refactor: simplify and reduce flash usage in osd.c and fc_msp.c via shared helpers#11573
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osd.c - collapse identical custom-element and GVAR switch cases: - OSD_CUSTOM_ELEMENT_1..3: three cases -> one using item - OSD_CUSTOM_ELEMENT_1 - OSD_CUSTOM_ELEMENT_4..8: five cases -> one using item - OSD_CUSTOM_ELEMENT_4 + 3 - OSD_GVAR_0..3: four cases -> one using item - OSD_GVAR_0 fc_msp.c - extract duplicated serialization loops into static helpers: - mspSerializeMotorMixer: shared by both loops in MSP2_COMMON_MOTOR_MIXER - mspSerializeServoMixer: shared by both loops in MSP2_INAV_SERVO_MIXER Flash impact on MATEKF405: mspFcProcessOutCommand -1108 bytes, net -472 bytes total.
MSP_SET_SERVO_CONFIGURATION and MSP2_INAV_SET_SERVO_CONFIG both read the same four servo param fields (min/max/middle/rate) and call servoComputeScalingFactors. Consolidate into a shared static helper. Flash impact on MATEKF405: mspFcProcessInCommand -324 bytes.
osdDisplayBattVoltDJI: consolidates DJI-compat digit adjustment + voltage display used by all four battery voltage cases (main, sag-comp, cell, sag-comp cell). osdFormatAngleDeg: shared buff layout (sym + 3-digit angle-or-dashes + SYM_DEGREES + null) for OSD_HEADING, OSD_GROUND_COURSE, OSD_AZIMUTH. osdUpdateEfficiencyFilter: shared GPS-fix guard + pt1 filter update used by OSD_EFFICIENCY_MAH_PER_KM and OSD_EFFICIENCY_WH_PER_KM. Flash impact on MATEKF405: osdDrawSingleElement -256 bytes, net -64 bytes (new helpers cost 372 bytes, save 436 from the function).
sbufWriteAxisU16 / sbufReadAxisU16: replace repeated 3-axis U16 triplet reads/writes for accZero, accGain, magZero, magGain in MSP_CALIBRATION_DATA and MSP_SET_CALIBRATION_DATA. mspReadRates: replace the identical FD_YAW-aware rate-constrain loop used in MSP_SET_RC_TUNING and twice in MSP2_INAV_SET_RATE_PROFILE. Flash impact on MATEKF405: mspFcProcessOutCommand -192 bytes mspFcProcessInCommand -360 bytes net total across all changes now -1032 bytes from baseline
- Remove spurious displayWrite inside drawStat_RXStats HD+CRSF block that caused the stat value to be written twice and row to be incremented twice on HD displays with CRSF (blocking regression) - mspReadRates: widen loop variable from uint8_t to int to match original code and avoid signed/unsigned comparison with FD_YAW - osdUpdateEfficiencyFilter: move GPS/speed guard fully into the helper and add comment clarifying the div/0 guard at call sites - sbufWriteAxisU16: add comment explaining int16_t input / U16 wire format convention
osdFormatVelocityStr: collapse 3-unit × 2-_max × 4-speedType nested switch (24 code paths, 12 tfp_sprintf call sites) into unit-symbol selection followed by a single speedType switch (7 code paths, 4 tfp_sprintf call sites). Saves 32 B in the function, 144 B total. mspSerializeServoParams: add output-side counterpart to the existing mspDeserializeServoParams helper. Used in MSP_SERVO_CONFIGURATIONS and MSP2_INAV_SERVO_CONFIG loops. LTO inlines it, so no binary size regression; code is now symmetric on both sides of the wire.
osd.c: add explicit case OSD_UNIT_METRIC before default in osdFormatVelocityStr unit symbol selection, making intent clear for future enum additions. fc_msp.c: use 0xFF instead of -1 in mspSerializeServoMixer compat byte to make the truncation-to-255 explicit.
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Summary
Reduces binary flash usage by extracting repeated code patterns in the three largest functions into shared static helpers. All changes are pure refactoring — no behavior changes, same MSP wire format. Also simplifies the source code, making it more readable.
Flash savings on MATEKF405 (STM32F405, 1MB flash, -Os + LTO):
mspFcProcessOutCommandmspFcProcessInCommandosdDrawSingleElementChanges
osd.c
osdFormatIntUnit,osdWriteChar,osdWriteChar2,osdFormatTime_MMSS): replace 81tfp_sprintfcalls with lightweight helpers that skip format-string parsing — improves CPU efficiency at a small flash costOSD_CUSTOM_ELEMENT_1..3,OSD_CUSTOM_ELEMENT_4..8, andOSD_GVAR_0..3groups collapsed using index arithmetic (item - OSD_CUSTOM_ELEMENT_1etc.)osdDisplayBattVoltDJI: consolidates the DJI digit-count adjustment repeated verbatim across 4 battery voltage casesosdFormatAngleDeg: shared angle display layout (sym + 3-digit value-or-dashes + SYM_DEGREES + NUL) used byOSD_HEADING,OSD_GROUND_COURSE,OSD_AZIMUTHosdUpdateEfficiencyFilter: shared GPS-fix guard + pt1 filter update forOSD_EFFICIENCY_MAH_PER_KMandOSD_EFFICIENCY_WH_PER_KMfc_msp.c
mspSerializeMotorMixer: shared serializer for both motor mixer arrays inMSP2_COMMON_MOTOR_MIXERmspSerializeServoMixer: shared serializer for both servo mixer arrays inMSP2_INAV_SERVO_MIXERmspDeserializeServoParams: shared deserializer forMSP_SET_SERVO_CONFIGURATIONandMSP2_INAV_SET_SERVO_CONFIGmspReadRates: shared rate-read loop with FD_YAW constrain, used inMSP_SET_RC_TUNINGand twice inMSP2_INAV_SET_RATE_PROFILEsbufWriteAxisU16/sbufReadAxisU16: shared XYZ triplet serializers for calibration data (accZero, accGain, magZero, magGain)Testing
static_assertguards on OSD enum index arithmetic