance, m.variant.environment_metrics.relative_humidity,
@@ -354,8 +400,8 @@ bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
         LOG_INFO("(Sending): voltage=%f, IAQ=%d, distance=%f, lux=%f\n", m.variant.environment_metrics.voltage,
                  m.variant.environment_metrics.iaq, m.variant.environment_metrics.distance, m.variant.environment_metrics.lux);
 
-        LOG_INFO("(Sending): wind speed=%fm/s, direction=%d degrees\n", m.variant.environment_metrics.wind_speed,
-                 m.variant.environment_metrics.wind_direction);
+        LOG_INFO("(Sending): wind speed=%fm/s, direction=%d degrees, weight=%fkg\n", m.variant.environment_metrics.wind_speed,
+                 m.variant.environment_metrics.wind_direction, m.variant.environment_metrics.weight);
 
         sensor_read_error_count = 0;
 
@@ -384,8 +430,107 @@ bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
                 setIntervalFromNow(5000);
             }
         }
+        return true;
     }
-    return valid;
+    return false;
+}
+
+AdminMessageHandleResult EnvironmentTelemetryModule::handleAdminMessageForModule(const meshtastic_MeshPacket &mp,
+                                                                                 meshtastic_AdminMessage *request,
+                                                                                 meshtastic_AdminMessage *response)
+{
+    AdminMessageHandleResult result = AdminMessageHandleResult::NOT_HANDLED;
+    if (dfRobotLarkSensor.hasSensor()) {
+        result = dfRobotLarkSensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (sht31Sensor.hasSensor()) {
+        result = sht31Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (lps22hbSensor.hasSensor()) {
+        result = lps22hbSensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (shtc3Sensor.hasSensor()) {
+        result = shtc3Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (bmp085Sensor.hasSensor()) {
+        result = bmp085Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (bmp280Sensor.hasSensor()) {
+        result = bmp280Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (bme280Sensor.hasSensor()) {
+        result = bme280Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (bme680Sensor.hasSensor()) {
+        result = bme680Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (mcp9808Sensor.hasSensor()) {
+        result = mcp9808Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (ina219Sensor.hasSensor()) {
+        result = ina219Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (ina260Sensor.hasSensor()) {
+        result = ina260Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (veml7700Sensor.hasSensor()) {
+        result = veml7700Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (tsl2591Sensor.hasSensor()) {
+        result = tsl2591Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (opt3001Sensor.hasSensor()) {
+        result = opt3001Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (mlx90632Sensor.hasSensor()) {
+        result = mlx90632Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (rcwl9620Sensor.hasSensor()) {
+        result = rcwl9620Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (nau7802Sensor.hasSensor()) {
+        result = nau7802Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    if (aht10Sensor.hasSensor()) {
+        result = aht10Sensor.handleAdminMessage(mp, request, response);
+        if (result != AdminMessageHandleResult::NOT_HANDLED)
+            return result;
+    }
+    return result;
 }
 
 #endif

src/modules/Telemetry/EnvironmentTelemetry.h

@@ -32,11 +32,20 @@ class EnvironmentTelemetryModule : private concurrency::OSThread, public Protobu
     */
     virtual bool handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshtastic_Telemetry *p) override;
     virtual int32_t runOnce() override;
+    /** Called to get current Environment telemetry data
+    @return true if it contains valid data
+    */
+    bool getEnvironmentTelemetry(meshtastic_Telemetry *m);
+    virtual meshtastic_MeshPacket *allocReply() override;
     /**
      * Send our Telemetry into the mesh
      */
     bool sendTelemetry(NodeNum dest = NODENUM_BROADCAST, bool wantReplies = false);
 
+    virtual AdminMessageHandleResult handleAdminMessageForModule(const meshtastic_MeshPacket &mp,
+                                                                 meshtastic_AdminMessage *request,
+                                                                 meshtastic_AdminMessage *response) override;
+
   private:
     float CelsiusToFahrenheit(float c);
     bool firstTime = 1;

src/modules/Telemetry/PowerTelemetry.cpp

@@ -163,29 +163,63 @@ bool PowerTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPacket &m
     return false; // Let others look at this message also if they want
 }
 
+bool PowerTelemetryModule::getPowerTelemetry(meshtastic_Telemetry *m)
+{
+    bool valid = false;
+    m->time = getTime();
+    m->which_variant = meshtastic_Telemetry_power_metrics_tag;
+
+    m->variant.power_metrics.ch1_voltage = 0;
+    m->variant.power_metrics.ch1_current = 0;
+    m->variant.power_metrics.ch2_voltage = 0;
+    m->variant.power_metrics.ch2_current = 0;
+    m->variant.power_metrics.ch3_voltage = 0;
+    m->variant.power_metrics.ch3_current = 0;
+#if HAS_TELEMETRY && !defined(ARCH_PORTDUINO)
+    if (ina219Sensor.hasSensor())
+        valid = ina219Sensor.getMetrics(m);
+    if (ina260Sensor.hasSensor())
+        valid = ina260Sensor.getMetrics(m);
+    if (ina3221Sensor.hasSensor())
+        valid = ina3221Sensor.getMetrics(m);
+#endif
+
+    return valid;
+}
+
+meshtastic_MeshPacket *PowerTelemetryModule::allocReply()
+{
+    if (currentRequest) {
+        auto req = *currentRequest;
+        const auto &p = req.decoded;
+        meshtastic_Telemetry scratch;
+        meshtastic_Telemetry *decoded = NULL;
+        memset(&scratch, 0, sizeof(scratch));
+        if (pb_decode_from_bytes(p.payload.bytes, p.payload.size, &meshtastic_Telemetry_msg, &scratch)) {
+            decoded = &scratch;
+        } else {
+            LOG_ERROR("Error decoding PowerTelemetry module!\n");
+            return NULL;
+        }
+        // Check for a request for power metrics
+        if (decoded->which_variant == meshtastic_Telemetry_power_metrics_tag) {
+            meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
+            if (getPowerTelemetry(&m)) {
+                LOG_INFO("Power telemetry replying to request\n");
+                return allocDataProtobuf(m);
+            } else {
+                return NULL;
+            }
+        }
+    }
+
+    return NULL;
+}
+
 bool PowerTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
 {
     meshtastic_Telemetry m = meshtastic_Telemetry_init_zero;
-    bool valid = false;
-    m.time = getTime();
-    m.which_variant = meshtastic_Telemetry_power_metrics_tag;
-
-    m.variant.power_metrics.ch1_voltage = 0;
-    m.variant.power_metrics.ch1_current = 0;
-    m.variant.power_metrics.ch2_voltage = 0;
-    m.variant.power_metrics.ch2_current = 0;
-    m.variant.power_metrics.ch3_voltage = 0;
-    m.variant.power_metrics.ch3_current = 0;
-#if HAS_TELEMETRY && !defined(ARCH_PORTDUINO)
-    if (ina219Sensor.hasSensor())
-        valid = ina219Sensor.getMetrics(&m);
-    if (ina260Sensor.hasSensor())
-        valid = ina260Sensor.getMetrics(&m);
-    if (ina3221Sensor.hasSensor())
-        valid = ina3221Sensor.getMetrics(&m);
-#endif
-
-    if (valid) {
+    if (getPowerTelemetry(&m)) {
         LOG_INFO("(Sending): ch1_voltage=%f, ch1_current=%f, ch2_voltage=%f, ch2_current=%f, "
                  "ch3_voltage=%f, ch3_current=%f\n",
                  m.variant.power_metrics.ch1_voltage, m.variant.power_metrics.ch1_current, m.variant.power_metrics.ch2_voltage,
@@ -218,8 +252,9 @@ bool PowerTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
                 setIntervalFromNow(5000);
             }
         }
+        return true;
     }
-    return valid;
+    return false;
 }
 
 #endif

src/modules/Telemetry/PowerTelemetry.h

@@ -33,6 +33,11 @@ class PowerTelemetryModule : private concurrency::OSThread, public ProtobufModul
     */
     virtual bool handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshtastic_Telemetry *p) override;
     virtual int32_t runOnce() override;
+    /** Called to get current Power telemetry data
+    @return true if it contains valid data
+    */
+    bool getPowerTelemetry(meshtastic_Telemetry *m);
+    virtual meshtastic_MeshPacket *allocReply() override;
     /**
      * Send our Telemetry into the mesh
      */

src/modules/Telemetry/Sensor/DFRobotLarkSensor.h

@@ -1,3 +1,7 @@
+#pragma once
+
+#ifndef _MT_DFROBOTLARKSENSOR_H
+#define _MT_DFROBOTLARKSENSOR_H
 #include "configuration.h"
 
 #if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
@@ -21,4 +25,5 @@ class DFRobotLarkSensor : public TelemetrySensor
     virtual bool getMetrics(meshtastic_Telemetry *measurement) override;
 };
 
+#endif
 #endif

src/modules/Telemetry/Sensor/INA3221Sensor.cpp

@@ -16,8 +16,7 @@ int32_t INA3221Sensor::runOnce()
         return DEFAULT_SENSOR_MINIMUM_WAIT_TIME_BETWEEN_READS;
     }
     if (!status) {
-        ina3221.setAddr(INA3221_ADDR42_SDA); // i2c address 0x42
-        ina3221.begin();
+        ina3221.begin(nodeTelemetrySensorsMap[sensorType].second);
         ina3221.setShuntRes(100, 100, 100); // 0.1 Ohm shunt resistors
         status = true;
     } else {

src/modules/Telemetry/Sensor/NAU7802Sensor.cpp

@@ -0,0 +1,143 @@
+#include "configuration.h"
+
+#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+
+#include "../mesh/generated/meshtastic/telemetry.pb.h"
+#include "FSCommon.h"
+#include "NAU7802Sensor.h"
+#include "TelemetrySensor.h"
+#include <pb_decode.h>
+#include <pb_encode.h>
+
+meshtastic_Nau7802Config nau7802config = meshtastic_Nau7802Config_init_zero;
+
+NAU7802Sensor::NAU7802Sensor() : TelemetrySensor(meshtastic_TelemetrySensorType_NAU7802, "NAU7802") {}
+
+int32_t NAU7802Sensor::runOnce()
+{
+    LOG_INFO("Init sensor: %s\n", sensorName);
+    if (!hasSensor()) {
+        return DEFAULT_SENSOR_MINIMUM_WAIT_TIME_BETWEEN_READS;
+    }
+    status = nau7802.begin(*nodeTelemetrySensorsMap[sensorType].second);
+    nau7802.setSampleRate(NAU7802_SPS_320);
+    if (!loadCalibrationData()) {
+        LOG_ERROR("Failed to load calibration data\n");
+    }
+    nau7802.calibrateAFE();
+    LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
+    return initI2CSensor();
+}
+
+void NAU7802Sensor::setup() {}
+
+bool NAU7802Sensor::getMetrics(meshtastic_Telemetry *measurement)
+{
+    LOG_DEBUG("NAU7802Sensor::getMetrics\n");
+    nau7802.powerUp();
+    // Wait for the sensor to become ready for one second max
+    uint32_t start = millis();
+    while (!nau7802.available()) {
+        delay(100);
+        if (millis() - start > 1000) {
+            nau7802.powerDown();
+            return false;
+        }
+    }
+    // Check if we have correct calibration values after powerup
+    LOG_DEBUG("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
+    measurement->variant.environment_metrics.weight = nau7802.getWeight() / 1000; // sample is in kg
+    nau7802.powerDown();
+    return true;
+}
+
+void NAU7802Sensor::calibrate(float weight)
+{
+    nau7802.calculateCalibrationFactor(weight * 1000, 64); // internal sample is in grams
+    if (!saveCalibrationData()) {
+        LOG_WARN("Failed to save calibration data\n");
+    }
+    LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
+}
+
+AdminMessageHandleResult NAU7802Sensor::handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
+                                                           meshtastic_AdminMessage *response)
+{
+    AdminMessageHandleResult result;
+
+    switch (request->which_payload_variant) {
+    case meshtastic_AdminMessage_set_scale_tag:
+        if (request->set_scale == 0) {
+            this->tare();
+            LOG_DEBUG("Client requested to tare scale\n");
+        } else {
+            this->calibrate(request->set_scale);
+            LOG_DEBUG("Client requested to calibrate to %d kg\n", request->set_scale);
+        }
+        result = AdminMessageHandleResult::HANDLED;
+        break;
+
+    default:
+        result = AdminMessageHandleResult::NOT_HANDLED;
+    }
+
+    return result;
+}
+
+void NAU7802Sensor::tare()
+{
+    nau7802.calculateZeroOffset(64);
+    if (!saveCalibrationData()) {
+        LOG_WARN("Failed to save calibration data\n");
+    }
+    LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
+}
+
+bool NAU7802Sensor::saveCalibrationData()
+{
+    if (FSCom.exists(nau7802ConfigFileName) && !FSCom.remove(nau7802ConfigFileName)) {
+        LOG_WARN("Can't remove old state file\n");
+    }
+    auto file = FSCom.open(nau7802ConfigFileName, FILE_O_WRITE);
+    nau7802config.zeroOffset = nau7802.getZeroOffset();
+    nau7802config.calibrationFactor = nau7802.getCalibrationFactor();
+    bool okay = false;
+    if (file) {
+        LOG_INFO("%s state write to %s.\n", sensorName, nau7802ConfigFileName);
+        pb_ostream_t stream = {&writecb, &file, meshtastic_Nau7802Config_size};
+
+        if (!pb_encode(&stream, &meshtastic_Nau7802Config_msg, &nau7802config)) {
+            LOG_ERROR("Error: can't encode protobuf %s\n", PB_GET_ERROR(&stream));
+        } else {
+            okay = true;
+        }
+        file.flush();
+        file.close();
+    } else {
+        LOG_INFO("Can't write %s state (File: %s).\n", sensorName, nau7802ConfigFileName);
+    }
+    return okay;
+}
+
+bool NAU7802Sensor::loadCalibrationData()
+{
+    auto file = FSCom.open(nau7802ConfigFileName, FILE_O_READ);
+    bool okay = false;
+    if (file) {
+        LOG_INFO("%s state read from %s.\n", sensorName, nau7802ConfigFileName);
+        pb_istream_t stream = {&readcb, &file, meshtastic_Nau7802Config_size};
+        if (!pb_decode(&stream, &meshtastic_Nau7802Config_msg, &nau7802config)) {
+            LOG_ERROR("Error: can't decode protobuf %s\n", PB_GET_ERROR(&stream));
+        } else {
+            nau7802.setZeroOffset(nau7802config.zeroOffset);
+            nau7802.setCalibrationFactor(nau7802config.calibrationFactor);
+            okay = true;
+        }
+        file.close();
+    } else {
+        LOG_INFO("No %s state found (File: %s).\n", sensorName, nau7802ConfigFileName);
+    }
+    return okay;
+}
+
+#endif

src/modules/Telemetry/Sensor/NAU7802Sensor.h

@@ -0,0 +1,31 @@
+#include "MeshModule.h"
+#include "configuration.h"
+
+#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+
+#include "../mesh/generated/meshtastic/telemetry.pb.h"
+#include "TelemetrySensor.h"
+#include <SparkFun_Qwiic_Scale_NAU7802_Arduino_Library.h>
+
+class NAU7802Sensor : public TelemetrySensor
+{
+  private:
+    NAU7802 nau7802;
+
+  protected:
+    virtual void setup() override;
+    const char *nau7802ConfigFileName = "/prefs/nau7802.dat";
+    bool saveCalibrationData();
+    bool loadCalibrationData();
+
+  public:
+    NAU7802Sensor();
+    virtual int32_t runOnce() override;
+    virtual bool getMetrics(meshtastic_Telemetry *measurement) override;
+    void tare();
+    void calibrate(float weight);
+    AdminMessageHandleResult handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
+                                                meshtastic_AdminMessage *response) override;
+};
+
+#endif

src/modules/Telemetry/Sensor/OPT3001Sensor.cpp

@@ -1,7 +1,10 @@
-#include "OPT3001Sensor.h"
-#include "../mesh/generated/meshtastic/telemetry.pb.h"
-#include "TelemetrySensor.h"
 #include "configuration.h"
+
+#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+
+#include "../mesh/generated/meshtastic/telemetry.pb.h"
+#include "OPT3001Sensor.h"
+#include "TelemetrySensor.h"
 #include <ClosedCube_OPT3001.h>
 
 OPT3001Sensor::OPT3001Sensor() : TelemetrySensor(meshtastic_TelemetrySensorType_OPT3001, "OPT3001") {}
@@ -41,4 +44,6 @@ bool OPT3001Sensor::getMetrics(meshtastic_Telemetry *measurement)
     LOG_INFO("Lux: %f\n", measurement->variant.environment_metrics.lux);
 
     return true;
-}
+}
+
+#endif

src/modules/Telemetry/Sensor/OPT3001Sensor.h

@@ -1,3 +1,8 @@
+#pragma once
+#include "configuration.h"
+
+#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
+
 #include "../mesh/generated/meshtastic/telemetry.pb.h"
 #include "TelemetrySensor.h"
 #include <ClosedCube_OPT3001.h>
@@ -14,4 +19,6 @@ class OPT3001Sensor : public TelemetrySensor
     OPT3001Sensor();
     virtual int32_t runOnce() override;
     virtual bool getMetrics(meshtastic_Telemetry *measurement) override;
-};
+};
+
+#endif

src/modules/Telemetry/Sensor/TelemetrySensor.h

@@ -4,6 +4,7 @@
 
 #pragma once
 #include "../mesh/generated/meshtastic/telemetry.pb.h"
+#include "MeshModule.h"
 #include "NodeDB.h"
 #include <utility>
 
@@ -42,6 +43,12 @@ class TelemetrySensor
     virtual void setup();
 
   public:
+    virtual AdminMessageHandleResult handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
+                                                        meshtastic_AdminMessage *response)
+    {
+        return AdminMessageHandleResult::NOT_HANDLED;
+    }
+
     bool hasSensor() { return nodeTelemetrySensorsMap[sensorType].first > 0; }
 
     virtual int32_t runOnce() = 0;

src/modules/Telemetry/UnitConversions.cpp

@@ -0,0 +1,21 @@
+#include "UnitConversions.h"
+
+float UnitConversions::CelsiusToFahrenheit(float celcius)
+{
+    return (celcius * 9) / 5 + 32;
+}
+
+float UnitConversions::MetersPerSecondToKnots(float metersPerSecond)
+{
+    return metersPerSecond * 1.94384;
+}
+
+float UnitConversions::MetersPerSecondToMilesPerHour(float metersPerSecond)
+{
+    return metersPerSecond * 2.23694;
+}
+
+float UnitConversions::HectoPascalToInchesOfMercury(float hectoPascal)
+{
+    return hectoPascal * 0.029529983071445;
+}

src/modules/Telemetry/UnitConversions.h

@@ -0,0 +1,10 @@
+#pragma once
+
+class UnitConversions
+{
+  public:
+    static float CelsiusToFahrenheit(float celcius);
+    static float MetersPerSecondToKnots(float metersPerSecond);
+    static float MetersPerSecondToMilesPerHour(float metersPerSecond);
+    static float HectoPascalToInchesOfMercury(float hectoPascal);
+};

src/modules/esp32/PaxcounterModule.cpp

@@ -66,10 +66,6 @@ bool PaxcounterModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, m
 
 meshtastic_MeshPacket *PaxcounterModule::allocReply()
 {
-    if (ignoreRequest) {
-        return NULL;
-    }
-
     meshtastic_Paxcount pl = meshtastic_Paxcount_init_default;
     pl.wifi = count_from_libpax.wifi_count;
     pl.ble = count_from_libpax.ble_count;
@@ -131,4 +127,4 @@ void PaxcounterModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *state
 }
 #endif // HAS_SCREEN
 
-#endif
+#endif

src/mqtt/MQTT.cpp

@@ -482,7 +482,12 @@ void MQTT::onSend(const meshtastic_MeshPacket &mp, const meshtastic_MeshPacket &
 
     auto &ch = channels.getByIndex(chIndex);
 
-    if (&mp_decoded.decoded && strcmp(moduleConfig.mqtt.address, default_mqtt_address) == 0 &&
+    if (mp_decoded.which_payload_variant != meshtastic_MeshPacket_decoded_tag) {
+        LOG_CRIT("MQTT::onSend(): mp_decoded isn't actually decoded\n");
+        return;
+    }
+
+    if (strcmp(moduleConfig.mqtt.address, default_mqtt_address) == 0 &&
         (mp_decoded.decoded.portnum == meshtastic_PortNum_RANGE_TEST_APP ||
          mp_decoded.decoded.portnum == meshtastic_PortNum_DETECTION_SENSOR_APP)) {
         LOG_DEBUG("MQTT onSend - Ignoring range test or detection sensor message on public mqtt\n");
@@ -675,6 +680,8 @@ std::string MQTT::meshPacketToJson(meshtastic_MeshPacket *mp)
                     msgPayload["lux"] = new JSONValue(decoded->variant.environment_metrics.lux);
                     msgPayload["white_lux"] = new JSONValue(decoded->variant.environment_metrics.white_lux);
                     msgPayload["iaq"] = new JSONValue((uint)decoded->variant.environment_metrics.iaq);
+                    msgPayload["wind_speed"] = new JSONValue((uint)decoded->variant.environment_metrics.wind_speed);
+                    msgPayload["wind_direction"] = new JSONValue((uint)decoded->variant.environment_metrics.wind_direction);
                 } else if (decoded->which_variant == meshtastic_Telemetry_power_metrics_tag) {
                     msgPayload["voltage_ch1"] = new JSONValue(decoded->variant.power_metrics.ch1_voltage);
                     msgPayload["current_ch1"] = new JSONValue(decoded->variant.power_metrics.ch1_current);
@@ -898,8 +905,10 @@ std::string MQTT::meshPacketToJson(meshtastic_MeshPacket *mp)
         jsonObj["rssi"] = new JSONValue((int)mp->rx_rssi);
     if (mp->rx_snr != 0)
         jsonObj["snr"] = new JSONValue((float)mp->rx_snr);
-    if (mp->hop_start != 0 && mp->hop_limit <= mp->hop_start)
+    if (mp->hop_start != 0 && mp->hop_limit <= mp->hop_start) {
         jsonObj["hops_away"] = new JSONValue((unsigned int)(mp->hop_start - mp->hop_limit));
+        jsonObj["hop_start"] = new JSONValue((unsigned int)(mp->hop_start));
+    }
 
     // serialize and write it to the stream
     JSONValue *value = new JSONValue(jsonObj);

src/nimble/NimbleBluetooth.cpp

@@ -12,6 +12,7 @@
 
 NimBLECharacteristic *fromNumCharacteristic;
 NimBLECharacteristic *BatteryCharacteristic;
+NimBLECharacteristic *logRadioCharacteristic;
 NimBLEServer *bleServer;
 
 static bool passkeyShowing;
@@ -58,7 +59,6 @@ class NimbleBluetoothFromRadioCallback : public NimBLECharacteristicCallbacks
 {
     virtual void onRead(NimBLECharacteristic *pCharacteristic)
     {
-        LOG_INFO("From Radio onread\n");
         uint8_t fromRadioBytes[meshtastic_FromRadio_size];
         size_t numBytes = bluetoothPhoneAPI->getFromRadio(fromRadioBytes);
 
@@ -180,6 +180,8 @@ void NimbleBluetooth::setupService()
         ToRadioCharacteristic = bleService->createCharacteristic(TORADIO_UUID, NIMBLE_PROPERTY::WRITE);
         FromRadioCharacteristic = bleService->createCharacteristic(FROMRADIO_UUID, NIMBLE_PROPERTY::READ);
         fromNumCharacteristic = bleService->createCharacteristic(FROMNUM_UUID, NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ);
+        logRadioCharacteristic =
+            bleService->createCharacteristic(LOGRADIO_UUID, NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ, 512U);
     } else {
         ToRadioCharacteristic = bleService->createCharacteristic(
             TORADIO_UUID, NIMBLE_PROPERTY::WRITE | NIMBLE_PROPERTY::WRITE_AUTHEN | NIMBLE_PROPERTY::WRITE_ENC);
@@ -188,6 +190,10 @@ void NimbleBluetooth::setupService()
         fromNumCharacteristic =
             bleService->createCharacteristic(FROMNUM_UUID, NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ |
                                                                NIMBLE_PROPERTY::READ_AUTHEN | NIMBLE_PROPERTY::READ_ENC);
+        logRadioCharacteristic = bleService->createCharacteristic(
+            LOGRADIO_UUID,
+            NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::READ_AUTHEN | NIMBLE_PROPERTY::READ_ENC, 512U);
+        logRadioCharacteristic->setValue("Init");
     }
     bluetoothPhoneAPI = new BluetoothPhoneAPI();
 
@@ -236,6 +242,14 @@ void NimbleBluetooth::clearBonds()
     NimBLEDevice::deleteAllBonds();
 }
 
+void NimbleBluetooth::sendLog(const char *logMessage)
+{
+    if (!bleServer || !isConnected() || strlen(logMessage) > 512) {
+        return;
+    }
+    logRadioCharacteristic->notify(reinterpret_cast<const uint8_t *>(logMessage), strlen(logMessage), true);
+}
+
 void clearNVS()
 {
     NimBLEDevice::deleteAllBonds();

src/nimble/NimbleBluetooth.h

@@ -11,6 +11,7 @@ class NimbleBluetooth : BluetoothApi
     bool isActive();
     bool isConnected();
     int getRssi();
+    void sendLog(const char *logMessage);
 
   private:
     void setupService();

src/platform/esp32/architecture.h

@@ -101,6 +101,8 @@
 #define HW_VENDOR meshtastic_HardwareModel_STATION_G1
 #elif defined(DR_DEV)
 #define HW_VENDOR meshtastic_HardwareModel_DR_DEV
+#elif defined(HELTEC_HRU_3601)
+#define HW_VENDOR meshtastic_HardwareModel_HELTEC_HRU_3601
 #elif defined(HELTEC_V3)
 #define HW_VENDOR meshtastic_HardwareModel_HELTEC_V3
 #elif defined(HELTEC_WSL_V3)
@@ -147,6 +149,8 @@
 #define HW_VENDOR meshtastic_HardwareModel_WIPHONE
 #elif defined(RADIOMASTER_900_BANDIT_NANO)
 #define HW_VENDOR meshtastic_HardwareModel_RADIOMASTER_900_BANDIT_NANO
+#elif defined(HELTEC_CAPSULE_SENSOR_V3)
+#define HW_VENDOR meshtastic_HardwareModel_HELTEC_CAPSULE_SENSOR_V3
 #endif
 
 // -----------------------------------------------------------------------------

src/platform/nrf52/NRF52Bluetooth.cpp

@@ -7,16 +7,16 @@
 #include "mesh/mesh-pb-constants.h"
 #include <bluefruit.h>
 #include <utility/bonding.h>
-
 static BLEService meshBleService = BLEService(BLEUuid(MESH_SERVICE_UUID_16));
 static BLECharacteristic fromNum = BLECharacteristic(BLEUuid(FROMNUM_UUID_16));
 static BLECharacteristic fromRadio = BLECharacteristic(BLEUuid(FROMRADIO_UUID_16));
 static BLECharacteristic toRadio = BLECharacteristic(BLEUuid(TORADIO_UUID_16));
+static BLECharacteristic logRadio = BLECharacteristic(BLEUuid(LOGRADIO_UUID_16));
 
 static BLEDis bledis; // DIS (Device Information Service) helper class instance
 static BLEBas blebas; // BAS (Battery Service) helper class instance
-static BLEDfu bledfu; // DFU software update helper service
 
+static BLEDfu bledfu; // DFU software update helper service
 // This scratch buffer is used for various bluetooth reads/writes - but it is safe because only one bt operation can be in
 // process at once
 // static uint8_t trBytes[_max(_max(_max(_max(ToRadio_size, RadioConfig_size), User_size), MyNodeInfo_size), FromRadio_size)];
@@ -50,16 +50,14 @@ static BluetoothPhoneAPI *bluetoothPhoneAPI;
 
 void onConnect(uint16_t conn_handle)
 {
+
     // Get the reference to current connection
     BLEConnection *connection = Bluefruit.Connection(conn_handle);
     connectionHandle = conn_handle;
-
     char central_name[32] = {0};
     connection->getPeerName(central_name, sizeof(central_name));
-
     LOG_INFO("BLE Connected to %s\n", central_name);
 }
-
 /**
  * Callback invoked when a connection is dropped
  * @param conn_handle connection where this event happens
@@ -70,15 +68,13 @@ void onDisconnect(uint16_t conn_handle, uint8_t reason)
     // FIXME - we currently assume only one active connection
     LOG_INFO("BLE Disconnected, reason = 0x%x\n", reason);
 }
-
 void onCccd(uint16_t conn_hdl, BLECharacteristic *chr, uint16_t cccd_value)
 {
     // Display the raw request packet
     LOG_INFO("CCCD Updated: %u\n", cccd_value);
-
     // Check the characteristic this CCCD update is associated with in case
     // this handler is used for multiple CCCD records.
-    if (chr->uuid == fromNum.uuid) {
+    if (chr->uuid == fromNum.uuid || chr->uuid == logRadio.uuid) {
         if (chr->notifyEnabled(conn_hdl)) {
             LOG_INFO("fromNum 'Notify' enabled\n");
         } else {
@@ -86,21 +82,17 @@ void onCccd(uint16_t conn_hdl, BLECharacteristic *chr, uint16_t cccd_value)
         }
     }
 }
-
 void startAdv(void)
 {
     // Advertising packet
     Bluefruit.Advertising.addFlags(BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE);
-
     // IncludeService UUID
     // Bluefruit.ScanResponse.addService(meshBleService);
     Bluefruit.ScanResponse.addTxPower();
     Bluefruit.ScanResponse.addName();
-
     // Include Name
     // Bluefruit.Advertising.addName();
     Bluefruit.Advertising.addService(meshBleService);
-
     /* Start Advertising
      * - Enable auto advertising if disconnected
      * - Interval:  fast mode = 20 ms, slow mode = 152.5 ms
@@ -115,7 +107,6 @@ void startAdv(void)
     Bluefruit.Advertising.setFastTimeout(30);   // number of seconds in fast mode
     Bluefruit.Advertising.start(0); // 0 = Don't stop advertising after n seconds.  FIXME, we should stop advertising after X
 }
-
 // Just ack that the caller is allowed to read
 static void authorizeRead(uint16_t conn_hdl)
 {
@@ -123,7 +114,6 @@ static void authorizeRead(uint16_t conn_hdl)
     reply.params.write.gatt_status = BLE_GATT_STATUS_SUCCESS;
     sd_ble_gatts_rw_authorize_reply(conn_hdl, &reply);
 }
-
 /**
  * client is starting read, pull the bytes from our API class
  */
@@ -132,7 +122,6 @@ void onFromRadioAuthorize(uint16_t conn_hdl, BLECharacteristic *chr, ble_gatts_e
     if (request->offset == 0) {
         // If the read is long, we will get multiple authorize invocations - we only populate data on the first
         size_t numBytes = bluetoothPhoneAPI->getFromRadio(fromRadioBytes);
-
         // Someone is going to read our value as soon as this callback returns.  So fill it with the next message in the queue
         // or make empty if the queue is empty
         fromRadio.write(fromRadioBytes, numBytes);
@@ -141,37 +130,22 @@ void onFromRadioAuthorize(uint16_t conn_hdl, BLECharacteristic *chr, ble_gatts_e
     }
     authorizeRead(conn_hdl);
 }
-
 void onToRadioWrite(uint16_t conn_hdl, BLECharacteristic *chr, uint8_t *data, uint16_t len)
 {
     LOG_INFO("toRadioWriteCb data %p, len %u\n", data, len);
-
     bluetoothPhoneAPI->handleToRadio(data, len);
 }
 
-/**
- * client is starting read, pull the bytes from our API class
- */
-void onFromNumAuthorize(uint16_t conn_hdl, BLECharacteristic *chr, ble_gatts_evt_read_t *request)
-{
-    LOG_INFO("fromNumAuthorizeCb\n");
-
-    authorizeRead(conn_hdl);
-}
-
 void setupMeshService(void)
 {
     bluetoothPhoneAPI = new BluetoothPhoneAPI();
-
     meshBleService.begin();
-
     // Note: You must call .begin() on the BLEService before calling .begin() on
     // any characteristic(s) within that service definition.. Calling .begin() on
     // a BLECharacteristic will cause it to be added to the last BLEService that
     // was 'begin()'ed!
     auto secMode =
         config.bluetooth.mode == meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN ? SECMODE_OPEN : SECMODE_ENC_NO_MITM;
-
     fromNum.setProperties(CHR_PROPS_NOTIFY | CHR_PROPS_READ);
     fromNum.setPermission(secMode, SECMODE_NO_ACCESS); // FIXME, secure this!!!
     fromNum.setFixedLen(
@@ -201,10 +175,15 @@ void setupMeshService(void)
     // We don't call this callback via the adafruit queue, because we can safely run in the BLE context
     toRadio.setWriteCallback(onToRadioWrite, false);
     toRadio.begin();
+
+    logRadio.setProperties(CHR_PROPS_NOTIFY | CHR_PROPS_READ);
+    logRadio.setPermission(secMode, SECMODE_NO_ACCESS);
+    logRadio.setMaxLen(512);
+    logRadio.setCccdWriteCallback(onCccd);
+    logRadio.write32(0);
+    logRadio.begin();
 }
-
 static uint32_t configuredPasskey;
-
 void NRF52Bluetooth::shutdown()
 {
     // Shutdown bluetooth for minimum power draw
@@ -214,17 +193,23 @@ void NRF52Bluetooth::shutdown()
     }
     Bluefruit.Advertising.stop();
 }
-
+void NRF52Bluetooth::startDisabled()
+{
+    // Setup Bluetooth
+    nrf52Bluetooth->setup();
+    // Shutdown bluetooth for minimum power draw
+    Bluefruit.Advertising.stop();
+    Bluefruit.setTxPower(-40); // Minimum power
+    LOG_INFO("Disabling NRF52 Bluetooth. (Workaround: tx power min, advertising stopped)\n");
+}
 bool NRF52Bluetooth::isConnected()
 {
     return Bluefruit.connected(connectionHandle);
 }
-
 int NRF52Bluetooth::getRssi()
 {
     return 0; // FIXME figure out where to source this
 }
-
 void NRF52Bluetooth::setup()
 {
     // Initialise the Bluefruit module
@@ -232,12 +217,10 @@ void NRF52Bluetooth::setup()
     Bluefruit.autoConnLed(false);
     Bluefruit.configPrphBandwidth(BANDWIDTH_MAX);
     Bluefruit.begin();
-
     // Clear existing data.
     Bluefruit.Advertising.stop();
     Bluefruit.Advertising.clearData();
     Bluefruit.ScanResponse.clearData();
-
     if (config.bluetooth.mode != meshtastic_Config_BluetoothConfig_PairingMode_NO_PIN) {
         configuredPasskey = config.bluetooth.mode == meshtastic_Config_BluetoothConfig_PairingMode_FIXED_PIN
                                 ? config.bluetooth.fixed_pin
@@ -256,37 +239,29 @@ void NRF52Bluetooth::setup()
     }
     // Set the advertised device name (keep it short!)
     Bluefruit.setName(getDeviceName());
-
     // Set the connect/disconnect callback handlers
     Bluefruit.Periph.setConnectCallback(onConnect);
     Bluefruit.Periph.setDisconnectCallback(onDisconnect);
-
     bledfu.setPermission(SECMODE_ENC_WITH_MITM, SECMODE_ENC_WITH_MITM);
     bledfu.begin(); // Install the DFU helper
-
     // Configure and Start the Device Information Service
     LOG_INFO("Configuring the Device Information Service\n");
     bledis.setModel(optstr(HW_VERSION));
     bledis.setFirmwareRev(optstr(APP_VERSION));
     bledis.begin();
-
     // Start the BLE Battery Service and set it to 100%
     LOG_INFO("Configuring the Battery Service\n");
     blebas.begin();
     blebas.write(0); // Unknown battery level for now
-
     // Setup the Heart Rate Monitor service using
     // BLEService and BLECharacteristic classes
     LOG_INFO("Configuring the Mesh bluetooth service\n");
     setupMeshService();
-
     // Setup the advertising packet(s)
     LOG_INFO("Setting up the advertising payload(s)\n");
     startAdv();
-
     LOG_INFO("Advertising\n");
 }
-
 void NRF52Bluetooth::resumeAdvertising()
 {
     Bluefruit.Advertising.restartOnDisconnect(true);
@@ -294,34 +269,28 @@ void NRF52Bluetooth::resumeAdvertising()
     Bluefruit.Advertising.setFastTimeout(30);   // number of seconds in fast mode
     Bluefruit.Advertising.start(0);
 }
-
 /// Given a level between 0-100, update the BLE attribute
 void updateBatteryLevel(uint8_t level)
 {
     blebas.write(level);
 }
-
 void NRF52Bluetooth::clearBonds()
 {
     LOG_INFO("Clearing bluetooth bonds!\n");
     bond_print_list(BLE_GAP_ROLE_PERIPH);
     bond_print_list(BLE_GAP_ROLE_CENTRAL);
-
     Bluefruit.Periph.clearBonds();
     Bluefruit.Central.clearBonds();
 }
-
 void NRF52Bluetooth::onConnectionSecured(uint16_t conn_handle)
 {
     LOG_INFO("BLE connection secured\n");
 }
-
 bool NRF52Bluetooth::onPairingPasskey(uint16_t conn_handle, uint8_t const passkey[6], bool match_request)
 {
     LOG_INFO("BLE pairing process started with passkey %.3s %.3s\n", passkey, passkey + 3);
     powerFSM.trigger(EVENT_BLUETOOTH_PAIR);
     screen->startBluetoothPinScreen(configuredPasskey);
-
     if (match_request) {
         uint32_t start_time = millis();
         while (millis() < start_time + 30000) {
@@ -332,13 +301,18 @@ bool NRF52Bluetooth::onPairingPasskey(uint16_t conn_handle, uint8_t const passke
     LOG_INFO("BLE passkey pairing: match_request=%i\n", match_request);
     return true;
 }
-
 void NRF52Bluetooth::onPairingCompleted(uint16_t conn_handle, uint8_t auth_status)
 {
     if (auth_status == BLE_GAP_SEC_STATUS_SUCCESS)
         LOG_INFO("BLE pairing success\n");
     else
         LOG_INFO("BLE pairing failed\n");
-
     screen->stopBluetoothPinScreen();
+}
+
+void NRF52Bluetooth::sendLog(const char *logMessage)
+{
+    if (!isConnected() || strlen(logMessage) > 512)
+        return;
+    logRadio.notify(logMessage);
 }

src/platform/nrf52/NRF52Bluetooth.h

@@ -8,14 +8,15 @@ class NRF52Bluetooth : BluetoothApi
   public:
     void setup();
     void shutdown();
+    void startDisabled();
     void resumeAdvertising();
     void clearBonds();
     bool isConnected();
     int getRssi();
+    void sendLog(const char *logMessage);
 
   private:
     static void onConnectionSecured(uint16_t conn_handle);
-    void convertToUint8(uint8_t target[4], uint32_t source);
     static bool onPairingPasskey(uint16_t conn_handle, uint8_t const passkey[6], bool match_request);
     static void onPairingCompleted(uint16_t conn_handle, uint8_t auth_status);
 };

src/platform/nrf52/architecture.h

@@ -42,6 +42,8 @@
 #define HW_VENDOR meshtastic_HardwareModel_NRF52840DK
 #elif defined(ARDUINO_NRF52840_PPR)
 #define HW_VENDOR meshtastic_HardwareModel_PPR
+#elif defined(RAK2560)
+#define HW_VENDOR meshtastic_HardwareModel_RAK2560
 #elif defined(RAK4630)
 #define HW_VENDOR meshtastic_HardwareModel_RAK4631
 #elif defined(TTGO_T_ECHO)

src/platform/nrf52/main-nrf52.cpp

@@ -68,28 +68,47 @@ static const bool useSoftDevice = true; // Set to false for easier debugging
 #if !MESHTASTIC_EXCLUDE_BLUETOOTH
 void setBluetoothEnable(bool enable)
 {
-    if (enable && config.bluetooth.enabled) {
-        if (!useSoftDevice) {
+    // For debugging use: don't use bluetooth
+    if (!useSoftDevice) {
+        if (enable)
             LOG_INFO("DISABLING NRF52 BLUETOOTH WHILE DEBUGGING\n");
-        } else {
-            if (!nrf52Bluetooth) {
-                LOG_DEBUG("Initializing NRF52 Bluetooth\n");
-                nrf52Bluetooth = new NRF52Bluetooth();
-                nrf52Bluetooth->setup();
-
-                // We delay brownout init until after BLE because BLE starts soft device
-                initBrownout();
-            } else {
-                nrf52Bluetooth->resumeAdvertising();
-            }
-        }
-    } else {
-        if (nrf52Bluetooth) {
-            nrf52Bluetooth->shutdown();
-        }
+        return;
     }
+
+    // If user disabled bluetooth: init then disable advertising & reduce power
+    // Workaround. Avoid issue where device hangs several days after boot..
+    // Allegedly, no significant increase in power consumption
+    if (!config.bluetooth.enabled) {
+        static bool initialized = false;
+        if (!initialized) {
+            nrf52Bluetooth = new NRF52Bluetooth();
+            nrf52Bluetooth->startDisabled();
+            initBrownout();
+            initialized = true;
+        }
+        return;
+    }
+
+    if (enable) {
+        // If not yet set-up
+        if (!nrf52Bluetooth) {
+            LOG_DEBUG("Initializing NRF52 Bluetooth\n");
+            nrf52Bluetooth = new NRF52Bluetooth();
+            nrf52Bluetooth->setup();
+
+            // We delay brownout init until after BLE because BLE starts soft device
+            initBrownout();
+        }
+        // Already setup, apparently
+        else
+            nrf52Bluetooth->resumeAdvertising();
+    }
+    // Disable (if previously set-up)
+    else if (nrf52Bluetooth)
+        nrf52Bluetooth->shutdown();
 }
 #else
+#warning NRF52 "Bluetooth disable" workaround does not apply to builds with MESHTASTIC_EXCLUDE_BLUETOOTH
 void setBluetoothEnable(bool enable) {}
 #endif
 /**

src/power.h

@@ -1,7 +1,9 @@
 #pragma once
+#include "../variants/rak2560/RAK9154Sensor.h"
 #include "PowerStatus.h"
 #include "concurrency/OSThread.h"
 #include "configuration.h"
+
 #ifdef ARCH_ESP32
 #include <esp_adc_cal.h>
 #include <soc/adc_channel.h>
@@ -46,6 +48,11 @@ extern INA219Sensor ina219Sensor;
 extern INA3221Sensor ina3221Sensor;
 #endif
 
+#if HAS_RAKPROT && !defined(ARCH_PORTDUINO)
+#include "../variants/rak2560/RAK9154Sensor.h"
+extern RAK9154Sensor rak9154Sensor;
+#endif
+
 class Power : private concurrency::OSThread
 {
 

src/sleep.cpp

@@ -231,12 +231,10 @@ void doDeepSleep(uint32_t msecToWake, bool skipPreflight = false)
 
     nodeDB->saveToDisk();
 
-#ifdef TTGO_T_ECHO
 #ifdef PIN_POWER_EN
     pinMode(PIN_POWER_EN, INPUT); // power off peripherals
     // pinMode(PIN_POWER_EN1, INPUT_PULLDOWN);
 #endif
-#endif
 #if HAS_GPS
     // Kill GPS power completely (even if previously we just had it in sleep mode)
     if (gps)

variants/heltec_capsule_sensor_v3/platformio.ini

@@ -0,0 +1,11 @@
+[env:heltec_capsule_sensor_v3]
+extends = esp32s3_base
+board = heltec_wifi_lora_32_V3
+board_check = true
+
+build_flags = 
+  ${esp32s3_base.build_flags} -I variants/heltec_capsule_sensor_v3
+  -D HELTEC_CAPSULE_SENSOR_V3
+  -D GPS_POWER_TOGGLE ; comment this line to disable triple press function on the user button to turn off gps entirely.
+  ;-D DEBUG_DISABLED ; uncomment this line to disable DEBUG output
+

variants/heltec_capsule_sensor_v3/variant.h

@@ -0,0 +1,42 @@
+#define LED_PIN 33
+#define LED_PIN2 34 
+#define EXT_PWR_DETECT 35
+
+#define BUTTON_PIN 18
+
+#define BATTERY_PIN 7 // A battery voltage measurement pin, voltage divider connected here to measure battery voltage
+#define ADC_CHANNEL ADC1_GPIO7_CHANNEL
+#define ADC_ATTENUATION ADC_ATTEN_DB_2_5 // lower dB for high resistance voltage divider
+#define ADC_MULTIPLIER (4.9 * 1.045)
+#define ADC_CTRL 36 // active HIGH, powers the voltage divider. Only on 1.1
+#define ADC_CTRL_ENABLED HIGH
+
+#undef GPS_RX_PIN
+#undef GPS_TX_PIN
+#define GPS_RX_PIN 5
+#define GPS_TX_PIN 4
+#define PIN_GPS_RESET 3
+#define GPS_RESET_MODE LOW
+#define PIN_GPS_PPS 1
+#define PIN_GPS_EN 21
+#define GPS_EN_ACTIVE HIGH
+
+#define USE_SX1262
+#define LORA_DIO0 -1 // a No connect on the SX1262 module
+#define LORA_RESET 12
+#define LORA_DIO1 14 // SX1262 IRQ
+#define LORA_DIO2 13 // SX1262 BUSY
+#define LORA_DIO3    // Not connected on PCB, but internally on the TTGO SX1262, if DIO3 is high the TXCO is enabled
+
+#define LORA_SCK 9
+#define LORA_MISO 11
+#define LORA_MOSI 10
+#define LORA_CS 8
+
+#define SX126X_CS LORA_CS
+#define SX126X_DIO1 LORA_DIO1
+#define SX126X_BUSY LORA_DIO2
+#define SX126X_RESET LORA_RESET
+
+#define SX126X_DIO2_AS_RF_SWITCH
+#define SX126X_DIO3_TCXO_VOLTAGE 1.8