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@ -715,24 +715,24 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
@@ -715,24 +715,24 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
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// @Description: Vertical position on screen
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// @Range: 0 15
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AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting), |
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#if HAL_MSP_ENABLED |
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// @Param: SIDEBARS_EN
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// @DisplayName: SIDEBARS_EN
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// @Description: Displays artificial horizon side bars (MSP OSD only)
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// @Description: Displays artificial horizon side bars
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// @Values: 0:Disabled,1:Enabled
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// @Param: SIDEBARS_X
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// @DisplayName: SIDEBARS_X
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// @Description: Horizontal position on screen (MSP OSD only)
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// @Description: Horizontal position on screen
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// @Range: 0 29
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// @Param: SIDEBARS_Y
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// @DisplayName: SIDEBARS_Y
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// @Description: Vertical position on screen (MSP OSD only)
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// @Description: Vertical position on screen
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// @Range: 0 15
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AP_SUBGROUPINFO(sidebars, "SIDEBARS", 44, AP_OSD_Screen, AP_OSD_Setting), |
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#if HAL_MSP_ENABLED |
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// @Param: CRSSHAIR_EN
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// @DisplayName: CRSSHAIR_EN
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// @Description: Displays artificial horizon crosshair (MSP OSD only)
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@ -1115,6 +1115,19 @@ uint8_t AP_OSD_AbstractScreen::symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
@@ -1115,6 +1115,19 @@ uint8_t AP_OSD_AbstractScreen::symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
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#define SYM_RNGFD 77 |
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#define SYM_LQ 78 |
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#define SYM_SIDEBAR_R_ARROW 79 |
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#define SYM_SIDEBAR_L_ARROW 80 |
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#define SYM_SIDEBAR_A 81 |
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#define SYM_SIDEBAR_B 82 |
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#define SYM_SIDEBAR_C 83 |
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#define SYM_SIDEBAR_D 84 |
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#define SYM_SIDEBAR_E 85 |
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#define SYM_SIDEBAR_F 86 |
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#define SYM_SIDEBAR_G 87 |
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#define SYM_SIDEBAR_H 88 |
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#define SYM_SIDEBAR_I 89 |
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#define SYM_SIDEBAR_J 90 |
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#define SYMBOL(n) AP_OSD_AbstractScreen::symbols_lookup_table[n] |
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// constructor
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@ -1386,6 +1399,7 @@ void AP_OSD_Screen::draw_batused(uint8_t x, uint8_t y)
@@ -1386,6 +1399,7 @@ void AP_OSD_Screen::draw_batused(uint8_t x, uint8_t y)
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//Thanks to night-ghost for the approach.
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void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y) |
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{ |
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x = 2; //messages get rendered across a whole row. User param x is ignored.
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AP_Notify * notify = AP_Notify::get_singleton(); |
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if (notify) { |
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int32_t visible_time = AP_HAL::millis() - notify->get_text_updated_millis(); |
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@ -1429,6 +1443,9 @@ void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y)
@@ -1429,6 +1443,9 @@ void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y)
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//trim invisible part
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buffer[end_position] = 0; |
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} else if (len < message_visible_width) { |
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//for short messages, start writing closer to the middle to center the text
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x += (message_visible_width - len)/2; |
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} |
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backend->write(x, y, buffer + start_position); |
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@ -1572,6 +1589,69 @@ void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
@@ -1572,6 +1589,69 @@ void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
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backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYMBOL(SYM_PCNT)); |
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} |
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void AP_OSD_Screen::draw_sidebars(uint8_t x, uint8_t y) |
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{ |
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const int8_t total_sectors = 18; |
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static const uint8_t sidebar_sectors[total_sectors] = { |
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SYM_SIDEBAR_A, |
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SYM_SIDEBAR_B, |
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SYM_SIDEBAR_C, |
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SYM_SIDEBAR_D, |
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SYM_SIDEBAR_E, |
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SYM_SIDEBAR_F, |
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SYM_SIDEBAR_G, |
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SYM_SIDEBAR_E, |
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SYM_SIDEBAR_F, |
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SYM_SIDEBAR_G, |
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SYM_SIDEBAR_E, |
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SYM_SIDEBAR_F, |
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SYM_SIDEBAR_G, |
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SYM_SIDEBAR_E, |
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SYM_SIDEBAR_F, |
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SYM_SIDEBAR_H, |
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SYM_SIDEBAR_I, |
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SYM_SIDEBAR_J, |
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}; |
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// Get altitude and airspeed, scaled to appropriate units
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float aspd = 0.0f; |
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float alt = 0.0f; |
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AP_AHRS &ahrs = AP::ahrs(); |
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WITH_SEMAPHORE(ahrs.get_semaphore()); |
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bool have_speed_estimate = ahrs.airspeed_estimate(aspd); |
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if (!have_speed_estimate) { aspd = 0.0f; } |
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ahrs.get_relative_position_D_home(alt); |
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float scaled_aspd = u_scale(SPEED, aspd); |
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float scaled_alt = u_scale(ALTITUDE, -alt); |
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static const int aspd_interval = 10; //units between large tick marks
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int alt_interval = (osd->units == AP_OSD::UNITS_AVIATION || osd->units == AP_OSD::UNITS_IMPERIAL) ? 20 : 10; |
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// render airspeed ladder
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int aspd_symbol_index = fmodf(scaled_aspd, aspd_interval) / aspd_interval * total_sectors; |
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for (int i = 0; i < 7; i++){ |
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if (i == 3) { |
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// the middle section of the ladder with the currrent airspeed
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backend->write(x, y+i, false, "%3d%c%c", (int) scaled_aspd, u_icon(SPEED), SYMBOL(SYM_SIDEBAR_R_ARROW)); |
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} else { |
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backend->write(x+4, y+i, false, "%c", SYMBOL(sidebar_sectors[aspd_symbol_index])); |
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} |
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aspd_symbol_index = (aspd_symbol_index + 12) % 18; |
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} |
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// render the altitude ladder
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// similar formula to above, but accounts for negative altitudes
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int alt_symbol_index = fmodf(fmodf(scaled_alt, alt_interval) + alt_interval, alt_interval) / alt_interval * total_sectors; |
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for (int i = 0; i < 7; i++){ |
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if (i == 3) { |
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// the middle section of the ladder with the currrent altitude
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backend->write(x+16, y+i, false, "%c%d%c", SYMBOL(SYM_SIDEBAR_L_ARROW), (int) scaled_alt, u_icon(ALTITUDE)); |
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} else { |
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backend->write(x+16, y+i, false, "%c", SYMBOL(sidebar_sectors[alt_symbol_index])); |
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} |
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alt_symbol_index = (alt_symbol_index + 12) % 18; |
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} |
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} |
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//Thanks to betaflight/inav for simple and clean compass visual design
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void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y) |
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{ |
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@ -2071,6 +2151,7 @@ void AP_OSD_Screen::draw(void)
@@ -2071,6 +2151,7 @@ void AP_OSD_Screen::draw(void)
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//Note: draw order should be optimized.
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//Big and less important items should be drawn first,
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//so they will not overwrite more important ones.
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DRAW_SETTING(sidebars); |
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DRAW_SETTING(message); |
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DRAW_SETTING(horizon); |
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DRAW_SETTING(compass); |
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Sebastian Quilter
3 years ago
committed by
Andrew Tridgell
