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Added 'small_angle' indicator to OSD flip arrow. #7250

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merged 2 commits into from Dec 21, 2018
Merged

Added 'small_angle' indicator to OSD flip arrow. #7250

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468d8a3
Added 'small_angle' indicator to OSD flip arrow.
mikeller Dec 19, 2018
05ae79a
Fixed tests.
mikeller Dec 20, 2018
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3 changes: 2 additions & 1 deletion src/main/fc/core.c
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Expand Up @@ -519,8 +519,9 @@ void updateMagHold(void)
if (dif >= +180)
dif -= 360;
dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);
if (STATE(SMALL_ANGLE))
if (STATE(SMALL_ANGLE)) {
rcCommand[YAW] -= dif * currentPidProfile->pid[PID_MAG].P / 30; // 18 deg
}
} else
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
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4 changes: 2 additions & 2 deletions src/main/flight/imu.c
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Expand Up @@ -157,7 +157,8 @@ void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correctio
{
imuRuntimeConfig.dcm_kp = imuConfig()->dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = imuConfig()->dcm_ki / 10000.0f;
imuRuntimeConfig.small_angle = imuConfig()->small_angle;

smallAngleCosZ = cos_approx(degreesToRadians(imuConfig()->small_angle));

fc_acc = calculateAccZLowPassFilterRCTimeConstant(5.0f); // Set to fix value
throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
Expand All @@ -167,7 +168,6 @@ void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correctio

void imuInit(void)
{
smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig.small_angle));
accVelScale = 9.80665f * acc.dev.acc_1G_rec / 10000.0f;

#ifdef USE_GPS
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1 change: 0 additions & 1 deletion src/main/flight/imu.h
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Expand Up @@ -67,7 +67,6 @@ PG_DECLARE(imuConfig_t, imuConfig);
typedef struct imuRuntimeConfig_s {
float dcm_ki;
float dcm_kp;
uint8_t small_angle;
} imuRuntimeConfig_t;

void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correction_value);
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52 changes: 36 additions & 16 deletions src/main/io/osd.c
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Expand Up @@ -528,7 +528,6 @@ void changeOsdProfileIndex(uint8_t profileIndex)
}
#endif


static bool osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(osdConfig()->item_pos[item]) || BLINK(item)) {
Expand All @@ -542,25 +541,46 @@ static bool osdDrawSingleElement(uint8_t item)
switch (item) {
case OSD_FLIP_ARROW:
{
const int angleR = attitude.values.roll / 10;
const int angleP = attitude.values.pitch / 10; // still gotta update all angleR and angleP pointers.
if (isFlipOverAfterCrashActive()) {
if (angleP > 0 && ((angleR > 175 && angleR < 180) || (angleR > -180 && angleR < -175))) {
buff[0] = SYM_ARROW_SOUTH;
} else if (angleP > 0 && angleR > 0 && angleR < 175) {
buff[0] = (SYM_ARROW_EAST + 2);
} else if (angleP > 0 && angleR < 0 && angleR > -175) {
buff[0] = (SYM_ARROW_WEST + 2);
} else if (angleP <= 0 && ((angleR > 175 && angleR < 180) || (angleR > -180 && angleR < -175))) {
buff[0] = SYM_ARROW_NORTH;
} else if (angleP <= 0 && angleR > 0 && angleR < 175) {
buff[0] = (SYM_ARROW_NORTH + 2);
} else if (angleP <= 0 && angleR < 0 && angleR > -175) {
buff[0] = (SYM_ARROW_SOUTH + 2);
int rollAngle = attitude.values.roll / 10;
const int pitchAngle = attitude.values.pitch / 10;
if (abs(rollAngle) > 90) {
rollAngle = (rollAngle < 0 ? -180 : 180) - rollAngle;
}

if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !STATE(SMALL_ANGLE))) && !((imuConfig()->small_angle < 180) && STATE(SMALL_ANGLE)) && (rollAngle || pitchAngle)) {
if (abs(pitchAngle) < 2 * abs(rollAngle) && abs(rollAngle) < 2 * abs(pitchAngle)) {
if (pitchAngle > 0) {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST + 2;
} else {
buff[0] = SYM_ARROW_EAST - 2;
}
} else {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST - 2;
} else {
buff[0] = SYM_ARROW_EAST + 2;
}
}
} else {
if (abs(pitchAngle) > abs(rollAngle)) {
if (pitchAngle > 0) {
buff[0] = SYM_ARROW_SOUTH;
} else {
buff[0] = SYM_ARROW_NORTH;
}
} else {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST;
} else {
buff[0] = SYM_ARROW_EAST;
}
}
}
} else {
buff[0] = ' ';
}

buff[1] = '\0';
break;
}
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1 change: 1 addition & 0 deletions src/test/unit/osd_unittest.cc
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Expand Up @@ -89,6 +89,7 @@ extern "C" {
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);

timeUs_t simulationTime = 0;
batteryState_e simulationBatteryState;
Expand Down