CORV GCS a 3d cross platform for ground control and navigation

[Xarin94]

CORV GCS is a ground control station I've been building (Apache-2.0, Electron, Windows
installer). It started as a MAVLink station; since v1.7.2 it plans and uploads INAV
waypoint missions over MSP from the same editor.

What works with INAV

• Telemetry over MSP / MSP2, serial or TCP, with a slow-poll profile for long-range
  links. Betaflight connects too — telemetry only, no navigation.
• Missions. You draw shapes on the map — waypoints, perimeter, area survey grid,
  corridor, POI, landing — the route is calculated over SRTM terrain, and UPLOAD writes
  it to the board with MSP_SET_WP: waypoint, hold, POI, heading, per-leg speed, land,
  RTH. READ pulls the mission off the board back into an editable route. Optionally
  stored in board memory. Upload with the aircraft disarmed, then fly it in WP mode.
• Altitudes travel relative to the arming point by default, or AMSL (INAV 5+) with a
  switch. Every waypoint is resolved against the elevation model, so an AGL plan across a
  slope becomes per-waypoint altitudes.
• Waypoint budget on the route card while you plan: 60, or whatever MSP_WP_GETINFO
  says your board holds.

What it does not do

Loiter circles, spline legs, take-off waypoints, camera / gimbal / servo / relay actions,
per-waypoint acceptance radius. Those controls are greyed out with the reason written on
them as soon as you select the INAV stack, instead of failing at upload time. It is not a
replacement for the Configurator either — PIDs, modes, failsafe and settings live there,
and those pages are greyed out as well.

Terrain, 3D view and radio planning

The flight view is a first-person 3D world built from SRTM tiles and satellite imagery with
the HUD projected onto it; maps and elevation are cached on disk, so it works offline. The
planner also checks the radio link along the route against the terrain — free-space
loss, first Fresnel zone, knife-edge diffraction — and paints the coverage around the
operator position, which is probably the part long-range INAV pilots will care about most.

The INAV path is new. It has been verified against the MSP waypoint format and driven
end-to-end in the app, but it has not yet flown on my own INAV hardware — if you try it on
SITL or a board, I would like to hear what breaks.

Repo: https://github.com/Xarin94/Corv-GCS · Release:
https://github.com/Xarin94/Corv-GCS/releases/tag/v1.7.2 (Windows installer; Linux packages
follow)