Add ground-station only offline moving-map overlay + preflight tool t… (#104)

* Add ground-station only offline moving-map overlay + preflight tool to predownload it.

Native OSD moving-map renderer (GS builds only, _x86/__ROCKCHIP__) drawn into the OSD with Cairo, over the video: follow modes (plane/north/center/fit), rounded window frame, ini-configurable position/size, on-screen status messages, POI direction markers, home/target from state.ini + landmarks DB. All new rendering is guarded, so air-unit builds (goke/hisi/star6*) are unaffected.

Ground-station preflight tool (gs/): Python mapserver + WebKit viewer to browse/download tiles into per-basemap MBTiles, set targets, and build a standalone preflight binary (gs/pack). Keyed-provider (Thunderforest) support with the API key kept out of git.

native/rockchip now link sqlite3 (CI dep added). Docs under documentation/ and gs/README.md.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

* GS offline map: terrain elevation + AGL, link horizon, named packs

Extends the ground-station moving map and its preflight tool. Ground-side
only: the new C sources go in GS_SRCS and are compiled into the native and
rockchip targets, so camera builds are unaffected.

Terrain elevation
- Preflight stores a terrain height grid alongside the tiles in
  maps/elevation.db (AWS "terrarium" tiles decoded to int16 metres at z12,
  ~28 m/sample). On by default, capped at 1000 tiles.
- mapserver.py gains a stdlib-only PNG decoder, so no new dependency.
- osd/util/terrain_elevation.c mirrors the Python lookup in C; terrain_agl.c
  calibrates GPS altitude against terrain at the armed transition and feeds
  AGL to the map and to the new !AGL! OSD keyword.
- tests/terrain_{elevation,agl}_test.c, run by `make test-terrain` under
  ASan/UBSan.

Link horizon
- New /viewshed endpoint and preflight panel: given an antenna height and a
  flight altitude, draws where terrain stops blocking line of sight. Models
  4/3-earth refraction and reproduces the textbook horizon over flat ground.
  It is a terrain-only upper bound; the DEM is bare earth, so trees, masts
  and buildings are not in it.

Map packs
- Each download is allocated a name and never overwrites an existing pack;
  the panel lists downloaded packs and can delete them.
- The OSD map cycles packs at runtime with 'h', and falls back to the first
  pack in the folder when the configured one is missing.

Downloads
- Tile fetches reuse a kept-alive connection per host instead of a fresh TLS
  handshake per tile; the handshake was ~125 ms of a ~220 ms tile.
- Progress is reported per phase (tiles -> POIs -> elevation), so the bar no
  longer sits at 100% while elevation is still downloading.

OSD map rendering
- JPEG tiles decode via vendored stb_image, so imagery basemaps render.
- Track vector: an arrow along the GPS ground course drawn over the plane
  marker, showing the drift angle when the aircraft crabs. Configurable
  length and opacity; hidden below a ground-speed threshold, which also
  suppresses it when no GPS data is arriving.
- Up to 5 named waypoints instead of a single target.
- Pack filename banner and a key guide shown briefly when the map appears.
- Fix: in center (track-up) mode the plane icon was drawn at a fixed angle,
  so it showed the ground track rather than the heading. Icon and vector now
  both derive their screen angle from the rotation the tiles were rendered
  with, making all four follow modes consistent.

Preflight UI
- Detail zoom selectable z12-z18, per-zoom basemap sources, an Advanced
  section for pack naming, terrain height under the pointer, waypoint
  editing and cached-coverage shading.
- map.sh/run-map.sh open the system browser by default; --GTK selects the
  WebKitGTK window.

Docs
- New documentation/terrain-elevation.md and gs-map-internals.md; gs/README.md
  rewritten around capabilities.
- msposd.ini is gitignored, so add a tracked msposd.ini.example documenting
  every [poi] and [map] key, including the new ones. Per-FC sections that
  msposd writes at runtime are excluded. Fixes the dangling ../msposd.ini
  link in map_control_via_RC.md.

Co-Authored-By: Claude Opus 5

* GS map: commit vendored Leaflet 1.9.4 so packaged builds work from a clean checkout

leaflet.js/css and the marker images were gitignored and only fetched by
fetch-leaflet.sh, so build.bat/CI on a fresh clone produced a binary whose
viewer 404s on leaflet.* ("L is not defined"). Commit the files, guard the
PyInstaller spec against a missing copy, and whitelist the images/ set that
leaflet.css references.

Also on Windows: swallow ConnectionAbortedError (WinError 10053, the browser
cancelling a tile or SSE stream) like BrokenPipe/Reset by catching the common
ConnectionError base, and log the reason when a live tile fetch fails instead
of silently answering 204, so blank basemaps can be diagnosed from the console.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

* GS map preflight: run on Windows from a fresh checkout

- map.sh: fall back to the default port when config.ini is absent
- mapserver.py: on Windows, verify TLS with certifi's root bundle (OpenTopoMap
  failed with an expired cross-cert in the Windows store), bind without
  SO_REUSEADDR so a relaunch reuses the running server instead of starting a
  second one, and report reserved ports clearly
- run-map.bat: native Windows launcher; build.bat requires Python 3.12+ and
  bundles certifi; CI installs certifi
- docs: Windows notes

Linux behaviour unchanged (all changes gated on win32).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

* Lower MSP attitude latency: early UART read, no attitude send gate, GS AHI draw not throttled

- Camera: poll MSP_ATTITUDE first in the tick and read the UART once more
  15 ms later, so the reply is forwarded in the same tick (~49 ms -> ~19 ms).
- Camera: flush attitude to UDP without the 10 ms gate; a DRAW_SCREEN flush
  in the same read no longer holds it a full tick. DisplayPort frames are
  aggregated for 2 refresh intervals to keep the datagram rate unchanged.
- GS: attitude-driven AHI redraw bypasses the screen refresh throttle so no
  sample is skipped. Air units keep the throttle.
- Stats: AttitMSGs(ms) is now a true per-second average.

* Changes in readme and map.sh to reflect the new offline map build process. Added a new offline map image to the pics directory.

* mspmaptool: version 1.0; skip firmware build on mspmaptool tags

---------

Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>

Author: tipoman9

.github/workflows/build.yml

@@ -5,6 +5,7 @@ on:
       - main
     tags:
       - '*'
+      - '!mspmaptool*'   # map tool releases are published by hand, not firmware
   pull_request:
     branches:
       - main
@@ -20,7 +21,7 @@ jobs:
       - name: Build
         run: |
           sudo apt-get update
-          DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo apt-get -y install git make wget gcc libevent-dev libcsfml-dev file g++ cpio unzip rsync bc bzip2 libcairo-dev
+          DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC sudo apt-get -y install git make wget gcc libevent-dev libcsfml-dev file g++ cpio unzip rsync bc bzip2 libcairo-dev libsqlite3-dev
           ./build.sh goke
           ./build.sh hisi
           ./build.sh star6b0

.github/workflows/preflight-pack.yml

@@ -0,0 +1,46 @@
+name: preflight-pack
+
+# Build the standalone preflight map app (gs/mapserver.py + web/) into a single
+# self-contained binary for Linux, macOS and Windows. Run manually or by pushing
+# a `preflight-v*` tag; grab the binaries from the run's Artifacts.
+
+on:
+  workflow_dispatch:
+  push:
+    tags:
+      - "preflight-v*"
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact: mspmaptool_linux
+          - os: macos-latest
+            artifact: mspmaptool_macos
+          - os: windows-latest
+            artifact: mspmaptool_windows
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      # certifi: bundled root CAs so the Windows binary verifies Let's Encrypt
+      # tile sources (OpenTopoMap) regardless of the client's certificate store.
+      - name: Install PyInstaller
+        run: python -m pip install --upgrade pyinstaller certifi
+
+      - name: Build
+        run: python -m PyInstaller --clean --noconfirm --distpath gs/dist --workpath gs/build gs/pack/mapserver.spec
+
+      - name: Upload binary
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact }}
+          path: gs/dist/mspmaptool_*
+          if-no-files-found: error

.gitignore

@@ -17,8 +17,18 @@ msposd_star6b0
 msposd_star6e
 msposd_star6c
 msposd
+msposd_x
 msposd_rockchip
 version.h
 serial_monitor.c
 *.ini
+# PyInstaller output (gs/pack standalone build)
+/build/
+/dist/
+gs/build/
+gs/dist/
+*.spec.bak
 
+
+.claude/
+AGENTS.md

.vscode/launch.json

@@ -9,7 +9,7 @@
             "program": "${workspaceFolder}/msposd",            
             "args": [                
                 "--master",
-                "127.0.0.1:14550",
+                "127.0.0.1:14560",
                 "--baudrate",
                 "115200",
                 "--osd",
@@ -54,7 +54,9 @@
             "args": [                
                 "-m",
                 "/tmp/inav_pty",                
-                "-d",               
+                "-d",
+                "--out",
+                "127.0.0.1:14560",
                 "-r",
                 "1030",                
                 "--ahi",

Makefile

@@ -4,6 +4,7 @@ CFLAGS ?=
 CFLAGS += -Wno-address-of-packed-member -DVERSION_STRING="\"$(VERSION_STRING)\""
 
 SRCS := compat.c msposd.c bmp/bitmap.c bmp/region.c bmp/lib/schrift.c bmp/text.c osd/net/network.c osd/msp/msp.c osd/msp/msp_displayport.c libpng/lodepng.c osd/util/interface.c osd/util/settings.c osd/util/ini_parser.c osd/msp/vtxmenu.c osd/util/subtitle.c osd/util/simple_ini.c
+GS_SRCS := osd/util/terrain_elevation.c osd/util/terrain_agl.c
 OUTPUT ?= $(PWD)
 OPENHISILICON ?= $(PWD)/openhisilicon
 BUILD = $(CC) $(SRCS) -I $(SDK)/include -I$(TOOLCHAIN)/usr/include -I$(PWD) -L$(DRV) $(CFLAGS) $(LIB) -levent_core -Os -s $(CFLAGS) -o $(OUTPUT)
@@ -69,13 +70,31 @@ star6e: version.h
 native: version.h
 	$(eval SDK = ./sdk/gk7205v300)
 	$(eval CFLAGS += -D_x86)
-	$(eval LIB = -lcsfml-graphics -lcsfml-window -lcsfml-system `pkg-config --libs cairo x11 xext` -lXext -lm)
-	$(eval BUILD = $(CC) $(SRCS) -I $(SDK)/include -L $(DRV) $(CFLAGS) $(LIB) -levent_core -O0 -g -o $(OUTPUT))
+	$(eval LIB = -lcsfml-graphics -lcsfml-window -lcsfml-system `pkg-config --libs cairo x11 xext` -lXext -lm -lsqlite3)
+	$(eval BUILD = $(CC) $(SRCS) $(GS_SRCS) -I $(SDK)/include -L $(DRV) $(CFLAGS) $(LIB) -levent_core -O0 -g -o $(OUTPUT))
 	$(BUILD)
 
 rockchip: version.h
 	$(eval SDK = ./sdk/gk7205v300)
 	$(eval CFLAGS += -D__ROCKCHIP__)
-	$(eval LIB = `pkg-config --libs cairo x11 xext` -lXext -lm -lrt)
-	$(eval BUILD = $(CC) $(SRCS) -I $(SDK)/include -L $(DRV) $(CFLAGS) $(LIB) -levent_core -O0 -g -o $(OUTPUT))
+	$(eval LIB = `pkg-config --libs cairo x11 xext` -lXext -lm -lrt -lsqlite3)
+	$(eval BUILD = $(CC) $(SRCS) $(GS_SRCS) -I $(SDK)/include -L $(DRV) $(CFLAGS) $(LIB) -levent_core -O0 -g -o $(OUTPUT))
 	$(BUILD)
+
+test-terrain-elevation:
+	$(CC) tests/terrain_elevation_test.c osd/util/terrain_elevation.c -I$(PWD) \
+		-DTERRAIN_ELEVATION_DB_PATH='"/tmp/msposd-terrain-elevation-test.db"' \
+		-Wall -Wextra -Werror -O1 -g -fsanitize=address,undefined -fno-omit-frame-pointer -no-pie \
+		-o /tmp/msposd-terrain-elevation-test -lsqlite3 -lm
+	ASAN_OPTIONS=detect_leaks=0:abort_on_error=1:handle_segv=0 \
+		/tmp/msposd-terrain-elevation-test
+
+test-terrain-agl:
+	$(CC) tests/terrain_agl_test.c osd/util/terrain_agl.c osd/util/terrain_elevation.c \
+		-I$(PWD) -DTERRAIN_ELEVATION_DB_PATH='"/tmp/msposd-terrain-agl-test.db"' \
+		-Wall -Wextra -Werror -O1 -g -fsanitize=address,undefined -fno-omit-frame-pointer -no-pie \
+		-o /tmp/msposd-terrain-agl-test -lsqlite3 -lm
+	ASAN_OPTIONS=detect_leaks=0:abort_on_error=1:handle_segv=0 \
+		/tmp/msposd-terrain-agl-test
+
+test-terrain: test-terrain-elevation test-terrain-agl

README.md

@@ -138,6 +138,8 @@ This keywords can be added using the PilotName/CraftName fields(INAV/BF/Ardu), o
  - ```!TMP!``` Camera board temp  
  - ```!TMW!``` WiFi module temperature (only 8812EU2/8733BU chipsets supported)  
  - ```!RC!``` Sticks Position widget (Ground Side only)  
+ - ```!AGL!``` GPS-calibrated height above terrain in metres (Ground Side only);
+   displays ```----m``` while unavailable
 
 ### Usage Example:
 

build_rockchip.sh

@@ -36,7 +36,7 @@ if [ ! -f $output/tmp/prepare_chroot.done ]; then
     echo 'deb [signed-by=/usr/share/keyrings/radxa-archive-keyring.gpg] https://radxa-repo.github.io/bullseye rockchip-bullseye main' > /etc/apt/sources.list.d/80-rockchip.list
 
     apt-get update
-    apt-get install -y git gcc make pkg-config libspdlog-dev libevent-dev libcairo-dev
+    apt-get install -y git gcc make pkg-config libspdlog-dev libevent-dev libcairo-dev libsqlite3-dev
     apt clean
     touch /tmp/prepare_chroot.done
 EOL

documentation/build-preflight-release.md

@@ -0,0 +1,86 @@
+# Build a release package — preflight map
+
+How to package the preflight map (`map.sh preflight` / `gs/mapserver.py`) into a **single
+self-contained binary per OS** that end users run without installing Python. It starts a
+local server and opens the map in the user's **default browser** (no Python/WebKit to
+install). Writable `config.ini`, `state.ini` and `maps/` are created next to the
+executable on first run. Map tiles, shared landmarks and shared elevation data live
+inside `maps/`.
+
+## Prerequisites
+- Python **3.9+** and `pip` on the build machine (`pyinstaller` is installed automatically).
+  The Windows build needs **3.12+** like CI, and bundles `certifi` so HTTPS tile sources
+  verify on every client PC regardless of its certificate store.
+- Build **on each target OS** — a Windows `.exe` needs Windows, a macOS build needs a Mac.
+
+PyInstaller bundles a bootloader for the host OS; it does not cross-compile. Running
+`build.sh` on Linux or WSL produces a Linux ELF executable. Copying or renaming that
+file to `.exe` will produce Windows' “not a valid app” error. Use native Windows with
+`build.bat`, or use the Windows artifact from CI.
+
+## Build (current OS)
+```bash
+./gs/pack/build.sh      # Linux / macOS
+gs\pack\build.bat       # Windows
+```
+Output: **`gs/dist/mspmaptool_linux`** (`mspmaptool_macos` on macOS, `mspmaptool_windows.exe` on Windows) — one file.
+
+On Linux, verify the artifact type before publishing it:
+
+```bash
+file gs/dist/mspmaptool_linux
+# ... ELF 64-bit ...
+```
+
+## Build all three OSes at once (CI)
+The `.github/workflows/preflight-pack.yml` matrix builds Linux/macOS/Windows. Trigger it:
+- **Manually:** GitHub → Actions → *preflight-pack* → *Run workflow*, or
+- **By tag:** push a tag matching `preflight-v*`, e.g.
+  ```bash
+  git tag preflight-v1.0 && git push origin preflight-v1.0
+  ```
+Download the three binaries from the run's **Artifacts**.
+
+## Run / verify
+```bash
+./gs/dist/mspmaptool_linux               # starts server, opens the browser
+./gs/dist/mspmaptool_linux --port 9000   # custom port
+./gs/dist/mspmaptool_linux --no-browser  # server only
+```
+Ctrl+C (or closing the console) stops it.
+
+## Install elsewhere on Linux
+
+No installation step is required. The binary can be copied to another writable folder
+on the same Linux system:
+
+```bash
+mkdir -p ~/Apps/mspmaptool
+cp gs/dist/mspmaptool_linux ~/Apps/mspmaptool/
+chmod +x ~/Apps/mspmaptool/mspmaptool_linux
+~/Apps/mspmaptool/mspmaptool_linux
+```
+
+Its new containing directory becomes the writable application directory. Copy the old
+`config.ini`, `state.ini` and `maps/` into that directory to preserve settings, map
+packs, landmarks and elevation data. Otherwise it starts with defaults and creates data
+as needed. Only one server can own the default HTTP port; stop the old copy or start the
+new one with `--port 9000`.
+
+## Ship it
+Give users the single binary. On first run it creates its data folder alongside itself;
+each area download creates a new `maps/<pack>.mbtiles` without modifying older packs.
+Select the desired entry under **Downloaded maps**, then use **Export selected map…** to
+create a zip containing that pack plus `landmarks.db` and `elevation.db` for the
+OSD/flight station.
+
+## Notes
+- **Unsigned binaries** trip macOS Gatekeeper / Windows SmartScreen — code-sign (and
+  notarize on macOS) for public release; fine as-is for internal use.
+- Some Windows AV engines false-positive on PyInstaller one-file builds.
+- For distribution across different Linux releases, build on an appropriately old
+  compatible Linux baseline; copying within the build machine itself is safe.
+- The dev launcher opens preflight in the system browser by default. Use
+  `./map.sh preflight --GTK` for the compatibility WebKit `mapwin` window.
+
+See [`../gs/pack/README.md`](../gs/pack/README.md) for how the packaging works internally.