OSD: add input throttle element for Plane and Copter (ArduPilot#31)

shellixyz · Jun 15, 2022 · ec3dcb5 · ec3dcb5
1 parent c4131c0
commit ec3dcb5
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Showing 5 changed files with 36 additions and 3 deletions.
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -872,6 +872,9 @@ class Copter : public AP_Vehicle {
     void set_throttle_zero_flag(int16_t throttle_control);
     void radio_passthrough_to_motors();
     int16_t get_throttle_mid(void);
+    float get_throttle_input(bool no_deadzone=false) const override {
+        return (no_deadzone ? channel_throttle->get_control_in_zero_dz() : channel_throttle->get_control_in()) / 10.0f;
+    }
 
     // sensors.cpp
     void read_barometer(void);

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1124,7 +1124,7 @@ class Plane : public AP_Vehicle {
     bool have_reverse_throttle_rc_option;
     bool allow_reverse_thrust(void) const;
     bool have_reverse_thrust(void) const;
-    float get_throttle_input(bool no_deadzone=false) const;
+    float get_throttle_input(bool no_deadzone=false) const override;
     float get_adjusted_throttle_input(bool no_deadzone=false) const;
 
 #if AP_SCRIPTING_ENABLED

diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
@@ -207,6 +207,7 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
     AP_OSD_Setting sidebars{false, 4, 5};
     AP_OSD_Setting power{true, 1, 1};
     AP_OSD_Setting energy{false, 0, 0};
+    AP_OSD_Setting rc_throttle{false, 0, 0};
 
     // MSP OSD only
     AP_OSD_Setting crosshair{false, 0, 0};
@@ -235,6 +236,7 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
     void draw_horizon(uint8_t x, uint8_t y);
     void draw_home(uint8_t x, uint8_t y);
     void draw_throttle(uint8_t x, uint8_t y);
+    void draw_throttle_value(uint8_t x, uint8_t y, float throttle_v);
     void draw_heading(uint8_t x, uint8_t y);
 #ifdef HAL_OSD_SIDEBAR_ENABLE
     void draw_sidebars(uint8_t x, uint8_t y);
@@ -286,6 +288,7 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
     void draw_hgt_abvterr(uint8_t x, uint8_t y);
     void draw_fence(uint8_t x, uint8_t y);
     void draw_rngf(uint8_t x, uint8_t y);
+    void draw_rc_throttle(uint8_t x, uint8_t y);
 
 
     struct {

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -1088,6 +1088,22 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info2[] = {
     // @Range: 0 15
     AP_SUBGROUPINFO(energy, "ENERGY", 63, AP_OSD_Screen, AP_OSD_Setting),
 
+    // @Param: RC_THR_EN
+    // @DisplayName: RC_THR_EN
+    // @Description: Displays input throttle value (plane only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RC_THR_X
+    // @DisplayName: RC_THR_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: RC_THR_Y
+    // @DisplayName: RC_THR_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(rc_throttle, "RC_THR", 62, AP_OSD_Screen, AP_OSD_Setting),
+
     AP_GROUPEND
 };
 
@@ -1683,11 +1699,10 @@ void AP_OSD_Screen::draw_heading(uint8_t x, uint8_t y)
     backend->write(x, y, false, "%3d%c", yaw, SYMBOL(SYM_DEGR));
 }
 
-void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
+void AP_OSD_Screen::draw_throttle_value(uint8_t x, uint8_t y, float throttle_v)
 {
     const char *format;
     uint8_t spaces;
-    float throttle_v = gcs().get_hud_throttle();
     float throttle_abs = fabsf(throttle_v);
     if (osd->options & AP_OSD::OPTION_ONE_DECIMAL_THROTTLE) {
         if (throttle_abs < 9.95) {
@@ -1718,6 +1733,11 @@ void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
     backend->write(x + spaces, y, false, format, throttle_v, SYMBOL(SYM_PCNT));
 }
 
+void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
+{
+    draw_throttle_value(x, y, gcs().get_hud_throttle());
+}
+
 #if HAL_OSD_SIDEBAR_ENABLE
 
 void AP_OSD_Screen::draw_sidebars(uint8_t x, uint8_t y)
@@ -2338,6 +2358,10 @@ void AP_OSD_Screen::draw_rngf(uint8_t x, uint8_t y)
     }
 }
 
+void AP_OSD_Screen::draw_rc_throttle(uint8_t x, uint8_t y) {
+    draw_throttle_value(x, y, AP::vehicle()->get_throttle_input(true));
+}
+
 #define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
 
 #if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
@@ -2420,6 +2444,7 @@ void AP_OSD_Screen::draw(void)
     DRAW_SETTING(eff);
     DRAW_SETTING(callsign);
     DRAW_SETTING(current2);
+    DRAW_SETTING(rc_throttle);
 }
 #endif
 #endif // OSD_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -96,6 +96,8 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     // parameters for example.
     void notify_no_such_mode(uint8_t mode_number);
 
+    virtual float get_throttle_input(bool no_deadzone=false) const { return 0; }
+
     /*
       common parameters for fixed wing aircraft
      */