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ardupilot/libraries/AP_OSD/AP_OSD.cpp

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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/>.
*
* AP_OSD partially based on betaflight and inav osd.c implemention.
* clarity.mcm font is taken from inav configurator.
* Many thanks to their authors.
*/
#include "AP_OSD.h"
#if OSD_ENABLED || OSD_PARAM_ENABLED
#include "AP_OSD_MAX7456.h"
#ifdef WITH_SITL_OSD
#include "AP_OSD_SITL.h"
#endif
#include "AP_OSD_MSP.h"
#include "AP_OSD_MSP_DisplayPort.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <utility>
#include <AP_Notify/AP_Notify.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RSSI/AP_RSSI.h>
// macro for easy use of var_info2
#define AP_SUBGROUPINFO2(element, name, idx, thisclazz, elclazz) { AP_PARAM_GROUP, idx, name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info2 }, AP_PARAM_FLAG_NESTED_OFFSET }
const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _TYPE
// @DisplayName: OSD type
// @Description: OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
#if OSD_ENABLED
// @Param: _CHAN
// @DisplayName: Screen switch transmitter channel
// @Description: This sets the channel used to switch different OSD screens.
// @Values: 0:Disable,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0),
// @Group: 1_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen),
// @Group: 2_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen),
// @Group: 3_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen),
// @Group: 4_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen),
// @Param: _SW_METHOD
// @DisplayName: Screen switch method
// @Description: This sets the method used to switch different OSD screens.
// @Values: 0: switch to next screen if channel value was changed, 1: select screen based on pwm ranges specified for each screen, 2: switch to next screen after low to high transition and every 1s while channel value is high
// @User: Standard
AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE),
// @Param: _OPTIONS
// @DisplayName: OSD Options
// @Description: This sets options that change the display
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair
// @User: Standard
AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
// @Param: _FONT
// @DisplayName: OSD Font
// @Description: This sets which OSD font to use. It is an integer from 0 to the number of fonts available
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0),
// @Param: _V_OFFSET
// @DisplayName: OSD vertical offset
// @Description: Sets vertical offset of the osd inside image
// @Range: 0 31
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16),
// @Param: _H_OFFSET
// @DisplayName: OSD horizontal offset
// @Description: Sets horizontal offset of the osd inside image
// @Range: 0 63
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32),
// @Param: _W_RSSI
// @DisplayName: RSSI warn level (in %)
// @Description: Set level at which RSSI item will flash
// @Range: 0 99
// @User: Standard
AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
// @Param: _W_NSAT
// @DisplayName: NSAT warn level
// @Description: Set level at which NSAT item will flash
// @Range: 1 30
// @User: Standard
AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9),
// @Param: _W_BATVOLT
// @DisplayName: BAT_VOLT warn level
// @Description: Set level at which BAT_VOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f),
// @Param: _UNITS
// @DisplayName: Display Units
// @Description: Sets the units to use in displaying items
// @Values: 0:Metric,1:Imperial,2:SI,3:Aviation
// @User: Standard
AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0),
// @Param: _MSG_TIME
// @DisplayName: Message display duration in seconds
// @Description: Sets message duration seconds
// @Range: 1 20
// @User: Standard
AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
// @Param: _ARM_SCR
// @DisplayName: Arm screen
// @Description: Screen to be shown on Arm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
// @Param: _DSARM_SCR
// @DisplayName: Disarm screen
// @Description: Screen to be shown on disarm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0),
// @Param: _FS_SCR
// @DisplayName: Failsafe screen
// @Description: Screen to be shown on failsafe event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0),
#if OSD_PARAM_ENABLED
// @Param: _BTN_DELAY
// @DisplayName: Button delay
// @Description: Debounce time in ms for stick commanded parameter navigation.
// @Range: 0 3000
// @User: Advanced
AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
#endif
#if AP_TERRAIN_AVAILABLE
// @Param: _W_TERR
// @DisplayName: Terrain warn level
// @Description: Set level below which TER_HGT item will flash. -1 disables.
// @Range: -1 3000
// @Units: m
// @User: Standard
AP_GROUPINFO("_W_TERR", 23, AP_OSD, warn_terr, -1),
#endif
// @Param: _W_AVGCELLV
// @DisplayName: AVGCELLV warn level
// @Description: Set level at which AVGCELLV item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_AVGCELLV", 24, AP_OSD, warn_avgcellvolt, 3.6f),
// @Param: _CELL_COUNT
// @DisplayName: Battery cell count
// @Description: Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("_CELL_COUNT", 25, AP_OSD, cell_count, -1),
// @Param: _W_RESTVOLT
// @DisplayName: RESTVOLT warn level
// @Description: Set level at which RESTVOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_RESTVOLT", 26, AP_OSD, warn_restvolt, 10.0f),
#endif //osd enabled
#if OSD_PARAM_ENABLED
// @Group: 5_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
// @Group: 6_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[1], "6_", 22, AP_OSD, AP_OSD_ParamScreen),
#endif
#if OSD_ENABLED
// additional tables to go beyond 63 limit
AP_SUBGROUPINFO2(screen[0], "1_", 27, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[1], "2_", 28, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[2], "3_", 29, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[3], "4_", 30, AP_OSD, AP_OSD_Screen),
#endif
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
// singleton instance
AP_OSD *AP_OSD::_singleton;
AP_OSD::AP_OSD()
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_OSD must be singleton");
}
AP_Param::setup_object_defaults(this, var_info);
#if OSD_ENABLED
// default first screen enabled
screen[0].enabled = 1;
previous_pwm_screen = -1;
#endif
#ifdef WITH_SITL_OSD
osd_type.set_default(OSD_SITL);
#endif
#ifdef HAL_OSD_TYPE_DEFAULT
osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
#endif
_singleton = this;
}
void AP_OSD::init()
{
switch (osd_types(osd_type.get())) {
case OSD_NONE:
case OSD_TXONLY:
default:
break;
case OSD_MAX7456: {
#ifdef HAL_WITH_SPI_OSD
AP_HAL::OwnPtr<AP_HAL::Device> spi_dev = std::move(hal.spi->get_device("osd"));
if (!spi_dev) {
break;
}
#if HAL_WITH_OSD_BITMAP
backend = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
#endif
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MAX7456 OSD\n");
#endif
break;
}
#ifdef WITH_SITL_OSD
case OSD_SITL: {
backend = AP_OSD_SITL::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started SITL OSD\n");
break;
}
#endif
case OSD_MSP: {
backend = AP_OSD_MSP::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MSP OSD\n");
break;
}
#if HAL_WITH_MSP_DISPLAYPORT
case OSD_MSP_DISPLAYPORT: {
backend = AP_OSD_MSP_DisplayPort::probe(*this);
if (backend == nullptr) {
break;
}
DEV_PRINTF("Started MSP DisplayPort OSD\n");
break;
}
#endif
}
#if OSD_ENABLED
if (backend != nullptr) {
// populate the fonts lookup table
backend->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
// create thread as higher priority than IO for all backends
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
}
#endif
}
#if OSD_ENABLED
void AP_OSD::osd_thread()
{
while (true) {
hal.scheduler->delay(100);
update_osd();
}
}
void AP_OSD::update_osd()
{
backend->clear();
if (!_disable) {
update_stats();
update_current_screen();
get_screen(current_screen).set_backend(backend);
// skip drawing for MSP OSD backends to save some resources
if (osd_types(osd_type.get()) != OSD_MSP) {
get_screen(current_screen).draw();
}
}
backend->flush();
}
//update maximums and totals
void AP_OSD::update_stats()
{
// allow other threads to consume stats info
WITH_SEMAPHORE(_sem);
uint32_t now = AP_HAL::millis();
if (!AP_Notify::flags.armed) {
_stats.last_update_ms = now;
return;
}
// flight distance
uint32_t delta_ms = now - _stats.last_update_ms;
_stats.last_update_ms = now;
Vector2f v;
Location loc {};
Location home_loc;
bool home_is_set;
bool have_airspeed_estimate;
float alt;
float aspd_mps = 0.0f;
{
// minimize semaphore scope
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
v = ahrs.groundspeed_vector();
home_is_set = ahrs.get_location(loc) && ahrs.home_is_set();
if (home_is_set) {
home_loc = ahrs.get_home();
}
ahrs.get_relative_position_D_home(alt);
have_airspeed_estimate = ahrs.airspeed_estimate(aspd_mps);
}
float speed = v.length();
if (speed < 0.178) {
speed = 0.0;
}
float dist_m = (speed * delta_ms)*0.001;
_stats.last_distance_m += dist_m;
// maximum ground speed
_stats.max_speed_mps = fmaxf(_stats.max_speed_mps,speed);
// maximum distance
if (home_is_set) {
float distance = home_loc.get_distance(loc);
_stats.max_dist_m = fmaxf(_stats.max_dist_m, distance);
}
// maximum altitude
alt = -alt;
_stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
// maximum current
AP_BattMonitor &battery = AP::battery();
float amps;
if (battery.current_amps(amps)) {
_stats.max_current_a = fmaxf(_stats.max_current_a, amps);
}
// minimum voltage
float voltage = battery.voltage();
if (voltage > 0) {
_stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
}
// minimum rssi
AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
if (ap_rssi) {
_stats.min_rssi = fminf(_stats.min_rssi, ap_rssi->read_receiver_rssi());
}
// max airspeed either true or synthetic
if (have_airspeed_estimate) {
_stats.max_airspeed_mps = fmaxf(_stats.max_airspeed_mps, aspd_mps);
}
#if HAL_WITH_ESC_TELEM
// max esc temp
AP_ESC_Telem& telem = AP::esc_telem();
int16_t highest_temperature = 0;
telem.get_highest_motor_temperature(highest_temperature);
_stats.max_esc_temp = MAX(_stats.max_esc_temp, highest_temperature);
#endif
}
//Thanks to minimosd authors for the multiple osd screen idea
void AP_OSD::update_current_screen()
{
// Switch on ARM/DISARM event
if (AP_Notify::flags.armed) {
if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(arm_scr-1).enabled) {
current_screen = arm_scr-1;
}
was_armed = true;
} else if (was_armed) {
if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(disarm_scr-1).enabled) {
current_screen = disarm_scr-1;
}
was_armed = false;
}
// Switch on failsafe event
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) {
if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(failsafe_scr-1).enabled) {
pre_fs_screen = current_screen;
current_screen = failsafe_scr-1;
}
was_failsafe = true;
} else if (was_failsafe) {
if (get_screen(pre_fs_screen).enabled) {
current_screen = pre_fs_screen;
}
was_failsafe = false;
}
if (rc_channel == 0) {
return;
}
RC_Channel *channel = RC_Channels::rc_channel(rc_channel-1);
if (channel == nullptr) {
return;
}
int16_t channel_value = channel->get_radio_in();
switch (sw_method) {
//switch to next screen if channel value was changed
default:
case TOGGLE:
if (previous_channel_value == 0) {
//do not switch to the next screen just after initialization
previous_channel_value = channel_value;
}
if (abs(channel_value-previous_channel_value) > 200) {
if (switch_debouncer) {
next_screen();
previous_channel_value = channel_value;
} else {
switch_debouncer = true;
return;
}
}
break;
//select screen based on pwm ranges specified
case PWM_RANGE:
for (int i=0; i<AP_OSD_NUM_SCREENS; i++) {
if (get_screen(i).enabled && get_screen(i).channel_min <= channel_value && get_screen(i).channel_max > channel_value) {
if (previous_pwm_screen == i) {
break;
} else {
current_screen = previous_pwm_screen = i;
}
}
}
break;
//switch to next screen after low to high transition and every 1s while channel value is high
case AUTO_SWITCH:
if (channel_value > channel->get_radio_trim()) {
if (switch_debouncer) {
uint32_t now = AP_HAL::millis();
if (now - last_switch_ms > 1000) {
next_screen();
last_switch_ms = now;
}
} else {
switch_debouncer = true;
return;
}
} else {
last_switch_ms = 0;
}
break;
}
switch_debouncer = false;
}
//select next avaliable screen, do nothing if all screens disabled
void AP_OSD::next_screen()
{
uint8_t t = current_screen;
do {
t = (t + 1)%AP_OSD_NUM_SCREENS;
} while (t != current_screen && !get_screen(t).enabled);
current_screen = t;
}
// set navigation information for display
void AP_OSD::set_nav_info(NavInfo &navinfo)
{
// do this without a lock for now
nav_info = navinfo;
}
#endif // OSD_ENABLED
// handle OSD parameter configuration
#if HAL_GCS_ENABLED
void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link)
{
bool found = false;
switch (msg.msgid) {
case MAVLINK_MSG_ID_OSD_PARAM_CONFIG: {
mavlink_osd_param_config_t packet;
mavlink_msg_osd_param_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_write_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN);
}
}
break;
case MAVLINK_MSG_ID_OSD_PARAM_SHOW_CONFIG: {
mavlink_osd_param_show_config_t packet;
mavlink_msg_osd_param_show_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_read_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN,
nullptr, OSD_PARAM_NONE, 0, 0, 0);
}
}
break;
default:
break;
}
}
#endif
AP_OSD *AP::osd() {
return AP_OSD::get_singleton();
}
#endif // OSD_ENABLED || OSD_PARAM_ENABLED