OpenIPC · tipoman9 · Jul 21, 2026 · Sep 8, 2026 · Sep 8, 2026
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -20,7 +20,7 @@ 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

diff --git a/.github/workflows/preflight-pack.yml b/.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: msposd-preflight-linux
+          - os: macos-latest
+            artifact: msposd-preflight-macos
+          - os: windows-latest
+            artifact: msposd-preflight-windows
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install PyInstaller
+        run: python -m pip install --upgrade pyinstaller
+
+      - name: Build
+        run: python -m PyInstaller --clean --noconfirm gs/pack/mapserver.spec
+
+      - name: Upload binary
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact }}
+          path: |
+            dist/msposd-preflight
+            dist/msposd-preflight.exe
+          if-no-files-found: error
diff --git a/.gitignore b/.gitignore
@@ -14,8 +14,15 @@ 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/
+*.spec.bak
 
+
+.claude/
diff --git a/.vscode/launch.json b/.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",

diff --git a/AGENTS.md b/AGENTS.md
@@ -0,0 +1,64 @@
+# Project Instructions
+
+This file is the single source of truth for all AI coding agents (Claude Code,
+OpenAI Codex, or any tool that reads AGENTS.md / CLAUDE.md).
+
+## Project Overview
+
+A program that draws flight controller's OSD(On-Screen Display) information via MSP DisplayPort protocil directly onto the video stream coming from an OpenIPC camera.
+
+## Development Workflow: spec - draft - simplify - verify
+
+Every non-trivial task MUST follow this four-phase pipeline.
+Each phase is a gate: do not advance until the current phase passes.
+
+### Phase 1: Spec (Plan)
+
+Before writing any code, produce a plan:
+
+1. Read relevant documentation in `documentation/`.
+2. Read the source files you intend to modify.
+3. Write a concise plan covering: what changes, which files, why.
+4. Document key design decisions and their rationale in the plan. This
+   prevents oscillating between approaches mid-implementation.
+5. Get human approval on the plan before proceeding.
+
+Do NOT skip planning. A good plan lets you one-shot the implementation.
+
+### Phase 2: Draft (Implement)
+
+Execute the plan:
+
+- Follow the coding conventions below.
+- Make minimal, focused changes. Do not refactor unrelated code.
+- Do not add features beyond what the spec calls for.
+
+### Phase 3: Simplify (Review)
+
+After implementation, review your own work:
+
+- Can any function be shorter or clearer?
+- Are there unnecessary abstractions, error paths, or comments?
+- Does the architecture stay clean? No dead code, no orphan headers.
+- Remove anything that is not strictly needed.
+
+### Phase 4: Verify (Build + Test)
+
+Run verification before declaring done:
+
+
+
+## Documentation in code Rules:
+
+Every function/method MUST include a documentation comment.
+
+Requirements:
+- Use standard language conventions.  
+- Include:
+  - Short function description (MAX 50 words)
+  - Description of every parameter
+  - Return value description if applicable
+- Keep descriptions concise and technical.
+- Do NOT exceed 50 words for the function summary.
+
+
diff --git a/Makefile b/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)
 BUILD = $(CC) $(SRCS) -I $(SDK)/include -I$(TOOLCHAIN)/usr/include -I$(PWD) -L$(DRV) $(CFLAGS) $(LIB) -levent_core -Os -s $(CFLAGS) -o $(OUTPUT)
 
@@ -60,13 +61,31 @@ 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
diff --git a/README.md b/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:
 

diff --git a/build_rockchip.sh b/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

diff --git a/documentation/build-preflight-release.md b/documentation/build-preflight-release.md
@@ -0,0 +1,84 @@
+# 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).
+- 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: **`dist/msposd-preflight`** (`.exe` on Windows) — one file.
+
+On Linux, verify the artifact type before publishing it:
+
+```bash
+file dist/msposd-preflight
+# ... 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
+./dist/msposd-preflight               # starts server, opens the browser
+./dist/msposd-preflight --port 9000   # custom port
+./dist/msposd-preflight --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/msposd-preflight
+cp dist/msposd-preflight ~/Apps/msposd-preflight/
+chmod +x ~/Apps/msposd-preflight/msposd-preflight
+~/Apps/msposd-preflight/msposd-preflight
+```
+
+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.