forked from ArduPilot/ardupilot
/
AP_OSD.cpp
602 lines (539 loc) · 18.7 KB
/
AP_OSD.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* AP_OSD partially based on betaflight and inav osd.c implemention.
* clarity.mcm font is taken from inav configurator.
* Many thanks to their authors.
*/
#include "AP_OSD.h"
#if OSD_ENABLED || OSD_PARAM_ENABLED
#include "AP_OSD_MAX7456.h"
#ifdef WITH_SITL_OSD
#include "AP_OSD_SITL.h"
#endif
#include "AP_OSD_MSP.h"
#include "AP_OSD_MSP_DisplayPort.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <utility>
#include <AP_Notify/AP_Notify.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RSSI/AP_RSSI.h>
#include <GCS_MAVLink/GCS.h>
// macro for easy use of var_info2
#define AP_SUBGROUPINFO2(element, name, idx, thisclazz, elclazz) { name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info2 }, AP_PARAM_FLAG_NESTED_OFFSET, idx, AP_PARAM_GROUP }
const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _TYPE
// @DisplayName: OSD type
// @Description: OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
#if OSD_ENABLED
// @Param: _CHAN
// @DisplayName: Screen switch transmitter channel
// @Description: This sets the channel used to switch different OSD screens.
// @Values: 0:Disable,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0),
// @Group: 1_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen),
// @Group: 2_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen),
// @Group: 3_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen),
// @Group: 4_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen),
// @Param: _SW_METHOD
// @DisplayName: Screen switch method
// @Description: This sets the method used to switch different OSD screens.
// @Values: 0: switch to next screen if channel value was changed, 1: select screen based on pwm ranges specified for each screen, 2: switch to next screen after low to high transition and every 1s while channel value is high
// @User: Standard
AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE),
// @Param: _OPTIONS
// @DisplayName: OSD Options
// @Description: This sets options that change the display
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows
// @User: Standard
AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
// @Param: _FONT
// @DisplayName: OSD Font
// @Description: This sets which OSD font to use. It is an integer from 0 to the number of fonts available
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0),
// @Param: _V_OFFSET
// @DisplayName: OSD vertical offset
// @Description: Sets vertical offset of the osd inside image
// @Range: 0 31
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16),
// @Param: _H_OFFSET
// @DisplayName: OSD horizontal offset
// @Description: Sets horizontal offset of the osd inside image
// @Range: 0 63
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32),
// @Param: _W_RSSI
// @DisplayName: RSSI warn level (in %)
// @Description: Set level at which RSSI item will flash
// @Range: 0 99
// @User: Standard
AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
// @Param: _W_NSAT
// @DisplayName: NSAT warn level
// @Description: Set level at which NSAT item will flash
// @Range: 1 30
// @User: Standard
AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9),
// @Param: _W_BATVOLT
// @DisplayName: BAT_VOLT warn level
// @Description: Set level at which BAT_VOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f),
// @Param: _UNITS
// @DisplayName: Display Units
// @Description: Sets the units to use in displaying items
// @Values: 0:Metric,1:Imperial,2:SI,3:Aviation
// @User: Standard
AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0),
// @Param: _MSG_TIME
// @DisplayName: Message display duration in seconds
// @Description: Sets message duration seconds
// @Range: 1 20
// @User: Standard
AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
// @Param: _ARM_SCR
// @DisplayName: Arm screen
// @Description: Screen to be shown on Arm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
// @Param: _DSARM_SCR
// @DisplayName: Disarm screen
// @Description: Screen to be shown on disarm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0),
// @Param: _FS_SCR
// @DisplayName: Failsafe screen
// @Description: Screen to be shown on failsafe event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0),
#if OSD_PARAM_ENABLED
// @Param: _BTN_DELAY
// @DisplayName: Button delay
// @Description: Debounce time in ms for stick commanded parameter navigation.
// @Range: 0 3000
// @User: Advanced
AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
#endif
#if AP_TERRAIN_AVAILABLE
// @Param: _W_TERR
// @DisplayName: Terrain warn level
// @Description: Set level below which TER_HGT item will flash. -1 disables.
// @Range: -1 3000
// @Units: m
// @User: Standard
AP_GROUPINFO("_W_TERR", 23, AP_OSD, warn_terr, -1),
#endif
// @Param: _W_AVGCELLV
// @DisplayName: AVGCELLV warn level
// @Description: Set level at which AVGCELLV item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_AVGCELLV", 24, AP_OSD, warn_avgcellvolt, 3.6f),
// @Param: _CELL_COUNT
// @DisplayName: Battery cell count
// @Description: Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("_CELL_COUNT", 25, AP_OSD, cell_count, -1),
// @Param: _W_RESTVOLT
// @DisplayName: RESTVOLT warn level
// @Description: Set level at which RESTVOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_RESTVOLT", 26, AP_OSD, warn_restvolt, 10.0f),
// @Param: _W_ACRVOLT
// @DisplayName: Avg Cell Resting Volt warn level
// @Description: Set level at which ACRVOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_ACRVOLT", 31, AP_OSD, warn_avgcellrestvolt, 3.6f),
#endif //osd enabled
#if OSD_PARAM_ENABLED
// @Group: 5_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
// @Group: 6_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[1], "6_", 22, AP_OSD, AP_OSD_ParamScreen),
#endif
#if OSD_ENABLED
// additional tables to go beyond 63 limit
AP_SUBGROUPINFO2(screen[0], "1_", 27, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[1], "2_", 28, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[2], "3_", 29, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[3], "4_", 30, AP_OSD, AP_OSD_Screen),
#endif
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
// singleton instance
AP_OSD *AP_OSD::_singleton;
AP_OSD::AP_OSD()
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_OSD must be singleton");
}
AP_Param::setup_object_defaults(this, var_info);
#if OSD_ENABLED
// default first screen enabled
screen[0].enabled.set(1);
previous_pwm_screen = -1;
#endif
#ifdef WITH_SITL_OSD
osd_type.set_default(OSD_SITL);
#endif
#ifdef HAL_OSD_TYPE_DEFAULT
osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
#endif
_singleton = this;
}
void AP_OSD::init()
{
switch (osd_types(osd_type.get())) {
case OSD_NONE:
case OSD_TXONLY:
default:
break;
case OSD_MAX7456: {
#ifdef HAL_WITH_SPI_OSD
AP_HAL::OwnPtr<AP_HAL::Device> spi_dev = std::move(hal.spi->get_device("osd"));
if (!spi_dev) {
break;
}
#if HAL_WITH_OSD_BITMAP
backend = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
#endif
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MAX7456 OSD\n");
#endif
break;
}
#ifdef WITH_SITL_OSD
case OSD_SITL: {
backend = AP_OSD_SITL::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started SITL OSD\n");
break;
}
#endif
case OSD_MSP: {
backend = AP_OSD_MSP::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MSP OSD\n");
break;
}
#if HAL_WITH_MSP_DISPLAYPORT
case OSD_MSP_DISPLAYPORT: {
backend = AP_OSD_MSP_DisplayPort::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MSP DisplayPort OSD\n");
break;
}
#endif
}
#if OSD_ENABLED
if (backend != nullptr) {
// populate the fonts lookup table
backend->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
// create thread as higher priority than IO for all backends
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
}
#endif
}
#if OSD_ENABLED
void AP_OSD::osd_thread()
{
// initialize thread specific code once
backend->osd_thread_run_once();
while (true) {
hal.scheduler->delay(100);
update_osd();
}
}
void AP_OSD::update_osd()
{
backend->clear();
if (!_disable) {
update_stats();
update_current_screen();
get_screen(current_screen).set_backend(backend);
// skip drawing for MSP OSD backends to save some resources
if (osd_types(osd_type.get()) != OSD_MSP) {
get_screen(current_screen).draw();
}
}
backend->flush();
}
//update maximums and totals
void AP_OSD::update_stats()
{
// allow other threads to consume stats info
WITH_SEMAPHORE(_sem);
uint32_t now = AP_HAL::millis();
if (!AP_Notify::flags.armed) {
_stats.last_update_ms = now;
return;
}
// flight distance
uint32_t delta_ms = now - _stats.last_update_ms;
_stats.last_update_ms = now;
Vector2f v;
Location loc {};
Location home_loc;
bool home_is_set;
bool have_airspeed_estimate;
float alt;
float aspd_mps = 0.0f;
{
// minimize semaphore scope
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
v = ahrs.groundspeed_vector();
home_is_set = ahrs.get_location(loc) && ahrs.home_is_set();
if (home_is_set) {
home_loc = ahrs.get_home();
}
ahrs.get_relative_position_D_home(alt);
have_airspeed_estimate = ahrs.airspeed_estimate(aspd_mps);
}
float speed = v.length();
if (speed < 0.178) {
speed = 0.0;
}
float dist_m = (speed * delta_ms)*0.001;
_stats.last_distance_m += dist_m;
// maximum ground speed
_stats.max_speed_mps = fmaxf(_stats.max_speed_mps,speed);
// maximum distance
if (home_is_set) {
float distance = home_loc.get_distance(loc);
_stats.max_dist_m = fmaxf(_stats.max_dist_m, distance);
}
// maximum altitude
alt = -alt;
_stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
// maximum current
AP_BattMonitor &battery = AP::battery();
float amps;
if (battery.current_amps(amps)) {
_stats.max_current_a = fmaxf(_stats.max_current_a, amps);
}
// minimum voltage
float voltage = battery.voltage();
if (voltage > 0) {
_stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
}
// minimum rssi
AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
if (ap_rssi) {
_stats.min_rssi = fminf(_stats.min_rssi, ap_rssi->read_receiver_rssi());
}
// max airspeed either true or synthetic
if (have_airspeed_estimate) {
_stats.max_airspeed_mps = fmaxf(_stats.max_airspeed_mps, aspd_mps);
}
#if HAL_WITH_ESC_TELEM
// max esc temp
AP_ESC_Telem& telem = AP::esc_telem();
int16_t highest_temperature = 0;
telem.get_highest_motor_temperature(highest_temperature);
_stats.max_esc_temp = MAX(_stats.max_esc_temp, highest_temperature);
#endif
}
//Thanks to minimosd authors for the multiple osd screen idea
void AP_OSD::update_current_screen()
{
// Switch on ARM/DISARM event
if (AP_Notify::flags.armed) {
if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(arm_scr-1).enabled) {
current_screen = arm_scr-1;
}
was_armed = true;
} else if (was_armed) {
if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(disarm_scr-1).enabled) {
current_screen = disarm_scr-1;
}
was_armed = false;
}
// Switch on failsafe event
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) {
if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(failsafe_scr-1).enabled) {
pre_fs_screen = current_screen;
current_screen = failsafe_scr-1;
}
was_failsafe = true;
} else if (was_failsafe) {
if (get_screen(pre_fs_screen).enabled) {
current_screen = pre_fs_screen;
}
was_failsafe = false;
}
if (rc_channel == 0) {
return;
}
RC_Channel *channel = RC_Channels::rc_channel(rc_channel-1);
if (channel == nullptr) {
return;
}
int16_t channel_value = channel->get_radio_in();
switch (sw_method) {
//switch to next screen if channel value was changed
default:
case TOGGLE:
if (previous_channel_value == 0) {
//do not switch to the next screen just after initialization
previous_channel_value = channel_value;
}
if (abs(channel_value-previous_channel_value) > 200) {
if (switch_debouncer) {
next_screen();
previous_channel_value = channel_value;
} else {
switch_debouncer = true;
return;
}
}
break;
//select screen based on pwm ranges specified
case PWM_RANGE:
for (int i=0; i<AP_OSD_NUM_SCREENS; i++) {
if (get_screen(i).enabled && get_screen(i).channel_min <= channel_value && get_screen(i).channel_max > channel_value) {
if (previous_pwm_screen == i) {
break;
} else {
current_screen = previous_pwm_screen = i;
}
}
}
break;
//switch to next screen after low to high transition and every 1s while channel value is high
case AUTO_SWITCH:
if (channel_value > channel->get_radio_trim()) {
if (switch_debouncer) {
uint32_t now = AP_HAL::millis();
if (now - last_switch_ms > 1000) {
next_screen();
last_switch_ms = now;
}
} else {
switch_debouncer = true;
return;
}
} else {
last_switch_ms = 0;
}
break;
}
switch_debouncer = false;
}
//select next avaliable screen, do nothing if all screens disabled
void AP_OSD::next_screen()
{
uint8_t t = current_screen;
do {
t = (t + 1)%AP_OSD_NUM_SCREENS;
} while (t != current_screen && !get_screen(t).enabled);
current_screen = t;
}
// set navigation information for display
void AP_OSD::set_nav_info(NavInfo &navinfo)
{
// do this without a lock for now
nav_info = navinfo;
}
#endif // OSD_ENABLED
// handle OSD parameter configuration
#if HAL_GCS_ENABLED
void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link)
{
bool found = false;
switch (msg.msgid) {
case MAVLINK_MSG_ID_OSD_PARAM_CONFIG: {
mavlink_osd_param_config_t packet;
mavlink_msg_osd_param_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_write_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN);
}
}
break;
case MAVLINK_MSG_ID_OSD_PARAM_SHOW_CONFIG: {
mavlink_osd_param_show_config_t packet;
mavlink_msg_osd_param_show_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_read_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN,
nullptr, OSD_PARAM_NONE, 0, 0, 0);
}
}
break;
default:
break;
}
}
#endif
AP_OSD *AP::osd() {
return AP_OSD::get_singleton();
}
#endif // OSD_ENABLED || OSD_PARAM_ENABLED