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ardupilot/libraries/AP_OSD/AP_OSD.h

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/*
* This file is free software: you can redistribute it 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/>.
*
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <RC_Channel/RC_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_OLC/AP_OLC.h>
#include <AP_MSP/msp.h>
#include <AP_Baro/AP_Baro.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AC_Fence/AC_Fence.h>
#ifndef OSD_ENABLED
#define OSD_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#ifndef HAL_WITH_OSD_BITMAP
#define HAL_WITH_OSD_BITMAP OSD_ENABLED && (defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD))
#endif
#ifndef OSD_PARAM_ENABLED
#define OSD_PARAM_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#ifndef HAL_OSD_SIDEBAR_ENABLE
#define HAL_OSD_SIDEBAR_ENABLE !HAL_MINIMIZE_FEATURES
#endif
class AP_OSD_Backend;
class AP_MSP;
#define AP_OSD_NUM_DISPLAY_SCREENS 4
#if OSD_PARAM_ENABLED
#define AP_OSD_NUM_PARAM_SCREENS 2
#else
#define AP_OSD_NUM_PARAM_SCREENS 0
#endif
#define AP_OSD_NUM_SCREENS (AP_OSD_NUM_DISPLAY_SCREENS + AP_OSD_NUM_PARAM_SCREENS)
#define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
#define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
#define AP_OSD_NUM_SYMBOLS 91
/*
class to hold one setting
*/
class AP_OSD_Setting
{
public:
AP_Int8 enabled;
AP_Int8 xpos;
AP_Int8 ypos;
AP_OSD_Setting(bool enabled, uint8_t x, uint8_t y);
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
};
class AP_OSD;
class AP_OSD_AbstractScreen
{
friend class AP_OSD;
public:
// constructor
AP_OSD_AbstractScreen() {}
virtual void draw(void) {}
void set_backend(AP_OSD_Backend *_backend);
AP_Int8 enabled;
AP_Int16 channel_min;
AP_Int16 channel_max;
protected:
bool check_option(uint32_t option);
enum unit_type {
ALTITUDE=0,
SPEED=1,
VSPEED=2,
DISTANCE=3,
DISTANCE_LONG=4,
TEMPERATURE=5,
UNIT_TYPE_LAST=6,
};
char u_icon(enum unit_type unit);
float u_scale(enum unit_type unit, float value);
AP_OSD_Backend *backend;
AP_OSD *osd;
static uint8_t symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
};
#if OSD_ENABLED
/*
class to hold one screen of settings
*/
class AP_OSD_Screen : public AP_OSD_AbstractScreen
{
public:
// constructor
AP_OSD_Screen();
// skip the drawing if we are not using a font based backend. This saves a lot of flash space when
// using the MSP OSD system on boards that don't have a MAX7456
#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
void draw(void) override;
#endif
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info2[];
private:
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
friend class AP_MSP_Telem_DJI;
static const uint8_t message_visible_width = 26;
static const uint8_t message_scroll_time_ms = 200;
static const uint8_t message_scroll_delay = 5;
static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
//typical fpv camera has 80deg vertical field of view, 16 row of chars
static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);
AP_OSD_Setting altitude{true, 23, 8};
AP_OSD_Setting bat_volt{true, 24, 1};
AP_OSD_Setting rssi{true, 1, 1};
AP_OSD_Setting link_quality{false,1,1};
AP_OSD_Setting restvolt{false, 24, 2};
AP_OSD_Setting avgcellvolt{false, 24, 3};
AP_OSD_Setting current{true, 25, 2};
AP_OSD_Setting batused{true, 23, 3};
AP_OSD_Setting sats{true, 1, 3};
AP_OSD_Setting fltmode{true, 2, 8};
AP_OSD_Setting message{true, 2, 6};
AP_OSD_Setting gspeed{true, 2, 14};
AP_OSD_Setting horizon{true, 14, 8};
AP_OSD_Setting home{true, 14, 1};
AP_OSD_Setting throttle{true, 24, 11};
AP_OSD_Setting heading{true, 13, 2};
AP_OSD_Setting compass{true, 15, 3};
AP_OSD_Setting wind{false, 2, 12};
AP_OSD_Setting aspeed{false, 2, 13};
AP_OSD_Setting aspd1{false, 0, 0};
AP_OSD_Setting aspd2{false, 0, 0};
AP_OSD_Setting vspeed{true, 24, 9};
#if HAL_WITH_ESC_TELEM
AP_OSD_Setting esc_temp {false, 24, 13};
AP_OSD_Setting esc_rpm{false, 22, 12};
AP_OSD_Setting esc_amps{false, 24, 14};
#endif
AP_OSD_Setting gps_latitude{true, 9, 13};
AP_OSD_Setting gps_longitude{true, 9, 14};
AP_OSD_Setting roll_angle{false, 0, 0};
AP_OSD_Setting pitch_angle{false, 0, 0};
AP_OSD_Setting temp{false, 0, 0};
#if BARO_MAX_INSTANCES > 1
AP_OSD_Setting btemp{false, 0, 0};
#endif
AP_OSD_Setting hdop{false, 0, 0};
AP_OSD_Setting waypoint{false, 0, 0};
AP_OSD_Setting xtrack_error{false, 0, 0};
AP_OSD_Setting dist{false,22,11};
AP_OSD_Setting stat{false,0,0};
AP_OSD_Setting flightime{false, 23, 10};
AP_OSD_Setting climbeff{false,0,0};
AP_OSD_Setting eff{false, 22, 10};
AP_OSD_Setting atemp{false, 0, 0};
AP_OSD_Setting bat2_vlt{false, 0, 0};
AP_OSD_Setting bat2used{false, 0, 0};
AP_OSD_Setting current2{false, 0, 0};
AP_OSD_Setting clk{false, 0, 0};
AP_OSD_Setting callsign{false, 0, 0};
AP_OSD_Setting vtx_power{false, 0, 0};
AP_OSD_Setting hgt_abvterr{false, 23, 7};
AP_OSD_Setting fence{false, 14, 9};
AP_OSD_Setting rngf{false, 0, 0};
#if HAL_PLUSCODE_ENABLE
AP_OSD_Setting pluscode{false, 0, 0};
#endif
AP_OSD_Setting sidebars{false, 4, 5};
// MSP OSD only
AP_OSD_Setting crosshair{false, 0, 0};
AP_OSD_Setting home_dist{true, 1, 1};
AP_OSD_Setting home_dir{true, 1, 1};
AP_OSD_Setting power{true, 1, 1};
AP_OSD_Setting cell_volt{true, 1, 1};
AP_OSD_Setting batt_bar{true, 1, 1};
AP_OSD_Setting arming{true, 1, 1};
void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
void draw_avgcellvolt(uint8_t x, uint8_t y);
void draw_restvolt(uint8_t x, uint8_t y);
void draw_rssi(uint8_t x, uint8_t y);
void draw_link_quality(uint8_t x, uint8_t y);
void draw_current(uint8_t x, uint8_t y);
void draw_current(uint8_t instance, uint8_t x, uint8_t y);
void draw_batused(uint8_t x, uint8_t y);
void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
void draw_sats(uint8_t x, uint8_t y);
void draw_fltmode(uint8_t x, uint8_t y);
void draw_message(uint8_t x, uint8_t y);
void draw_gspeed(uint8_t x, uint8_t y);
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_heading(uint8_t x, uint8_t y);
#ifdef HAL_OSD_SIDEBAR_ENABLE
void draw_sidebars(uint8_t x, uint8_t y);
#endif
void draw_compass(uint8_t x, uint8_t y);
void draw_wind(uint8_t x, uint8_t y);
void draw_aspeed(uint8_t x, uint8_t y);
void draw_aspd1(uint8_t x, uint8_t y);
void draw_aspd2(uint8_t x, uint8_t y);
void draw_vspeed(uint8_t x, uint8_t y);
#if HAL_PLUSCODE_ENABLE
void draw_pluscode(uint8_t x, uint8_t y);
#endif
//helper functions
void draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude);
void draw_distance(uint8_t x, uint8_t y, float distance);
#if HAL_WITH_ESC_TELEM
void draw_esc_temp(uint8_t x, uint8_t y);
void draw_esc_rpm(uint8_t x, uint8_t y);
void draw_esc_amps(uint8_t x, uint8_t y);
#endif
void draw_gps_latitude(uint8_t x, uint8_t y);
void draw_gps_longitude(uint8_t x, uint8_t y);
void draw_roll_angle(uint8_t x, uint8_t y);
void draw_pitch_angle(uint8_t x, uint8_t y);
void draw_temp(uint8_t x, uint8_t y);
#if BARO_MAX_INSTANCES > 1
void draw_btemp(uint8_t x, uint8_t y);
#endif
void draw_hdop(uint8_t x, uint8_t y);
void draw_waypoint(uint8_t x, uint8_t y);
void draw_xtrack_error(uint8_t x, uint8_t y);
void draw_dist(uint8_t x, uint8_t y);
void draw_stat(uint8_t x, uint8_t y);
void draw_flightime(uint8_t x, uint8_t y);
void draw_climbeff(uint8_t x, uint8_t y);
void draw_eff(uint8_t x, uint8_t y);
void draw_atemp(uint8_t x, uint8_t y);
void draw_bat2_vlt(uint8_t x, uint8_t y);
void draw_bat2used(uint8_t x, uint8_t y);
void draw_clk(uint8_t x, uint8_t y);
void draw_callsign(uint8_t x, uint8_t y);
void draw_current2(uint8_t x, uint8_t y);
void draw_vtx_power(uint8_t x, uint8_t y);
void draw_hgt_abvterr(uint8_t x, uint8_t y);
#if AP_FENCE_ENABLED
void draw_fence(uint8_t x, uint8_t y);
#endif
void draw_rngf(uint8_t x, uint8_t y);
struct {
bool load_attempted;
const char *str;
} callsign_data;
};
#endif // OSD_ENABLED
#if OSD_PARAM_ENABLED
/*
class to hold one setting
*/
class AP_OSD_ParamSetting : public AP_OSD_Setting
{
public:
// configured index.
AP_Int32 _param_group;
AP_Int16 _param_key;
AP_Int8 _param_idx;
// metadata
AP_Float _param_min;
AP_Float _param_max;
AP_Float _param_incr;
AP_Int8 _type;
// parameter number
uint8_t _param_number;
AP_Param* _param;
ap_var_type _param_type;
AP_Param::ParamToken _current_token;
// structure to contain setting constraints for important settings
struct ParamMetadata {
float min_value;
float max_value;
float increment;
uint8_t values_max;
const char** values;
};
// compact structure used to hold default values for static initialization
struct Initializer {
uint8_t index;
AP_Param::ParamToken token;
int8_t type;
};
static const ParamMetadata _param_metadata[];
AP_OSD_ParamSetting(uint8_t param_number, bool enabled, uint8_t x, uint8_t y, int16_t key, int8_t idx, int32_t group,
int8_t type = OSD_PARAM_NONE, float min = 0.0f, float max = 1.0f, float incr = 0.001f);
AP_OSD_ParamSetting(uint8_t param_number);
AP_OSD_ParamSetting(const Initializer& initializer);
// initialize the setting from the configured information
void update();
// grab the parameter name
void copy_name(char* name, size_t len) const {
_param->copy_name_token(_current_token, name, len);
if (len > 16) name[16] = 0;
}
// copy the name converting FOO_BAR_BAZ to FooBarBaz
void copy_name_camel_case(char* name, size_t len) const;
// set the ranges from static metadata
bool set_from_metadata();
bool set_by_name(const char* name, uint8_t config_type, float pmin=0, float pmax=0, float pincr=0);
void guess_ranges(bool force = false);
void save_as_new();
const ParamMetadata* get_custom_metadata() const {
return (_type > 0 ? &_param_metadata[_type - 1] : nullptr);
}
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
};
/*
class to hold one screen of settings
*/
class AP_OSD_ParamScreen : public AP_OSD_AbstractScreen
{
public:
AP_OSD_ParamScreen(uint8_t index);
enum class Event {
NONE,
MENU_ENTER,
MENU_UP,
MENU_DOWN,
MENU_EXIT
};
enum class MenuState {
PARAM_SELECT,
PARAM_VALUE_MODIFY,
PARAM_PARAM_MODIFY
};
static const uint8_t NUM_PARAMS = 9;
static const uint8_t SAVE_PARAM = NUM_PARAMS + 1;
#if OSD_ENABLED && (HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT)
void draw(void) override;
#endif
#if HAL_GCS_ENABLED
void handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link);
void handle_read_msg(const mavlink_osd_param_show_config_t& packet, const GCS_MAVLINK& link);
#endif
// get a setting and associated metadata
AP_OSD_ParamSetting* get_setting(uint8_t param_idx);
// Save button co-ordinates
AP_Int8 save_x;
AP_Int8 save_y;
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
AP_OSD_ParamSetting params[NUM_PARAMS] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };
void save_parameters();
#if OSD_ENABLED
void update_state_machine();
void draw_parameter(uint8_t param_number, uint8_t x, uint8_t y);
void modify_parameter(uint8_t number, Event ev);
void modify_configured_parameter(uint8_t number, Event ev);
Event map_rc_input_to_event() const;
RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
uint8_t _selected_param = 1;
MenuState _menu_state = MenuState::PARAM_SELECT;
Event _last_rc_event = Event::NONE;
// start time of the current button press
uint32_t _transition_start_ms;
// timeout of the current button press
uint32_t _transition_timeout_ms;
// number of consecutive times the current transition has happened
uint32_t _transition_count;
#endif
uint16_t _requires_save;
};
#endif // OSD_PARAM_ENABLED
class AP_OSD
{
public:
friend class AP_OSD_Screen;
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
friend class AP_OSD_ParamScreen;
//constructor
AP_OSD();
/* Do not allow copies */
AP_OSD(const AP_OSD &other) = delete;
AP_OSD &operator=(const AP_OSD&) = delete;
// get singleton instance
static AP_OSD *get_singleton()
{
return _singleton;
}
// init - perform required initialisation
void init();
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
enum osd_types {
OSD_NONE=0,
OSD_MAX7456=1,
OSD_SITL=2,
OSD_MSP=3,
OSD_TXONLY=4,
OSD_MSP_DISPLAYPORT=5
};
enum switch_method {
TOGGLE=0,
PWM_RANGE=1,
AUTO_SWITCH=2,
};
AP_Int8 osd_type;
AP_Int8 font_num;
AP_Int32 options;
#if OSD_ENABLED
AP_Int8 rc_channel;
AP_Int8 sw_method;
AP_Int8 v_offset;
AP_Int8 h_offset;
AP_Int8 warn_rssi;
AP_Int8 warn_nsat;
AP_Int32 warn_terr;
AP_Float warn_avgcellvolt;
AP_Float max_battery_voltage;
AP_Int8 cell_count;
AP_Float warn_restvolt;
AP_Float warn_batvolt;
AP_Float warn_bat2volt;
AP_Int8 msgtime_s;
AP_Int8 arm_scr;
AP_Int8 disarm_scr;
AP_Int8 failsafe_scr;
AP_Int32 button_delay_ms;
enum {
OPTION_DECIMAL_PACK = 1U<<0,
OPTION_INVERTED_WIND = 1U<<1,
OPTION_INVERTED_AH_ROLL = 1U<<2,
OPTION_IMPERIAL_MILES = 1U<<3,
OPTION_DISABLE_CROSSHAIR = 1U<<4,
};
enum {
UNITS_METRIC=0,
UNITS_IMPERIAL=1,
UNITS_SI=2,
UNITS_AVIATION=3,
UNITS_LAST=4,
};
AP_Int8 units;
AP_OSD_Screen screen[AP_OSD_NUM_DISPLAY_SCREENS];
struct NavInfo {
float wp_distance;
int32_t wp_bearing;
float wp_xtrack_error;
uint16_t wp_number;
};
struct StatsInfo {
uint32_t last_update_ms;
float last_distance_m;
float max_dist_m;
float max_alt_m;
float max_speed_mps;
float max_airspeed_mps;
float max_current_a;
float avg_current_a;
float min_voltage_v = FLT_MAX;
float min_rssi = FLT_MAX; // 0-1
int16_t max_esc_temp;
};
void set_nav_info(NavInfo &nav_info);
const volatile StatsInfo& get_stats_info() const {return _stats;};
// disable the display
void disable() {
_disable = true;
}
// enable the display
void enable() {
_disable = false;
}
AP_OSD_AbstractScreen& get_screen(uint8_t idx) {
#if OSD_PARAM_ENABLED
if (idx >= AP_OSD_NUM_DISPLAY_SCREENS) {
return param_screen[idx - AP_OSD_NUM_DISPLAY_SCREENS];
}
#endif
return screen[idx];
}
// Check whether arming is allowed
bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
bool is_readonly_screen() const { return current_screen < AP_OSD_NUM_DISPLAY_SCREENS; }
// get the current screen
uint8_t get_current_screen() const { return current_screen; };
#endif // OSD_ENABLED
#if OSD_PARAM_ENABLED
AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
// return a setting for use by TX based OSD
AP_OSD_ParamSetting* get_setting(uint8_t screen_idx, uint8_t param_idx) {
if (screen_idx >= AP_OSD_NUM_PARAM_SCREENS) {
return nullptr;
}
return param_screen[screen_idx].get_setting(param_idx);
}
#endif
// handle OSD parameter configuration
#if HAL_GCS_ENABLED
void handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link);
#endif
// allow threads to lock against OSD update
HAL_Semaphore &get_semaphore(void) {
return _sem;
}
private:
void osd_thread();
#if OSD_ENABLED
void update_osd();
void update_stats();
void update_current_screen();
void next_screen();
//variables for screen switching
uint8_t current_screen;
uint16_t previous_channel_value;
bool switch_debouncer;
uint32_t last_switch_ms;
struct NavInfo nav_info;
int8_t previous_pwm_screen;
int8_t pre_fs_screen;
bool was_armed;
bool was_failsafe;
bool _disable;
StatsInfo _stats;
#endif
AP_OSD_Backend *backend;
static AP_OSD *_singleton;
// multi-thread access support
HAL_Semaphore _sem;
};
namespace AP
{
AP_OSD *osd();
};