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AP_OSD: formatting fixes

master
Henry Wurzburg 5 years ago committed by Randy Mackay
parent
aef04fd924
commit
f592806184
6 changed files with 56 additions and 48 deletions
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  1. 34
      libraries/AP_OSD/AP_OSD.cpp
  2. 15
      libraries/AP_OSD/AP_OSD.h
  3. 3
      libraries/AP_OSD/AP_OSD_Backend.h
  4. 3
      libraries/AP_OSD/AP_OSD_MAX7456.h
  5. 3
      libraries/AP_OSD/AP_OSD_SITL.h
  6. 46
      libraries/AP_OSD/AP_OSD_Screen.cpp

34
libraries/AP_OSD/AP_OSD.cpp
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@ -136,14 +136,14 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Range: 1 20 // @Range: 1 20
// @User: Standard // @User: Standard
AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10), AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
// @Param: _ARM_SCR // @Param: _ARM_SCR
// @DisplayName: Arm screen // @DisplayName: Arm screen
// @Description: Screen to be shown on Arm event. Zero to disable the feature. // @Description: Screen to be shown on Arm event. Zero to disable the feature.
// @Range: 0 4 // @Range: 0 4
// @User: Standard // @User: Standard
AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0), AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
// @Param: _DSARM_SCR // @Param: _DSARM_SCR
// @DisplayName: Disarm screen // @DisplayName: Disarm screen
// @Description: Screen to be shown on disarm event. Zero to disable the feature. // @Description: Screen to be shown on disarm event. Zero to disable the feature.
@ -171,7 +171,7 @@ AP_OSD::AP_OSD()
#ifdef WITH_SITL_OSD #ifdef WITH_SITL_OSD
osd_type.set_default(2); osd_type.set_default(2);
#endif #endif
#ifdef HAL_OSD_TYPE_DEFAULT #ifdef HAL_OSD_TYPE_DEFAULT
osd_type.set_default(HAL_OSD_TYPE_DEFAULT); osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
#endif #endif
@ -244,10 +244,10 @@ void AP_OSD::stats()
return; return;
} }
// flight distance // flight distance
uint32_t delta_ms = now - last_update_ms; uint32_t delta_ms = now - last_update_ms;
last_update_ms = now; last_update_ms = now;
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
Vector2f v = ahrs.groundspeed_vector(); Vector2f v = ahrs.groundspeed_vector();
float speed = v.length(); float speed = v.length();
@ -256,10 +256,10 @@ void AP_OSD::stats()
} }
float dist_m = (speed * delta_ms)*0.001; float dist_m = (speed * delta_ms)*0.001;
last_distance_m += dist_m; last_distance_m += dist_m;
// maximum ground speed // maximum ground speed
max_speed_mps = fmaxf(max_speed_mps,speed); max_speed_mps = fmaxf(max_speed_mps,speed);
// maximum distance // maximum distance
Location loc; Location loc;
if (ahrs.get_position(loc) && ahrs.home_is_set()) { if (ahrs.get_position(loc) && ahrs.home_is_set()) {
@ -267,7 +267,7 @@ void AP_OSD::stats()
float distance = home_loc.get_distance(loc); float distance = home_loc.get_distance(loc);
max_dist_m = fmaxf(max_dist_m, distance); max_dist_m = fmaxf(max_dist_m, distance);
} }
// maximum altitude // maximum altitude
float alt; float alt;
AP::ahrs().get_relative_position_D_home(alt); AP::ahrs().get_relative_position_D_home(alt);
@ -286,32 +286,32 @@ void AP_OSD::stats()
void AP_OSD::update_current_screen() void AP_OSD::update_current_screen()
{ {
// Switch on ARM/DISARM event // Switch on ARM/DISARM event
if (AP_Notify::flags.armed){ if (AP_Notify::flags.armed) {
if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_SCREENS && screen[arm_scr-1].enabled){ if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_SCREENS && screen[arm_scr-1].enabled) {
current_screen = arm_scr-1; current_screen = arm_scr-1;
} }
was_armed = true; was_armed = true;
} else if (was_armed) { } else if (was_armed) {
if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_SCREENS && screen[disarm_scr-1].enabled){ if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_SCREENS && screen[disarm_scr-1].enabled) {
current_screen = disarm_scr-1; current_screen = disarm_scr-1;
} }
was_armed = false; was_armed = false;
} }
// Switch on failsafe event // Switch on failsafe event
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) { if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) {
if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_SCREENS && screen[failsafe_scr-1].enabled){ if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_SCREENS && screen[failsafe_scr-1].enabled) {
pre_fs_screen = current_screen; pre_fs_screen = current_screen;
current_screen = failsafe_scr-1; current_screen = failsafe_scr-1;
} }
was_failsafe = true; was_failsafe = true;
} else if (was_failsafe) { } else if (was_failsafe) {
if (screen[pre_fs_screen].enabled){ if (screen[pre_fs_screen].enabled) {
current_screen = pre_fs_screen; current_screen = pre_fs_screen;
} }
was_failsafe = false; was_failsafe = false;
} }
if (rc_channel == 0) { if (rc_channel == 0) {
return; return;
} }

15
libraries/AP_OSD/AP_OSD.h
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@ -27,7 +27,8 @@ class AP_OSD_Backend;
/* /*
class to hold one setting class to hold one setting
*/ */
class AP_OSD_Setting { class AP_OSD_Setting
{
public: public:
AP_Int8 enabled; AP_Int8 enabled;
AP_Int8 xpos; AP_Int8 xpos;
@ -44,7 +45,8 @@ class AP_OSD;
/* /*
class to hold one screen of settings class to hold one screen of settings
*/ */
class AP_OSD_Screen { class AP_OSD_Screen
{
public: public:
// constructor // constructor
AP_OSD_Screen(); AP_OSD_Screen();
@ -181,7 +183,8 @@ private:
void draw_bat2used(uint8_t x, uint8_t y); void draw_bat2used(uint8_t x, uint8_t y);
}; };
class AP_OSD { class AP_OSD
{
public: public:
friend class AP_OSD_Screen; friend class AP_OSD_Screen;
//constructor //constructor
@ -253,7 +256,7 @@ public:
}; };
void set_nav_info(NavInfo &nav_info); void set_nav_info(NavInfo &nav_info);
private: private:
void osd_thread(); void osd_thread();
@ -262,7 +265,7 @@ private:
void update_current_screen(); void update_current_screen();
void next_screen(); void next_screen();
AP_OSD_Backend *backend; AP_OSD_Backend *backend;
//variables for screen switching //variables for screen switching
uint8_t current_screen; uint8_t current_screen;
uint16_t previous_channel_value; uint16_t previous_channel_value;
@ -273,7 +276,7 @@ private:
int8_t pre_fs_screen; int8_t pre_fs_screen;
bool was_armed; bool was_armed;
bool was_failsafe; bool was_failsafe;
uint32_t last_update_ms; uint32_t last_update_ms;
float last_distance_m; float last_distance_m;
float max_dist_m; float max_dist_m;

3
libraries/AP_OSD/AP_OSD_Backend.h
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@ -20,7 +20,8 @@
#include <AP_OSD/AP_OSD.h> #include <AP_OSD/AP_OSD.h>
class AP_OSD_Backend { class AP_OSD_Backend
{
public: public:
//constructor //constructor

3
libraries/AP_OSD/AP_OSD_MAX7456.h
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@ -18,7 +18,8 @@
#include <AP_OSD/AP_OSD_Backend.h> #include <AP_OSD/AP_OSD_Backend.h>
#include <AP_Common/Bitmask.h> #include <AP_Common/Bitmask.h>
class AP_OSD_MAX7456 : public AP_OSD_Backend { class AP_OSD_MAX7456 : public AP_OSD_Backend
{
public: public:

3
libraries/AP_OSD/AP_OSD_SITL.h
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@ -25,7 +25,8 @@
#include <SFML/Graphics.hpp> #include <SFML/Graphics.hpp>
#endif #endif
class AP_OSD_SITL : public AP_OSD_Backend { class AP_OSD_SITL : public AP_OSD_Backend
{
public: public:
static AP_OSD_Backend *probe(AP_OSD &osd); static AP_OSD_Backend *probe(AP_OSD &osd);

46
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -606,7 +606,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen // @Description: Vertical position on screen
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(btemp, "BTEMP", 37, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(btemp, "BTEMP", 37, AP_OSD_Screen, AP_OSD_Setting),
// @Param: ATEMP_EN // @Param: ATEMP_EN
// @DisplayName: ATEMP_EN // @DisplayName: ATEMP_EN
// @Description: Displays temperature reported by primary airspeed sensor // @Description: Displays temperature reported by primary airspeed sensor
@ -622,7 +622,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen // @Description: Vertical position on screen
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(atemp, "ATEMP", 38, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(atemp, "ATEMP", 38, AP_OSD_Screen, AP_OSD_Setting),
// @Param: BAT2VLT_EN // @Param: BAT2VLT_EN
// @DisplayName: BAT2VLT_EN // @DisplayName: BAT2VLT_EN
// @Description: Displays battery2 voltage // @Description: Displays battery2 voltage
@ -654,8 +654,8 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen // @Description: Vertical position on screen
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(bat2used, "BAT2USED", 40, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(bat2used, "BAT2USED", 40, AP_OSD_Screen, AP_OSD_Setting),
// @Param: ASPD2_EN // @Param: ASPD2_EN
// @DisplayName: ASPD2_EN // @DisplayName: ASPD2_EN
// @Description: Displays airspeed reported directly from secondary airspeed sensor // @Description: Displays airspeed reported directly from secondary airspeed sensor
@ -671,23 +671,23 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen // @Description: Vertical position on screen
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(aspd2, "ASPD2", 41, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(aspd2, "ASPD2", 41, AP_OSD_Screen, AP_OSD_Setting),
// @Param: ASPD1_EN // @Param: ASPD1_EN
// @DisplayName: ASPD1_EN // @DisplayName: ASPD1_EN
// @Description: Displays airspeed reported directly from primary airspeed sensor // @Description: Displays airspeed reported directly from primary airspeed sensor
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
// @Param: ASPD1_X // @Param: ASPD1_X
// @DisplayName: ASPD1_X // @DisplayName: ASPD1_X
// @Description: Horizontal position on screen // @Description: Horizontal position on screen
// @Range: 0 29 // @Range: 0 29
// @Param: ASPD1_Y // @Param: ASPD1_Y
// @DisplayName: ASPD1_Y // @DisplayName: ASPD1_Y
// @Description: Vertical position on screen // @Description: Vertical position on screen
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(aspd1, "ASPD1", 42, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(aspd1, "ASPD1", 42, AP_OSD_Screen, AP_OSD_Setting),
AP_GROUPEND AP_GROUPEND
}; };
@ -1393,15 +1393,15 @@ void AP_OSD_Screen::draw_stat(uint8_t x, uint8_t y)
backend->write(x, y+2, false, "%5.1f%c", (double)osd->max_current_a, SYM_AMP); backend->write(x, y+2, false, "%5.1f%c", (double)osd->max_current_a, SYM_AMP);
backend->write(x, y+3, false, "%5d%c", (int)u_scale(ALTITUDE, osd->max_alt_m), u_icon(ALTITUDE)); backend->write(x, y+3, false, "%5d%c", (int)u_scale(ALTITUDE, osd->max_alt_m), u_icon(ALTITUDE));
backend->write(x, y+4, false, "%c", SYM_HOME); backend->write(x, y+4, false, "%c", SYM_HOME);
draw_distance(x+1, y+4, osd->max_dist_m); draw_distance(x+1, y+4, osd->max_dist_m);
backend->write(x, y+5, false, "%c", SYM_DIST); backend->write(x, y+5, false, "%c", SYM_DIST);
draw_distance(x+1, y+5, osd->last_distance_m); draw_distance(x+1, y+5, osd->last_distance_m);
} }
void AP_OSD_Screen::draw_dist(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_dist(uint8_t x, uint8_t y)
{ {
backend->write(x, y, false, "%c", SYM_DIST); backend->write(x, y, false, "%c", SYM_DIST);
draw_distance(x+1, y, osd->last_distance_m); draw_distance(x+1, y, osd->last_distance_m);
} }
void AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
@ -1410,7 +1410,7 @@ void AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
if (stats) { if (stats) {
uint32_t t = stats->get_flight_time_s(); uint32_t t = stats->get_flight_time_s();
backend->write(x, y, false, "%c%3u:%02u", SYM_FLY, t/60, t%60); backend->write(x, y, false, "%c%3u:%02u", SYM_FLY, t/60, t%60);
} }
} }
void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
@ -1421,7 +1421,7 @@ void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
Vector2f v = ahrs.groundspeed_vector(); Vector2f v = ahrs.groundspeed_vector();
float speed = u_scale(SPEED,v.length()); float speed = u_scale(SPEED,v.length());
float current_amps; float current_amps;
if ((speed > 2.0) && battery.current_amps(current_amps)){ if ((speed > 2.0) && battery.current_amps(current_amps)) {
backend->write(x, y, false, "%c%3d%c", SYM_EFF,int(1000.0f*current_amps/speed),SYM_MAH); backend->write(x, y, false, "%c%3d%c", SYM_EFF,int(1000.0f*current_amps/speed),SYM_MAH);
} else { } else {
backend->write(x, y, false, "%c---%c", SYM_EFF,SYM_MAH); backend->write(x, y, false, "%c---%c", SYM_EFF,SYM_MAH);
@ -1442,14 +1442,16 @@ void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
WITH_SEMAPHORE(baro.get_semaphore()); WITH_SEMAPHORE(baro.get_semaphore());
vspd = baro.get_climb_rate(); vspd = baro.get_climb_rate();
} }
if (vspd < 0.0) vspd = 0.0; if (vspd < 0.0) {
vspd = 0.0;
}
AP_BattMonitor &battery = AP::battery(); AP_BattMonitor &battery = AP::battery();
float amps; float amps;
if (battery.current_amps(amps) && is_positive(amps)) { if (battery.current_amps(amps) && is_positive(amps)) {
backend->write(x, y, false,"%c%c%3.1f%c",SYM_PTCHUP,SYM_EFF,(double)(3.6f * u_scale(VSPEED,vspd)/amps),unit_icon); backend->write(x, y, false,"%c%c%3.1f%c",SYM_PTCHUP,SYM_EFF,(double)(3.6f * u_scale(VSPEED,vspd)/amps),unit_icon);
} else { } else {
backend->write(x, y, false,"%c%c---%c",SYM_PTCHUP,SYM_EFF,unit_icon); backend->write(x, y, false,"%c%c---%c",SYM_PTCHUP,SYM_EFF,unit_icon);
} }
} }
void AP_OSD_Screen::draw_btemp(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_btemp(uint8_t x, uint8_t y)

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