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osd_dji_hd.c
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osd_dji_hd.c
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/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute 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/.
*
* @author Konstantin Sharlaimov (ksharlaimov@inavflight.com)
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "build/debug.h"
#include "build/version.h"
#include "common/streambuf.h"
#include "common/utils.h"
#include "common/maths.h"
#include "common/time.h"
#include "common/crc.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/fc_core.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_msp.h"
#include "fc/fc_msp_box.h"
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "fc/rc_adjustments.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "flight/mixer.h"
#include "io/serial.h"
#include "io/gps.h"
#include "io/osd.h"
#include "io/osd_dji_hd.h"
#include "io/osd_common.h"
#include "rx/rx.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "sensors/rangefinder.h"
#include "sensors/acceleration.h"
#include "sensors/esc_sensor.h"
#include "sensors/temperature.h"
#include "sensors/pitotmeter.h"
#include "sensors/boardalignment.h"
#include "msp/msp.h"
#include "msp/msp_protocol.h"
#include "msp/msp_serial.h"
#include "common/string_light.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "common/constants.h"
#include "scheduler/scheduler.h"
#include "common/printf.h"
#include <stdlib.h>
#include "rx/rx.h"
#include "fc/rc_controls.h"
#if defined(USE_DJI_HD_OSD)
#define DJI_MSP_BAUDRATE 115200
#define DJI_ARMING_DISABLE_FLAGS_COUNT 25
#define DJI_OSD_WARNING_COUNT 16
#define DJI_OSD_TIMER_COUNT 2
#define DJI_OSD_FLAGS_OSD_FEATURE (1 << 0)
#define EFFICIENCY_UPDATE_INTERVAL (5 * 1000)
#define RC_RX_LINK_LOST_MSG "!RC RX LINK LOST!"
// Adjust OSD_MESSAGE's default position when
// changing OSD_MESSAGE_LENGTH
#define OSD_MESSAGE_LENGTH 28
#define OSD_ALTERNATING_CHOICES(ms, num_choices) ((millis() / ms) % num_choices)
#define _CONST_STR_SIZE(s) ((sizeof(s)/sizeof(s[0]))-1) // -1 to avoid counting final '\0'
// Wrap all string constants intenteded for display as messages with
// this macro to ensure compile time length validation.
#define OSD_MESSAGE_STR(x) ({ \
STATIC_ASSERT(_CONST_STR_SIZE(x) <= OSD_MESSAGE_LENGTH, message_string_ ## __COUNTER__ ## _too_long); \
x; \
})
/*
* DJI HD goggles use MSPv1 compatible with Betaflight 4.1.0
* DJI uses a subset of messages and assume fixed bit positions for flight modes
*
* To avoid compatibility issues we maintain a separate MSP command processor
* but reuse the packet decoder to minimize code duplication
*/
PG_REGISTER_WITH_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig, PG_DJI_OSD_CONFIG, 2);
PG_RESET_TEMPLATE(djiOsdConfig_t, djiOsdConfig,
.use_name_for_messages = SETTING_DJI_USE_NAME_FOR_MESSAGES_DEFAULT,
.esc_temperature_source = SETTING_DJI_ESC_TEMP_SOURCE_DEFAULT,
.proto_workarounds = SETTING_DJI_WORKAROUNDS_DEFAULT,
.messageSpeedSource = SETTING_DJI_MESSAGE_SPEED_SOURCE_DEFAULT,
.rssi_source = SETTING_DJI_RSSI_SOURCE_DEFAULT,
.useAdjustments = SETTING_DJI_USE_ADJUSTMENTS_DEFAULT,
.craftNameAlternatingDuration = SETTING_DJI_CN_ALTERNATING_DURATION_DEFAULT
);
#define RSSI_BOUNDARY(PERCENT) (RSSI_MAX_VALUE / 100 * PERCENT)
typedef enum {
DJI_OSD_CN_MESSAGES,
DJI_OSD_CN_THROTTLE,
DJI_OSD_CN_THROTTLE_AUTO_THR,
DJI_OSD_CN_AIR_SPEED,
DJI_OSD_CN_EFFICIENCY,
DJI_OSD_CN_DISTANCE,
DJI_OSD_CN_ADJUSTEMNTS,
DJI_OSD_CN_MAX_ELEMENTS
} DjiCraftNameElements_t;
// External dependency on looptime
extern timeDelta_t cycleTime;
// MSP packet decoder state structure
static mspPort_t djiMspPort;
// Mapping table between DJI PID and INAV PID (order is different)
const uint8_t djiPidIndexMap[] = {
PID_ROLL, // DJI: PID_ROLL
PID_PITCH, // DJI: PID_PITCH
PID_YAW, // DJI: PID_YAW
PID_LEVEL, // DJI: PID_LEVEL
PID_HEADING // DJI: PID_MAG
};
typedef struct {
int itemIndex; // INAV OSD item
features_e depFeature; // INAV feature that item is dependent on
} djiOsdMapping_t;
const djiOsdMapping_t djiOSDItemIndexMap[] = {
{ OSD_RSSI_VALUE, 0 }, // DJI: OSD_RSSI_VALUE
{ OSD_MAIN_BATT_VOLTAGE, FEATURE_VBAT }, // DJI: OSD_MAIN_BATT_VOLTAGE
{ OSD_CROSSHAIRS, 0 }, // DJI: OSD_CROSSHAIRS
{ OSD_ARTIFICIAL_HORIZON, 0 }, // DJI: OSD_ARTIFICIAL_HORIZON
{ OSD_HORIZON_SIDEBARS, 0 }, // DJI: OSD_HORIZON_SIDEBARS
{ OSD_ONTIME, 0 }, // DJI: OSD_ITEM_TIMER_1
{ OSD_FLYTIME, 0 }, // DJI: OSD_ITEM_TIMER_2
{ OSD_FLYMODE, 0 }, // DJI: OSD_FLYMODE
{ OSD_CRAFT_NAME, 0 }, // DJI: OSD_CRAFT_NAME
{ OSD_THROTTLE_POS, 0 }, // DJI: OSD_THROTTLE_POS
{ OSD_VTX_CHANNEL, 0 }, // DJI: OSD_VTX_CHANNEL
{ OSD_CURRENT_DRAW, FEATURE_CURRENT_METER }, // DJI: OSD_CURRENT_DRAW
{ OSD_MAH_DRAWN, FEATURE_CURRENT_METER }, // DJI: OSD_MAH_DRAWN
{ OSD_GPS_SPEED, FEATURE_GPS }, // DJI: OSD_GPS_SPEED
{ OSD_GPS_SATS, FEATURE_GPS }, // DJI: OSD_GPS_SATS
{ OSD_ALTITUDE, 0 }, // DJI: OSD_ALTITUDE
{ OSD_ROLL_PIDS, 0 }, // DJI: OSD_ROLL_PIDS
{ OSD_PITCH_PIDS, 0 }, // DJI: OSD_PITCH_PIDS
{ OSD_YAW_PIDS, 0 }, // DJI: OSD_YAW_PIDS
{ OSD_POWER, 0 }, // DJI: OSD_POWER
{ -1, 0 }, // DJI: OSD_PIDRATE_PROFILE
{ -1, 0 }, // DJI: OSD_WARNINGS
{ OSD_MAIN_BATT_CELL_VOLTAGE, 0 }, // DJI: OSD_AVG_CELL_VOLTAGE
{ OSD_GPS_LON, FEATURE_GPS }, // DJI: OSD_GPS_LON
{ OSD_GPS_LAT, FEATURE_GPS }, // DJI: OSD_GPS_LAT
{ OSD_DEBUG, 0 }, // DJI: OSD_DEBUG
{ OSD_ATTITUDE_PITCH, 0 }, // DJI: OSD_PITCH_ANGLE
{ OSD_ATTITUDE_ROLL, 0 }, // DJI: OSD_ROLL_ANGLE
{ -1, 0 }, // DJI: OSD_MAIN_BATT_USAGE
{ -1, 0 }, // DJI: OSD_DISARMED
{ OSD_HOME_DIR, FEATURE_GPS }, // DJI: OSD_HOME_DIR
{ OSD_HOME_DIST, FEATURE_GPS }, // DJI: OSD_HOME_DIST
{ OSD_HEADING, 0 }, // DJI: OSD_NUMERICAL_HEADING
{ OSD_VARIO_NUM, 0 }, // DJI: OSD_NUMERICAL_VARIO
{ -1, 0 }, // DJI: OSD_COMPASS_BAR
{ OSD_ESC_TEMPERATURE, 0 }, // DJI: OSD_ESC_TEMPERATURE
{ OSD_ESC_RPM, 0 }, // DJI: OSD_ESC_RPM
{ OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH, FEATURE_CURRENT_METER }, // DJI: OSD_REMAINING_TIME_ESTIMATE
{ OSD_RTC_TIME, 0 }, // DJI: OSD_RTC_DATETIME
{ -1, 0 }, // DJI: OSD_ADJUSTMENT_RANGE
{ -1, 0 }, // DJI: OSD_CORE_TEMPERATURE
{ -1, 0 }, // DJI: OSD_ANTI_GRAVITY
{ -1, 0 }, // DJI: OSD_G_FORCE
{ -1, 0 }, // DJI: OSD_MOTOR_DIAG
{ -1, 0 }, // DJI: OSD_LOG_STATUS
{ -1, 0 }, // DJI: OSD_FLIP_ARROW
{ -1, 0 }, // DJI: OSD_LINK_QUALITY
{ OSD_TRIP_DIST, FEATURE_GPS }, // DJI: OSD_FLIGHT_DIST
{ -1, 0 }, // DJI: OSD_STICK_OVERLAY_LEFT
{ -1, 0 }, // DJI: OSD_STICK_OVERLAY_RIGHT
{ -1, 0 }, // DJI: OSD_DISPLAY_NAME
{ -1, 0 }, // DJI: OSD_ESC_RPM_FREQ
{ -1, 0 }, // DJI: OSD_RATE_PROFILE_NAME
{ -1, 0 }, // DJI: OSD_PID_PROFILE_NAME
{ -1, 0 }, // DJI: OSD_PROFILE_NAME
{ -1, 0 }, // DJI: OSD_RSSI_DBM_VALUE
{ -1, 0 }, // DJI: OSD_RC_CHANNELS
};
const int djiOSDStatisticsMap[] = {
-1, // DJI: OSD_STAT_RTC_DATE_TIME
-1, // DJI: OSD_STAT_TIMER_1
-1, // DJI: OSD_STAT_TIMER_2
-1, // DJI: OSD_STAT_MAX_SPEED
-1, // DJI: OSD_STAT_MAX_DISTANCE
-1, // DJI: OSD_STAT_MIN_BATTERY
-1, // DJI: OSD_STAT_END_BATTERY
-1, // DJI: OSD_STAT_BATTERY
-1, // DJI: OSD_STAT_MIN_RSSI
-1, // DJI: OSD_STAT_MAX_CURRENT
-1, // DJI: OSD_STAT_USED_MAH
-1, // DJI: OSD_STAT_MAX_ALTITUDE
-1, // DJI: OSD_STAT_BLACKBOX
-1, // DJI: OSD_STAT_BLACKBOX_NUMBER
-1, // DJI: OSD_STAT_MAX_G_FORCE
-1, // DJI: OSD_STAT_MAX_ESC_TEMP
-1, // DJI: OSD_STAT_MAX_ESC_RPM
-1, // DJI: OSD_STAT_MIN_LINK_QUALITY
-1, // DJI: OSD_STAT_FLIGHT_DISTANCE
-1, // DJI: OSD_STAT_MAX_FFT
-1, // DJI: OSD_STAT_TOTAL_FLIGHTS
-1, // DJI: OSD_STAT_TOTAL_TIME
-1, // DJI: OSD_STAT_TOTAL_DIST
-1, // DJI: OSD_STAT_MIN_RSSI_DBM
};
void djiOsdSerialInit(void)
{
memset(&djiMspPort, 0, sizeof(mspPort_t));
serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_DJI_HD_OSD);
if (!portConfig) {
return;
}
serialPort_t *serialPort = openSerialPort(portConfig->identifier, FUNCTION_DJI_HD_OSD, NULL, NULL, DJI_MSP_BAUDRATE, MODE_RXTX, SERIAL_NOT_INVERTED);
if (serialPort) {
resetMspPort(&djiMspPort, serialPort);
}
}
static void djiPackBoxModeBitmask(boxBitmask_t * flightModeBitmask)
{
memset(flightModeBitmask, 0, sizeof(boxBitmask_t));
// Map flight modes to DJI-supported bits
switch(getFlightModeForTelemetry()) {
case FLM_MANUAL:
case FLM_ACRO:
case FLM_ACRO_AIR:
// DJI: No bits set = ACRO
break;
case FLM_ANGLE:
bitArraySet(flightModeBitmask->bits, 1); // DJI: 1 << 1 : ANGLE
break;
case FLM_HORIZON:
bitArraySet(flightModeBitmask->bits, 2); // DJI: 1 << 2
break;
case FLM_RTH:
bitArraySet(flightModeBitmask->bits, 5); // DJI: 1 << 5 : GPS_RESQUE
break;
case FLM_CRUISE:
bitArraySet(flightModeBitmask->bits, 3); // DJI: 1 << 3 : technically HEADFREE
break;
case FLM_FAILSAFE:
bitArraySet(flightModeBitmask->bits, 4); // DJI: 1 << 4
break;
case FLM_LAUNCH:
case FLM_ALTITUDE_HOLD:
case FLM_POSITION_HOLD:
case FLM_MISSION:
default:
// Unsupported ATM, keep at ANGLE
bitArraySet(flightModeBitmask->bits, 1); // DJI: 1 << 1 : ANGLE
}
// Set ARMED mode
if (ARMING_FLAG(ARMED)) {
bitArraySet(flightModeBitmask->bits, 0); // DJI: 1 << 0 : ARMED
}
}
static uint32_t djiPackArmingDisabledFlags(void)
{
// TODO: Map INAV arming disabled flags to DJI/BF ones
// https://github.com/betaflight/betaflight/blob/c6e5882dd91fa20d246b8f8af10cf6c92876bc3d/src/main/fc/runtime_config.h#L42
// For now hide everything in ARMING_DISABLED_ARM_SWITCH (bit 24)
return isArmingDisabled() ? (1 << 24) : 0;
}
#if defined(USE_OSD)
static uint32_t djiEncodeOSDEnabledWarnings(void)
{
// TODO:
return 0;
}
static void djiSerializeOSDConfigReply(sbuf_t *dst)
{
// Only send supported flag - always
sbufWriteU8(dst, DJI_OSD_FLAGS_OSD_FEATURE);
// 7456 video system (AUTO/PAL/NTSC)
sbufWriteU8(dst, osdConfig()->video_system);
// Configuration
sbufWriteU8(dst, osdConfig()->units);
// Alarms
sbufWriteU8(dst, osdConfig()->rssi_alarm);
sbufWriteU16(dst, currentBatteryProfile->capacity.warning);
// OSD_ITEM_COUNT (previously was timer alarm)
sbufWriteU8(dst, 0);
sbufWriteU8(dst, ARRAYLEN(djiOSDItemIndexMap));
// Altitude alarm
sbufWriteU16(dst, osdConfig()->alt_alarm);
// OSD element position and visibility
for (unsigned i = 0; i < ARRAYLEN(djiOSDItemIndexMap); i++) {
const int inavOSDIdx = djiOSDItemIndexMap[i].itemIndex;
// We call OSD item supported if it doesn't have dependencies or all feature-dependencies are satistied
const bool itemIsSupported = ((djiOSDItemIndexMap[i].depFeature == 0) || feature(djiOSDItemIndexMap[i].depFeature));
if (inavOSDIdx >= 0 && itemIsSupported) {
// Position & visibility are encoded in 16 bits, and is the same between BF/DJI.
// However INAV supports co-ords of 0-63 and has 3 layouts, while BF has co-ords 0-31 and visibility profiles.
// Re-encode for co-ords of 0-31 and map the layout to all three BF profiles.
uint16_t itemPos = osdLayoutsConfig()->item_pos[0][inavOSDIdx];
uint16_t itemPosSD = OSD_POS_SD(OSD_X(itemPos), OSD_Y(itemPos));
// Workarounds for certain OSD element positions
// INAV calculates these dynamically, while DJI expects the config to have defined coordinates
switch(inavOSDIdx) {
case OSD_CROSSHAIRS:
itemPosSD = OSD_POS_SD(15, 8);
break;
case OSD_ARTIFICIAL_HORIZON:
itemPosSD = OSD_POS_SD(9, 8);
break;
case OSD_HORIZON_SIDEBARS:
itemPosSD = OSD_POS_SD(16, 7);
break;
}
// Enforce visibility in 3 BF OSD profiles
if (OSD_VISIBLE(itemPos)) {
itemPosSD |= (0x3000 | OSD_VISIBLE_FLAG_SD);
}
sbufWriteU16(dst, itemPosSD);
}
else {
// Hide OSD elements unsupported by INAV
sbufWriteU16(dst, 0);
}
}
// Post flight statistics
sbufWriteU8(dst, ARRAYLEN(djiOSDStatisticsMap));
for (unsigned i = 0; i < ARRAYLEN(djiOSDStatisticsMap); i++ ) {
if (djiOSDStatisticsMap[i] >= 0) {
// FIXME: Map post-flight statistics from INAV to BF/DJI
sbufWriteU8(dst, 0);
}
else {
sbufWriteU8(dst, 0);
}
}
// Timers
sbufWriteU8(dst, DJI_OSD_TIMER_COUNT);
for (int i = 0; i < DJI_OSD_TIMER_COUNT; i++) {
// STUB: We don't support BF's OSD timers
sbufWriteU16(dst, 0);
}
// Enabled warnings
// API < 1.41 stub, kept for compatibility
sbufWriteU16(dst, djiEncodeOSDEnabledWarnings() & 0xFFFF);
// API >= 1.41
// Send the warnings count and 32bit enabled warnings flags.
sbufWriteU8(dst, DJI_OSD_WARNING_COUNT);
sbufWriteU32(dst, djiEncodeOSDEnabledWarnings());
// DJI OSD expects 1 OSD profile
sbufWriteU8(dst, 1);
sbufWriteU8(dst, 1);
// No OSD stick overlay
sbufWriteU8(dst, 0);
// API >= 1.43
// Camera frame element width/height - magic numbers taken from Betaflight source
//sbufWriteU8(dst, DJI_OSD_SCREEN_WIDTH); // osdConfig()->camera_frame_width
//sbufWriteU8(dst, DJI_OSD_SCREEN_HEIGHT); // osdConfig()->camera_frame_height
}
static char * osdArmingDisabledReasonMessage(void)
{
switch (isArmingDisabledReason()) {
case ARMING_DISABLED_FAILSAFE_SYSTEM:
// See handling of FAILSAFE_RX_LOSS_MONITORING in failsafe.c
if (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) {
if (failsafeIsReceivingRxData()) {
// If we're not using sticks, it means the ARM switch
// hasn't been off since entering FAILSAFE_RX_LOSS_MONITORING
// yet
return OSD_MESSAGE_STR("DISARM!");
}
// Not receiving RX data
return OSD_MESSAGE_STR(RC_RX_LINK_LOST_MSG);
}
return OSD_MESSAGE_STR("FAILSAFE");
case ARMING_DISABLED_NOT_LEVEL:
return OSD_MESSAGE_STR("!LEVEL");
case ARMING_DISABLED_SENSORS_CALIBRATING:
return OSD_MESSAGE_STR("CALIBRATING");
case ARMING_DISABLED_SYSTEM_OVERLOADED:
return OSD_MESSAGE_STR("OVERLOAD");
case ARMING_DISABLED_NAVIGATION_UNSAFE:
// Check the exact reason
switch (navigationIsBlockingArming(NULL)) {
case NAV_ARMING_BLOCKER_NONE:
break;
case NAV_ARMING_BLOCKER_MISSING_GPS_FIX:
return OSD_MESSAGE_STR("NO GPS FIX");
case NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE:
return OSD_MESSAGE_STR("DISABLE NAV");
case NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR:
return OSD_MESSAGE_STR("1ST WYP TOO FAR");
case NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR:
return OSD_MESSAGE_STR("WYP MISCONFIGURED");
}
break;
case ARMING_DISABLED_COMPASS_NOT_CALIBRATED:
return OSD_MESSAGE_STR("COMPS CALIB");
case ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED:
return OSD_MESSAGE_STR("ACC CALIB");
case ARMING_DISABLED_ARM_SWITCH:
return OSD_MESSAGE_STR("DISARM!");
case ARMING_DISABLED_HARDWARE_FAILURE:
return OSD_MESSAGE_STR("ERR HW!");
// {
// if (!HW_SENSOR_IS_HEALTHY(getHwGyroStatus())) {
// return OSD_MESSAGE_STR("GYRO FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwAccelerometerStatus())) {
// return OSD_MESSAGE_STR("ACCELEROMETER FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwCompassStatus())) {
// return OSD_MESSAGE_STR("COMPASS FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwBarometerStatus())) {
// return OSD_MESSAGE_STR("BAROMETER FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwGPSStatus())) {
// return OSD_MESSAGE_STR("GPS FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwRangefinderStatus())) {
// return OSD_MESSAGE_STR("RANGE FINDER FAILURE");
// }
// if (!HW_SENSOR_IS_HEALTHY(getHwPitotmeterStatus())) {
// return OSD_MESSAGE_STR("PITOT METER FAILURE");
// }
// }
// return OSD_MESSAGE_STR("HARDWARE FAILURE");
case ARMING_DISABLED_BOXFAILSAFE:
return OSD_MESSAGE_STR("FAILSAFE ENABLED");
case ARMING_DISABLED_BOXKILLSWITCH:
return OSD_MESSAGE_STR("KILLSWITCH ENABLED");
case ARMING_DISABLED_RC_LINK:
return OSD_MESSAGE_STR("NO RC LINK");
case ARMING_DISABLED_THROTTLE:
return OSD_MESSAGE_STR("THROTTLE!");
case ARMING_DISABLED_ROLLPITCH_NOT_CENTERED:
return OSD_MESSAGE_STR("ROLLPITCH!");
case ARMING_DISABLED_SERVO_AUTOTRIM:
return OSD_MESSAGE_STR("AUTOTRIM!");
case ARMING_DISABLED_OOM:
return OSD_MESSAGE_STR("MEM LOW");
case ARMING_DISABLED_INVALID_SETTING:
return OSD_MESSAGE_STR("ERR SETTING");
case ARMING_DISABLED_CLI:
return OSD_MESSAGE_STR("CLI");
case ARMING_DISABLED_PWM_OUTPUT_ERROR:
return OSD_MESSAGE_STR("PWM ERR");
case ARMING_DISABLED_NO_PREARM:
return OSD_MESSAGE_STR("NO PREARM");
case ARMING_DISABLED_DSHOT_BEEPER:
return OSD_MESSAGE_STR("MOTOR BEEPER ACTIVE");
// Cases without message
case ARMING_DISABLED_LANDING_DETECTED:
FALLTHROUGH;
case ARMING_DISABLED_CMS_MENU:
FALLTHROUGH;
case ARMING_DISABLED_OSD_MENU:
FALLTHROUGH;
case ARMING_DISABLED_ALL_FLAGS:
FALLTHROUGH;
case ARMED:
FALLTHROUGH;
case SIMULATOR_MODE:
FALLTHROUGH;
case WAS_EVER_ARMED:
break;
}
return NULL;
}
static char * osdFailsafePhaseMessage(void)
{
// See failsafe.h for each phase explanation
switch (failsafePhase()) {
case FAILSAFE_RETURN_TO_HOME:
// XXX: Keep this in sync with OSD_FLYMODE.
return OSD_MESSAGE_STR("(RTH)");
case FAILSAFE_LANDING:
// This should be considered an emergengy landing
return OSD_MESSAGE_STR("(EMRGY LANDING)");
case FAILSAFE_RX_LOSS_MONITORING:
// Only reachable from FAILSAFE_LANDED, which performs
// a disarm. Since aircraft has been disarmed, we no
// longer show failsafe details.
FALLTHROUGH;
case FAILSAFE_LANDED:
// Very brief, disarms and transitions into
// FAILSAFE_RX_LOSS_MONITORING. Note that it prevents
// further rearming via ARMING_DISABLED_FAILSAFE_SYSTEM,
// so we'll show the user how to re-arm in when
// that flag is the reason to prevent arming.
FALLTHROUGH;
case FAILSAFE_RX_LOSS_IDLE:
// This only happens when user has chosen NONE as FS
// procedure. The recovery messages should be enough.
FALLTHROUGH;
case FAILSAFE_IDLE:
// Failsafe not active
FALLTHROUGH;
case FAILSAFE_RX_LOSS_DETECTED:
// Very brief, changes to FAILSAFE_RX_LOSS_RECOVERED
// or the FS procedure immediately.
FALLTHROUGH;
case FAILSAFE_RX_LOSS_RECOVERED:
// Exiting failsafe
break;
}
return NULL;
}
static char * osdFailsafeInfoMessage(void)
{
if (failsafeIsReceivingRxData()) {
// User must move sticks to exit FS mode
return OSD_MESSAGE_STR("!MOVE STICKS TO EXIT FS!");
}
return OSD_MESSAGE_STR(RC_RX_LINK_LOST_MSG);
}
static char * navigationStateMessage(void)
{
switch (NAV_Status.state) {
case MW_NAV_STATE_NONE:
break;
case MW_NAV_STATE_RTH_START:
return OSD_MESSAGE_STR("STARTING RTH");
case MW_NAV_STATE_RTH_CLIMB:
return OSD_MESSAGE_STR("ADJUSTING RTH ALTITUDE");
case MW_NAV_STATE_RTH_ENROUTE:
// TODO: Break this up between climb and head home
return OSD_MESSAGE_STR("EN ROUTE TO HOME");
case MW_NAV_STATE_HOLD_INFINIT:
// Used by HOLD flight modes. No information to add.
break;
case MW_NAV_STATE_HOLD_TIMED:
// TODO: Maybe we can display a count down
return OSD_MESSAGE_STR("HOLDING WAYPOINT");
break;
case MW_NAV_STATE_WP_ENROUTE:
// TODO: Show WP number
return OSD_MESSAGE_STR("TO WP");
case MW_NAV_STATE_PROCESS_NEXT:
return OSD_MESSAGE_STR("PREPARING FOR NEXT WAYPOINT");
case MW_NAV_STATE_DO_JUMP:
// Not used
break;
case MW_NAV_STATE_LAND_START:
// Not used
break;
case MW_NAV_STATE_EMERGENCY_LANDING:
return OSD_MESSAGE_STR("EMRGY LANDING");
case MW_NAV_STATE_LAND_IN_PROGRESS:
return OSD_MESSAGE_STR("LANDING");
case MW_NAV_STATE_HOVER_ABOVE_HOME:
if (STATE(FIXED_WING_LEGACY)) {
return OSD_MESSAGE_STR("LOITERING AROUND HOME");
}
return OSD_MESSAGE_STR("HOVERING");
case MW_NAV_STATE_LANDED:
return OSD_MESSAGE_STR("LANDED");
case MW_NAV_STATE_LAND_SETTLE:
return OSD_MESSAGE_STR("PREPARING TO LAND");
case MW_NAV_STATE_LAND_START_DESCENT:
// Not used
break;
}
return NULL;
}
/**
* Converts velocity based on the current unit system (kmh or mph).
* @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/second)
*/
static int32_t osdConvertVelocityToUnit(int32_t vel)
{
switch (osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
return CMSEC_TO_CENTIMPH(vel) / 100; // Convert to mph
case OSD_UNIT_GA:
return CMSEC_TO_CENTIKNOTS(vel) / 100; // Convert to Knots
case OSD_UNIT_METRIC:
return CMSEC_TO_CENTIKPH(vel) / 100; // Convert to kmh
}
// Unreachable
return -1;
}
/**
* Converts velocity into a string based on the current unit system.
* @param alt Raw velocity (i.e. as taken from gpsSol.groundSpeed in centimeters/seconds)
*/
void osdDJIFormatVelocityStr(char* buff)
{
char sourceBuf[4];
int vel = 0;
switch (djiOsdConfig()->messageSpeedSource) {
case OSD_SPEED_SOURCE_GROUND:
strcpy(sourceBuf, "GRD");
vel = gpsSol.groundSpeed;
break;
case OSD_SPEED_SOURCE_3D:
strcpy(sourceBuf, "3D");
vel = osdGet3DSpeed();
break;
case OSD_SPEED_SOURCE_AIR:
strcpy(sourceBuf, "AIR");
#ifdef USE_PITOT
vel = getAirspeedEstimate();
#endif
break;
}
switch (osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
tfp_sprintf(buff, "%s %3d MPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
break;
case OSD_UNIT_GA:
tfp_sprintf(buff, "%s %3d KT", sourceBuf, (int)osdConvertVelocityToUnit(vel));
break;
case OSD_UNIT_METRIC:
tfp_sprintf(buff, "%s %3d KPH", sourceBuf, (int)osdConvertVelocityToUnit(vel));
break;
}
}
static void osdDJIFormatThrottlePosition(char *buff, bool autoThr )
{
int16_t thr = rxGetChannelValue(THROTTLE);
if (autoThr && navigationIsControllingThrottle()) {
thr = rcCommand[THROTTLE];
}
tfp_sprintf(buff, "%3ld%s", (constrain(thr, PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN), "%THR");
}
/**
* Converts distance into a string based on the current unit system.
* @param dist Distance in centimeters
*/
static void osdDJIFormatDistanceStr(char *buff, int32_t dist)
{
int32_t centifeet;
switch (osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
centifeet = CENTIMETERS_TO_CENTIFEET(dist);
if (abs(centifeet) < FEET_PER_MILE * 100 / 2) {
// Show feet when dist < 0.5mi
tfp_sprintf(buff, "%d%s", (int)(centifeet / 100), "FT");
}
else {
// Show miles when dist >= 0.5mi
tfp_sprintf(buff, "%d.%02d%s", (int)(centifeet / (100*FEET_PER_MILE)),
(abs(centifeet) % (100 * FEET_PER_MILE)) / FEET_PER_MILE, "Mi");
}
break;
case OSD_UNIT_GA:
centifeet = CENTIMETERS_TO_CENTIFEET(dist);
if (abs(centifeet) < FEET_PER_NAUTICALMILE * 100 / 2) {
// Show feet when dist < 0.5mi
tfp_sprintf(buff, "%d%s", (int)(centifeet / 100), "FT");
}
else {
// Show miles when dist >= 0.5mi
tfp_sprintf(buff, "%d.%02d%s", (int)(centifeet / (100 * FEET_PER_NAUTICALMILE)),
(int)((abs(centifeet) % (int)(100 * FEET_PER_NAUTICALMILE)) / FEET_PER_NAUTICALMILE), "NM");
}
break;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
if (abs(dist) < METERS_PER_KILOMETER * 100) {
// Show meters when dist < 1km
tfp_sprintf(buff, "%d%s", (int)(dist / 100), "M");
}
else {
// Show kilometers when dist >= 1km
tfp_sprintf(buff, "%d.%02d%s", (int)(dist / (100*METERS_PER_KILOMETER)),
(abs(dist) % (100 * METERS_PER_KILOMETER)) / METERS_PER_KILOMETER, "KM");
}
break;
}
}
static void osdDJIEfficiencyMahPerKM(char *buff)
{
// amperage is in centi amps, speed is in cms/s. We want
// mah/km. Values over 999 are considered useless and
// displayed as "---""
static pt1Filter_t eFilterState;
static timeUs_t efficiencyUpdated = 0;
int32_t value = 0;
timeUs_t currentTimeUs = micros();
timeDelta_t efficiencyTimeDelta = cmpTimeUs(currentTimeUs, efficiencyUpdated);
if (STATE(GPS_FIX) && gpsSol.groundSpeed > 0) {
if (efficiencyTimeDelta >= EFFICIENCY_UPDATE_INTERVAL) {
value = pt1FilterApply4(&eFilterState, ((float)getAmperage() / gpsSol.groundSpeed) / 0.0036f,
1, US2S(efficiencyTimeDelta));
efficiencyUpdated = currentTimeUs;
} else {
value = eFilterState.state;
}
}
if (value > 0 && value <= 999) {
tfp_sprintf(buff, "%3d%s", (int)value, "mAhKM");
} else {
tfp_sprintf(buff, "%s", "---mAhKM");
}
}
static void osdDJIAdjustmentMessage(char *buff, uint8_t adjustmentFunction)
{
switch (adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
tfp_sprintf(buff, "RCE %d", currentControlRateProfile->stabilized.rcExpo8);
break;
case ADJUSTMENT_RC_YAW_EXPO:
tfp_sprintf(buff, "RCYE %3d", currentControlRateProfile->stabilized.rcYawExpo8);
break;
case ADJUSTMENT_MANUAL_RC_EXPO:
tfp_sprintf(buff, "MRCE %3d", currentControlRateProfile->manual.rcExpo8);
break;
case ADJUSTMENT_MANUAL_RC_YAW_EXPO:
tfp_sprintf(buff, "MRCYE %3d", currentControlRateProfile->manual.rcYawExpo8);
break;
case ADJUSTMENT_THROTTLE_EXPO:
tfp_sprintf(buff, "TE %3d", currentControlRateProfile->throttle.rcExpo8);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
tfp_sprintf(buff, "PRR %3d %3d", currentControlRateProfile->stabilized.rates[FD_PITCH], currentControlRateProfile->stabilized.rates[FD_ROLL]);
break;
case ADJUSTMENT_PITCH_RATE:
tfp_sprintf(buff, "PR %3d", currentControlRateProfile->stabilized.rates[FD_PITCH]);
break;
case ADJUSTMENT_ROLL_RATE:
tfp_sprintf(buff, "RR %3d", currentControlRateProfile->stabilized.rates[FD_ROLL]);
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
tfp_sprintf(buff, "MPRR %3d %3d", currentControlRateProfile->manual.rates[FD_PITCH], currentControlRateProfile->manual.rates[FD_ROLL]);
break;
case ADJUSTMENT_MANUAL_PITCH_RATE:
tfp_sprintf(buff, "MPR %3d", currentControlRateProfile->manual.rates[FD_PITCH]);
break;
case ADJUSTMENT_MANUAL_ROLL_RATE:
tfp_sprintf(buff, "MRR %3d", currentControlRateProfile->manual.rates[FD_ROLL]);
break;
case ADJUSTMENT_YAW_RATE:
tfp_sprintf(buff, "YR %3d", currentControlRateProfile->stabilized.rates[FD_YAW]);
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
tfp_sprintf(buff, "MYR %3d", currentControlRateProfile->manual.rates[FD_YAW]);
break;
case ADJUSTMENT_PITCH_ROLL_P:
tfp_sprintf(buff, "PRP %3d %3d", pidBankMutable()->pid[PID_PITCH].P, pidBankMutable()->pid[PID_ROLL].P);
break;
case ADJUSTMENT_PITCH_P:
tfp_sprintf(buff, "PP %3d", pidBankMutable()->pid[PID_PITCH].P);
break;
case ADJUSTMENT_ROLL_P:
tfp_sprintf(buff, "RP %3d", pidBankMutable()->pid[PID_ROLL].P);
break;
case ADJUSTMENT_PITCH_ROLL_I:
tfp_sprintf(buff, "PRI %3d %3d", pidBankMutable()->pid[PID_PITCH].I, pidBankMutable()->pid[PID_ROLL].I);
break;
case ADJUSTMENT_PITCH_I:
tfp_sprintf(buff, "PI %3d", pidBankMutable()->pid[PID_PITCH].I);
break;
case ADJUSTMENT_ROLL_I:
tfp_sprintf(buff, "RI %3d", pidBankMutable()->pid[PID_ROLL].I);
break;
case ADJUSTMENT_PITCH_ROLL_D:
tfp_sprintf(buff, "PRD %3d %3d", pidBankMutable()->pid[PID_PITCH].D, pidBankMutable()->pid[PID_ROLL].D);
break;
case ADJUSTMENT_PITCH_ROLL_FF:
tfp_sprintf(buff, "PRFF %3d %3d", pidBankMutable()->pid[PID_PITCH].FF, pidBankMutable()->pid[PID_ROLL].FF);
break;
case ADJUSTMENT_PITCH_D:
tfp_sprintf(buff, "PD %3d", pidBankMutable()->pid[PID_PITCH].D);
break;
case ADJUSTMENT_PITCH_FF:
tfp_sprintf(buff, "PFF %3d", pidBankMutable()->pid[PID_PITCH].FF);
break;
case ADJUSTMENT_ROLL_D:
tfp_sprintf(buff, "RD %3d", pidBankMutable()->pid[PID_ROLL].D);
break;
case ADJUSTMENT_ROLL_FF:
tfp_sprintf(buff, "RFF %3d", pidBankMutable()->pid[PID_ROLL].FF);
break;
case ADJUSTMENT_YAW_P:
tfp_sprintf(buff, "YP %3d", pidBankMutable()->pid[PID_YAW].P);
break;
case ADJUSTMENT_YAW_I:
tfp_sprintf(buff, "YI %3d", pidBankMutable()->pid[PID_YAW].I);
break;
case ADJUSTMENT_YAW_D:
tfp_sprintf(buff, "YD %3d", pidBankMutable()->pid[PID_YAW].D);
break;
case ADJUSTMENT_YAW_FF:
tfp_sprintf(buff, "YFF %3d", pidBankMutable()->pid[PID_YAW].FF);
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
tfp_sprintf(buff, "CR %4d", currentBatteryProfileMutable->nav.fw.cruise_throttle);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
tfp_sprintf(buff, "P2T %3d", currentBatteryProfileMutable->nav.fw.pitch_to_throttle);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
tfp_sprintf(buff, "RBA %3d", boardAlignment()->rollDeciDegrees);
break;
case ADJUSTMENT_PITCH_BOARD_ALIGNMENT:
tfp_sprintf(buff, "PBA %3d", boardAlignment()->pitchDeciDegrees);
break;
case ADJUSTMENT_LEVEL_P:
tfp_sprintf(buff, "LP %3d", pidBankMutable()->pid[PID_LEVEL].P);
break;
case ADJUSTMENT_LEVEL_I:
tfp_sprintf(buff, "LI %3d", pidBankMutable()->pid[PID_LEVEL].I);
break;
case ADJUSTMENT_LEVEL_D:
tfp_sprintf(buff, "LD %3d", pidBankMutable()->pid[PID_LEVEL].D);
break;
case ADJUSTMENT_POS_XY_P:
tfp_sprintf(buff, "PXYP %3d", pidBankMutable()->pid[PID_POS_XY].P);
break;
case ADJUSTMENT_POS_XY_I:
tfp_sprintf(buff, "PXYI %3d", pidBankMutable()->pid[PID_POS_XY].I);
break;
case ADJUSTMENT_POS_XY_D:
tfp_sprintf(buff, "PXYD %3d", pidBankMutable()->pid[PID_POS_XY].D);
break;
case ADJUSTMENT_POS_Z_P:
tfp_sprintf(buff, "PZP %3d", pidBankMutable()->pid[PID_POS_Z].P);
break;
case ADJUSTMENT_POS_Z_I:
tfp_sprintf(buff, "PZI %3d", pidBankMutable()->pid[PID_POS_Z].I);
break;
case ADJUSTMENT_POS_Z_D:
tfp_sprintf(buff, "PZD %3d", pidBankMutable()->pid[PID_POS_Z].D);
break;
case ADJUSTMENT_HEADING_P:
tfp_sprintf(buff, "HP %3d", pidBankMutable()->pid[PID_HEADING].P);
break;
case ADJUSTMENT_VEL_XY_P:
tfp_sprintf(buff, "VXYP %3d", pidBankMutable()->pid[PID_VEL_XY].P);
break;
case ADJUSTMENT_VEL_XY_I:
tfp_sprintf(buff, "VXYI %3d", pidBankMutable()->pid[PID_VEL_XY].I);
break;
case ADJUSTMENT_VEL_XY_D:
tfp_sprintf(buff, "VXYD %3d", pidBankMutable()->pid[PID_VEL_XY].D);
break;
case ADJUSTMENT_VEL_Z_P:
tfp_sprintf(buff, "VZP %3d", pidBankMutable()->pid[PID_VEL_Z].P);
break;
case ADJUSTMENT_VEL_Z_I:
tfp_sprintf(buff, "VZI %3d", pidBankMutable()->pid[PID_VEL_Z].I);
break;
case ADJUSTMENT_VEL_Z_D:
tfp_sprintf(buff, "VZD %3d", pidBankMutable()->pid[PID_VEL_Z].D);
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
tfp_sprintf(buff, "MTDPA %4d", currentBatteryProfileMutable->fwMinThrottleDownPitchAngle);
break;
case ADJUSTMENT_TPA:
tfp_sprintf(buff, "TPA %3d", currentControlRateProfile->throttle.dynPID);
break;
case ADJUSTMENT_TPA_BREAKPOINT:
tfp_sprintf(buff, "TPABP %4d", currentControlRateProfile->throttle.pa_breakpoint);
break;
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
tfp_sprintf(buff, "CSM %3d", navConfigMutable()->fw.control_smoothness);
break;
default:
tfp_sprintf(buff, "UNSUPPORTED");
break;
}
}
static bool osdDJIFormatAdjustments(char *buff)
{
uint8_t adjustmentFunctions[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
uint8_t adjustmentCount = getActiveAdjustmentFunctions(adjustmentFunctions);
if (adjustmentCount > 0 && buff != NULL) {
osdDJIAdjustmentMessage(buff, adjustmentFunctions[OSD_ALTERNATING_CHOICES(DJI_ALTERNATING_DURATION_LONG, adjustmentCount)]);
}
return adjustmentCount > 0;
}
static bool djiFormatMessages(char *buff)
{
bool haveMessage = false;
char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)];
if (ARMING_FLAG(ARMED)) {
// Aircraft is armed. We might have up to 6
// messages to show.
char *messages[6];
unsigned messageCount = 0;
if (FLIGHT_MODE(FAILSAFE_MODE)) {
// In FS mode while being armed too
char *failsafePhaseMessage = osdFailsafePhaseMessage();
char *failsafeInfoMessage = osdFailsafeInfoMessage();
char *navStateFSMessage = navigationStateMessage();