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Add cruise mode heading adjustment and heading error OSD indicators #3380

merged 1 commit into from Jun 23, 2018


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commented Jun 16, 2018

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@shellixyz shellixyz force-pushed the shellixyz:nav_cruise_mode_osd_items branch 3 times, most recently from ebf4b26 to bf53f0e Jun 19, 2018

int16_t heading_adjust = lrintf(CENTIDEGREES_TO_DEGREES((float)getCruiseHeadingAdjustment()));

if (ARMING_FLAG(ARMED) && ((!FLIGHT_MODE(NAV_CRUISE_MODE)) || !(isAdjustingPosition() || isAdjustingHeading() || (heading_adjust != 0)))) {
displayWrite(osdDisplayPort, elemPosX, elemPosY, " ");

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fiam Jun 22, 2018


I don't like this extra call to displayWrite(). In functions as big as this one, I prefer to avoid early returns when possible. Can you make it write to buff the 5-space string? e.g.

            if (ARMING_FLAG(ARMED) && ((!FLIGHT_MODE(NAV_CRUISE_MODE)) || !(isAdjustingPosition() || isAdjustingHeading() || (heading_adjust != 0)))) {
                strcpy(buff, "     ");
            } else {
                buff[0] = SYM_HEADING;
                if (!ARMING_FLAG(ARMED))
                    buff[1] = buff[2] = buff[3] = buff[4] = '-';
                else if (FLIGHT_MODE(NAV_CRUISE_MODE)) {
                    tfp_sprintf(buff + 1, "%4d", heading_adjust);
                buff[5] = SYM_DEGREES;
            buff[6] = '\0';

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fiam Jun 23, 2018


Just did a quick test and the early returns save 40 bytes of flash. Given the current state of flash in F3, I guess we're better off taking the flash savings.

@fiam fiam added this to the 2.0 milestone Jun 22, 2018

@shellixyz shellixyz force-pushed the shellixyz:nav_cruise_mode_osd_items branch from bf53f0e to c9a69a6 Jun 22, 2018

@fiam fiam merged commit e05d2b3 into iNavFlight:development Jun 23, 2018

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