forked from betaflight/betaflight
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osd.c
1989 lines (1697 loc) · 63.4 KB
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osd.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
Created by Marcin Baliniak
some functions based on MinimOSD
OSD-CMS separation by jflyper
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <math.h>
#include "platform.h"
#ifdef USE_OSD
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "build/version.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/feature.h"
#include "drivers/display.h"
#include "drivers/flash.h"
#include "drivers/max7456_symbols.h"
#include "drivers/sdcard.h"
#include "drivers/time.h"
#include "fc/config.h"
#include "fc/core.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/rc.h"
#include "fc/runtime_config.h"
#include "flight/gps_rescue.h"
#include "flight/failsafe.h"
#include "flight/position.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/osd.h"
#include "io/vtx_string.h"
#include "io/vtx.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#define VIDEO_BUFFER_CHARS_PAL 480
#define FULL_CIRCLE 360
#define STICK_OVERLAY_HORIZONTAL_CHAR '-'
#define STICK_OVERLAY_VERTICAL_CHAR '|'
#define STICK_OVERLAY_CROSS_CHAR '+'
#define STICK_OVERLAY_CURSOR_CHAR '0'
const char * const osdTimerSourceNames[] = {
"ON TIME ",
"TOTAL ARM",
"LAST ARM "
};
// Blink control
static bool blinkState = true;
static bool showVisualBeeper = false;
static uint32_t blinkBits[(OSD_ITEM_COUNT + 31)/32];
#define SET_BLINK(item) (blinkBits[(item) / 32] |= (1 << ((item) % 32)))
#define CLR_BLINK(item) (blinkBits[(item) / 32] &= ~(1 << ((item) % 32)))
#define IS_BLINK(item) (blinkBits[(item) / 32] & (1 << ((item) % 32)))
#define BLINK(item) (IS_BLINK(item) && blinkState)
// Things in both OSD and CMS
#define IS_HI(X) (rcData[X] > 1750)
#define IS_LO(X) (rcData[X] < 1250)
#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
static timeUs_t flyTime = 0;
static float osdGForce = 0;
typedef struct statistic_s {
timeUs_t armed_time;
int16_t max_speed;
int16_t min_voltage; // /10
int16_t max_current; // /10
uint8_t min_rssi;
int32_t max_altitude;
int16_t max_distance;
float max_g_force;
int16_t max_esc_temp;
int32_t max_esc_rpm;
uint8_t min_link_quality;
} statistic_t;
typedef struct radioControls_s {
uint8_t left_vertical;
uint8_t left_horizontal;
uint8_t right_vertical;
uint8_t right_horizontal;
} radioControls_t;
typedef enum radioModes_e {
MODE1,
MODE2,
MODE3,
MODE4
} radioModes_t;
static statistic_t stats;
#ifdef USE_OSD_STICK_OVERLAY
static const radioControls_t radioModes[4] = {
{ PITCH, YAW, THROTTLE, ROLL }, // Mode 1
{ THROTTLE, YAW, PITCH, ROLL }, // Mode 2
{ PITCH, ROLL, THROTTLE, YAW }, // Mode 3
{ THROTTLE, ROLL, PITCH, YAW }, // Mode 4
};
#endif
timeUs_t resumeRefreshAt = 0;
#define REFRESH_1S 1000 * 1000
static uint8_t armState;
static bool lastArmState;
#ifdef USE_OSD_PROFILES
static uint8_t osdProfile = 1;
#endif
static displayPort_t *osdDisplayPort;
static bool suppressStatsDisplay = false;
#ifdef USE_ESC_SENSOR
static escSensorData_t *escDataCombined;
#endif
#define AH_SYMBOL_COUNT 9
#define AH_SIDEBAR_WIDTH_POS 7
#define AH_SIDEBAR_HEIGHT_POS 3
static const char compassBar[] = {
SYM_HEADING_W,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_N,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_E,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_S,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_W,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_N,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE
};
static const uint8_t osdElementDisplayOrder[] = {
OSD_MAIN_BATT_VOLTAGE,
OSD_RSSI_VALUE,
OSD_CROSSHAIRS,
OSD_HORIZON_SIDEBARS,
OSD_ITEM_TIMER_1,
OSD_ITEM_TIMER_2,
OSD_REMAINING_TIME_ESTIMATE,
OSD_FLYMODE,
OSD_THROTTLE_POS,
OSD_VTX_CHANNEL,
OSD_CURRENT_DRAW,
OSD_MAH_DRAWN,
OSD_CRAFT_NAME,
OSD_ALTITUDE,
OSD_ROLL_PIDS,
OSD_PITCH_PIDS,
OSD_YAW_PIDS,
OSD_POWER,
OSD_PIDRATE_PROFILE,
OSD_WARNINGS,
OSD_AVG_CELL_VOLTAGE,
OSD_DEBUG,
OSD_PITCH_ANGLE,
OSD_ROLL_ANGLE,
OSD_MAIN_BATT_USAGE,
OSD_DISARMED,
OSD_NUMERICAL_HEADING,
OSD_NUMERICAL_VARIO,
OSD_COMPASS_BAR,
OSD_ANTI_GRAVITY,
OSD_MOTOR_DIAG,
OSD_FLIP_ARROW,
#ifdef USE_RTC_TIME
OSD_RTC_DATETIME,
#endif
#ifdef USE_OSD_ADJUSTMENTS
OSD_ADJUSTMENT_RANGE,
#endif
#ifdef USE_ADC_INTERNAL
OSD_CORE_TEMPERATURE,
#endif
#ifdef USE_RX_LINK_QUALITY_INFO
OSD_LINK_QUALITY,
#endif
};
PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 4);
/**
* Gets the correct altitude symbol for the current unit system
*/
static char osdGetMetersToSelectedUnitSymbol(void)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return SYM_FT;
default:
return SYM_M;
}
}
/**
* Gets average battery cell voltage in 0.01V units.
*/
static int osdGetBatteryAverageCellVoltage(void)
{
return (getBatteryVoltage() * 10) / getBatteryCellCount();
}
static char osdGetBatterySymbol(int cellVoltage)
{
if (getBatteryState() == BATTERY_CRITICAL) {
return SYM_MAIN_BATT; // FIXME: currently the BAT- symbol, ideally replace with a battery with exclamation mark
} else {
// Calculate a symbol offset using cell voltage over full cell voltage range
const int symOffset = scaleRange(cellVoltage, batteryConfig()->vbatmincellvoltage * 10, batteryConfig()->vbatmaxcellvoltage * 10, 0, 7);
return SYM_BATT_EMPTY - constrain(symOffset, 0, 6);
}
}
/**
* Converts altitude based on the current unit system.
* @param meters Value in meters to convert
*/
static int32_t osdGetMetersToSelectedUnit(int32_t meters)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return (meters * 328) / 100; // Convert to feet / 100
default:
return meters; // Already in metre / 100
}
}
#if defined(USE_ADC_INTERNAL) || defined(USE_ESC_SENSOR)
STATIC_UNIT_TESTED int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return lrintf(((tempInDegreesCelcius * 9.0f) / 5) + 32);
default:
return tempInDegreesCelcius;
}
}
static char osdGetTemperatureSymbolForSelectedUnit(void)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return 'F';
default:
return 'C';
}
}
#endif
static void osdFormatAltitudeString(char * buff, int32_t altitudeCm)
{
const int alt = osdGetMetersToSelectedUnit(altitudeCm) / 10;
tfp_sprintf(buff, "%5d %c", alt, osdGetMetersToSelectedUnitSymbol());
buff[5] = buff[4];
buff[4] = '.';
}
static void osdFormatPID(char * buff, const char * label, const pidf_t * pid)
{
tfp_sprintf(buff, "%s %3d %3d %3d", label, pid->P, pid->I, pid->D);
}
static uint8_t osdGetHeadingIntoDiscreteDirections(int heading, unsigned directions)
{
heading += FULL_CIRCLE; // Ensure positive value
// Split input heading 0..359 into sectors 0..(directions-1), but offset
// by half a sector so that sector 0 gets centered around heading 0.
// We multiply heading by directions to not loose precision in divisions
// In this way each segment will be a FULL_CIRCLE length
int direction = (heading * directions + FULL_CIRCLE / 2) / FULL_CIRCLE; // scale with rounding
direction %= directions; // normalize
return direction; // return segment number
}
static uint8_t osdGetDirectionSymbolFromHeading(int heading)
{
heading = osdGetHeadingIntoDiscreteDirections(heading, 16);
// Now heading has a heading with Up=0, Right=4, Down=8 and Left=12
// Our symbols are Down=0, Right=4, Up=8 and Left=12
// There're 16 arrow symbols. Transform it.
heading = 16 - heading;
heading = (heading + 8) % 16;
return SYM_ARROW_SOUTH + heading;
}
static char osdGetTimerSymbol(osd_timer_source_e src)
{
switch (src) {
case OSD_TIMER_SRC_ON:
return SYM_ON_M;
case OSD_TIMER_SRC_TOTAL_ARMED:
case OSD_TIMER_SRC_LAST_ARMED:
return SYM_FLY_M;
default:
return ' ';
}
}
static timeUs_t osdGetTimerValue(osd_timer_source_e src)
{
switch (src) {
case OSD_TIMER_SRC_ON:
return micros();
case OSD_TIMER_SRC_TOTAL_ARMED:
return flyTime;
case OSD_TIMER_SRC_LAST_ARMED:
return stats.armed_time;
default:
return 0;
}
}
STATIC_UNIT_TESTED void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time)
{
int seconds = time / 1000000;
const int minutes = seconds / 60;
seconds = seconds % 60;
switch (precision) {
case OSD_TIMER_PREC_SECOND:
default:
tfp_sprintf(buff, "%02d:%02d", minutes, seconds);
break;
case OSD_TIMER_PREC_HUNDREDTHS:
{
const int hundredths = (time / 10000) % 100;
tfp_sprintf(buff, "%02d:%02d.%02d", minutes, seconds, hundredths);
break;
}
}
}
STATIC_UNIT_TESTED void osdFormatTimer(char *buff, bool showSymbol, bool usePrecision, int timerIndex)
{
const uint16_t timer = osdConfig()->timers[timerIndex];
const uint8_t src = OSD_TIMER_SRC(timer);
if (showSymbol) {
*(buff++) = osdGetTimerSymbol(src);
}
osdFormatTime(buff, (usePrecision ? OSD_TIMER_PRECISION(timer) : OSD_TIMER_PREC_SECOND), osdGetTimerValue(src));
}
#ifdef USE_GPS
static void osdFormatCoordinate(char *buff, char sym, int32_t val)
{
// latitude maximum integer width is 3 (-90).
// longitude maximum integer width is 4 (-180).
// We show 7 decimals, so we need to use 12 characters:
// eg: s-180.1234567z s=symbol, z=zero terminator, decimal separator between 0 and 1
static const int coordinateMaxLength = 13;//12 for the number (4 + dot + 7) + 1 for the symbol
buff[0] = sym;
const int32_t integerPart = val / GPS_DEGREES_DIVIDER;
const int32_t decimalPart = labs(val % GPS_DEGREES_DIVIDER);
const int written = tfp_sprintf(buff + 1, "%d.%07d", integerPart, decimalPart);
// pad with blanks to coordinateMaxLength
for (int pos = 1 + written; pos < coordinateMaxLength; ++pos) {
buff[pos] = SYM_BLANK;
}
buff[coordinateMaxLength] = '\0';
}
#endif // USE_GPS
#ifdef USE_RTC_TIME
static bool osdFormatRtcDateTime(char *buffer)
{
dateTime_t dateTime;
if (!rtcGetDateTime(&dateTime)) {
buffer[0] = '\0';
return false;
}
dateTimeFormatLocalShort(buffer, &dateTime);
return true;
}
#endif
static void osdFormatMessage(char *buff, size_t size, const char *message)
{
memset(buff, SYM_BLANK, size);
if (message) {
memcpy(buff, message, strlen(message));
}
// Ensure buff is zero terminated
buff[size - 1] = '\0';
}
void osdStatSetState(uint8_t statIndex, bool enabled)
{
if (enabled) {
osdConfigMutable()->enabled_stats |= (1 << statIndex);
} else {
osdConfigMutable()->enabled_stats &= ~(1 << statIndex);
}
}
bool osdStatGetState(uint8_t statIndex)
{
return osdConfig()->enabled_stats & (1 << statIndex);
}
void osdWarnSetState(uint8_t warningIndex, bool enabled)
{
if (enabled) {
osdConfigMutable()->enabledWarnings |= (1 << warningIndex);
} else {
osdConfigMutable()->enabledWarnings &= ~(1 << warningIndex);
}
}
bool osdWarnGetState(uint8_t warningIndex)
{
return osdConfig()->enabledWarnings & (1 << warningIndex);
}
#ifdef USE_OSD_PROFILES
void setOsdProfile(uint8_t value)
{
// 1 ->> 001
// 2 ->> 010
// 3 ->> 100
if (value <= OSD_PROFILE_COUNT) {
if (value == 0) {
osdProfile = 1;
} else {
osdProfile = 1 << (value - 1);
}
}
}
uint8_t getCurrentOsdProfileIndex(void)
{
return osdConfig()->osdProfileIndex;
}
void changeOsdProfileIndex(uint8_t profileIndex)
{
if (profileIndex <= OSD_PROFILE_COUNT) {
osdConfigMutable()->osdProfileIndex = profileIndex;
setOsdProfile(profileIndex);
}
}
#endif
static bool osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(osdConfig()->item_pos[item]) || BLINK(item)) {
return false;
}
uint8_t elemPosX = OSD_X(osdConfig()->item_pos[item]);
uint8_t elemPosY = OSD_Y(osdConfig()->item_pos[item]);
char buff[OSD_ELEMENT_BUFFER_LENGTH] = "";
switch (item) {
case OSD_FLIP_ARROW:
{
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;
}
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = getRssi() * 100 / 1024; // change range
if (osdRssi >= 100) {
osdRssi = 99;
}
tfp_sprintf(buff, "%c%2d", SYM_RSSI, osdRssi);
break;
}
#ifdef USE_RX_LINK_QUALITY_INFO
case OSD_LINK_QUALITY:
{
// change range to 0-9 (two sig. fig. adds little extra value, also reduces screen estate)
uint8_t osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
if (osdLinkQuality >= 10) {
osdLinkQuality = 9;
}
tfp_sprintf(buff, "%1d", osdLinkQuality);
break;
}
#endif
case OSD_MAIN_BATT_VOLTAGE:
buff[0] = osdGetBatterySymbol(osdGetBatteryAverageCellVoltage());
tfp_sprintf(buff + 1, "%2d.%1d%c", getBatteryVoltage() / 10, getBatteryVoltage() % 10, SYM_VOLT);
break;
case OSD_CURRENT_DRAW:
{
const int32_t amperage = getAmperage();
tfp_sprintf(buff, "%3d.%02d%c", abs(amperage) / 100, abs(amperage) % 100, SYM_AMP);
break;
}
case OSD_MAH_DRAWN:
tfp_sprintf(buff, "%4d%c", getMAhDrawn(), SYM_MAH);
break;
#ifdef USE_GPS
case OSD_GPS_SATS:
tfp_sprintf(buff, "%c%c%2d", SYM_SAT_L, SYM_SAT_R, gpsSol.numSat);
break;
case OSD_GPS_SPEED:
// FIXME ideally we want to use SYM_KMH symbol but it's not in the font any more, so we use K (M for MPH)
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
tfp_sprintf(buff, "%3dM", CM_S_TO_MPH(gpsSol.groundSpeed));
break;
default:
tfp_sprintf(buff, "%3dK", CM_S_TO_KM_H(gpsSol.groundSpeed));
break;
}
break;
case OSD_GPS_LAT:
// The SYM_LAT symbol in the actual font contains only blank, so we use the SYM_ARROW_NORTH
osdFormatCoordinate(buff, SYM_ARROW_NORTH, gpsSol.llh.lat);
break;
case OSD_GPS_LON:
// The SYM_LON symbol in the actual font contains only blank, so we use the SYM_ARROW_EAST
osdFormatCoordinate(buff, SYM_ARROW_EAST, gpsSol.llh.lon);
break;
case OSD_HOME_DIR:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
if (GPS_distanceToHome > 0) {
const int h = GPS_directionToHome - DECIDEGREES_TO_DEGREES(attitude.values.yaw);
buff[0] = osdGetDirectionSymbolFromHeading(h);
} else {
// We don't have a HOME symbol in the font, by now we use this
buff[0] = SYM_THR1;
}
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
}
buff[1] = 0;
break;
case OSD_HOME_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceToHome);
tfp_sprintf(buff, "%d%c", distance, osdGetMetersToSelectedUnitSymbol());
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
// overwrite any previous distance with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
case OSD_FLIGHT_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceFlownInCm / 100);
tfp_sprintf(buff, "%d%c", distance, osdGetMetersToSelectedUnitSymbol());
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
// overwrite any previous distance with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
#endif // GPS
case OSD_COMPASS_BAR:
memcpy(buff, compassBar + osdGetHeadingIntoDiscreteDirections(DECIDEGREES_TO_DEGREES(attitude.values.yaw), 16), 9);
buff[9] = 0;
break;
case OSD_ALTITUDE:
osdFormatAltitudeString(buff, getEstimatedAltitudeCm());
break;
case OSD_ITEM_TIMER_1:
case OSD_ITEM_TIMER_2:
osdFormatTimer(buff, true, true, item - OSD_ITEM_TIMER_1);
break;
case OSD_REMAINING_TIME_ESTIMATE:
{
const int mAhDrawn = getMAhDrawn();
if (mAhDrawn <= 0.1 * osdConfig()->cap_alarm) { // also handles the mAhDrawn == 0 condition
tfp_sprintf(buff, "--:--");
} else if (mAhDrawn > osdConfig()->cap_alarm) {
tfp_sprintf(buff, "00:00");
} else {
const int remaining_time = (int)((osdConfig()->cap_alarm - mAhDrawn) * ((float)flyTime) / mAhDrawn);
osdFormatTime(buff, OSD_TIMER_PREC_SECOND, remaining_time);
}
break;
}
case OSD_FLYMODE:
{
// Note that flight mode display has precedence in what to display.
// 1. FS
// 2. GPS RESCUE
// 3. ANGLE, HORIZON, ACRO TRAINER
// 4. AIR
// 5. ACRO
if (FLIGHT_MODE(FAILSAFE_MODE)) {
strcpy(buff, "!FS!");
} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
strcpy(buff, "RESC");
} else if (FLIGHT_MODE(HEADFREE_MODE)) {
strcpy(buff, "HEAD");
} else if (FLIGHT_MODE(ANGLE_MODE)) {
strcpy(buff, "STAB");
} else if (FLIGHT_MODE(HORIZON_MODE)) {
strcpy(buff, "HOR ");
} else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
strcpy(buff, "ATRN");
} else if (airmodeIsEnabled()) {
strcpy(buff, "AIR ");
} else {
strcpy(buff, "ACRO");
}
break;
}
case OSD_ANTI_GRAVITY:
{
if (pidOsdAntiGravityActive()) {
strcpy(buff, "AG");
}
break;
}
case OSD_MOTOR_DIAG:
{
int i = 0;
const bool motorsRunning = areMotorsRunning();
for (; i < getMotorCount(); i++) {
if (motorsRunning) {
buff[i] = 0x88 - scaleRange(motor[i], motorOutputLow, motorOutputHigh, 0, 8);
} else {
buff[i] = 0x88;
}
}
buff[i] = '\0';
break;
}
case OSD_CRAFT_NAME:
// This does not strictly support iterative updating if the craft name changes at run time. But since the craft name is not supposed to be changing this should not matter, and blanking the entire length of the craft name string on update will make it impossible to configure elements to be displayed on the right hand side of the craft name.
//TODO: When iterative updating is implemented, change this so the craft name is only printed once whenever the OSD 'flight' screen is entered.
if (strlen(pilotConfig()->name) == 0) {
strcpy(buff, "CRAFT_NAME");
} else {
unsigned i;
for (i = 0; i < MAX_NAME_LENGTH; i++) {
if (pilotConfig()->name[i]) {
buff[i] = toupper((unsigned char)pilotConfig()->name[i]);
} else {
break;
}
}
buff[i] = '\0';
}
break;
case OSD_THROTTLE_POS:
buff[0] = SYM_THR;
buff[1] = SYM_THR1;
tfp_sprintf(buff + 2, "%3d", calculateThrottlePercent());
break;
#if defined(USE_VTX_COMMON)
case OSD_VTX_CHANNEL:
{
const char vtxBandLetter = vtx58BandLetter[vtxSettingsConfig()->band];
const char *vtxChannelName = vtx58ChannelNames[vtxSettingsConfig()->channel];
uint8_t vtxPower = vtxSettingsConfig()->power;
const vtxDevice_t *vtxDevice = vtxCommonDevice();
if (vtxDevice && vtxSettingsConfig()->lowPowerDisarm) {
vtxCommonGetPowerIndex(vtxDevice, &vtxPower);
}
tfp_sprintf(buff, "%c:%s:%1d", vtxBandLetter, vtxChannelName, vtxPower);
break;
}
#endif
case OSD_CROSSHAIRS:
buff[0] = SYM_AH_CENTER_LINE;
buff[1] = SYM_AH_CENTER;
buff[2] = SYM_AH_CENTER_LINE_RIGHT;
buff[3] = 0;
break;
case OSD_ARTIFICIAL_HORIZON:
{
// Get pitch and roll limits in tenths of degrees
const int maxPitch = osdConfig()->ahMaxPitch * 10;
const int maxRoll = osdConfig()->ahMaxRoll * 10;
const int ahSign = osdConfig()->ahInvert ? -1 : 1;
const int rollAngle = constrain(attitude.values.roll * ahSign, -maxRoll, maxRoll);
int pitchAngle = constrain(attitude.values.pitch * ahSign, -maxPitch, maxPitch);
// Convert pitchAngle to y compensation value
// (maxPitch / 25) divisor matches previous settings of fixed divisor of 8 and fixed max AHI pitch angle of 20.0 degrees
if (maxPitch > 0) {
pitchAngle = ((pitchAngle * 25) / maxPitch);
}
pitchAngle -= 41; // 41 = 4 * AH_SYMBOL_COUNT + 5
for (int x = -4; x <= 4; x++) {
const int y = ((-rollAngle * x) / 64) - pitchAngle;
if (y >= 0 && y <= 81) {
displayWriteChar(osdDisplayPort, elemPosX + x, elemPosY + (y / AH_SYMBOL_COUNT), (SYM_AH_BAR9_0 + (y % AH_SYMBOL_COUNT)));
}
}
return true;
}
case OSD_HORIZON_SIDEBARS:
{
// Draw AH sides
const int8_t hudwidth = AH_SIDEBAR_WIDTH_POS;
const int8_t hudheight = AH_SIDEBAR_HEIGHT_POS;
for (int y = -hudheight; y <= hudheight; y++) {
displayWriteChar(osdDisplayPort, elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
}
// AH level indicators
displayWriteChar(osdDisplayPort, elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
return true;
}
case OSD_G_FORCE:
{
const int gForce = lrintf(osdGForce * 10);
tfp_sprintf(buff, "%01d.%01dG", gForce / 10, gForce % 10);
break;
}
case OSD_ROLL_PIDS:
osdFormatPID(buff, "ROL", ¤tPidProfile->pid[PID_ROLL]);
break;
case OSD_PITCH_PIDS:
osdFormatPID(buff, "PIT", ¤tPidProfile->pid[PID_PITCH]);
break;
case OSD_YAW_PIDS:
osdFormatPID(buff, "YAW", ¤tPidProfile->pid[PID_YAW]);
break;
case OSD_POWER:
tfp_sprintf(buff, "%4dW", getAmperage() * getBatteryVoltage() / 1000);
break;
case OSD_PIDRATE_PROFILE:
tfp_sprintf(buff, "%d-%d", getCurrentPidProfileIndex() + 1, getCurrentControlRateProfileIndex() + 1);
break;
case OSD_WARNINGS:
{
#define OSD_WARNINGS_MAX_SIZE 11
#define OSD_FORMAT_MESSAGE_BUFFER_SIZE (OSD_WARNINGS_MAX_SIZE + 1)
STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= sizeof(buff), osd_warnings_size_exceeds_buffer_size);
const batteryState_e batteryState = getBatteryState();
const timeUs_t currentTimeUs = micros();
static timeUs_t armingDisabledUpdateTimeUs;
static unsigned armingDisabledDisplayIndex;
CLR_BLINK(OSD_WARNINGS);
// Cycle through the arming disabled reasons
if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE)) {
if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
const armingDisableFlags_e armSwitchOnlyFlag = 1 << (ARMING_DISABLE_FLAGS_COUNT - 1);
armingDisableFlags_e flags = getArmingDisableFlags();
// Remove the ARMSWITCH flag unless it's the only one
if ((flags & armSwitchOnlyFlag) && (flags != armSwitchOnlyFlag)) {
flags -= armSwitchOnlyFlag;
}
// Rotate to the next arming disabled reason after a 0.5 second time delay
// or if the current flag is no longer set
if ((currentTimeUs - armingDisabledUpdateTimeUs > 5e5) || !(flags & (1 << armingDisabledDisplayIndex))) {
if (armingDisabledUpdateTimeUs == 0) {
armingDisabledDisplayIndex = ARMING_DISABLE_FLAGS_COUNT - 1;
}
armingDisabledUpdateTimeUs = currentTimeUs;
do {
if (++armingDisabledDisplayIndex >= ARMING_DISABLE_FLAGS_COUNT) {
armingDisabledDisplayIndex = 0;
}
} while (!(flags & (1 << armingDisabledDisplayIndex)));
}
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDisableFlagNames[armingDisabledDisplayIndex]);
break;
} else {
armingDisabledUpdateTimeUs = 0;
}
}
#ifdef USE_DSHOT
if (isTryingToArm() && !ARMING_FLAG(ARMED)) {
int armingDelayTime = (getLastDshotBeaconCommandTimeUs() + DSHOT_BEACON_GUARD_DELAY_US - currentTimeUs) / 1e5;
if (armingDelayTime < 0) {
armingDelayTime = 0;
}
if (armingDelayTime >= (DSHOT_BEACON_GUARD_DELAY_US / 1e5 - 5)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " BEACON ON"); // Display this message for the first 0.5 seconds
} else {
char armingDelayMessage[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
tfp_sprintf(armingDelayMessage, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDelayMessage);
}
break;
}
#endif
if (osdWarnGetState(OSD_WARNING_FAIL_SAFE) && failsafeIsActive()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "FAIL SAFE");
SET_BLINK(OSD_WARNINGS);
break;
}
if (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) && batteryState == BATTERY_CRITICAL) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " LAND NOW");
SET_BLINK(OSD_WARNINGS);
break;
}
// Show warning if in HEADFREE flight mode
if (FLIGHT_MODE(HEADFREE_MODE)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "HEADFREE");
SET_BLINK(OSD_WARNINGS);
break;
}
#ifdef USE_ADC_INTERNAL
const int16_t coreTemperature = getCoreTemperatureCelsius();
if (osdWarnGetState(OSD_WARNING_CORE_TEMPERATURE) && coreTemperature >= osdConfig()->core_temp_alarm) {
char coreTemperatureWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
tfp_sprintf(coreTemperatureWarningMsg, "CORE: %3d%c", osdConvertTemperatureToSelectedUnit(coreTemperature), osdGetTemperatureSymbolForSelectedUnit());
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, coreTemperatureWarningMsg);
SET_BLINK(OSD_WARNINGS);
break;
}
#endif
#ifdef USE_ESC_SENSOR
// Show warning if we lose motor output, the ESC is overheating or excessive current draw
if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {