From 715c7f042093e7275dee374fd46563bbdd321a20 Mon Sep 17 00:00:00 2001
From: MrD-RC <darren@darrenlines.uk>
Date: Wed, 21 Jun 2023 08:16:22 +0100
Subject: [PATCH 01/33] Updated mAh Display for battery remaining

---
 _locales/en/messages.json |  4 ++--
 tabs/osd.html             |  4 ++--
 tabs/osd.js               | 12 +++++++-----
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index e92617553..daa929b5b 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -3371,8 +3371,8 @@
     "osd_main_voltage_decimals": {
         "message": "Voltage Decimals"
     },
-    "osd_mah_used_precision": {
-        "message": "mAh Used Precision"
+    "osd_mah_precision": {
+        "message": "mAh Precision"
     },
     "osd_coordinate_digits": {
         "message": "Coordinate Digits"
diff --git a/tabs/osd.html b/tabs/osd.html
index 05b590513..8d2b8ed14 100644
--- a/tabs/osd.html
+++ b/tabs/osd.html
@@ -88,8 +88,8 @@ <h1 class="tab_title" data-i18n="tabOSD"></h1>
                                 <span data-i18n="osd_main_voltage_decimals"></span>
                             </label>
                             <label>
-                                <select class="update_preview" data-setting="osd_mah_used_precision" data-live="true"></select>
-                                <span data-i18n="osd_mah_used_precision"></span>
+                                <select class="update_preview" data-setting="osd_mah_precision" data-live="true"></select>
+                                <span data-i18n="osd_mah_precision"></span>
                             </label>
                             <label>
                                 <select class="update_preview" data-setting="osd_coordinate_digits" data-live="true"></select>
diff --git a/tabs/osd.js b/tabs/osd.js
index c9ab19a51..418b687bd 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -423,9 +423,11 @@ function osdMainBatteryPreview() {
     return FONT.symbol(SYM.BATT) + FONT.embed_dot(s);
 }
 
-function osdmAhdrawnPreview() {
-    let precision = Settings.getInputValue('osd_mah_used_precision');
-    let preview = "1215075".substring(0, precision);
+function osdmAhPrecisionPreview() {
+    let precision = Settings.getInputValue('osd_mah_precision');
+    let rnd = (Math.floor(10000000000000 + Math.random() * 90000000000000)).toString();
+    rnd = rnd.replace('0', '');
+    let preview = rnd.substring(0, precision);
 
     return preview + FONT.symbol(SYM.MAH);
 }
@@ -1306,14 +1308,14 @@ OSD.constants = {
                     name: 'MAH_DRAWN',
                     id: 12,
                     preview: function() {
-                        return osdmAhdrawnPreview();
+                        return osdmAhPrecisionPreview();
                     }
                 },
                 {
                     name: 'WH_DRAWN',
                     id: 36,
                     preview: function() {
-                        return FONT.embed_dot('1.25') + FONT.symbol(SYM.WH);
+                        return osdmAhPrecisionPreview();
                     }
                 },
                 {

From 997a7313329d2cedca27b4bc897b85841819a693 Mon Sep 17 00:00:00 2001
From: Roman Lut <11955117+RomanLut@users.noreply.github.com>
Date: Sat, 29 Jul 2023 01:14:50 +0200
Subject: [PATCH 02/33] implemented LED Pin PWM programming function

---
 js/fc.js | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/js/fc.js b/js/fc.js
index b1040b0fb..45551bcaf 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -1207,6 +1207,12 @@ var FC = {
                 hasOperand: [true, true],
                 output: "boolean"
             },
+            52: {
+                name: "LED Pin PWM",
+                operandType: "Set Flight Parameter",
+                hasOperand: [true, false],
+                output: "raw"
+            },        
         }
     },
     getOperandTypes: function () {

From 3928e76091d6539c28fd52380408dc1e0c7c5fb7 Mon Sep 17 00:00:00 2001
From: MrD-RC <darren@darrenlines.uk>
Date: Sun, 30 Jul 2023 19:17:27 +0100
Subject: [PATCH 03/33] Corrected display of mAh

---
 tabs/osd.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tabs/osd.js b/tabs/osd.js
index 418b687bd..1c2f20c40 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -1315,7 +1315,7 @@ OSD.constants = {
                     name: 'WH_DRAWN',
                     id: 36,
                     preview: function() {
-                        return osdmAhPrecisionPreview();
+                        return FONT.embed_dot('1.25') + FONT.symbol(SYM.WH);
                     }
                 },
                 {
@@ -1329,7 +1329,7 @@ OSD.constants = {
                     name: 'MAIN_BATT_REMAINING_CAPACITY',
                     id: 37,
                     preview: function() {
-                        return '1276' + FONT.symbol(SYM.MAH); // 4 chars
+                        return osdmAhPrecisionPreview();
                     }
                 },
                 {

From 4b2e6e37779c2991f3d905142e827ac82e970887 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Sun, 8 Oct 2023 18:08:58 +0200
Subject: [PATCH 04/33] MSP layer

---
 js/fc.js            | 12 ++++++++++++
 js/msp/MSPCodes.js  |  5 ++++-
 js/msp/MSPHelper.js | 37 +++++++++++++++++++++++++++++++++++++
 3 files changed, 53 insertions(+), 1 deletion(-)

diff --git a/js/fc.js b/js/fc.js
index bd86911ed..6f84aca32 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -551,6 +551,18 @@ var FC = {
             weightCenter: null, 
             weightEnd: null
         };
+
+        EZ_TUNE = {
+            enabled: null,
+            filterHz: null,
+            axisRatio: null,
+            response: null,
+            damping: null,
+            stability: null,
+            aggressiveness: null,
+            rate: null,
+            expo: null
+        };
     },
     getOutputUsages: function() {
         return {
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 1d68e548a..6c5f2be71 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -240,5 +240,8 @@ var MSPCodes = {
     MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
 
     MSP2_INAV_RATE_DYNAMICS:            0x2060,
-    MSP2_INAV_SET_RATE_DYNAMICS:        0x2061
+    MSP2_INAV_SET_RATE_DYNAMICS:        0x2061,
+
+    MSP2_INAV_EZ_TUNE:                  0x2070,
+    MSP2_INAV_EZ_TUNE_SET:              0x2071
 };
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index a4254e97e..8c6342141 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -1571,6 +1571,22 @@ var mspHelper = (function (gui) {
                 console.log('Rate dynamics saved');
                 break;
 
+            case MSPCodes.MSP2_INAV_EZ_TUNE:
+                EZ_TUNE.enabled = data.getUint8(0);
+                EZ_TUNE.filterHz = data.getUint16(1, true);
+                EZ_TUNE.axisRatio = data.getUint8(3);
+                EZ_TUNE.response = data.getUint8(4);
+                EZ_TUNE.damping = data.getUint8(5);
+                EZ_TUNE.stability = data.getUint8(6);
+                EZ_TUNE.aggressiveness = data.getUint8(7);
+                EZ_TUNE.rate = data.getUint8(8);
+                EZ_TUNE.expo = data.getUint8(9);
+                break;
+
+            case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
+                console.log('Rate dynamics saved');
+                break;
+
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -2207,6 +2223,19 @@ var mspHelper = (function (gui) {
                 buffer.push(RATE_DYNAMICS.weightEnd);
                 break;
 
+            case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
+
+                buffer.push(EZ_TUNE.enabled);
+                buffer.push(lowByte(EZ_TUNE.filterHz));
+                buffer.push(highByte(EZ_TUNE.filterHz));
+                buffer.push(EZ_TUNE.axisRatio);
+                buffer.push(EZ_TUNE.response);
+                buffer.push(EZ_TUNE.damping);
+                buffer.push(EZ_TUNE.stability);
+                buffer.push(EZ_TUNE.aggressiveness);
+                buffer.push(EZ_TUNE.rate);
+                buffer.push(EZ_TUNE.expo);
+
             default:
                 return false;
         }
@@ -3409,6 +3438,14 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS), false, callback);
     }
 
+    self.loadEzTune = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_INAV_EZ_TUNE, false, false, callback);
+    }
+
+    self.saveEzTune = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_INAV_EZ_TUNE_SET, mspHelper.crunch(MSPCodes.MSP2_INAV_EZ_TUNE_SET), false, callback);
+    }
+
     self.loadParameterGroups = function (callback) {
         MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {
             var groups = [];

From b0726bbe8c8acef30e5c91744672313c1b82beea Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Sun, 8 Oct 2023 21:01:07 +0200
Subject: [PATCH 05/33] Basic layout

---
 _locales/en/messages.json |  53 ++++++++++++++++++-
 gulpfile.js               |   1 +
 js/gui.js                 |   3 +-
 main.css                  |   6 ++-
 main.html                 |   6 ++-
 main.js                   |   3 ++
 src/css/tabs/ez_tune.css  |   0
 tabs/ez_tune.html         | 104 ++++++++++++++++++++++++++++++++++++++
 tabs/ez_tune.js           |  58 +++++++++++++++++++++
 9 files changed, 229 insertions(+), 5 deletions(-)
 create mode 100644 src/css/tabs/ez_tune.css
 create mode 100644 tabs/ez_tune.html
 create mode 100644 tabs/ez_tune.js

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 474489125..a304f5f68 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -110,6 +110,9 @@
     "tabFailsafe": {
         "message": "Failsafe"
     },
+    "tabEzTune": {
+        "message": "Ez Tune"
+    },
     "tabGPS": {
         "message": "GPS"
     },
@@ -5483,5 +5486,53 @@
     },
     "timerOutputs": {
         "message": "Timer outputs"
+    },
+    "ezTuneFilterHz": {
+        "message": "Filter Hz"
+    },
+    "ezTuneAxisRatio": {
+        "message": "Axis ratio"
+    },
+    "ezTuneResponse": {
+        "message": "Response"
+    },
+    "ezTuneDamping": {
+        "message": "Damping"
+    },
+    "ezTuneStability": {
+        "message": "Stability"
+    },
+    "ezTuneAggressiveness": {
+        "message": "Aggressiveness"
+    },
+    "ezTuneRate": {
+        "message": "Rate"
+    },
+    "ezTuneExpo": {
+        "message": "Expo"
+    },
+    "ezTuneFilterHzTips": {
+        "message": "This sets the base cutoff frequency for all INAV gyro and D-term filters. Higher values will result in lower filter delay and better stabilization, but more noise will go through the filters and motors will get hot, UAV might oscillate and be unfyable. Your goal is to increase this value as high as possible before any negative effects appear. Negative effects include: hot motors, audible osciallations, UAV rapidly shaking, UAV gaining altitude by itself. Usual starting points for 'Filter Hz' are: <strong>3-inch props</strong>: 90, <strong>5-inch props</strong>: 110, <strong>7-inch props</strong>: 90, <strong>10-inch props</strong>: 75, <strong>12-inch props</strong>: 60. Use Blackbox and common sense to find a value that is most suited for your UAV."
+    },
+    "ezTuneAxisRatioTips": {
+        "message": "Describes the weight/moment of inertia distribution of your UAV. The longer the frame (more mass on the front-back axis) more Axis Ratio is requires. Perfect X frame is ratio 100. Most modern frames should fit somewhere between 110 and 130. Default 110 is a good starting point."
+    },
+    "ezTuneResponseTips": {
+        "message": "This setting defines how fast the UAV will react to stick movements and gyro signal. Higher values will result in faster reaction, but also in more overshoots and oscillations. If UAV feels sluggish or has a slow wobble, increase the Response. If it has hot motors, audibly osciallates, overshoots or feels too nervous, decrease the Response. Most modern quads should beefy motors will fly best with Response below 80. Should be tuned together with Damping. It is a P-term equivalent."
+    },
+    "ezTuneDampingTips": {
+        "message": "Describes the stengths of a force that opposes any rotation speed change. It dampens roll and pitch acceleration and causes smoother and more stable flight. Your task during tuning is to find out how much you can increase it before any negative symptoms appear: hot motors, audible osciallations, overshoot. Most modern quads should accept 'Damping' up to 150-180. It is a D-term equivalent."
+    },
+    "ezTuneStabilityTips": {
+        "message": "Defines long-term stabilization strength. Most modern quads should tolerate 'Stability' even up to 120-130. Usually does not have to be tuned at all. If UAV suffers from heavy propwash during vertical descent, lowering 'Stability' might help. It is a I-term equivalent"
+    },
+    "ezTuneAggressivenessTips": {
+        "message": "Defines how fast your UAV will react to fast stick movements. Higher 'Aggressiveness' results in snappier fast manouvers. It does not affect stabilization, only stick feeling. It is a FF-term equivalent."
+    },
+    "ezTuneRateTips": {
+        "message": "Defines how fast your UAV will rotate around roll, pitch and yaw axis. Higher 'Rate' results in faster rotation. Value of 0 is the equivalent of 300dps, 100 is the equivalent of 600dps, 200 is the equivalent of 900dps."
+    },
+    "ezTuneExpoTips": {
+        "message": "Defines expo of the RC input. Lower values result in more sensitive stick in the center. Higher values result in less sensitive center and more rapid response at the end of the stick. Value of 0 is the equivalent of 0 expo, 100 is the equivalent of 0.7 expo, 200 is the equivalent of 1.0 expo."
     }
-}
+}
\ No newline at end of file
diff --git a/gulpfile.js b/gulpfile.js
index 48e9400dd..5d4d6fcd4 100644
--- a/gulpfile.js
+++ b/gulpfile.js
@@ -126,6 +126,7 @@ sources.js = [
     './js/serial_queue.js',
     './js/msp_balanced_interval.js',
     './tabs/advanced_tuning.js',
+    './tabs/ez_tune.js',
     './js/peripherals.js',
     './js/appUpdater.js',
     './js/feature_framework.js',
diff --git a/js/gui.js b/js/gui.js
index 0c506e691..1c36e9799 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -41,7 +41,8 @@ var GUI_control = function () {
         'advanced_tuning',
         'mission_control',
         'mixer',
-        'programming'
+        'programming',
+        'ez_tune'
     ];
     this.allowedTabs = this.defaultAllowedTabsWhenDisconnected;
 
diff --git a/main.css b/main.css
index e919e1292..587088c46 100644
--- a/main.css
+++ b/main.css
@@ -1643,7 +1643,7 @@ dialog {
 /* fixing padding for all Tabs*/
 .tab-setup, .tab-landing, .tab-adjustments, .tab-auxiliary, .tab-cli, .tab-configuration, .tab-failsafe, .tab-onboard_logging,
 .tab-firmware_flasher, .tab-gps, .tab-magnetometer, .tab-help, .tab-led-strip, .tab-logging, .tab-modes, .tab-motors, .tab-pid_tuning,
-.tab-ports, .tab-receiver, .tab-sensors, .tab-servos, .tab-osd, .tab-calibration {
+.tab-ports, .tab-receiver, .tab-sensors, .tab-servos, .tab-osd, .tab-calibration, .tab-ez_tune {
     height: 100%;
     position: relative;
 }
@@ -2278,4 +2278,8 @@ ol li {
 
 .no-border {
     border: none !important;
+}
+
+.bold {
+    font-weight: bold;
 }
\ No newline at end of file
diff --git a/main.html b/main.html
index 3deabe822..1ae594535 100755
--- a/main.html
+++ b/main.html
@@ -205,6 +205,9 @@ <h1 class="modal__title modal__title" data-i18n="appUpdateNotificationHeader"></
                     <li class="tab_failsafe">
                         <a href="#" data-i18n="tabFailsafe" class="tabicon ic_failsafe" title="Failsafe"></a>
                     </li>
+                    <li class="tab_ez_tune">
+                        <a href="#" data-i18n="tabEzTune" class="tabicon ic_wizzard"></a>
+                    </li>
                     <li class="tab_pid_tuning">
                         <a href="#" data-i18n="tabPidTuning" class="tabicon ic_pid" title="PID Tuning"></a>
                     </li>
@@ -251,8 +254,7 @@ <h1 class="modal__title modal__title" data-i18n="appUpdateNotificationHeader"></
                         <a href="#" data-i18n="tabCLI" class="tabicon ic_cli" title="CLI"></a>
                     </li>
 
-                    <!--<li class=""><a href="#" class="tabicon ic_advanced">Advanced (spare icon)</a></li>-->
-                    <!--<li class=""><a href="#" class="tabicon ic_wizzard">Wizzard (spare icon)</a></li>-->
+                    <!-- <li class=""><a href="#" class="tabicon ic_advanced">Advanced (spare icon)</a></li> -->
                 </ul>
             </div>
             <div class="clear-both"></div>
diff --git a/main.js b/main.js
index 7086b3cc9..dd857360d 100644
--- a/main.js
+++ b/main.js
@@ -301,6 +301,9 @@ $(document).ready(function () {
                     case 'cli':
                         TABS.cli.initialize(content_ready);
                         break;
+                    case 'ez_tune':
+                        TABS.ez_tune.initialize(content_ready);
+                        break;
 
                     default:
                         console.log('Tab not found:' + tab);
diff --git a/src/css/tabs/ez_tune.css b/src/css/tabs/ez_tune.css
new file mode 100644
index 000000000..e69de29bb
diff --git a/tabs/ez_tune.html b/tabs/ez_tune.html
new file mode 100644
index 000000000..fc1a0ea47
--- /dev/null
+++ b/tabs/ez_tune.html
@@ -0,0 +1,104 @@
+<!--suppress ALL -->
+<div id="content-watermark"></div>
+<div class="tab-ez_tune toolbar_fixed_bottom">
+    <div class="content_wrapper">            
+        <div class="tab_title" data-i18n="tabEzTune"></div>
+        <div class="clear-both"></div>
+        <div style="display: flex;">
+
+            <div>
+
+            <div class="pid-sliders-axis" data-axis="roll">
+                <div style="padding: 1em;" data-i18n="ezTuneFilterHzTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneFilterHz" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_filter_hz" type="number"/>
+                    </div>
+                </div>
+                <div class="clear-both"></div>
+            </div>
+            
+            <div class="pid-sliders-axis" data-axis="pitch">
+                <div style="padding: 1em;" data-i18n="ezTuneAxisRatioTips"></div>
+                <div class="pid-slider-row">
+                    
+                    <span data-i18n="ezTuneAxisRatio" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_axis_ratio" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+
+                <div style="padding: 1em;" data-i18n="ezTuneResponseTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneResponse" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_response" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+                
+                <div style="padding: 1em;" data-i18n="ezTuneDampingTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneDamping" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_damping" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+
+                <div style="padding: 1em;" data-i18n="ezTuneStabilityTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneStability" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_stability" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+                
+                <div style="padding: 1em;" data-i18n="ezTuneAggressivenessTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneAggressiveness" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_aggressiveness" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+                
+            </div>
+            
+            <div class="pid-sliders-axis" data-axis="yaw">
+                <div style="padding: 1em;" data-i18n="ezTuneRateTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneRate" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_rate" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+                
+                <div style="padding: 1em;" data-i18n="ezTuneExpoTips"></div>
+                <div class="pid-slider-row">
+                    <span data-i18n="ezTuneExpo" class="bold"></span>
+                    <div class="number no-border">
+                        <input id="ez_tune_expo" type="number"/>
+                    </div>
+                    <div class="clear-both"></div>
+                </div>
+            </div>
+
+            </div>
+
+            <div>Bla</div>
+
+        </div>
+
+    </div>
+    <div class="clear-both"></div>
+    <div class="content_toolbar">
+        <div class="btn save_btn">
+            <a class="update" href="#" data-i18n="pidTuning_ButtonSave"></a>
+        </div>
+    </div>
+</div>
\ No newline at end of file
diff --git a/tabs/ez_tune.js b/tabs/ez_tune.js
new file mode 100644
index 000000000..110e78fb9
--- /dev/null
+++ b/tabs/ez_tune.js
@@ -0,0 +1,58 @@
+/*global chrome,helper,mspHelper*/
+'use strict';
+
+TABS.ez_tune = {
+
+};
+
+TABS.ez_tune.initialize = function (callback) {
+
+    var loadChainer = new MSPChainerClass();
+
+    var loadChain = [
+        mspHelper.loadEzTune,
+    ];
+
+    loadChain.push(mspHelper.loadRateProfileData);
+
+    loadChainer.setChain(loadChain);
+    loadChainer.setExitPoint(load_html);
+    loadChainer.execute();
+
+    if (GUI.active_tab != 'ez_tune') {
+        GUI.active_tab = 'ez_tune';
+        googleAnalytics.sendAppView('Ez Tune');
+    }
+
+    function load_html() {
+        GUI.load("./tabs/ez_tune.html", Settings.processHtml(process_html));
+    }
+
+    function process_html() {
+        localize();
+
+        helper.tabs.init($('.tab-ez_tune'));
+        helper.features.updateUI($('.tab-ez_tune'), FEATURES);
+
+        GUI.sliderize($('#ez_tune_filter_hz'), EZ_TUNE.filterHz, 10, 300);
+        GUI.sliderize($('#ez_tune_axis_ratio'), EZ_TUNE.axisRatio, 25, 175);
+        GUI.sliderize($('#ez_tune_response'), EZ_TUNE.response, 0, 200);
+        GUI.sliderize($('#ez_tune_damping'), EZ_TUNE.damping, 0, 200);
+        GUI.sliderize($('#ez_tune_stability'), EZ_TUNE.stability, 0, 200);
+        GUI.sliderize($('#ez_tune_aggressiveness'), EZ_TUNE.aggressiveness, 0, 200);
+
+        GUI.sliderize($('#ez_tune_rate'), EZ_TUNE.rate, 0, 200);
+        GUI.sliderize($('#ez_tune_expo'), EZ_TUNE.expo, 0, 200);
+
+        GUI.simpleBind();
+
+        GUI.content_ready(callback);
+    }
+    
+};
+
+TABS.ez_tune.cleanup = function (callback) {
+    if (callback) {
+        callback();
+    }
+};
\ No newline at end of file

From 851e24031b840bc4172e08c11b2764447c8b3428 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Sun, 8 Oct 2023 21:40:21 +0200
Subject: [PATCH 06/33] Basic preview of PIDFF

---
 js/gui.js                   |  2 ++
 src/css/tabs/pid_tuning.css | 22 +++++++++++++---
 tabs/ez_tune.html           | 52 ++++++++++++++++++++++++++++++-------
 tabs/ez_tune.js             | 40 ++++++++++++++++++++++++++++
 4 files changed, 104 insertions(+), 12 deletions(-)

diff --git a/js/gui.js b/js/gui.js
index 1c36e9799..7a70df4f7 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -456,6 +456,7 @@ GUI_control.prototype.sliderize = function ($input, value, min, max) {
         }
 
         $input.val(val);
+        $input.trigger('updated');
     });
 
     $input.on('change', function() {
@@ -474,6 +475,7 @@ GUI_control.prototype.sliderize = function ($input, value, min, max) {
         }
 
         $range.val(newVal);
+        $input.trigger('updated');
     });
 
     $input.trigger('change');
diff --git a/src/css/tabs/pid_tuning.css b/src/css/tabs/pid_tuning.css
index c8b0f9545..5d6e63e2d 100644
--- a/src/css/tabs/pid_tuning.css
+++ b/src/css/tabs/pid_tuning.css
@@ -436,18 +436,34 @@
     padding: 4px;
 }
 
-.pid-sliders-axis[data-axis="roll"] {
+.pid-sliders-axis[data-axis="roll"],
+.pid-sliders-axis[data-axis="0"] {
     background-color: #8ecae6;
 }
 
-.pid-sliders-axis[data-axis="pitch"] {
+.pid-sliders-axis[data-axis="pitch"],
+.pid-sliders-axis[data-axis="1"]
+ {
     background-color: #00b4d8;
 }
 
-.pid-sliders-axis[data-axis="yaw"] {
+.pid-sliders-axis[data-axis="yaw"],
+.pid-sliders-axis[data-axis="2"]
+{
     background-color: #e9c46a;
 }
 
+.pid-sliders-axis[data-axis="3"]
+{
+    background-color: #f4a261;
+}
+
 #pid-sliders {
     margin-bottom: 1em;
+}
+
+.ez-tune-preview {
+    background-color: #f4a261;
+    margin-left: 1em;
+    margin-bottom: 1em;
 }
\ No newline at end of file
diff --git a/tabs/ez_tune.html b/tabs/ez_tune.html
index fc1a0ea47..9c4f4218b 100644
--- a/tabs/ez_tune.html
+++ b/tabs/ez_tune.html
@@ -13,7 +13,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneFilterHz" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_filter_hz" type="number"/>
+                        <input id="ez_tune_filter_hz" type="number" class="ez-element"/>
                     </div>
                 </div>
                 <div class="clear-both"></div>
@@ -25,7 +25,7 @@
                     
                     <span data-i18n="ezTuneAxisRatio" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_axis_ratio" type="number"/>
+                        <input id="ez_tune_axis_ratio" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -34,7 +34,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneResponse" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_response" type="number"/>
+                        <input id="ez_tune_response" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -43,7 +43,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneDamping" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_damping" type="number"/>
+                        <input id="ez_tune_damping" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -52,7 +52,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneStability" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_stability" type="number"/>
+                        <input id="ez_tune_stability" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -61,7 +61,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneAggressiveness" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_aggressiveness" type="number"/>
+                        <input id="ez_tune_aggressiveness" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -73,7 +73,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneRate" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_rate" type="number"/>
+                        <input id="ez_tune_rate" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -82,7 +82,7 @@
                 <div class="pid-slider-row">
                     <span data-i18n="ezTuneExpo" class="bold"></span>
                     <div class="number no-border">
-                        <input id="ez_tune_expo" type="number"/>
+                        <input id="ez_tune_expo" type="number" class="ez-element"/>
                     </div>
                     <div class="clear-both"></div>
                 </div>
@@ -90,7 +90,41 @@
 
             </div>
 
-            <div>Bla</div>
+            <div class="ez-tune-preview">
+
+                <table>
+                    <tr>
+                        <th>&nbsp;</th>
+                        <th>P</th>
+                        <th>I</th>
+                        <th>D</th>
+                        <th>FF</th>
+                    </tr>
+                    <tr>
+                        <th>Roll</th>
+                        <td id="preview-roll-p"></td>
+                        <td id="preview-roll-i"></td>
+                        <td id="preview-roll-d"></td>
+                        <td id="preview-roll-ff"></td>
+                    </tr>
+                    <tr>
+                        <th>Pitch</th>
+                        <td id="preview-pitch-p"></td>
+                        <td id="preview-pitch-i"></td>
+                        <td id="preview-pitch-d"></td>
+                        <td id="preview-pitch-ff"></td>
+                    </tr>
+                    <tr>
+                        <th>Yaw</th>
+                        <td id="preview-yaw-p"></td>
+                        <td id="preview-yaw-i"></td>
+                        <td id="preview-yaw-d"></td>
+                        <td id="preview-yaw-ff"></td>
+                    </tr>
+                </table>
+
+
+            </div>
 
         </div>
 
diff --git a/tabs/ez_tune.js b/tabs/ez_tune.js
index 110e78fb9..83ddfad13 100644
--- a/tabs/ez_tune.js
+++ b/tabs/ez_tune.js
@@ -13,6 +13,9 @@ TABS.ez_tune.initialize = function (callback) {
         mspHelper.loadEzTune,
     ];
 
+    let EZ_TUNE_PID_RP_DEFAULT = [40, 75, 23, 100];
+    let EZ_TUNE_PID_YAW_DEFAULT = [45, 80, 0, 100];
+
     loadChain.push(mspHelper.loadRateProfileData);
 
     loadChainer.setChain(loadChain);
@@ -28,6 +31,37 @@ TABS.ez_tune.initialize = function (callback) {
         GUI.load("./tabs/ez_tune.html", Settings.processHtml(process_html));
     }
 
+    function getYawPidScale(input) {
+        const normalized = (input - 100) * 0.01;
+    
+        return 1.0 + (normalized * 0.5); 
+    }
+
+    function updatePreview() {
+
+        let axisRatio = $('#ez_tune_axis_ratio').val() / 100;
+        let response = $('#ez_tune_response').val();
+        let damping = $('#ez_tune_damping').val();
+        let stability = $('#ez_tune_stability').val();
+        let aggressiveness = $('#ez_tune_aggressiveness').val();
+
+        $('#preview-roll-p').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[0] * response / 100));
+        $('#preview-roll-i').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[1] * stability / 100));
+        $('#preview-roll-d').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[2] * damping / 100));
+        $('#preview-roll-ff').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[3] * aggressiveness / 100));
+
+        $('#preview-pitch-p').html(Math.floor(axisRatio * EZ_TUNE_PID_RP_DEFAULT[0] * response / 100));
+        $('#preview-pitch-i').html(Math.floor(axisRatio * EZ_TUNE_PID_RP_DEFAULT[1] * stability / 100));
+        $('#preview-pitch-d').html(Math.floor(axisRatio * EZ_TUNE_PID_RP_DEFAULT[2] * damping / 100));
+        $('#preview-pitch-ff').html(Math.floor(axisRatio * EZ_TUNE_PID_RP_DEFAULT[3] * aggressiveness / 100));
+
+        $('#preview-yaw-p').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[0] * getYawPidScale(response)));
+        $('#preview-yaw-i').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[1] * getYawPidScale(stability)));
+        $('#preview-yaw-d').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[2] * getYawPidScale(damping)));
+        $('#preview-yaw-ff').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[3] * getYawPidScale(aggressiveness)));
+
+    }
+
     function process_html() {
         localize();
 
@@ -44,6 +78,12 @@ TABS.ez_tune.initialize = function (callback) {
         GUI.sliderize($('#ez_tune_rate'), EZ_TUNE.rate, 0, 200);
         GUI.sliderize($('#ez_tune_expo'), EZ_TUNE.expo, 0, 200);
 
+
+        $('.ez-element').on('updated', function () {
+            updatePreview();
+        });
+
+
         GUI.simpleBind();
 
         GUI.content_ready(callback);

From c41129b156475a0fd2c70954ffd221f418521ea9 Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Thu, 12 Oct 2023 22:33:49 +0900
Subject: [PATCH 07/33] fix mixer_profie configurator issue

---
 _locales/en/messages.json      |  3 +++
 js/motorMixRule.js             |  6 +++---
 js/motorMixerRuleCollection.js | 18 +++++++++++++++---
 js/msp/MSPHelper.js            |  2 +-
 js/servoMixerRuleCollection.js | 32 +++++++++++++++++++++++++++++---
 tabs/mixer.js                  | 28 ++++++++++++++++++++++++----
 6 files changed, 75 insertions(+), 14 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 474489125..ad4395fab 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -4397,6 +4397,9 @@
     "no_waypoints_to_save": {
         "message": "No waypoints to save !"
     },
+    "mixerThrottleWarning": {
+        "message": "Warning:value beyond normal operation range."
+    },
     "servoMixer": {
         "message": "Servo mixer"
     },
diff --git a/js/motorMixRule.js b/js/motorMixRule.js
index 16b241e18..069578214 100644
--- a/js/motorMixRule.js
+++ b/js/motorMixRule.js
@@ -6,7 +6,7 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
     var self = {};
 
     self.fromMsp = function (mspThrottle, mspRoll, mspPitch, mspYaw) {
-        throttle = mspThrottle / 1000;
+        throttle = Math.round(((mspThrottle / 1000) - 2) * 1000) / 1000;
         roll = Math.round(((mspRoll / 1000) - 2) * 1000) / 1000;
         pitch = Math.round(((mspPitch / 1000) - 2) * 1000) / 1000;
         yaw = Math.round(((mspYaw / 1000) - 2) * 1000) / 1000;
@@ -17,11 +17,11 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
     };
 
     self.getThrottle = function () {
-        return constrain(parseFloat(throttle, 10), 0, 1);
+        return constrain(parseFloat(throttle, 10), -2, 2);
     };
 
     self.getThrottleForMsp = function () {
-        return self.getThrottle() * 1000;
+        return (self.getThrottle()+2) * 1000;
     };
 
     self.setThrottle = function (data) {
diff --git a/js/motorMixerRuleCollection.js b/js/motorMixerRuleCollection.js
index 6a5a6c409..a995f867d 100644
--- a/js/motorMixerRuleCollection.js
+++ b/js/motorMixerRuleCollection.js
@@ -5,6 +5,7 @@ var MotorMixerRuleCollection = function () {
 
     let self = {},
         data = [],
+        inactiveData = [],
         maxMotorCount = 8;
 
     self.setMotorCount = function (value) {
@@ -16,7 +17,11 @@ var MotorMixerRuleCollection = function () {
     };
 
     self.put = function (element) {
-        data.push(element);
+        if (data.length < self.getMotorCount()){
+            data.push(element);            
+        }else{
+            inactiveData.push(element); //store the data for mixer_profile 2
+        }
     };
 
     self.get = function () {
@@ -30,18 +35,25 @@ var MotorMixerRuleCollection = function () {
 
     self.flush = function () {
         data = [];
+        inactiveData = [];
     };
 
     self.cleanup = function () {
         var tmpData = [];
+        var tmpInactiveData = [];
 
         data.forEach(function (element) {
             if (element.isUsed()) {
                 tmpData.push(element);
             }
         });
-
+        inactiveData.forEach(function (element) {
+            if (element.isUsed()) {
+                tmpInactiveData.push(element);
+            }
+        });
         data = tmpData;
+        inactiveData = tmpInactiveData;
     };
 
     self.inflate = function () {
@@ -55,7 +67,7 @@ var MotorMixerRuleCollection = function () {
     };
 
     self.getNumberOfConfiguredMotors = function () {
-        return data.length;
+        return data.length > inactiveData.length ? data.length : inactiveData.length;
     };
 
     return self;
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index a4254e97e..b0e3a8c5d 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -1454,7 +1454,7 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSP2_INAV_MIXER:
                 MIXER_CONFIG.yawMotorDirection = data.getInt8(0);
                 MIXER_CONFIG.yawJumpPreventionLimit = data.getUint8(1, true);
-                MIXER_CONFIG.motorStopOnLow = data.getUint8(2, true);
+                MIXER_CONFIG.motorStopOnLow = data.getUint8(1, true);
                 MIXER_CONFIG.platformType = data.getInt8(3);
                 MIXER_CONFIG.hasFlaps = data.getInt8(4);
                 MIXER_CONFIG.appliedMixerPreset = data.getInt16(5, true);
diff --git a/js/servoMixerRuleCollection.js b/js/servoMixerRuleCollection.js
index 8c3399a2d..e595668dd 100644
--- a/js/servoMixerRuleCollection.js
+++ b/js/servoMixerRuleCollection.js
@@ -5,6 +5,7 @@ let ServoMixerRuleCollection = function () {
 
     let self = {},
         data = [],
+        inactiveData = [],
         maxServoCount = 16;
 
     self.setServoCount = function (value) {
@@ -20,7 +21,11 @@ let ServoMixerRuleCollection = function () {
     }
 
     self.put = function (element) {
-        data.push(element);
+        if (data.length < self.getServoRulesCount()) {
+            data.push(element);
+        }else{
+            inactiveData.push(element); //store the data for mixer_profile 2
+        }
     };
 
     self.get = function () {
@@ -34,18 +39,24 @@ let ServoMixerRuleCollection = function () {
 
     self.flush = function () {
         data = [];
+        inactiveData = [];
     };
 
     self.cleanup = function () {
         var tmpData = [];
-
+        var tmpInactiveData = [];
         data.forEach(function (element) {
             if (element.isUsed()) {
                 tmpData.push(element);
             }
         });
-
+        inactiveData.forEach(function (element) {
+            if (element.isUsed()) {
+                tmpInactiveData.push(element);
+            }
+        });
         data = tmpData;
+        inactiveData = tmpInactiveData;
     };
 
     self.inflate = function () {
@@ -69,6 +80,15 @@ let ServoMixerRuleCollection = function () {
                 }
             }
         }
+        for (let ruleIndex in inactiveData) {
+            if (inactiveData.hasOwnProperty(ruleIndex)) {
+                let rule = inactiveData[ruleIndex];
+
+                if (rule.getTarget() == servoId && rule.isUsed()) {
+                    return true;
+                }
+            }
+        }
         return false;
     };
 
@@ -106,6 +126,12 @@ let ServoMixerRuleCollection = function () {
                 out.push(rule.getTarget());
             }
         }
+        for (let ruleIndex in inactiveData) {
+            if (inactiveData.hasOwnProperty(ruleIndex)) {
+                let rule = inactiveData[ruleIndex];
+                out.push(rule.getTarget());
+            }
+        }
 
         let unique = [...new Set(out)];
 
diff --git a/tabs/mixer.js b/tabs/mixer.js
index 331d14754..815e9197b 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -435,7 +435,10 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
                 $motorMixTableBody.append('\
                     <tr>\
                     <td><span class="mix-rule-motor"></span></td>\
-                    <td><input type="number" class="mix-rule-throttle" step="0.001" min="0" max="1" /></td>\
+                    <td>\
+                        <input type="number" class="mix-rule-throttle" step="0.001" min="-2" max="2" />\
+                        <div class="throttle-warning-text" data-i18n="mixerThrottleWarning" ></div>\
+                    </td>\
                     <td><input type="number" class="mix-rule-roll" step="0.001" min="-2" max="2" /></td>\
                     <td><input type="number" class="mix-rule-pitch" step="0.001" min="-2" max="2" /></td>\
                     <td><input type="number" class="mix-rule-yaw" step="0.001" min="-2" max="2" /></td>\
@@ -446,9 +449,26 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
                 const $row = $motorMixTableBody.find('tr:last');
 
                 $row.find('.mix-rule-motor').html(index);
-                $row.find('.mix-rule-throttle').val(rule.getThrottle()).change(function () {
-                    rule.setThrottle($(this).val());
-                });
+                const $throttleInput = $row.find('.mix-rule-throttle').val(rule.getThrottle());
+                const $warningBox = $row.find('.throttle-warning-text');
+    
+                // Function to update throttle and show/hide warning box
+                function updateThrottle() {
+                    rule.setThrottle($throttleInput.val());
+                    // Change color if value exceeds 1
+                    if (parseFloat($throttleInput.val()) > 1 || parseFloat($throttleInput.val()) < 0) {
+                        $throttleInput.css('background-color', 'orange');
+                        // Show warning box
+                        $warningBox.show();
+                    } else {
+                        $throttleInput.css('background-color', ''); // Reset to default
+                        // Hide warning box
+                        $warningBox.hide();
+                    }
+                }
+                updateThrottle();
+                $throttleInput.change(updateThrottle);
+
                 $row.find('.mix-rule-roll').val(rule.getRoll()).change(function () {
                     rule.setRoll($(this).val());
                 });

From 0bb8c1521b9f83336dde4398fe0c3796ac5e11b2 Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Fri, 13 Oct 2023 04:27:39 +0900
Subject: [PATCH 08/33] minor fix on output mapping

---
 js/servoMixerRuleCollection.js | 7 +++----
 tabs/mixer.js                  | 3 ++-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/js/servoMixerRuleCollection.js b/js/servoMixerRuleCollection.js
index e595668dd..6f2b701c8 100644
--- a/js/servoMixerRuleCollection.js
+++ b/js/servoMixerRuleCollection.js
@@ -133,11 +133,10 @@ let ServoMixerRuleCollection = function () {
             }
         }
 
-        let unique = [...new Set(out)];
 
-        return unique.sort(function(a, b) {
-            return a-b;
-        });
+        let minIndex = Math.min(...out);
+        let maxIndex = Math.max(...out);
+        return Array.from({ length: maxIndex - minIndex + 1 }, (_, index) => minIndex + index);
     }
 
     self.getNextUnusedIndex = function() {
diff --git a/tabs/mixer.js b/tabs/mixer.js
index 815e9197b..8a997b593 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -170,8 +170,9 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
                             motors.push(outputPad);
                         } else {
                             let servo = servoRules.getServoMixRuleFromTarget(omIndex[1]);
+                            if (servo == null) {continue;}
                             let divID = "servoPreview" + omIndex[1];
-
+                            
                             switch (parseInt(servo.getInput())) {
                                 case INPUT_STABILIZED_PITCH:
                                 case STABILIZED_PITCH_POSITIVE:

From 51c33d2bd99a703fc50d409e64cc54b43394e131 Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Sun, 15 Oct 2023 17:26:46 +0900
Subject: [PATCH 09/33] mixer_profile switch support

---
 _locales/en/messages.json | 21 ++++++++++++++++++---
 js/fc.js                  |  1 +
 js/gui.js                 |  1 +
 js/msp/MSPCodes.js        |  4 +++-
 js/msp/MSPHelper.js       |  2 ++
 main.css                  | 11 ++++++++++-
 main.html                 | 10 ++++++++++
 main.js                   | 10 ++++++++++
 tabs/mixer.html           |  5 +++++
 9 files changed, 60 insertions(+), 5 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index ad4395fab..c016cdd6c 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1581,6 +1581,9 @@
     "pidTuning_gyro_dyn_lpf_max_hz_help": {
         "message": "Defines the gyro LPF cutoff frequency at maximum throttle. When throttle is decreased, LPF cutoff frequency is decreased as well, down to the minimum cutoff frequency."
     },
+    "loadedMixerProfile": {
+        "message": "Loaded Mixer Profile: <strong style=\"color: #37a8db\">$1</strong>, Check modes tab: MIXER PROFILE 2 if you don't see the changes"
+    },
     "loadedBatteryProfile": {
         "message": "Loaded Battery Profile: <strong style=\"color: #37a8db\">$1</strong>"
     },
@@ -4883,6 +4886,12 @@
     "motor_direction_inverted_hint": {
         "message": "Enable if the motor direction is reversed and the props are mounted in the opposite direction."
     },
+    "mixer_pid_profile_linking": {
+        "message": "PID Profile will use same index as Mixer Profile index"
+    },
+    "mixer_pid_profile_linking_hint": {
+        "message": "mixer_pid_profile_linking: Enable on both Mixer Profile if you want PID Profile switching handled by Mixer Profile switching(Recommend in vtol/mixed plaform type setup)"
+    },
     "blackboxFields": {
         "message": "Blackbox fields"
     },
@@ -5198,14 +5207,20 @@
     "sensorDataFlashFreeSpace": {
         "message": "Dataflash: free space"
     },
+    "mixerProfile1": {
+        "message": "Mixer profile 1"
+    },
+    "mixerProfile2": {
+        "message": "Mixer profile 2"
+    },
     "sensorProfile1": {
-        "message": "Profile 1"
+        "message": "PID profile 1"
     },
     "sensorProfile2": {
-        "message": "Profile 2"
+        "message": "PID profile 2"
     },
     "sensorProfile3": {
-        "message": "Profile 3"
+        "message": "PID profile 3"
     },
     "sensorBatteryProfile1": {
         "message": "Battery profile 1"
diff --git a/js/fc.js b/js/fc.js
index bd86911ed..124167971 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -118,6 +118,7 @@ var FC = {
             i2cError: 0,
             activeSensors: 0,
             mode: [],
+            mixer_profile: 0,
             profile: 0,
             battery_profile: 0,
             uid: [0, 0, 0],
diff --git a/js/gui.js b/js/gui.js
index 0c506e691..b8db5ddd8 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -260,6 +260,7 @@ GUI_control.prototype.updateStatusBar = function() {
 };
 
 GUI_control.prototype.updateProfileChange = function() {
+    $('#mixerprofilechange').val(CONFIG.mixer_profile);
     $('#profilechange').val(CONFIG.profile);
     $('#batteryprofilechange').val(CONFIG.battery_profile);
 };
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 1d68e548a..5dabd0c2d 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -240,5 +240,7 @@ var MSPCodes = {
     MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
 
     MSP2_INAV_RATE_DYNAMICS:            0x2060,
-    MSP2_INAV_SET_RATE_DYNAMICS:        0x2061
+    MSP2_INAV_SET_RATE_DYNAMICS:        0x2061,
+
+    MSP2_INAV_SELECT_MIXER_PROFILE:     0x2070
 };
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index b0e3a8c5d..8b665427a 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -79,6 +79,8 @@ var mspHelper = (function (gui) {
                 profile_byte = data.getUint8(offset++)
                 CONFIG.profile = profile_byte & 0x0F;
                 CONFIG.battery_profile = (profile_byte & 0xF0) >> 4;
+                profile_byte = data.getUint8(offset++)
+                CONFIG.mixer_profile = profile_byte & 0x0F;
                 CONFIG.armingFlags = data.getUint32(offset, true);
                 offset += 4;
                 gui.updateStatusBar();
diff --git a/main.css b/main.css
index e919e1292..b9deb402c 100644
--- a/main.css
+++ b/main.css
@@ -1685,7 +1685,7 @@ dialog {
     color: white;
     font-size: 10px;
     margin-top: 20px;
-    width: 269px;
+    width: 410px;
     float: right;
     margin-right: 10px;
     line-height: 12px;
@@ -1700,6 +1700,15 @@ dialog {
 
 }
 
+#mixer_profile_change {
+    color: white;
+    margin-top: 16px;
+    width: 130px;
+    float: left;
+    margin-right: 10px;
+    line-height: 12px;
+}
+
 #profile_change {
     color: white;
     margin-top: 16px;
diff --git a/main.html b/main.html
index 3deabe822..fb72ed618 100755
--- a/main.html
+++ b/main.html
@@ -87,6 +87,16 @@ <h1 class="modal__title modal__title" data-i18n="appUpdateNotificationHeader"></
                             <div class="legend" i18n="sensorDataFlashFreeSpace"></div>
                         </li>
                     </ul>
+                    <div id="mixer_profile_change">
+                        <div class="dropdown  dropdown-dark">
+                            <form name="mixer-profile-change" id="mixer-profile-change">
+                                <select class="dropdown-select" id="mixerprofilechange">
+                                <option value="0" i18n="mixerProfile1"></option>
+                                <option value="1" i18n="mixerProfile2"></option>
+                                </select>
+                            </form>
+                        </div>
+                    </div>
                     <div id="profile_change">
                         <div class="dropdown dropdown-dark">
                             <form name="profile-change" id="profile-change">
diff --git a/main.js b/main.js
index 7086b3cc9..2a7772227 100644
--- a/main.js
+++ b/main.js
@@ -545,6 +545,16 @@ $(document).ready(function () {
 
     });
 
+    var mixerprofile_e = $('#mixerprofilechange');
+
+    mixerprofile_e.change(function () {
+        var mixerprofile = parseInt($(this).val());
+        MSP.send_message(MSPCodes.MSP2_INAV_SELECT_MIXER_PROFILE, [mixerprofile], false, function () {
+            GUI.log(chrome.i18n.getMessage('loadedMixerProfile', [mixerprofile + 1]));
+            updateActivatedTab();
+        });
+    });
+
     var profile_e = $('#profilechange');
 
     profile_e.change(function () {
diff --git a/tabs/mixer.html b/tabs/mixer.html
index ddfad9a76..85debdd6a 100644
--- a/tabs/mixer.html
+++ b/tabs/mixer.html
@@ -20,6 +20,11 @@
                             <label for="motor_direction_inverted"><span data-i18n="motor_direction_inverted"></span></label>
                             <div class="helpicon cf_tip" data-i18n_title="motor_direction_inverted_hint"></div>
                         </div>
+                        <div class="checkbox">
+                            <input id="mixer_pid_profile_linking" type="checkbox" class="toggle" data-setting="mixer_pid_profile_linking" />
+                            <label for="mixer_pid_profile_linking"><span data-i18n="mixer_pid_profile_linking"></span></label>
+                            <div class="helpicon cf_tip" data-i18n_title="mixer_pid_profile_linking_hint"></div>
+                        </div>
                     </div>
                 </div>
             

From e1c217f0d07c86c007c2de39c7086552fa76011f Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Mon, 16 Oct 2023 09:34:58 +0900
Subject: [PATCH 10/33] reboot when mixer_profile changed by gui

---
 main.js | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/main.js b/main.js
index 2a7772227..570690c46 100644
--- a/main.js
+++ b/main.js
@@ -551,7 +551,10 @@ $(document).ready(function () {
         var mixerprofile = parseInt($(this).val());
         MSP.send_message(MSPCodes.MSP2_INAV_SELECT_MIXER_PROFILE, [mixerprofile], false, function () {
             GUI.log(chrome.i18n.getMessage('loadedMixerProfile', [mixerprofile + 1]));
-            updateActivatedTab();
+            MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, function () {
+                GUI.log(chrome.i18n.getMessage('deviceRebooting'));
+                GUI.handleReconnect();
+            });
         });
     });
 

From 09170f5bbf62523d75ed6093603cabeb5c45d1ab Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Thu, 19 Oct 2023 19:17:56 +0200
Subject: [PATCH 11/33] Preview

---
 _locales/en/messages.json   | 15 +++++++++++++++
 src/css/tabs/ez_tune.css    | 32 ++++++++++++++++++++++++++++++++
 src/css/tabs/pid_tuning.css |  6 ------
 tabs/ez_tune.html           | 35 ++++++++++++++++++++++++++++-------
 tabs/ez_tune.js             | 17 +++++++++++++++++
 5 files changed, 92 insertions(+), 13 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index a304f5f68..cdee6ebbd 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5534,5 +5534,20 @@
     },
     "ezTuneExpoTips": {
         "message": "Defines expo of the RC input. Lower values result in more sensitive stick in the center. Higher values result in less sensitive center and more rapid response at the end of the stick. Value of 0 is the equivalent of 0 expo, 100 is the equivalent of 0.7 expo, 200 is the equivalent of 1.0 expo."
+    },
+    "ezTunePidPreview": {
+        "message": "PID preview"
+    },
+    "ezTuneRatePreview": {
+        "message": "Rate preview"
+    },
+    "ezTuneRatePreviewAxis" : {
+        "message": "Axis"
+    },
+    "ezTuneRatePreviewRate" : {
+        "message": "Rate"
+    },
+    "ezTuneRatePreviewExpo" : {
+        "message": "Expo"
     }
 }
\ No newline at end of file
diff --git a/src/css/tabs/ez_tune.css b/src/css/tabs/ez_tune.css
index e69de29bb..de947d63f 100644
--- a/src/css/tabs/ez_tune.css
+++ b/src/css/tabs/ez_tune.css
@@ -0,0 +1,32 @@
+.ez-tune-preview {
+    background-color: #8ecae6;
+    margin-left: 1em;
+    margin-bottom: 1em;
+    min-width: 25%;
+    padding: 0.5em;
+}
+
+.ez-tune-preview h2 {
+    font-size: 1.3em;
+    margin-bottom: 1em;
+    margin-top: 0.5em;
+    color: #303030
+}
+
+.ez-tune-preview table {
+    width: 100%;
+}
+
+.ez-tune-preview table td,
+.ez-tune-preview table th {
+    padding: 0.5em;
+    text-align: center;
+}
+
+.ez-tune-preview table th {
+    background-color: #3EA5D4;
+}
+
+.ez-tune-preview table td {
+    background-color: #A8D6EC;
+}
diff --git a/src/css/tabs/pid_tuning.css b/src/css/tabs/pid_tuning.css
index 5d6e63e2d..b4bf1c280 100644
--- a/src/css/tabs/pid_tuning.css
+++ b/src/css/tabs/pid_tuning.css
@@ -460,10 +460,4 @@
 
 #pid-sliders {
     margin-bottom: 1em;
-}
-
-.ez-tune-preview {
-    background-color: #f4a261;
-    margin-left: 1em;
-    margin-bottom: 1em;
 }
\ No newline at end of file
diff --git a/tabs/ez_tune.html b/tabs/ez_tune.html
index 9c4f4218b..73c53b678 100644
--- a/tabs/ez_tune.html
+++ b/tabs/ez_tune.html
@@ -91,7 +91,7 @@
             </div>
 
             <div class="ez-tune-preview">
-
+                <h2 data-i18n="ezTunePidPreview"></h2>
                 <table>
                     <tr>
                         <th>&nbsp;</th>
@@ -101,33 +101,54 @@
                         <th>FF</th>
                     </tr>
                     <tr>
-                        <th>Roll</th>
+                        <th data-i18n="axisRoll"></th>
                         <td id="preview-roll-p"></td>
                         <td id="preview-roll-i"></td>
                         <td id="preview-roll-d"></td>
                         <td id="preview-roll-ff"></td>
                     </tr>
                     <tr>
-                        <th>Pitch</th>
+                        <th data-i18n="axisPitch"></th>
                         <td id="preview-pitch-p"></td>
                         <td id="preview-pitch-i"></td>
                         <td id="preview-pitch-d"></td>
                         <td id="preview-pitch-ff"></td>
                     </tr>
                     <tr>
-                        <th>Yaw</th>
+                        <th data-i18n="axisYaw"></th>
                         <td id="preview-yaw-p"></td>
                         <td id="preview-yaw-i"></td>
                         <td id="preview-yaw-d"></td>
                         <td id="preview-yaw-ff"></td>
                     </tr>
                 </table>
-
-
+                <h2 data-i18n="ezTuneRatePreview"></h2>
+                <table>
+                    <tr>
+                        <th data-i18n="ezTuneRatePreviewAxis"></th>
+                        <th data-i18n="ezTuneRatePreviewRate"></th>
+                        <th data-i18n="ezTuneRatePreviewExpo"></th>
+                    </tr>
+                    <tr>
+                        <th data-i18n="axisRoll"></th>
+                        <td id="preview-roll-rate"></td>
+                        <td id="preview-roll-expo"></td>
+                    </tr>
+                    <tr>
+                        <th data-i18n="axisPitch"></th>
+                        <td id="preview-pitch-rate"></td>
+                        <td id="preview-pitch-expo"></td>
+                    </tr>
+                    <tr>
+                        <th data-i18n="axisYaw"></th>
+                        <td id="preview-yaw-rate"></td>
+                        <td id="preview-yaw-expo"></td>
+                    </tr>
+                </table>
             </div>
 
         </div>
-
+        <div class="clear-both"></div>
     </div>
     <div class="clear-both"></div>
     <div class="content_toolbar">
diff --git a/tabs/ez_tune.js b/tabs/ez_tune.js
index 83ddfad13..b0ce6b4f7 100644
--- a/tabs/ez_tune.js
+++ b/tabs/ez_tune.js
@@ -37,6 +37,12 @@ TABS.ez_tune.initialize = function (callback) {
         return 1.0 + (normalized * 0.5); 
     }
 
+    function scaleRange(x, srcMin, srcMax, destMin, destMax) {
+        let a = (destMax - destMin) * (x - srcMin);
+        let b = srcMax - srcMin;
+        return ((a / b) + destMin);
+    }
+
     function updatePreview() {
 
         let axisRatio = $('#ez_tune_axis_ratio').val() / 100;
@@ -44,6 +50,8 @@ TABS.ez_tune.initialize = function (callback) {
         let damping = $('#ez_tune_damping').val();
         let stability = $('#ez_tune_stability').val();
         let aggressiveness = $('#ez_tune_aggressiveness').val();
+        let rate = $('#ez_tune_rate').val();
+        let expo = $('#ez_tune_expo').val();
 
         $('#preview-roll-p').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[0] * response / 100));
         $('#preview-roll-i').html(Math.floor(EZ_TUNE_PID_RP_DEFAULT[1] * stability / 100));
@@ -60,6 +68,14 @@ TABS.ez_tune.initialize = function (callback) {
         $('#preview-yaw-d').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[2] * getYawPidScale(damping)));
         $('#preview-yaw-ff').html(Math.floor(EZ_TUNE_PID_YAW_DEFAULT[3] * getYawPidScale(aggressiveness)));
 
+        $('#preview-roll-rate').html(Math.floor(scaleRange(rate, 0, 200, 30, 90)) * 10 + " dps");
+        $('#preview-pitch-rate').html(Math.floor(scaleRange(rate, 0, 200, 30, 90)) * 10 + " dps");
+        $('#preview-yaw-rate').html((Math.floor(scaleRange(rate, 0, 200, 30, 90)) - 10) * 10 + " dps");
+
+        $('#preview-roll-expo').html(Math.floor(scaleRange(expo, 0, 200, 40, 100)) + "%");
+        $('#preview-pitch-expo').html(Math.floor(scaleRange(expo, 0, 200, 40, 100)) + "%");
+        $('#preview-yaw-expo').html(Math.floor(scaleRange(expo, 0, 200, 40, 100)) + "%");
+
     }
 
     function process_html() {
@@ -83,6 +99,7 @@ TABS.ez_tune.initialize = function (callback) {
             updatePreview();
         });
 
+        updatePreview();
 
         GUI.simpleBind();
 

From 9ff0e539f5b4077b80ea89a9ef55623fb31e696f Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Fri, 20 Oct 2023 12:15:20 +0200
Subject: [PATCH 12/33] Fix enabled state

---
 _locales/en/messages.json   |   3 +
 js/msp/MSPHelper.js         |   5 +-
 src/css/tabs/pid_tuning.css |  13 +++-
 tabs/ez_tune.html           | 141 +++++++++++++++++++-----------------
 tabs/ez_tune.js             |  50 ++++++++++++-
 5 files changed, 140 insertions(+), 72 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index cdee6ebbd..d5497b894 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5549,5 +5549,8 @@
     },
     "ezTuneRatePreviewExpo" : {
         "message": "Expo"
+    },
+    "ezTuneEnabledTips": {
+        "message": ""
     }
 }
\ No newline at end of file
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 8c6342141..cea0470cb 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -1584,7 +1584,7 @@ var mspHelper = (function (gui) {
                 break;
 
             case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
-                console.log('Rate dynamics saved');
+                console.log('EzTune settings saved');
                 break;
 
             default:
@@ -2235,6 +2235,9 @@ var mspHelper = (function (gui) {
                 buffer.push(EZ_TUNE.aggressiveness);
                 buffer.push(EZ_TUNE.rate);
                 buffer.push(EZ_TUNE.expo);
+                console.log(buffer);
+                break;
+
 
             default:
                 return false;
diff --git a/src/css/tabs/pid_tuning.css b/src/css/tabs/pid_tuning.css
index b4bf1c280..37a9aa512 100644
--- a/src/css/tabs/pid_tuning.css
+++ b/src/css/tabs/pid_tuning.css
@@ -401,18 +401,21 @@
     /* background: #D6D6D6 linear-gradient(-45deg, rgba(255, 255, 255, .2) 10%, transparent 10%, transparent 20%, rgba(255, 255, 255, .2) 20%, rgba(255, 255, 255, .2) 30%, transparent 30%, transparent 40%, rgba(255, 255, 255, .2) 40%, rgba(255, 255, 255, .2) 50%, transparent 50%, transparent 60%, rgba(255, 255, 255, .2) 60%, rgba(255, 255, 255, .2) 70%, transparent 70%, transparent 80%, rgba(255, 255, 255, .2) 80%, rgba(255, 255, 255, .2) 90%, transparent 90%, transparent 100%, rgba(255, 255, 255, .2) 100%, transparent); */
 }
 
-.pid-slider-row {
+.pid-slider-row,
+.pid-switch-row {
     display: flex;
     padding: 4px;
 }
 
-.pid-slider-row span {
+.pid-slider-row span,
+.pid-switch-row .label {
     margin-right: 2em;
     width: 120px;
     line-height: 22px;;
 }
 
-.pid-slider-row input[type="number"] {
+.pid-slider-row input[type="number"],
+.pid-switch-row input[type="number"] {
     font-family: 'open_sansregular', 'Segoe UI', Tahoma, sans-serif;
     background-color: #fff;
     border: 1px solid #ccc;
@@ -422,7 +425,9 @@
     margin-right: 2em;            
 }
 
-.pid-slider-row input[type="range"] {
+.pid-slider-row input[type="range"],
+.pid-switch-row input[type="range"]
+ {
     display: block;
     flex-grow: 100;
 }
diff --git a/tabs/ez_tune.html b/tabs/ez_tune.html
index 73c53b678..252401a3c 100644
--- a/tabs/ez_tune.html
+++ b/tabs/ez_tune.html
@@ -1,92 +1,103 @@
 <!--suppress ALL -->
 <div id="content-watermark"></div>
 <div class="tab-ez_tune toolbar_fixed_bottom">
-    <div class="content_wrapper">            
+    <div class="content_wrapper">
         <div class="tab_title" data-i18n="tabEzTune"></div>
         <div class="clear-both"></div>
         <div style="display: flex;">
 
             <div>
 
-            <div class="pid-sliders-axis" data-axis="roll">
-                <div style="padding: 1em;" data-i18n="ezTuneFilterHzTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneFilterHz" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_filter_hz" type="number" class="ez-element"/>
-                    </div>
-                </div>
-                <div class="clear-both"></div>
-            </div>
-            
-            <div class="pid-sliders-axis" data-axis="pitch">
-                <div style="padding: 1em;" data-i18n="ezTuneAxisRatioTips"></div>
-                <div class="pid-slider-row">
-                    
-                    <span data-i18n="ezTuneAxisRatio" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_axis_ratio" type="number" class="ez-element"/>
+                <div class="pid-sliders-axis" style="background-color: #2a9d8f;">
+                    <div style="padding: 1em;" data-i18n="ezTuneEnabledTips"></div>
+                    <div class="pid-switch-row">
+                        <span data-i18n="configurationFeatureEnabled" class="bold label"></span>
+                        <div class="checkbox no-border">
+                            <input id="ez_tune_enabled" type="checkbox" class="ez-element toggle" />
+                        </div>
                     </div>
                     <div class="clear-both"></div>
                 </div>
 
-                <div style="padding: 1em;" data-i18n="ezTuneResponseTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneResponse" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_response" type="number" class="ez-element"/>
+                <div class="pid-sliders-axis" data-axis="roll">
+                    <div style="padding: 1em;" data-i18n="ezTuneFilterHzTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneFilterHz" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_filter_hz" type="number" class="ez-element" />
+                        </div>
                     </div>
                     <div class="clear-both"></div>
                 </div>
-                
-                <div style="padding: 1em;" data-i18n="ezTuneDampingTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneDamping" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_damping" type="number" class="ez-element"/>
+
+                <div class="pid-sliders-axis" data-axis="pitch">
+                    <div style="padding: 1em;" data-i18n="ezTuneAxisRatioTips"></div>
+                    <div class="pid-slider-row">
+
+                        <span data-i18n="ezTuneAxisRatio" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_axis_ratio" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
                     </div>
-                    <div class="clear-both"></div>
-                </div>
 
-                <div style="padding: 1em;" data-i18n="ezTuneStabilityTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneStability" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_stability" type="number" class="ez-element"/>
+                    <div style="padding: 1em;" data-i18n="ezTuneResponseTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneResponse" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_response" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
                     </div>
-                    <div class="clear-both"></div>
-                </div>
-                
-                <div style="padding: 1em;" data-i18n="ezTuneAggressivenessTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneAggressiveness" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_aggressiveness" type="number" class="ez-element"/>
+
+                    <div style="padding: 1em;" data-i18n="ezTuneDampingTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneDamping" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_damping" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
                     </div>
-                    <div class="clear-both"></div>
-                </div>
-                
-            </div>
-            
-            <div class="pid-sliders-axis" data-axis="yaw">
-                <div style="padding: 1em;" data-i18n="ezTuneRateTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneRate" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_rate" type="number" class="ez-element"/>
+
+                    <div style="padding: 1em;" data-i18n="ezTuneStabilityTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneStability" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_stability" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
                     </div>
-                    <div class="clear-both"></div>
+
+                    <div style="padding: 1em;" data-i18n="ezTuneAggressivenessTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneAggressiveness" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_aggressiveness" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
+                    </div>
+
                 </div>
-                
-                <div style="padding: 1em;" data-i18n="ezTuneExpoTips"></div>
-                <div class="pid-slider-row">
-                    <span data-i18n="ezTuneExpo" class="bold"></span>
-                    <div class="number no-border">
-                        <input id="ez_tune_expo" type="number" class="ez-element"/>
+
+                <div class="pid-sliders-axis" data-axis="yaw">
+                    <div style="padding: 1em;" data-i18n="ezTuneRateTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneRate" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_rate" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
+                    </div>
+
+                    <div style="padding: 1em;" data-i18n="ezTuneExpoTips"></div>
+                    <div class="pid-slider-row">
+                        <span data-i18n="ezTuneExpo" class="bold"></span>
+                        <div class="number no-border">
+                            <input id="ez_tune_expo" type="number" class="ez-element" />
+                        </div>
+                        <div class="clear-both"></div>
                     </div>
-                    <div class="clear-both"></div>
                 </div>
-            </div>
 
             </div>
 
diff --git a/tabs/ez_tune.js b/tabs/ez_tune.js
index b0ce6b4f7..8128deb5e 100644
--- a/tabs/ez_tune.js
+++ b/tabs/ez_tune.js
@@ -7,9 +7,9 @@ TABS.ez_tune = {
 
 TABS.ez_tune.initialize = function (callback) {
 
-    var loadChainer = new MSPChainerClass();
+    let loadChainer = new MSPChainerClass();
 
-    var loadChain = [
+    let loadChain = [
         mspHelper.loadEzTune,
     ];
 
@@ -22,6 +22,29 @@ TABS.ez_tune.initialize = function (callback) {
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
+    var saveChainer = new MSPChainerClass();
+
+    var saveChain = [
+        mspHelper.saveEzTune,
+        mspHelper.saveToEeprom
+    ];
+
+    saveChainer.setChain(saveChain);
+    saveChainer.setExitPoint(reboot);
+
+    function reboot() {
+        //noinspection JSUnresolvedVariable
+        GUI.log(chrome.i18n.getMessage('configurationEepromSaved'));
+        GUI.tab_switch_cleanup(function () {
+            MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, reinitialize);
+        });
+    }
+
+    function reinitialize() {
+        GUI.log(chrome.i18n.getMessage('deviceRebooting'));
+        GUI.handleReconnect($('.tab_ez_tune a'));
+    }
+
     if (GUI.active_tab != 'ez_tune') {
         GUI.active_tab = 'ez_tune';
         googleAnalytics.sendAppView('Ez Tune');
@@ -84,6 +107,8 @@ TABS.ez_tune.initialize = function (callback) {
         helper.tabs.init($('.tab-ez_tune'));
         helper.features.updateUI($('.tab-ez_tune'), FEATURES);
 
+        $("#ez_tune_enabled").prop('checked', EZ_TUNE.enabled);
+
         GUI.sliderize($('#ez_tune_filter_hz'), EZ_TUNE.filterHz, 10, 300);
         GUI.sliderize($('#ez_tune_axis_ratio'), EZ_TUNE.axisRatio, 25, 175);
         GUI.sliderize($('#ez_tune_response'), EZ_TUNE.response, 0, 200);
@@ -104,6 +129,27 @@ TABS.ez_tune.initialize = function (callback) {
         GUI.simpleBind();
 
         GUI.content_ready(callback);
+
+        $('a.update').on('click', function () {
+
+            if ($("#ez_tune_enabled").is(":checked")) {
+                EZ_TUNE.enabled = 1;
+            } else {
+                EZ_TUNE.enabled = 0;
+            }
+
+            EZ_TUNE.filterHz = $('#ez_tune_filter_hz').val();
+            EZ_TUNE.axisRatio = $('#ez_tune_axis_ratio').val();
+            EZ_TUNE.response = $('#ez_tune_response').val();
+            EZ_TUNE.damping = $('#ez_tune_damping').val();
+            EZ_TUNE.stability = $('#ez_tune_stability').val();
+            EZ_TUNE.aggressiveness = $('#ez_tune_aggressiveness').val();
+            EZ_TUNE.rate = $('#ez_tune_rate').val();
+            EZ_TUNE.expo = $('#ez_tune_expo').val();
+
+            saveChainer.execute();
+        });
+
     }
     
 };

From 16935897b383d853d7de3115f34ea95358753ee9 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Fri, 20 Oct 2023 12:20:12 +0200
Subject: [PATCH 13/33] Add description

---
 _locales/en/messages.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index d5497b894..9e3773c41 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5551,6 +5551,6 @@
         "message": "Expo"
     },
     "ezTuneEnabledTips": {
-        "message": ""
+        "message": "When enabled, <strong>Ez Tune</strong> will override multiple INAV setting to simplify the tuning process. Instead of setting each PID and filtering setting independently, you only have to work with 7 sliders. Ez Tune will automatically adjust all other settings to match your needs. Ez Tune is a great starting point for new users and a great way to quickly tune a new UAV. It is not recommended to use Ez Tune on advanced builds, as it will override all your settings and you will not be able to fine tune your UAV. When Ez Tune is enabled, settings from the <strong>PID tuning</strong> tab will be overriden by EzTune."
     }
 }
\ No newline at end of file

From 3e627f1a5b35fa721b51249e74522bba9ca4bbfd Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Fri, 20 Oct 2023 12:25:30 +0200
Subject: [PATCH 14/33] Add a disclaimer

---
 _locales/en/messages.json | 3 +++
 tabs/ez_tune.html         | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 9e3773c41..7a1edb393 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5552,5 +5552,8 @@
     },
     "ezTuneEnabledTips": {
         "message": "When enabled, <strong>Ez Tune</strong> will override multiple INAV setting to simplify the tuning process. Instead of setting each PID and filtering setting independently, you only have to work with 7 sliders. Ez Tune will automatically adjust all other settings to match your needs. Ez Tune is a great starting point for new users and a great way to quickly tune a new UAV. It is not recommended to use Ez Tune on advanced builds, as it will override all your settings and you will not be able to fine tune your UAV. When Ez Tune is enabled, settings from the <strong>PID tuning</strong> tab will be overriden by EzTune."
+    },
+    "ezTuneDisclaimer": {
+        "message": "<strong>Disclaimer:</strong> Ez Tune is an experimental function. It is not guaranteed to work on all UAVs. It is not guaranteed to work with all frame types. It is not guaranteed to work with all propellers. All computations and tuning result can change in future versions of INAV. We still encourage you to check it out and share your experience on INAV Discord in the <strong>#ez-tune</strong> channel"
     }
 }
\ No newline at end of file
diff --git a/tabs/ez_tune.html b/tabs/ez_tune.html
index 252401a3c..6545bbfb7 100644
--- a/tabs/ez_tune.html
+++ b/tabs/ez_tune.html
@@ -3,6 +3,11 @@
 <div class="tab-ez_tune toolbar_fixed_bottom">
     <div class="content_wrapper">
         <div class="tab_title" data-i18n="tabEzTune"></div>
+        <div class="note spacebottom">
+            <div class="note_spacer">
+                <p i18n="ezTuneDisclaimer"></p>
+            </div>
+        </div>
         <div class="clear-both"></div>
         <div style="display: flex;">
 

From 1473abe0df7266458cb254d60d013e98933f9b58 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@outlook.com>
Date: Fri, 20 Oct 2023 12:34:52 +0200
Subject: [PATCH 15/33] disable PID Tuning when Ez Tune is enabled

---
 _locales/en/messages.json |  3 +++
 tabs/pid_tuning.html      | 11 +++++++++--
 tabs/pid_tuning.js        | 12 +++++++++++-
 3 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 7a1edb393..d7602bca3 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -5555,5 +5555,8 @@
     },
     "ezTuneDisclaimer": {
         "message": "<strong>Disclaimer:</strong> Ez Tune is an experimental function. It is not guaranteed to work on all UAVs. It is not guaranteed to work with all frame types. It is not guaranteed to work with all propellers. All computations and tuning result can change in future versions of INAV. We still encourage you to check it out and share your experience on INAV Discord in the <strong>#ez-tune</strong> channel"
+    },
+    "ezTuneNote": {
+        "message": "<strong>Important</strong> Ez Tune is enabled. All settings on this tab are set and controlled by the Ez Tune. To use PID Tuning tab you have to disable Ez Tune. To do it, uncheck the <strong>Enabled</strong> checkbox on the Ez Tune tab."
     }
 }
\ No newline at end of file
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index dda2cb752..0401edc92 100644
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -1,7 +1,14 @@
 <!--suppress ALL -->
 <div id="content-watermark"></div>
 <div class="tab-pid_tuning toolbar_fixed_bottom">
-    <div class="content_wrapper">
+    <div id="note-wrapper" class="content_wrapper">
+        <div class="note spacebottom">
+            <div class="note_spacer">
+                <p i18n="ezTuneNote"></p>
+            </div>
+        </div>
+    </div>
+    <div id="tuning-wrapper" class="content_wrapper">
         <div class="tab_title subtab__header">
             <span class="subtab__header_label subtab__header_label--current" for="subtab-pid" data-i18n="pidTuning_PIDgains"></span>
             <span class="subtab__header_label" for="subtab-rates" data-i18n="pidTuning_RatesAndExpo"></span>
@@ -683,7 +690,7 @@ <h3 data-i18n="pidTuning_RateDynamics_Weight"></h3>
         </div>
     </div>
     <div class="clear-both"></div>
-    <div class="content_toolbar">
+    <div id="tuning-footer" class="content_toolbar">
         <div class="btn save_btn">
             <a class="update" href="#" data-i18n="pidTuning_ButtonSave"></a>
         </div>
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index e87938f4a..856ad28b8 100644
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -16,7 +16,8 @@ TABS.pid_tuning.initialize = function (callback) {
         mspHelper.loadPidAdvanced,
         mspHelper.loadFilterConfig,
         mspHelper.loadFeatures,
-        mspHelper.loadRateDynamics
+        mspHelper.loadRateDynamics,
+        mspHelper.loadEzTune
     ];
     loadChain.push(mspHelper.loadRateProfileData);
 
@@ -125,6 +126,15 @@ TABS.pid_tuning.initialize = function (callback) {
     }
     function process_html() {
         // translate to user-selected language
+
+        if (EZ_TUNE.enabled) {
+            $("#tuning-wrapper").remove();
+            $("#tuning-footer").remove();
+            $('#note-wrapper').show();
+        } else {
+            $("#note-wrapper").remove();
+        }
+
         localize();
 
         helper.tabs.init($('.tab-pid_tuning'));

From 31d05169d409d241c7368847dc6f8ab8a93c4b40 Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Sat, 21 Oct 2023 00:51:50 +0900
Subject: [PATCH 16/33] fix motor stop on low preset

---
 js/defaults_dialog.js | 9 +--------
 js/model.js           | 9 +++++++++
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/js/defaults_dialog.js b/js/defaults_dialog.js
index 0a57d701b..9f9641b11 100644
--- a/js/defaults_dialog.js
+++ b/js/defaults_dialog.js
@@ -822,10 +822,6 @@ helper.defaultsDialog = (function () {
                 key: "nav_fw_launch_climb_angle",
                 value: 25
             },
-            {
-                key: "motorstop_on_low",
-                value: "ON"
-            },
         ],
     },
     {
@@ -1039,10 +1035,6 @@ helper.defaultsDialog = (function () {
                 key: "nav_fw_launch_climb_angle",
                 value: 25
             },
-            {
-                key: "motorstop_on_low",
-                value: "ON"
-            },
         ],
     },
     {
@@ -1201,6 +1193,7 @@ helper.defaultsDialog = (function () {
                     
                     MIXER_CONFIG.platformType = currentMixerPreset.platform;
                     MIXER_CONFIG.appliedMixerPreset = selectedDefaultPreset.mixerToApply;
+                    MIXER_CONFIG.motorStopOnLow = (currentMixerPreset.motorStopOnLow === true) ? true : false;
                     MIXER_CONFIG.hasFlaps = (currentMixerPreset.hasFlaps === true) ? true : false;
 
                     SERVO_RULES.cleanup();
diff --git a/js/model.js b/js/model.js
index 806140b14..aaeafd7a7 100644
--- a/js/model.js
+++ b/js/model.js
@@ -350,6 +350,7 @@ const mixerList = [
         enabled: true,
         legacy: true,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.0),
         ],
@@ -373,6 +374,7 @@ const mixerList = [
         enabled: true,
         legacy: false,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.1),
             new MotorMixRule(1.0, 0.0, 0.0, -0.1)
@@ -399,6 +401,7 @@ const mixerList = [
         enabled: true,
         legacy: true,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         hasFlaps: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.0),
@@ -427,6 +430,7 @@ const mixerList = [
         enabled: true,
         legacy: false,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         hasFlaps: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.3),
@@ -456,6 +460,7 @@ const mixerList = [
         enabled: true,
         legacy: false,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         hasFlaps: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.0),
@@ -486,6 +491,7 @@ const mixerList = [
         enabled: true,
         legacy: false,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         hasFlaps: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.3),
@@ -516,6 +522,7 @@ const mixerList = [
         enabled: true,
         legacy: false,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.0),
         ],
@@ -542,6 +549,7 @@ const mixerList = [
         legacy: false,
         platform: PLATFORM_AIRPLANE,
         hasFlaps: true,
+        motorStopOnLow: true,
         motorMixer: [
             new MotorMixRule(1.0, 0.0, 0.0, 0.0),
         ],
@@ -568,6 +576,7 @@ const mixerList = [
         enabled: false,
         legacy: true,
         platform: PLATFORM_AIRPLANE,
+        motorStopOnLow: true,
         motorMixer: [],
         servoMixer: []
     }, // 24

From 55a22caf64d5023822d8f1679a1ef763ceb958a0 Mon Sep 17 00:00:00 2001
From: Samiksha Mishra <38784342+mishrasamiksha@users.noreply.github.com>
Date: Thu, 26 Oct 2023 14:07:53 +0530
Subject: [PATCH 17/33] Update README.md

corrected the typo error
---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 9bcbb5711..08f432448 100644
--- a/README.md
+++ b/README.md
@@ -84,7 +84,7 @@ On some Linux distros, you may be missing `libatomic`, a `NW.JS` (specially `lib
 * Debian / Ubuntu: `sudo apt install libatomic1`
 * Fedora: `sudo dnf install libatomic`
 
-1. Dont forget to add your user into dialout group "sudo usermod -aG dialout YOUR_USERNAME" for serial access
+1. Don't forget to add your user into dialout group "sudo usermod -aG dialout YOUR_USERNAME" for serial access
 2. If you have 3D model animation problems, enable "Override software rendering list" in Chrome flags chrome://flags/#ignore-gpu-blacklist
 
 ### Mac
@@ -128,7 +128,7 @@ To be able to open Inspector, you will need SDK flavours of NW.js
 ## Different map providers
 
 INAV Configurator 2.1 allows to choose between OpenStreetMap, Bing Maps (Aerial View), and MapProxy map providers.
-INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: every user who wants to use Bing Maps has to create own account, agree to all _Terms and Conditions_ required by Bing Maps and configure INAV Configuerator by himself.
+INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: every user who wants to use Bing Maps has to create own account, agree to all _Terms and Conditions_ required by Bing Maps and configure INAV Configurator by himself.
 
 ### How to choose Map provider
 

From a23b29a935ba6e4cc0bdd3af6e0f541daa481167 Mon Sep 17 00:00:00 2001
From: Farookh Zaheer Siddiqui <129654632+FarukhS52@users.noreply.github.com>
Date: Sat, 28 Oct 2023 13:13:24 +0530
Subject: [PATCH 18/33] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 08f432448..8e0d87611 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # INAV Configurator
 
-INAV Configurator is a crossplatform configuration tool for the [INAV](https://github.com/iNavFlight/inav) flight control system.
+INAV Configurator is a cross-platform configuration tool for the [INAV](https://github.com/iNavFlight/inav) flight control system.
 
 It runs as an app within Google Chrome and allows you to configure the INAV software running on any supported INAV target.
 
@@ -121,7 +121,7 @@ To build a specific release, use the command `release --platform="win64"` for ex
 
 ### Running with debug | Inspector
 
-To be able to open Inspector, you will need SDK flavours of NW.js
+To be able to open Inspector, you will need SDK flavors of NW.js
 
 `npm install nw@0.61.0 --nwjs_build_type=sdk`
 

From e72219f90dd943e78662476973b493f133d52a4c Mon Sep 17 00:00:00 2001
From: Farookh Zaheer Siddiqui <129654632+FarukhS52@users.noreply.github.com>
Date: Sat, 28 Oct 2023 13:14:38 +0530
Subject: [PATCH 19/33] Update MAPPROXY.md

---
 MAPPROXY.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/MAPPROXY.md b/MAPPROXY.md
index d6d99a2d6..7da63d648 100644
--- a/MAPPROXY.md
+++ b/MAPPROXY.md
@@ -175,13 +175,13 @@ https://hub.docker.com/r/yagajs/mapproxy/ Docker image (untested)
         base: GLOBAL_MERCATOR
         origin: ul
     ```
-1. You can use any map provider that is compatible with MapProxy, and once you zoom in on the region you will be flying in, the map tiles will be cached for offline use. You can test this by disabling your internet connection and browsing the demo url in a browser
+1. You can use any map provider that is compatible with MapProxy, and once you zoom in on the region you will be flying in, the map tiles will be cached for offline use. You can test this by disabling your internet connection and browsing the demo URL in a browser
 	  
     https://wiki.openstreetmap.org/wiki/WMS#OSM_WMS_Servers OpenStreetMap WSM servers 
 	  
     https://lpdaac.usgs.gov/data_access/web_map_services_wms # USGS currently has 400+ WMS layers
     
-    * You can use QGIS to browse different provieders and pick the maps you like for your iNav layers
+    * You can use QGIS to browse different providers and pick the maps you like for your iNav layers
 	  https://qgis.org/en/site/
     
-    * There are many government and public wms providers available in different regions worldwide
+    * There are many government and public WMS providers available in different regions worldwide

From a70642ffe244cd6b26c8eabaeb19e79a3c1f61ae Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 13:22:35 +0530
Subject: [PATCH 20/33] Update README.md

---
 README.md | 72 +++++++++++++++++++++++++++----------------------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/README.md b/README.md
index 08f432448..f3c276b37 100644
--- a/README.md
+++ b/README.md
@@ -1,17 +1,17 @@
 # INAV Configurator
 
-INAV Configurator is a crossplatform configuration tool for the [INAV](https://github.com/iNavFlight/inav) flight control system.
+INAV Configurator is a cross-platform configuration tool for the [INAV](https://github.com/iNavFlight/inav) flight control system.
 
 It runs as an app within Google Chrome and allows you to configure the INAV software running on any supported INAV target.
 
-Various types of aircraft are supported by the tool and by INAV, e.g. quadcopters, hexacopters, octocopters and fixed-wing aircraft.
+Various types of aircraft are supported by the tool and by INAV, e.g. quadcopters, hexacopters, octocopters, and fixed-wing aircraft.
 
 # Support
 
 INAV Configurator comes `as is`, without any warranty and support from authors. If you found a bug, please create an issue on [GitHub](https://github.com/iNavFlight/inav-configurator/issues).
 
-GitHub issue tracker is reserved for bugs and other technical problems. If you do not know how to setup
-everything, hardware is not working or have any other _support_ problem, please consult:
+The GitHub issue tracker is reserved for bugs and other technical problems. If you do not know how to setup
+everything, the hardware is not working or have any other _support_ problem, please consult:
 
 * [INAV Discord Server](https://discord.gg/peg2hhbYwN)
 * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
@@ -20,23 +20,23 @@ everything, hardware is not working or have any other _support_ problem, please
 
 ## INAV Configurator start minimized, what should I do?
 
-You have to remove `C:\Users%Your_UserNname%\AppData\Local\inav-configurator` folder and all its content.
+You have to remove the `C:\Users%Your_UserNname%\AppData\Local\inav-configurator` folder and all its content.
 
 [https://www.youtube.com/watch?v=XMoULyiFDp4](https://www.youtube.com/watch?v=XMoULyiFDp4)
 
-Alternatively, on Windows with PowerShell you can use `post_install_cleanup.ps1` script that will do the cleaning. (thank you James Cherrill)
+Alternatively, on Windows with PowerShell, you can use the `post_install_cleanup.ps1` script that will do the cleaning. (thank you James Cherrill)
 
 ## Installation
 
-Depending on target operating system, _INAV Configurator_ is distributed as _standalone_ application or Chrome App.
+Depending on the target operating system, _INAV Configurator_ is distributed as a  _standalone_ application or Chrome App.
 
 ### Windows
 
 1. Visit [release page](https://github.com/iNavFlight/inav-configurator/releases)
 1. Download Configurator for Windows platform (win32 or win64 is present)
 1. Extract ZIP archive
-1. Run INAV Configurator app from unpacked folder
-1. Configurator is not signed, so you have to allow Windows to run untrusted application. There might be a monit for it during first run
+1. Run the INAV Configurator app from the unpacked folder
+1. Configurator is not signed, so you have to allow Windows to run untrusted applications. There might be a monit for it during the first run
 
 ### Linux
 
@@ -47,7 +47,7 @@ Depending on target operating system, _INAV Configurator_ is distributed as _sta
    *  **.tar.gz** is a universal archive. Download and continue with these instructions to install
 3. Change to the directory containing the downloaded **tar.gz** file
 4. download [this](https://raw.githubusercontent.com/iNavFlight/inav-configurator/master/assets/linux/inav-configurator.desktop) file to the same directory. Its filename should be `inav-configurator.desktop`.
-5. Extract **tar.gz** archive 
+5. Extract **tar.gz** archive
 ```
 tar -C /tmp/ -xf INAV-Configurator_linuxNN_x.y.z.tar.gz
 ```
@@ -58,7 +58,7 @@ tar -C /tmp/ -xf INAV-Configurator_linuxNN_x.y.z.tar.gz
 sudo mkdir /opt/inav
 sudo chown $USER /opt/inav
 ```
-7. Move the temporary files in to their home 
+7. Move the temporary files into their home 
 ```
 mv /tmp/INAV\ Configurator /opt/inav/inav-configurator
 ```
@@ -67,77 +67,77 @@ mv /tmp/INAV\ Configurator /opt/inav/inav-configurator
 sudo mkdir /opt/inav/inav-configurator/icon
 sudo cp /opt/inav/inav-configurator/images/inav_icon_128.png /opt/inav/inav-configurator/icon
 ```
-9. As a one off, move the desktop file into the applications directory 
+9. As a one-off, move the desktop file into the applications directory 
 ```
 sudo mv inav-configurator.desktop /usr/share/applications/
 ```
 10. Make the following files executable:
    * inav-configurator `chmod +x /opt/inav/inav-configurator/inav-configurator`
    * (5.0.0+) chrome_crashpad_handler `chmod +x /opt/inav/inav-configurator/chrome_crashpad_handler`
-11. Run INAV Configurator app from unpacked folder `/opt/inav/inav-configurator/inav-configurator`
+11. Run the INAV Configurator app from the unpacked folder `/opt/inav/inav-configurator/inav-configurator`
 
 #### Notes
 
-On some Linux distros, you may be missing `libatomic`, a `NW.JS` (specially `libnode.so`) dependency. If so, please install `libatomic` using your distro's package manager, e.g:
+On some Linux distros, you may be missing `libatomic`, an `NW.JS` (especially `libnode.so`) dependency. If so, please install `libatomic` using your distro's package manager, e.g:
 
 * Arch Linux: `sudo pacman -S --needed libatomic_ops`
 * Debian / Ubuntu: `sudo apt install libatomic1`
 * Fedora: `sudo dnf install libatomic`
 
-1. Don't forget to add your user into dialout group "sudo usermod -aG dialout YOUR_USERNAME" for serial access
+1. Don't forget to add your user to the dial-out group "sudo usermod -aG dial-out YOUR_USERNAME" for serial access
 2. If you have 3D model animation problems, enable "Override software rendering list" in Chrome flags chrome://flags/#ignore-gpu-blacklist
 
 ### Mac
 
 1. Visit [release page](https://github.com/iNavFlight/inav-configurator/releases)
-1. Download Configurator for Mac platform
+1. Download Configurator for the Mac platform
 1. Extract ZIP archive
 1. Run INAV Configurator
 
 ## Building and running INAV Configurator locally (for development)
 
-For local development, **node.js** build system is used.
+For local development, the **node.js** build system is used.
 
 1. Install node.js
-1. From project folder run `npm install`
+1. From the project folder run `npm install`
 1. To build the JS and CSS files and start the configurator:
     - With NW.js: Run `npm start`.
     - With Chrome: Run `npm run gulp`. Then open `chrome://extensions`, enable
-    the `Developer mode`, click on the `Load unpacked extension...` button and select the `inav-configurator` directory.
+    the `Developer mode`, click on the `Load unpacked extension...` button, and select the `inav-configurator` directory.
 
 Other tasks are also defined in `gulpfile.js`. To run a task, use `node ./node_modules/gulp/bin/gulp.js task-name`. Available ones are:
 
 - **build**: Generate JS and CSS output files used by the configurator from their sources. It must be run whenever changes are made to any `.js` or `.css` files in order to have those changes appear
 in the configurator. If new files are added, they must be included in `gulpfile.js`. See the comments at the top of `gulpfile.js` to learn how to do so. See also the `watch` task.
 - **watch**: Watch JS and CSS sources for changes and run the `build` task whenever they're edited.
-- **dist**: Create a distribution of the app (valid for packaging both as a Chrome app or a NW.js app)
+- **dist**: Create a distribution of the app (valid for packaging both as a Chrome app or NW.js app)
 in the `./dist/` directory.
 - **release**: Create NW.js apps for each supported platform (win32, osx64 and linux64) in the `./apps`
-directory. Running this task on macOS or Linux requires Wine, since it's needed to set the icon
-for the Windows app. If you don't have Wine installed you can create a release by running the **release-only-linux** task.
-<br>`--installer` argument can be added to build installers for particular OS. NOTE: MacOS Installer can be built with MacOS only.
+directory. Running this task on macOS or Linux requires Wine since it's needed to set the icon
+for the Windows app. If you don't have Wine installed you can create a release by running the **release-only-Linux** task.
+<br>`--installer` argument can be added to build installers for a particular OS. NOTE: MacOS Installer can be built with MacOS only.
 
 To build a specific release, use the command `release --platform="win64"` for example.
 
 ### Running with debug | Inspector
 
-To be able to open Inspector, you will need SDK flavours of NW.js
+To be able to open Inspector, you will need SDK flavors of NW.js
 
 `npm install nw@0.61.0 --nwjs_build_type=sdk`
 
 ## Different map providers
 
-INAV Configurator 2.1 allows to choose between OpenStreetMap, Bing Maps (Aerial View), and MapProxy map providers.
-INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: every user who wants to use Bing Maps has to create own account, agree to all _Terms and Conditions_ required by Bing Maps and configure INAV Configurator by himself.
+INAV Configurator 2.1 allows you to choose between OpenStreetMap, Bing Maps (Aerial View), and MapProxy map providers.
+INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: every user who wants to use Bing Maps has to create their own account, agree to all _Terms and Conditions_ required by Bing Maps, and configure INAV Configurator by himself.
 
-### How to choose Map provider
+### How to choose a Map provider
 
 1. Click **Settings** icon in the top-right corner of INAV Configurator
-1. Choose provider: OpenStreetMap, Bing, or MapProxy
+1. Choose a provider: OpenStreetMap, Bing, or MapProxy
 1. In the case of Bing Maps, you have to provide your own, personal, generated by you, Bing Maps API key
 1. For MapProxy, you need to provide a server URL and layer name to be used
 
-### How to get Bing Maps API key
+### How to get the Bing Maps API key
 
 1. Go to the Bing Maps Dev Center at [https://www.bingmapsportal.com/](https://www.bingmapsportal.com/).
     * If you have a Bing Maps account, sign in with the Microsoft account that you used to create the account or create a new one. For new accounts, follow the instructions in [Creating a Bing Maps Account](https://msdn.microsoft.com/library/gg650598.aspx).
@@ -145,22 +145,22 @@ INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: ever
 1. Select the option to create a new key.
 1. Provide the following information to create a key:
     1. Application name: Required. The name of the application.
-    1. Application URL: The URL of the application. This is an optional field which is useful in helping you remember the purpose of that key in the future.
+    1. Application URL: The URL of the application. This is an optional field that is useful in helping you remember the purpose of that key in the future.
     1. Key type: Required. Select the key type that you want to create. You can find descriptions of key and application types here.
     1. Application type: Required. Select the application type that best represents the application that will use this key. You can find descriptions of key and application types [here](https://www.microsoft.com/maps/create-a-bing-maps-key.aspx).
-1. Click the **Create** button. The new key displays in the list of available keys. Use this key to authenticate your Bing Maps application as described in the documentation for the Bing Maps API you are using.
+1. Click the **Create** button. The new key is displayed in the list of available keys. Use this key to authenticate your Bing Maps application as described in the documentation for the Bing Maps API you are using.
 
-### How to setup a MapProxy server for offline caching and mission planning
-1. Follow process described in [MAPPROXY.md](MAPPROXY.md)
-1. Test your MapProxy server in web browser, eg: http://192.168.145.20/inavmapproxy/
+### How to set up a MapProxy server for offline caching and mission planning
+1. Follow the process described in [MAPPROXY.md](MAPPROXY.md)
+1. Test your MapProxy server in a web browser, eg: http://192.168.145.20/inavmapproxy/
 1. Once you have a working MapProxy server choose MapProxy as your map provider
 	1. Enter MapProxy service URL, eg: http://192.168.145.20/inavmapproxy/service?
 	1. Enter MapProxy service layer (inav_layer if configured from MAPPROXY.md)
-1. Once completed, you can zoom in on area you will be flying in while connected to the internet in either GPS or Mission Control tab to save the cache for offline use
+1. Once completed, you can zoom in on the area you will be flying in while connected to the internet in either the GPS or Mission Control tab to save the cache for offline use
 
 ## Font Customisation
 
-INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your own fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts, and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
+INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
 
 ## Notes
 

From b8dfe5bca2d321fa9f1cc6e48dea1ffbd82d01df Mon Sep 17 00:00:00 2001
From: Farookh Zaheer Siddiqui <129654632+FarukhS52@users.noreply.github.com>
Date: Sat, 28 Oct 2023 13:30:00 +0530
Subject: [PATCH 21/33] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8e0d87611..e83f939f7 100644
--- a/README.md
+++ b/README.md
@@ -121,7 +121,7 @@ To build a specific release, use the command `release --platform="win64"` for ex
 
 ### Running with debug | Inspector
 
-To be able to open Inspector, you will need SDK flavors of NW.js
+To be able to open Inspector, you will need SDK flavours of NW.js
 
 `npm install nw@0.61.0 --nwjs_build_type=sdk`
 

From 8dd0148d9326761e0beba2651be2af7c678c855f Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 14:27:16 +0530
Subject: [PATCH 22/33] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index f3c276b37..2ca432cef 100644
--- a/README.md
+++ b/README.md
@@ -121,7 +121,7 @@ To build a specific release, use the command `release --platform="win64"` for ex
 
 ### Running with debug | Inspector
 
-To be able to open Inspector, you will need SDK flavors of NW.js
+To be able to open Inspector, you will need SDK Flavours of NW.js
 
 `npm install nw@0.61.0 --nwjs_build_type=sdk`
 

From 5a6eab511c5a6fce4c42dc8eecfa674b11a42083 Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 14:35:08 +0530
Subject: [PATCH 23/33] issue resolved README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 2ca432cef..d158188d7 100644
--- a/README.md
+++ b/README.md
@@ -84,7 +84,7 @@ On some Linux distros, you may be missing `libatomic`, an `NW.JS` (especially `l
 * Debian / Ubuntu: `sudo apt install libatomic1`
 * Fedora: `sudo dnf install libatomic`
 
-1. Don't forget to add your user to the dial-out group "sudo usermod -aG dial-out YOUR_USERNAME" for serial access
+1. Don't forget to add your user to the dialout group "sudo usermod -aG dialout YOUR_USERNAME" for serial access
 2. If you have 3D model animation problems, enable "Override software rendering list" in Chrome flags chrome://flags/#ignore-gpu-blacklist
 
 ### Mac

From 623e7eb05c2fc12c8726348d3ec5f01bbb947e06 Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 14:40:18 +0530
Subject: [PATCH 24/33] upercase issue resolved README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index d158188d7..a03b3bba2 100644
--- a/README.md
+++ b/README.md
@@ -121,7 +121,7 @@ To build a specific release, use the command `release --platform="win64"` for ex
 
 ### Running with debug | Inspector
 
-To be able to open Inspector, you will need SDK Flavours of NW.js
+To be able to open Inspector, you will need SDK flavours of NW.js
 
 `npm install nw@0.61.0 --nwjs_build_type=sdk`
 

From 4686ecdcf62c4bdce15b0abedcacddb5cfaa6558 Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 14:50:23 +0530
Subject: [PATCH 25/33] Notes updated README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index a03b3bba2..92bdac9f1 100644
--- a/README.md
+++ b/README.md
@@ -78,7 +78,7 @@ sudo mv inav-configurator.desktop /usr/share/applications/
 
 #### Notes
 
-On some Linux distros, you may be missing `libatomic`, an `NW.JS` (especially `libnode.so`) dependency. If so, please install `libatomic` using your distro's package manager, e.g:
+On some Linux distros, you may be missing `libatomic`or `NW.JS` (especially `libnode.so`) dependency. If so, please install `libatomic` using your distro's package manager, e.g:
 
 * Arch Linux: `sudo pacman -S --needed libatomic_ops`
 * Debian / Ubuntu: `sudo apt install libatomic1`

From a7a28b718963ba4dfec18bc854f3c330dab941b4 Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 14:58:22 +0530
Subject: [PATCH 26/33] line 81 Updated README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 92bdac9f1..c99e50989 100644
--- a/README.md
+++ b/README.md
@@ -78,7 +78,7 @@ sudo mv inav-configurator.desktop /usr/share/applications/
 
 #### Notes
 
-On some Linux distros, you may be missing `libatomic`or `NW.JS` (especially `libnode.so`) dependency. If so, please install `libatomic` using your distro's package manager, e.g:
+On some Linux distros, you may be missing `libatomic` and/or `NW.JS` (especially `libnode.so`) dependencies. If so, please install `libatomic` using your distro's package manager, e.g:
 
 * Arch Linux: `sudo pacman -S --needed libatomic_ops`
 * Debian / Ubuntu: `sudo apt install libatomic1`

From c2b43a73a9bbef4fb86bf9c9699680f651d3c826 Mon Sep 17 00:00:00 2001
From: Spandan Tripathy <128175097+CrypticRevenger@users.noreply.github.com>
Date: Sat, 28 Oct 2023 15:02:25 +0530
Subject: [PATCH 27/33] Font customisation Updated README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index c99e50989..174e58efe 100644
--- a/README.md
+++ b/README.md
@@ -160,7 +160,7 @@ INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: ever
 
 ## Font Customisation
 
-INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
+INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your own fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts, and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
 
 ## Notes
 

From d976d6f3d7143a14fb2c814c6d0aa2b989e173be Mon Sep 17 00:00:00 2001
From: shota <miyafly7@gmail.com>
Date: Sun, 29 Oct 2023 00:01:59 +0900
Subject: [PATCH 28/33] Fix Stop motors on low throttle turn off

---
 js/msp/MSPHelper.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 3a1bed98c..d440b29ff 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -1456,7 +1456,7 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSP2_INAV_MIXER:
                 MIXER_CONFIG.yawMotorDirection = data.getInt8(0);
                 MIXER_CONFIG.yawJumpPreventionLimit = data.getUint8(1, true);
-                MIXER_CONFIG.motorStopOnLow = data.getUint8(1, true);
+                MIXER_CONFIG.motorStopOnLow = data.getUint8(2, true);
                 MIXER_CONFIG.platformType = data.getInt8(3);
                 MIXER_CONFIG.hasFlaps = data.getInt8(4);
                 MIXER_CONFIG.appliedMixerPreset = data.getInt16(5, true);

From c7f8ae89635dd1f8286e5e2f1c406d355d825bef Mon Sep 17 00:00:00 2001
From: Jogesh Soni <114826902+sonijogesh@users.noreply.github.com>
Date: Sun, 29 Oct 2023 17:32:47 +0530
Subject: [PATCH 29/33] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 174e58efe..a51b59835 100644
--- a/README.md
+++ b/README.md
@@ -10,8 +10,8 @@ Various types of aircraft are supported by the tool and by INAV, e.g. quadcopter
 
 INAV Configurator comes `as is`, without any warranty and support from authors. If you found a bug, please create an issue on [GitHub](https://github.com/iNavFlight/inav-configurator/issues).
 
-The GitHub issue tracker is reserved for bugs and other technical problems. If you do not know how to setup
-everything, the hardware is not working or have any other _support_ problem, please consult:
+The GitHub issue tracker is reserved for bugs and other technical problems. If you do not know how to set up
+everything, the hardware is not working, or have any other _support_ problem, please consult:
 
 * [INAV Discord Server](https://discord.gg/peg2hhbYwN)
 * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)

From 9c5a743b1e241ead04563d66871a9e51690386f2 Mon Sep 17 00:00:00 2001
From: Soham Gupta <soham.gupta003@gmail.com>
Date: Sun, 29 Oct 2023 20:27:05 +0530
Subject: [PATCH 30/33] Fixed a typo in `README.md`

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 174e58efe..03b6da822 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ everything, the hardware is not working or have any other _support_ problem, ple
 
 ## INAV Configurator start minimized, what should I do?
 
-You have to remove the `C:\Users%Your_UserNname%\AppData\Local\inav-configurator` folder and all its content.
+You have to remove the `C:\Users%Your_UserName%\AppData\Local\inav-configurator` folder and all its content.
 
 [https://www.youtube.com/watch?v=XMoULyiFDp4](https://www.youtube.com/watch?v=XMoULyiFDp4)
 

From c6c9ac61dd5fee1825fe2652462b14bcc26ece3b Mon Sep 17 00:00:00 2001
From: Shivam Singh <103785990+Shivam250702@users.noreply.github.com>
Date: Mon, 30 Oct 2023 15:55:46 +0530
Subject: [PATCH 31/33] Update README.md

Removed Grammatical errors
---
 README.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 418518dfb..4a8267801 100644
--- a/README.md
+++ b/README.md
@@ -8,10 +8,10 @@ Various types of aircraft are supported by the tool and by INAV, e.g. quadcopter
 
 # Support
 
-INAV Configurator comes `as is`, without any warranty and support from authors. If you found a bug, please create an issue on [GitHub](https://github.com/iNavFlight/inav-configurator/issues).
+INAV Configurator comes `as is`, without any warranty and support from the authors. If you find a bug, please create an issue on [GitHub](https://github.com/iNavFlight/inav-configurator/issues).
 
 The GitHub issue tracker is reserved for bugs and other technical problems. If you do not know how to set up
-everything, the hardware is not working, or have any other _support_ problem, please consult:
+everything, the hardware is not working, or you have any other _support_ problem, please consult:
 
 * [INAV Discord Server](https://discord.gg/peg2hhbYwN)
 * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
@@ -24,7 +24,7 @@ You have to remove the `C:\Users%Your_UserName%\AppData\Local\inav-configurator`
 
 [https://www.youtube.com/watch?v=XMoULyiFDp4](https://www.youtube.com/watch?v=XMoULyiFDp4)
 
-Alternatively, on Windows with PowerShell, you can use the `post_install_cleanup.ps1` script that will do the cleaning. (thank you James Cherrill)
+Alternatively, on Windows with PowerShell, you can use the `post_install_cleanup.ps1` script that will do the cleaning. (thank you, James Cherrill)
 
 ## Installation
 
@@ -114,7 +114,7 @@ in the configurator. If new files are added, they must be included in `gulpfile.
 in the `./dist/` directory.
 - **release**: Create NW.js apps for each supported platform (win32, osx64 and linux64) in the `./apps`
 directory. Running this task on macOS or Linux requires Wine since it's needed to set the icon
-for the Windows app. If you don't have Wine installed you can create a release by running the **release-only-Linux** task.
+for the Windows app. If you don't have Wine installed, you can create a release by running the **release-only-Linux** task.
 <br>`--installer` argument can be added to build installers for a particular OS. NOTE: MacOS Installer can be built with MacOS only.
 
 To build a specific release, use the command `release --platform="win64"` for example.
@@ -174,7 +174,7 @@ For INAV configurator issues raise them here
 
 https://github.com/iNavFlight/inav-configurator/issues
 
-For INAV firmware issues raise them here
+For INAV firmware issues, raise them here
 
 https://github.com/iNavFlight/inav/issues
 

From 7f3b8e667af1a15f5d230fb8b69117e6102b292b Mon Sep 17 00:00:00 2001
From: Aditya Garg <110886184+aditya7302@users.noreply.github.com>
Date: Mon, 30 Oct 2023 18:47:11 +0530
Subject: [PATCH 32/33] Update README.md

Fixed Grammatical error.
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4a8267801..2ac74203b 100644
--- a/README.md
+++ b/README.md
@@ -160,7 +160,7 @@ INAV Configurator is shipped **WITHOUT** API key for Bing Maps. That means: ever
 
 ## Font Customisation
 
-INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your own fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts, and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
+INAV provides the font images so that custom fonts can be created for your personal preference. This is the case for both analogue and digital fonts. The resources can be found in the [osd](/resources/osd) folder. Within the **analogue** and **digital** subfolders, you will find information on compiling your own fonts. There is also an [INAV Character Map](/resources/osd/INAV%20Character%20Map.md) document. This contains previews of all the character images in the fonts and the appropriate variable names within the firmware and Configurator. There are tools for compiling the [analogue](https://github.com/fiam/max7456tool) and [digital](https://github.com/MrD-RC/hdosd-font-tool) fonts. New font submissions via pull requests are welcome.
 
 ## Notes
 

From 080c3f265aec5b8e70b8c93d9eb7009e4813c766 Mon Sep 17 00:00:00 2001
From: ayushrakesh <115995339+ayushrakesh@users.noreply.github.com>
Date: Mon, 30 Oct 2023 22:39:37 +0530
Subject: [PATCH 33/33] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4a8267801..a39036b05 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,7 @@ everything, the hardware is not working, or you have any other _support_ problem
 * [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
 * [INAV Official on Telegram](https://t.me/INAVFlight)
 
-## INAV Configurator start minimized, what should I do?
+## INAV Configurator starts minimized, what should I do?
 
 You have to remove the `C:\Users%Your_UserName%\AppData\Local\inav-configurator` folder and all its content.