ardupilot/libraries/AP_OSD/AP_OSD_Screen.cpp

/*
 * 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.
 */
/*
  parameter settings for one screen
 */
#include "AP_OSD.h"
#include "AP_OSD_Backend.h"

#if OSD_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_Common/Location.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_MSP/msp.h>
#include <AP_OLC/AP_OLC.h>
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#include <AP_WindVane/AP_WindVane.h>
#endif
#include <AP_Filesystem/AP_Filesystem.h>

#include <ctype.h>
#include <GCS_MAVLink/GCS.h>
#include <AC_Fence/AC_Fence.h>

const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {

    // @Param: ENABLE
    // @DisplayName: Enable screen
    // @Description: Enable this screen
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    AP_GROUPINFO_FLAGS("ENABLE", 1, AP_OSD_Screen, enabled, 0, AP_PARAM_FLAG_ENABLE),

    // @Param: CHAN_MIN
    // @DisplayName: Transmitter switch screen minimum pwm
    // @Description: This sets the PWM lower limit for this screen
    // @Range: 900 2100
    // @User: Standard
    AP_GROUPINFO("CHAN_MIN", 2, AP_OSD_Screen, channel_min, 900),

    // @Param: CHAN_MAX
    // @DisplayName: Transmitter switch screen maximum pwm
    // @Description: This sets the PWM upper limit for this screen
    // @Range: 900 2100
    // @User: Standard
    AP_GROUPINFO("CHAN_MAX", 3, AP_OSD_Screen, channel_max, 2100),

    // @Param: ALTITUDE_EN
    // @DisplayName: ALTITUDE_EN
    // @Description: Enables display of altitude AGL
    // @Values: 0:Disabled,1:Enabled

    // @Param: ALTITUDE_X
    // @DisplayName: ALTITUDE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ALTITUDE_Y
    // @DisplayName: ALTITUDE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(altitude, "ALTITUDE", 4, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BAT_VOLT_EN
    // @DisplayName: BATVOLT_EN
    // @Description: Displays main battery voltage
    // @Values: 0:Disabled,1:Enabled

    // @Param: BAT_VOLT_X
    // @DisplayName: BATVOLT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BAT_VOLT_Y
    // @DisplayName: BATVOLT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(bat_volt, "BAT_VOLT", 5, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: RSSI_EN
    // @DisplayName: RSSI_EN
    // @Description: Displays RC signal strength
    // @Values: 0:Disabled,1:Enabled

    // @Param: RSSI_X
    // @DisplayName: RSSI_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: RSSI_Y
    // @DisplayName: RSSI_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(rssi, "RSSI", 6, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: CURRENT_EN
    // @DisplayName: CURRENT_EN
    // @Description: Displays main battery current
    // @Values: 0:Disabled,1:Enabled

    // @Param: CURRENT_X
    // @DisplayName: CURRENT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CURRENT_Y
    // @DisplayName: CURRENT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(current, "CURRENT", 7, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BATUSED_EN
    // @DisplayName: BATUSED_EN
    // @Description: Displays primary battery mAh consumed
    // @Values: 0:Disabled,1:Enabled

    // @Param: BATUSED_X
    // @DisplayName: BATUSED_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BATUSED_Y
    // @DisplayName: BATUSED_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(batused, "BATUSED", 8, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: SATS_EN
    // @DisplayName: SATS_EN
    // @Description: Displays number of acquired satellites
    // @Values: 0:Disabled,1:Enabled

    // @Param: SATS_X
    // @DisplayName: SATS_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: SATS_Y
    // @DisplayName: SATS_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(sats, "SATS", 9, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: FLTMODE_EN
    // @DisplayName: FLTMODE_EN
    // @Description: Displays flight mode
    // @Values: 0:Disabled,1:Enabled

    // @Param: FLTMODE_X
    // @DisplayName: FLTMODE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: FLTMODE_Y
    // @DisplayName: FLTMODE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(fltmode, "FLTMODE", 10, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: MESSAGE_EN
    // @DisplayName: MESSAGE_EN
    // @Description: Displays Mavlink messages
    // @Values: 0:Disabled,1:Enabled

    // @Param: MESSAGE_X
    // @DisplayName: MESSAGE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: MESSAGE_Y
    // @DisplayName: MESSAGE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(message, "MESSAGE", 11, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: GSPEED_EN
    // @DisplayName: GSPEED_EN
    // @Description: Displays GPS ground speed
    // @Values: 0:Disabled,1:Enabled

    // @Param: GSPEED_X
    // @DisplayName: GSPEED_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: GSPEED_Y
    // @DisplayName: GSPEED_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(gspeed, "GSPEED", 12, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HORIZON_EN
    // @DisplayName: HORIZON_EN
    // @Description: Displays artificial horizon
    // @Values: 0:Disabled,1:Enabled

    // @Param: HORIZON_X
    // @DisplayName: HORIZON_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: HORIZON_Y
    // @DisplayName: HORIZON_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(horizon, "HORIZON", 13, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HOME_EN
    // @DisplayName: HOME_EN
    // @Description: Displays distance and relative direction to HOME
    // @Values: 0:Disabled,1:Enabled

    // @Param: HOME_X
    // @DisplayName: HOME_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: HOME_Y
    // @DisplayName: HOME_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(home, "HOME", 14, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HEADING_EN
    // @DisplayName: HEADING_EN
    // @Description: Displays heading
    // @Values: 0:Disabled,1:Enabled

    // @Param: HEADING_X
    // @DisplayName: HEADING_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: HEADING_Y
    // @DisplayName: HEADING_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(heading, "HEADING", 15, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: THROTTLE_EN
    // @DisplayName: THROTTLE_EN
    // @Description: Displays actual throttle percentage being sent to motor(s)
    // @Values: 0:Disabled,1:Enabled

    // @Param: THROTTLE_X
    // @DisplayName: THROTTLE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: THROTTLE_Y
    // @DisplayName: THROTTLE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(throttle, "THROTTLE", 16, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: COMPASS_EN
    // @DisplayName: COMPASS_EN
    // @Description: Enables display of compass rose
    // @Values: 0:Disabled,1:Enabled

    // @Param: COMPASS_X
    // @DisplayName: COMPASS_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: COMPASS_Y
    // @DisplayName: COMPASS_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(compass, "COMPASS", 17, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: WIND_EN
    // @DisplayName: WIND_EN
    // @Description: Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
    // @Values: 0:Disabled,1:Enabled

    // @Param: WIND_X
    // @DisplayName: WIND_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: WIND_Y
    // @DisplayName: WIND_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(wind, "WIND", 18, AP_OSD_Screen, AP_OSD_Setting),


    // @Param: ASPEED_EN
    // @DisplayName: ASPEED_EN
    // @Description: Displays airspeed value being used by TECS (fused value)
    // @Values: 0:Disabled,1:Enabled

    // @Param: ASPEED_X
    // @DisplayName: ASPEED_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ASPEED_Y
    // @DisplayName: ASPEED_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(aspeed, "ASPEED", 19, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: VSPEED_EN
    // @DisplayName: VSPEED_EN
    // @Description: Displays climb rate
    // @Values: 0:Disabled,1:Enabled

    // @Param: VSPEED_X
    // @DisplayName: VSPEED_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: VSPEED_Y
    // @DisplayName: VSPEED_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(vspeed, "VSPEED", 20, AP_OSD_Screen, AP_OSD_Setting),
#if HAL_WITH_ESC_TELEM
    // @Param: BLHTEMP_EN
    // @DisplayName: BLHTEMP_EN
    // @Description: Displays first esc's temp
    // @Values: 0:Disabled,1:Enabled

    // @Param: BLHTEMP_X
    // @DisplayName: BLHTEMP_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BLHTEMP_Y
    // @DisplayName: BLHTEMP_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(blh_temp, "BLHTEMP", 21, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BLHRPM_EN
    // @DisplayName: BLHRPM_EN
    // @Description: Displays first esc's rpm
    // @Values: 0:Disabled,1:Enabled

    // @Param: BLHRPM_X
    // @DisplayName: BLHRPM_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BLHRPM_Y
    // @DisplayName: BLHRPM_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(blh_rpm, "BLHRPM", 22, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BLHAMPS_EN
    // @DisplayName: BLHAMPS_EN
    // @Description: Displays first esc's current
    // @Values: 0:Disabled,1:Enabled

    // @Param: BLHAMPS_X
    // @DisplayName: BLHAMPS_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BLHAMPS_Y
    // @DisplayName: BLHAMPS_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(blh_amps, "BLHAMPS", 23, AP_OSD_Screen, AP_OSD_Setting),
#endif
    // @Param: GPSLAT_EN
    // @DisplayName: GPSLAT_EN
    // @Description: Displays GPS latitude
    // @Values: 0:Disabled,1:Enabled

    // @Param: GPSLAT_X
    // @DisplayName: GPSLAT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: GPSLAT_Y
    // @DisplayName: GPSLAT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(gps_latitude, "GPSLAT", 24, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: GPSLONG_EN
    // @DisplayName: GPSLONG_EN
    // @Description: Displays GPS longitude
    // @Values: 0:Disabled,1:Enabled

    // @Param: GPSLONG_X
    // @DisplayName: GPSLONG_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: GPSLONG_Y
    // @DisplayName: GPSLONG_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(gps_longitude, "GPSLONG", 25, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: ROLL_EN
    // @DisplayName: ROLL_EN
    // @Description: Displays degrees of roll from level
    // @Values: 0:Disabled,1:Enabled

    // @Param: ROLL_X
    // @DisplayName: ROLL_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ROLL_Y
    // @DisplayName: ROLL_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(roll_angle, "ROLL", 26, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: PITCH_EN
    // @DisplayName: PITCH_EN
    // @Description: Displays degrees of pitch from level
    // @Values: 0:Disabled,1:Enabled

    // @Param: PITCH_X
    // @DisplayName: PITCH_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: PITCH_Y
    // @DisplayName: PITCH_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(pitch_angle, "PITCH", 27, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: TEMP_EN
    // @DisplayName: TEMP_EN
    // @Description: Displays temperature reported by primary barometer
    // @Values: 0:Disabled,1:Enabled

    // @Param: TEMP_X
    // @DisplayName: TEMP_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: TEMP_Y
    // @DisplayName: TEMP_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(temp, "TEMP", 28, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HDOP_EN
    // @DisplayName: HDOP_EN
    // @Description: Displays Horizontal Dilution Of Position
    // @Values: 0:Disabled,1:Enabled

    // @Param: HDOP_X
    // @DisplayName: HDOP_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: HDOP_Y
    // @DisplayName: HDOP_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(hdop, "HDOP", 29, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: WAYPOINT_EN
    // @DisplayName: WAYPOINT_EN
    // @Description: Displays bearing and distance to next waypoint
    // @Values: 0:Disabled,1:Enabled

    // @Param: WAYPOINT_X
    // @DisplayName: WAYPOINT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: WAYPOINT_Y
    // @DisplayName: WAYPOINT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(waypoint, "WAYPOINT", 30, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: XTRACK_EN
    // @DisplayName: XTRACK_EN
    // @Description: Displays crosstrack error
    // @Values: 0:Disabled,1:Enabled

    // @Param: XTRACK_X
    // @DisplayName: XTRACK_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: XTRACK_Y
    // @DisplayName: XTRACK_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(xtrack_error, "XTRACK", 31, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: DIST_EN
    // @DisplayName: DIST_EN
    // @Description: Displays total distance flown
    // @Values: 0:Disabled,1:Enabled

    // @Param: DIST_X
    // @DisplayName: DIST_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: DIST_Y
    // @DisplayName: DIST_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(dist, "DIST", 32, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: STATS_EN
    // @DisplayName: STATS_EN
    // @Description: Displays flight stats
    // @Values: 0:Disabled,1:Enabled

    // @Param: STATS_X
    // @DisplayName: STATS_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: STATS_Y
    // @DisplayName: STATS_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(stat, "STATS", 33, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: FLTIME_EN
    // @DisplayName: FLTIME_EN
    // @Description: Displays total flight time
    // @Values: 0:Disabled,1:Enabled

    // @Param: FLTIME_X
    // @DisplayName: FLTIME_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: FLTIME_Y
    // @DisplayName: FLTIME_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(flightime, "FLTIME", 34, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: CLIMBEFF_EN
    // @DisplayName: CLIMBEFF_EN
    // @Description: Displays climb efficiency (climb rate/current)
    // @Values: 0:Disabled,1:Enabled

    // @Param: CLIMBEFF_X
    // @DisplayName: CLIMBEFF_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CLIMBEFF_Y
    // @DisplayName: CLIMBEFF_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(climbeff, "CLIMBEFF", 35, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: EFF_EN
    // @DisplayName: EFF_EN
    // @Description: Displays flight efficiency (mAh/km or /mi)
    // @Values: 0:Disabled,1:Enabled

    // @Param: EFF_X
    // @DisplayName: EFF_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: EFF_Y
    // @DisplayName: EFF_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(eff, "EFF", 36, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BTEMP_EN
    // @DisplayName: BTEMP_EN
    // @Description: Displays temperature reported by secondary barometer
    // @Values: 0:Disabled,1:Enabled

    // @Param: BTEMP_X
    // @DisplayName: BTEMP_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BTEMP_Y
    // @DisplayName: BTEMP_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(btemp, "BTEMP", 37, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: ATEMP_EN
    // @DisplayName: ATEMP_EN
    // @Description: Displays temperature reported by primary airspeed sensor
    // @Values: 0:Disabled,1:Enabled

    // @Param: ATEMP_X
    // @DisplayName: ATEMP_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ATEMP_Y
    // @DisplayName: ATEMP_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(atemp, "ATEMP", 38, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BAT2_VLT_EN
    // @DisplayName: BAT2VLT_EN
    // @Description: Displays battery2 voltage
    // @Values: 0:Disabled,1:Enabled

    // @Param: BAT2_VLT_X
    // @DisplayName: BAT2VLT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BAT2_VLT_Y
    // @DisplayName: BAT2VLT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(bat2_vlt, "BAT2_VLT", 39, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BAT2USED_EN
    // @DisplayName: BAT2USED_EN
    // @Description: Displays secondary battery mAh consumed
    // @Values: 0:Disabled,1:Enabled

    // @Param: BAT2USED_X
    // @DisplayName: BAT2USED_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BAT2USED_Y
    // @DisplayName: BAT2USED_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(bat2used, "BAT2USED", 40, AP_OSD_Screen, AP_OSD_Setting),


    // @Param: ASPD2_EN
    // @DisplayName: ASPD2_EN
    // @Description: Displays airspeed reported directly from secondary airspeed sensor
    // @Values: 0:Disabled,1:Enabled

    // @Param: ASPD2_X
    // @DisplayName: ASPD2_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ASPD2_Y
    // @DisplayName: ASPD2_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(aspd2, "ASPD2", 41, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: ASPD1_EN
    // @DisplayName: ASPD1_EN
    // @Description: Displays airspeed reported directly from primary airspeed sensor
    // @Values: 0:Disabled,1:Enabled

    // @Param: ASPD1_X
    // @DisplayName: ASPD1_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ASPD1_Y
    // @DisplayName: ASPD1_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(aspd1, "ASPD1", 42, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: CLK_EN
    // @DisplayName: CLK_EN
    // @Description: Displays a clock panel based on AP_RTC local time
    // @Values: 0:Disabled,1:Enabled

    // @Param: CLK_X
    // @DisplayName: CLK_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CLK_Y
    // @DisplayName: CLK_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),

#if HAL_MSP_ENABLED
    // @Param: SIDEBARS_EN
    // @DisplayName: SIDEBARS_EN
    // @Description: Displays artificial horizon side bars (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: SIDEBARS_X
    // @DisplayName: SIDEBARS_X
    // @Description: Horizontal position on screen (MSP OSD only)
    // @Range: 0 29

    // @Param: SIDEBARS_Y
    // @DisplayName: SIDEBARS_Y
    // @Description: Vertical position on screen (MSP OSD only)
    // @Range: 0 15
    AP_SUBGROUPINFO(sidebars, "SIDEBARS", 44, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: CRSSHAIR_EN
    // @DisplayName: CRSSHAIR_EN
    // @Description: Displays artificial horizon crosshair (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: CRSSHAIR_X
    // @DisplayName: CRSSHAIR_X
    // @Description: Horizontal position on screen (MSP OSD only)
    // @Range: 0 29

    // @Param: CRSSHAIR_Y
    // @DisplayName: CRSSHAIR_Y
    // @Description: Vertical position on screen (MSP OSD only)
    // @Range: 0 15
    AP_SUBGROUPINFO(crosshair, "CRSSHAIR", 45, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HOMEDIST_EN
    // @DisplayName: HOMEDIST_EN
    // @Description: Displays distance from HOME (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: HOMEDIST_X
    // @DisplayName: HOMEDIST_X
    // @Description: Horizontal position on screen (MSP OSD only)
    // @Range: 0 29

    // @Param: HOMEDIST_Y
    // @DisplayName: HOMEDIST_Y
    // @Description: Vertical position on screen (MSP OSD only)
    // @Range: 0 15
    AP_SUBGROUPINFO(home_dist, "HOMEDIST", 46, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: HOMEDIR_EN
    // @DisplayName: HOMEDIR_EN
    // @Description: Displays relative direction to HOME (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: HOMEDIR_X
    // @DisplayName: HOMEDIR_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: HOMEDIR_Y
    // @DisplayName: HOMEDIR_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(home_dir, "HOMEDIR", 47, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: POWER_EN
    // @DisplayName: POWER_EN
    // @Description: Displays power (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: POWER_X
    // @DisplayName: POWER_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: POWER_Y
    // @DisplayName: POWER_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(power, "POWER", 48, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: CELLVOLT_EN
    // @DisplayName: CELL_VOLT_EN
    // @Description: Displays average cell voltage (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: CELLVOLT_X
    // @DisplayName: CELL_VOLT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CELLVOLT_Y
    // @DisplayName: CELL_VOLT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(cell_volt, "CELLVOLT", 49, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: BATTBAR_EN
    // @DisplayName: BATT_BAR_EN
    // @Description: Displays battery usage bar (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: BATTBAR_X
    // @DisplayName: BATT_BAR_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: BATTBAR_Y
    // @DisplayName: BATT_BAR_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(batt_bar, "BATTBAR", 50, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: ARMING_EN
    // @DisplayName: ARMING_EN
    // @Description: Displays arming status (MSP OSD only)
    // @Values: 0:Disabled,1:Enabled

    // @Param: ARMING_X
    // @DisplayName: ARMING_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: ARMING_Y
    // @DisplayName: ARMING_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting),
#endif //HAL_MSP_ENABLED

#if HAL_PLUSCODE_ENABLE
    // @Param: PLUSCODE_EN
    // @DisplayName: PLUSCODE_EN
    // @Description: Displays pluscode (OLC) element
    // @Values: 0:Disabled,1:Enabled

    // @Param: PLUSCODE_X
    // @DisplayName: PLUSCODE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: PLUSCODE_Y
    // @DisplayName: PLUSCODE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(pluscode, "PLUSCODE", 52, AP_OSD_Screen, AP_OSD_Setting),
#endif

#if HAVE_FILESYSTEM_SUPPORT
    // @Param: CALLSIGN_EN
    // @DisplayName: CALLSIGN_EN
    // @Description: Displays callsign from callsign.txt on microSD card
    // @Values: 0:Disabled,1:Enabled

    // @Param: CALLSIGN_X
    // @DisplayName: CALLSIGN_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CALLSIGN_Y
    // @DisplayName: CALLSIGN_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(callsign, "CALLSIGN", 53, AP_OSD_Screen, AP_OSD_Setting),
#endif

    // @Param: CURRENT2_EN
    // @DisplayName: CURRENT2_EN
    // @Description: Displays 2nd battery current
    // @Values: 0:Disabled,1:Enabled

    // @Param: CURRENT2_X
    // @DisplayName: CURRENT2_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: CURRENT2_Y
    // @DisplayName: CURRENT2_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(current2, "CURRENT2", 54, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: VTX_PWR_EN
    // @DisplayName: VTX_PWR_EN
    // @Description: Displays VTX Power
    // @Values: 0:Disabled,1:Enabled

    // @Param: VTX_PWR_X
    // @DisplayName: VTX_PWR_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: VTX_PWR_Y
    // @DisplayName: VTX_PWR_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(vtx_power, "VTX_PWR", 55, AP_OSD_Screen, AP_OSD_Setting),

#if AP_TERRAIN_AVAILABLE
    // @Param: TER_HGT_EN
    // @DisplayName: TER_HGT_EN
    // @Description: Displays Height above terrain
    // @Values: 0:Disabled,1:Enabled

    // @Param: TER_HGT_X
    // @DisplayName: TER_HGT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: TER_HGT_Y
    // @DisplayName: TER_HGT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(hgt_abvterr, "TER_HGT", 56, AP_OSD_Screen, AP_OSD_Setting),
#endif

    // @Param: AVGCELLV_EN
    // @DisplayName: AVGCELLV_EN
    // @Description: Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the  the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
    // @Values: 0:Disabled,1:Enabled

    // @Param: AVGCELLV_X
    // @DisplayName: AVGCELLV_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: AVGCELLV_Y
    // @DisplayName: AVGCELLV_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(avgcellvolt, "AVGCELLV", 57, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: RESTVOLT_EN
    // @DisplayName: RESTVOLT_EN
    // @Description: Displays main battery resting voltage
    // @Values: 0:Disabled,1:Enabled

    // @Param: RESTVOLT_X
    // @DisplayName: RESTVOLT_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: RESTVOLT_Y
    // @DisplayName: RESTVOLT_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(restvolt, "RESTVOLT", 58, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: FENCE_EN
    // @DisplayName: FENCE_EN
    // @Description: Displays indication of fence enable and breach
    // @Values: 0:Disabled,1:Enabled

    // @Param: FENCE_X
    // @DisplayName: FENCE_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: FENCE_Y
    // @DisplayName: FENCE_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(fence, "FENCE", 59, AP_OSD_Screen, AP_OSD_Setting),

    // @Param: RNGF_EN
    // @DisplayName: RNGF_EN
    // @Description: Displays a rangefinder's distance in cm
    // @Values: 0:Disabled,1:Enabled

    // @Param: RNGF_X
    // @DisplayName: RNGF_X
    // @Description: Horizontal position on screen
    // @Range: 0 29

    // @Param: RNGF_Y
    // @DisplayName: RNGF_Y
    // @Description: Vertical position on screen
    // @Range: 0 15
    AP_SUBGROUPINFO(rngf, "RNGF", 60, AP_OSD_Screen, AP_OSD_Setting),
    AP_GROUPEND
};

// constructor
AP_OSD_Screen::AP_OSD_Screen()
{
    AP_Param::setup_object_defaults(this, var_info);
}

//Symbols

#define SYM_M           0xB9
#define SYM_KM          0xBA
#define SYM_FT          0x0F
#define SYM_MI          0xBB
#define SYM_ALT_M       0xB1
#define SYM_ALT_FT      0xB3
#define SYM_BATT_FULL   0x90
#define SYM_RSSI        0x01

#define SYM_VOLT  0x06
#define SYM_AMP   0x9A
#define SYM_MAH   0x07
#define SYM_MS    0x9F
#define SYM_FS    0x99
#define SYM_KMH   0xA1
#define SYM_MPH   0xB0
#define SYM_DEGR  0xA8
#define SYM_PCNT  0x25
#define SYM_RPM   0xE0
#define SYM_ASPD  0xE1
#define SYM_GSPD  0xE2
#define SYM_WSPD  0xE3
#define SYM_VSPD  0xE4
#define SYM_WPNO  0xE5
#define SYM_WPDIR  0xE6
#define SYM_WPDST  0xE7
#define SYM_FTMIN  0xE8
#define SYM_FTSEC  0x99

#define SYM_SAT_L 0x1E
#define SYM_SAT_R 0x1F
#define SYM_HDOP_L 0xBD
#define SYM_HDOP_R 0xBE

#define SYM_HOME 0xBF
#define SYM_WIND 0x16

#define SYM_ARROW_START 0x60
#define SYM_ARROW_COUNT 16

#define SYM_AH_H_START 0x80
#define SYM_AH_H_COUNT 9

#define SYM_AH_V_START 0xCA
#define SYM_AH_V_COUNT 6

#define SYM_AH_CENTER_LINE_LEFT   0x26
#define SYM_AH_CENTER_LINE_RIGHT  0x27
#define SYM_AH_CENTER             0x7E

#define SYM_HEADING_N             0x18
#define SYM_HEADING_S             0x19
#define SYM_HEADING_E             0x1A
#define SYM_HEADING_W             0x1B
#define SYM_HEADING_DIVIDED_LINE  0x1C
#define SYM_HEADING_LINE          0x1D

#define SYM_UP_UP        0xA2
#define SYM_UP           0xA3
#define SYM_DOWN         0xA4
#define SYM_DOWN_DOWN    0xA5

#define SYM_DEGREES_C 0x0E
#define SYM_DEGREES_F 0x0D
#define SYM_GPS_LAT   0xA6
#define SYM_GPS_LONG  0xA7
#define SYM_ARMED     0x00
#define SYM_DISARMED  0xE9
#define SYM_ROLL0     0x2D
#define SYM_ROLLR     0xEA
#define SYM_ROLLL     0xEB
#define SYM_PTCH0     0x7C
#define SYM_PTCHUP    0xEC
#define SYM_PTCHDWN   0xED
#define SYM_XERR      0xEE
#define SYM_KN        0xF0
#define SYM_NM        0xF1
#define SYM_DIST      0x22
#define SYM_FLY       0x9C
#define SYM_EFF       0xF2
#define SYM_AH        0xF3
#define SYM_MW        0xF4
#define SYM_CLK       0xBC
#define SYM_KILO      0x4B
#define SYM_TERALT 0xEF
#define SYM_FENCE_ENABLED 0xF5
#define SYM_FENCE_DISABLED 0xF6
#define SYM_RNGFD     0xF7


void AP_OSD_AbstractScreen::set_backend(AP_OSD_Backend *_backend)
{
    backend = _backend;
    osd = _backend->get_osd();
};

bool AP_OSD_AbstractScreen::check_option(uint32_t option)
{
    return osd?(osd->options & option) != 0 : false;
}

/*
  get the right units icon given a unit
 */
char AP_OSD_AbstractScreen::u_icon(enum unit_type unit)
{
    static const char icons_metric[UNIT_TYPE_LAST] {
        (char)SYM_ALT_M,    //ALTITUDE
        (char)SYM_KMH,      //SPEED
        (char)SYM_MS,       //VSPEED
        (char)SYM_M,        //DISTANCE
        (char)SYM_KM,       //DISTANCE_LONG
        (char)SYM_DEGREES_C //TEMPERATURE
    };
    static const char icons_imperial[UNIT_TYPE_LAST] {
        (char)SYM_ALT_FT,   //ALTITUDE
        (char)SYM_MPH,      //SPEED
        (char)SYM_FS,       //VSPEED
        (char)SYM_FT,       //DISTANCE
        (char)SYM_MI,       //DISTANCE_LONG
        (char)SYM_DEGREES_F //TEMPERATURE
    };
    static const char icons_SI[UNIT_TYPE_LAST] {
        (char)SYM_ALT_M,    //ALTITUDE
        (char)SYM_MS,       //SPEED
        (char)SYM_MS,       //VSPEED
        (char)SYM_M,        //DISTANCE
        (char)SYM_KM,       //DISTANCE_LONG
        (char)SYM_DEGREES_C //TEMPERATURE
    };
    static const char icons_aviation[UNIT_TYPE_LAST] {
        (char)SYM_ALT_FT,   //ALTITUDE Ft
        (char)SYM_KN,       //SPEED Knots
        (char)SYM_FTMIN,    //VSPEED
        (char)SYM_FT,       //DISTANCE
        (char)SYM_NM,       //DISTANCE_LONG Nm
        (char)SYM_DEGREES_C //TEMPERATURE
    };
    static const char *icons[AP_OSD::UNITS_LAST] = {
        icons_metric,
        icons_imperial,
        icons_SI,
        icons_aviation,
    };
    return icons[constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1)][unit];
}

/*
  scale a value for the user selected units
 */
float AP_OSD_AbstractScreen::u_scale(enum unit_type unit, float value)
{
    static const float scale_metric[UNIT_TYPE_LAST] = {
        1.0,       //ALTITUDE m
        3.6,       //SPEED km/hr
        1.0,       //VSPEED m/s
        1.0,       //DISTANCE m
        1.0/1000,  //DISTANCE_LONG km
        1.0,       //TEMPERATURE C
    };
    static const float scale_imperial[UNIT_TYPE_LAST] = {
        3.28084,     //ALTITUDE ft
        2.23694,     //SPEED mph
        3.28084,     //VSPEED ft/s
        3.28084,     //DISTANCE ft
        1.0/1609.34, //DISTANCE_LONG miles
        1.8,         //TEMPERATURE F
    };
    static const float offset_imperial[UNIT_TYPE_LAST] = {
        0.0,          //ALTITUDE
        0.0,          //SPEED
        0.0,          //VSPEED
        0.0,          //DISTANCE
        0.0,          //DISTANCE_LONG
        32.0,         //TEMPERATURE F
    };
    static const float scale_SI[UNIT_TYPE_LAST] = {
        1.0,       //ALTITUDE m
        1.0,       //SPEED m/s
        1.0,       //VSPEED m/s
        1.0,       //DISTANCE m
        1.0/1000,  //DISTANCE_LONG km
        1.0,       //TEMPERATURE C
    };
    static const float scale_aviation[UNIT_TYPE_LAST] = {
        3.28084,   //ALTITUDE Ft
        1.94384,   //SPEED Knots
        196.85,    //VSPEED ft/min
        3.28084,   //DISTANCE ft
        0.000539957,  //DISTANCE_LONG Nm
        1.0,       //TEMPERATURE C
    };
    static const float *scale[AP_OSD::UNITS_LAST] = {
        scale_metric,
        scale_imperial,
        scale_SI,
        scale_aviation
    };
    static const float *offsets[AP_OSD::UNITS_LAST] = {
        nullptr,
        offset_imperial,
        nullptr,
        nullptr
    };
    uint8_t units = constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1);
    return value * scale[units][unit] + (offsets[units]?offsets[units][unit]:0);
}

void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
{
    float alt;
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    ahrs.get_relative_position_D_home(alt);
    alt = -alt;
    backend->write(x, y, false, "%4d%c", (int)u_scale(ALTITUDE, alt), u_icon(ALTITUDE));
}

void AP_OSD_Screen::draw_bat_volt(uint8_t x, uint8_t y)
{
    AP_BattMonitor &battery = AP::battery();
    uint8_t pct = battery.capacity_remaining_pct();
    uint8_t p = (100 - pct) / 16.6;
    float v = battery.voltage();
    backend->write(x,y, v < osd->warn_batvolt, "%c%2.1f%c", SYM_BATT_FULL + p, (double)v, SYM_VOLT);
}

void AP_OSD_Screen::draw_avgcellvolt(uint8_t x, uint8_t y)
{
    AP_BattMonitor &battery = AP::battery();
    uint8_t pct = battery.capacity_remaining_pct();
    uint8_t p = (100 - pct) / 16.6;
    float v = battery.voltage();
    // calculate cell count - WARNING this can be inaccurate if the LIPO/LIION  battery is far from fully charged when attached and is used in this panel
    osd->max_battery_voltage = MAX(osd->max_battery_voltage,v);
    if (osd->cell_count > 0) {
        v = v / osd->cell_count;  
        backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYM_BATT_FULL + p, v, SYM_VOLT);
    } else if (osd->cell_count < 0) { // user must decide on autodetect cell count or manually entered to display this panel since default is -1
        backend->write(x,y, false, "%c---%c", SYM_BATT_FULL + p, SYM_VOLT);
    } else {  // use autodetected cell count
        v = v /  (uint8_t)(osd->max_battery_voltage * 0.2381 + 1);
        backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYM_BATT_FULL + p, v, SYM_VOLT);
    }
}

void AP_OSD_Screen::draw_restvolt(uint8_t x, uint8_t y)
{
    AP_BattMonitor &battery = AP::battery();
    uint8_t pct = battery.capacity_remaining_pct();
    uint8_t p = (100 - pct) / 16.6;
    float v = battery.voltage_resting_estimate();
    backend->write(x,y, v < osd->warn_restvolt, "%c%2.1f%c", SYM_BATT_FULL + p, (double)v, SYM_VOLT);
}



void AP_OSD_Screen::draw_rssi(uint8_t x, uint8_t y)
{
    AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
    if (ap_rssi) {
        const uint8_t rssiv = ap_rssi->read_receiver_rssi() * 99;
        backend->write(x, y, rssiv < osd->warn_rssi, "%c%2d", SYM_RSSI, rssiv);
    }
}

void AP_OSD_Screen::draw_current(uint8_t instance, uint8_t x, uint8_t y)
{
    float amps;
    if (!AP::battery().current_amps(amps, instance)) {
        osd->avg_current_a = 0;
    }
    //filter current and display with autoranging for low values
    osd->avg_current_a= osd->avg_current_a + (amps - osd->avg_current_a) * 0.33;
    if (osd->avg_current_a < 10.0) {
        backend->write(x, y, false, "%2.2f%c", osd->avg_current_a, SYM_AMP);
    }
    else {
        backend->write(x, y, false, "%2.1f%c", osd->avg_current_a, SYM_AMP);
    }
}

void AP_OSD_Screen::draw_current(uint8_t x, uint8_t y)
{
    draw_current(0, x, y);
}

void AP_OSD_Screen::draw_fltmode(uint8_t x, uint8_t y)
{
    AP_Notify * notify = AP_Notify::get_singleton();
    char arm;
    if (AP_Notify::flags.armed) {
        arm = SYM_ARMED;
    } else {
        arm = SYM_DISARMED;
    }
    if (notify) {
        backend->write(x, y, false, "%s%c", notify->get_flight_mode_str(), arm);
    }
}

void AP_OSD_Screen::draw_sats(uint8_t x, uint8_t y)
{
    AP_GPS & gps = AP::gps();
    uint8_t nsat = gps.num_sats();
    bool flash = (nsat < osd->warn_nsat) || (gps.status() < AP_GPS::GPS_OK_FIX_3D);
    backend->write(x, y, flash, "%c%c%2u", SYM_SAT_L, SYM_SAT_R, nsat);
}

void AP_OSD_Screen::draw_batused(uint8_t instance, uint8_t x, uint8_t y)
{
    float mah;
    if (!AP::battery().consumed_mah(mah, instance)) {
        mah = 0;
    }
    if (mah <= 9999) {
        backend->write(x,y, false, "%4d%c", (int)mah, SYM_MAH);
    } else {
        const float ah = mah * 1e-3f;
        backend->write(x,y, false, "%2.2f%c", (double)ah, SYM_AH);
    }
}

void AP_OSD_Screen::draw_batused(uint8_t x, uint8_t y)
{
    draw_batused(0, x, y);
}

//Autoscroll message is the same as in minimosd-extra.
//Thanks to night-ghost for the approach.
void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y)
{
    AP_Notify * notify = AP_Notify::get_singleton();
    if (notify) {
        int32_t visible_time = AP_HAL::millis() - notify->get_text_updated_millis();
        if (visible_time < osd->msgtime_s *1000) {
            char buffer[NOTIFY_TEXT_BUFFER_SIZE];
            strncpy(buffer, notify->get_text(), sizeof(buffer));
            int16_t len = strnlen(buffer, sizeof(buffer));

            for (int16_t i=0; i<len; i++) {
                //converted to uppercase,
                //because we do not have small letter chars inside used font
                buffer[i] = toupper(buffer[i]);
                //normalize whitespace
                if (isspace(buffer[i])) {
                    buffer[i] = ' ';
                }
            }

            int16_t start_position = 0;
            //scroll if required
            //scroll pattern: wait, scroll to the left, wait, scroll to the right
            if (len > message_visible_width) {
                int16_t chars_to_scroll = len - message_visible_width;
                int16_t total_cycles = 2*message_scroll_delay + 2*chars_to_scroll;
                int16_t current_cycle = (visible_time / message_scroll_time_ms) % total_cycles;

                //calculate scroll start_position
                if (current_cycle < total_cycles/2) {
                    //move to the left
                    start_position = current_cycle - message_scroll_delay;
                } else {
                    //move to the right
                    start_position = total_cycles - current_cycle;
                }
                start_position = constrain_int16(start_position, 0, chars_to_scroll);
                int16_t end_position = start_position + message_visible_width;

                //ensure array boundaries
                start_position = MIN(start_position, int(sizeof(buffer)-1));
                end_position = MIN(end_position, int(sizeof(buffer)-1));

                //trim invisible part
                buffer[end_position] = 0;
            }

            backend->write(x, y, buffer + start_position);
        }
    }
}

// draw a arrow at the given angle, and print the given magnitude
void AP_OSD_Screen::draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude)
{
    static const int32_t interval = 36000 / SYM_ARROW_COUNT;
    char arrow = SYM_ARROW_START + ((int32_t(angle_rad*DEGX100) + interval / 2) / interval) % SYM_ARROW_COUNT;
    if (u_scale(SPEED, magnitude) < 9.95) {
        backend->write(x, y, false, "%c %1.1f%c", arrow, u_scale(SPEED, magnitude), u_icon(SPEED));
    } else {
        backend->write(x, y, false, "%c%3d%c", arrow, (int)roundf(u_scale(SPEED, magnitude)), u_icon(SPEED));
    }
}

void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    Vector2f v = ahrs.groundspeed_vector();
    backend->write(x, y, false, "%c", SYM_GSPD);

    float angle = 0;
    const float length = v.length();
    if (length > 1.0f) {
        angle = wrap_2PI(atan2f(v.y, v.x) - ahrs.yaw);
    }

    draw_speed(x + 1, y, angle, length);
}

//Thanks to betaflight/inav for simple and clean artificial horizon visual design
void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    float roll = ahrs.roll;
    float pitch = -ahrs.pitch;

    //inverted roll AH
    if (check_option(AP_OSD::OPTION_INVERTED_AH_ROLL)) {
        roll = -roll;
    }

    pitch = constrain_float(pitch, -ah_max_pitch, ah_max_pitch);
    float ky = sinf(roll);
    float kx = cosf(roll);

    float ratio = backend->get_aspect_ratio_correction();

    if (fabsf(ky) < fabsf(kx)) {
        for (int dx = -4; dx <= 4; dx++) {
            float fy = (ratio * dx) * (ky/kx) + pitch * ah_pitch_rad_to_char + 0.5f;
            int dy = floorf(fy);
            char c = (fy - dy) * SYM_AH_H_COUNT;
            //chars in font in reversed order
            c = SYM_AH_H_START + ((SYM_AH_H_COUNT - 1) - c);
            if (dy >= -4 && dy <= 4) {
                backend->write(x + dx, y - dy, false, "%c", c);
            }
        }
    } else {
        for (int dy=-4; dy<=4; dy++) {
            float fx = ((dy / ratio) - pitch * ah_pitch_rad_to_char) * (kx/ky) + 0.5f;
            int dx = floorf(fx);
            char c = (fx - dx) * SYM_AH_V_COUNT;
            c = SYM_AH_V_START + c;
            if (dx >= -4 && dx <=4) {
                backend->write(x + dx, y - dy, false, "%c", c);
            }
        }
    }
    backend->write(x-1,y, false, "%c%c%c", SYM_AH_CENTER_LINE_LEFT, SYM_AH_CENTER, SYM_AH_CENTER_LINE_RIGHT);
}

void AP_OSD_Screen::draw_distance(uint8_t x, uint8_t y, float distance)
{
    char unit_icon = u_icon(DISTANCE);
    float distance_scaled = u_scale(DISTANCE, distance);
    const char *fmt = "%4.0f%c";
    if (distance_scaled > 9999.0f) {
        distance_scaled = u_scale(DISTANCE_LONG, distance);
        unit_icon= u_icon(DISTANCE_LONG);
        //try to pack as many useful info as possible
        if (distance_scaled<9.0f) {
            fmt = "%1.3f%c";
        } else if (distance_scaled < 99.0f) {
            fmt = "%2.2f%c";
        } else if (distance_scaled < 999.0f) {
            fmt = "%3.1f%c";
        } else {
            fmt = "%4.0f%c";
        }
    } else if (distance_scaled < 10.0f) {
        fmt = "% 3.1f%c";
    }
    backend->write(x, y, false, fmt, (double)distance_scaled, unit_icon);
}

void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    Location loc;
    if (ahrs.get_position(loc) && ahrs.home_is_set()) {
        const Location &home_loc = ahrs.get_home();
        float distance = home_loc.get_distance(loc);
        int32_t angle = wrap_360_cd(loc.get_bearing_to(home_loc) - ahrs.yaw_sensor);
        int32_t interval = 36000 / SYM_ARROW_COUNT;
        if (distance < 2.0f) {
            //avoid fast rotating arrow at small distances
            angle = 0;
        }
        char arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
        backend->write(x, y, false, "%c%c", SYM_HOME, arrow);
        draw_distance(x+2, y, distance);
    } else {
        backend->write(x, y, true, "%c", SYM_HOME);
    }
}

void AP_OSD_Screen::draw_heading(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    uint16_t yaw = ahrs.yaw_sensor / 100;
    backend->write(x, y, false, "%3d%c", yaw, SYM_DEGR);
}

void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
{
    backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYM_PCNT);
}

//Thanks to betaflight/inav for simple and clean compass visual design
void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
{
    const int8_t total_sectors = 16;
    static const char compass_circle[total_sectors] = {
        SYM_HEADING_N,
        SYM_HEADING_LINE,
        SYM_HEADING_DIVIDED_LINE,
        SYM_HEADING_LINE,
        SYM_HEADING_E,
        SYM_HEADING_LINE,
        SYM_HEADING_DIVIDED_LINE,
        SYM_HEADING_LINE,
        SYM_HEADING_S,
        SYM_HEADING_LINE,
        SYM_HEADING_DIVIDED_LINE,
        SYM_HEADING_LINE,
        SYM_HEADING_W,
        SYM_HEADING_LINE,
        SYM_HEADING_DIVIDED_LINE,
        SYM_HEADING_LINE,
    };
    AP_AHRS &ahrs = AP::ahrs();
    int32_t yaw = ahrs.yaw_sensor;
    int32_t interval = 36000 / total_sectors;
    int8_t center_sector = ((yaw + interval / 2) / interval) % total_sectors;
    for (int8_t i = -4; i <= 4; i++) {
        int8_t sector = center_sector + i;
        sector = (sector + total_sectors) % total_sectors;
        backend->write(x + i, y, false,  "%c", compass_circle[sector]);
    }
}

void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
{
#if !APM_BUILD_TYPE(APM_BUILD_Rover)
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    Vector3f v = ahrs.wind_estimate();
    float angle = 0;
    const float length = v.length();
    if (length > 1.0f) {
        if (check_option(AP_OSD::OPTION_INVERTED_WIND)) {
            angle = M_PI;
        }
        angle = wrap_2PI(angle + atan2f(v.y, v.x) - ahrs.yaw);
    }
    draw_speed(x + 1, y, angle, length);

#else
    const AP_WindVane* windvane = AP_WindVane::get_singleton();
    if (windvane != nullptr) {
        draw_speed(x + 1, y, wrap_2PI(windvane->get_apparent_wind_direction_rad() + M_PI), windvane->get_apparent_wind_speed());
    }
#endif

    backend->write(x, y, false, "%c", SYM_WSPD);
}

void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
{
    float aspd = 0.0f;
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    bool have_estimate = ahrs.airspeed_estimate(aspd);
    if (have_estimate) {
        backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, aspd), u_icon(SPEED));
    } else {
        backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
    }
}

void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
{
    Vector3f v;
    float vspd;
    float vs_scaled;
    AP_AHRS &ahrs = AP::ahrs();
    WITH_SEMAPHORE(ahrs.get_semaphore());
    if (ahrs.get_velocity_NED(v)) {
        vspd = -v.z;
    } else {
        auto &baro = AP::baro();
        WITH_SEMAPHORE(baro.get_semaphore());
        vspd = baro.get_climb_rate();
    }
    char sym;
    if (vspd > 3.0f) {
        sym = SYM_UP_UP;
    } else if (vspd >=0.0f) {
        sym = SYM_UP;
    } else if (vspd >= -3.0f) {
        sym = SYM_DOWN;
    } else {
        sym = SYM_DOWN_DOWN;
    }
    vs_scaled = u_scale(VSPEED, fabsf(vspd));
    if ((osd->units != AP_OSD::UNITS_AVIATION) && (vs_scaled < 9.95f)) {
        backend->write(x, y, false, "%c%.1f%c", sym, (float)vs_scaled, u_icon(VSPEED));
    } else {
        const char *fmt = osd->units == AP_OSD::UNITS_AVIATION ? "%c%4d%c" : "%c%2d%c";
        backend->write(x, y, false, fmt, sym, (int)roundf(vs_scaled), u_icon(VSPEED));
    }
}

#if HAL_WITH_ESC_TELEM
void AP_OSD_Screen::draw_blh_temp(uint8_t x, uint8_t y)
{
    int16_t etemp;
    // first parameter is index into array of ESC's.  Hardwire to zero (first) for now.
    if (!AP::esc_telem().get_temperature(0, etemp)) {
        return;
    }

    uint8_t esc_temp = uint8_t(etemp / 100);
    backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, esc_temp), u_icon(TEMPERATURE));
}

void AP_OSD_Screen::draw_blh_rpm(uint8_t x, uint8_t y)
{
    float rpm;
    // first parameter is index into array of ESC's.  Hardwire to zero (first) for now.
    if (!AP::esc_telem().get_rpm(0, rpm)) {
        return;
    }
    float krpm = rpm * 0.001f;
    const char *format = krpm < 9.995 ? "%.2f%c%c" : (krpm < 99.95 ? "%.1f%c%c" : "%.0f%c%c");
    backend->write(x, y, false, format, krpm, SYM_KILO, SYM_RPM);
}

void AP_OSD_Screen::draw_blh_amps(uint8_t x, uint8_t y)
{
    float esc_amps;
    // first parameter is index into array of ESC's.  Hardwire to zero (first) for now.
    if (!AP::esc_telem().get_current(0, esc_amps)) {
        return;
    }
    backend->write(x, y, false, "%4.1f%c", esc_amps, SYM_AMP);
}
#endif

void AP_OSD_Screen::draw_gps_latitude(uint8_t x, uint8_t y)
{
    AP_GPS & gps = AP::gps();
    const Location &loc = gps.location();   // loc.lat and loc.lng
    int32_t dec_portion, frac_portion;
    int32_t abs_lat = labs(loc.lat);

    dec_portion = loc.lat / 10000000L;
    frac_portion = abs_lat - labs(dec_portion)*10000000UL;

    backend->write(x, y, false, "%c%4ld.%07ld", SYM_GPS_LAT, (long)dec_portion,(long)frac_portion);
}

void AP_OSD_Screen::draw_gps_longitude(uint8_t x, uint8_t y)
{
    AP_GPS & gps = AP::gps();
    const Location &loc = gps.location();   // loc.lat and loc.lng
    int32_t dec_portion, frac_portion;
    int32_t abs_lon = labs(loc.lng);

    dec_portion = loc.lng / 10000000L;
    frac_portion = abs_lon - labs(dec_portion)*10000000UL;

    backend->write(x, y, false, "%c%4ld.%07ld", SYM_GPS_LONG, (long)dec_portion,(long)frac_portion);
}

void AP_OSD_Screen::draw_roll_angle(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    uint16_t roll = abs(ahrs.roll_sensor) / 100;
    char r;
    if (ahrs.roll_sensor > 50) {
        r = SYM_ROLLR;
    } else if (ahrs.roll_sensor < -50) {
        r = SYM_ROLLL;
    } else {
        r = SYM_ROLL0;
    }
    backend->write(x, y, false, "%c%3d%c", r, roll, SYM_DEGR);
}

void AP_OSD_Screen::draw_pitch_angle(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    uint16_t pitch = abs(ahrs.pitch_sensor) / 100;
    char p;
    if (ahrs.pitch_sensor > 50) {
        p = SYM_PTCHUP;
    } else if (ahrs.pitch_sensor < -50) {
        p = SYM_PTCHDWN;
    } else {
        p = SYM_PTCH0;
    }
    backend->write(x, y, false, "%c%3d%c", p, pitch, SYM_DEGR);
}

void AP_OSD_Screen::draw_temp(uint8_t x, uint8_t y)
{
    AP_Baro &barometer = AP::baro();
    float tmp = barometer.get_temperature();
    backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, tmp), u_icon(TEMPERATURE));
}


void AP_OSD_Screen::draw_hdop(uint8_t x, uint8_t y)
{
    AP_GPS & gps = AP::gps();
    float hdp = gps.get_hdop() / 100.0f;
    backend->write(x, y, false, "%c%c%3.2f", SYM_HDOP_L, SYM_HDOP_R, (double)hdp);
}

void AP_OSD_Screen::draw_waypoint(uint8_t x, uint8_t y)
{
    AP_AHRS &ahrs = AP::ahrs();
    int32_t angle = wrap_360_cd(osd->nav_info.wp_bearing - ahrs.yaw_sensor);
    int32_t interval = 36000 / SYM_ARROW_COUNT;
    if (osd->nav_info.wp_distance < 2.0f) {
        //avoid fast rotating arrow at small distances
        angle = 0;
    }
    char arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
    backend->write(x,y, false, "%c%2u%c",SYM_WPNO, osd->nav_info.wp_number, arrow);
    draw_distance(x+4, y, osd->nav_info.wp_distance);
}

void AP_OSD_Screen::draw_xtrack_error(uint8_t x, uint8_t y)
{
    backend->write(x, y, false, "%c", SYM_XERR);
    draw_distance(x+1, y, osd->nav_info.wp_xtrack_error);
}

void AP_OSD_Screen::draw_stat(uint8_t x, uint8_t y)
{
    backend->write(x+2, y, false, "%c%c%c", 0x4d,0x41,0x58);
    backend->write(x, y+1, false, "%c",SYM_GSPD);
    backend->write(x+1, y+1, false, "%4d%c", (int)u_scale(SPEED, osd->max_speed_mps), u_icon(SPEED));
    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+4, false, "%c", SYM_HOME);
    draw_distance(x+1, y+4, osd->max_dist_m);
    backend->write(x, y+5, false, "%c", SYM_DIST);
    draw_distance(x+1, y+5, osd->last_distance_m);
}

void AP_OSD_Screen::draw_dist(uint8_t x, uint8_t y)
{
    backend->write(x, y, false, "%c", SYM_DIST);
    draw_distance(x+1, y, osd->last_distance_m);
}

void  AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
{
    AP_Stats *stats = AP::stats();
    if (stats) {
        uint32_t t = stats->get_flight_time_s();
        backend->write(x, y, false, "%c%3u:%02u", SYM_FLY, unsigned(t/60), unsigned(t%60));
    }
}

void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
{
    AP_BattMonitor &battery = AP::battery();
    Vector2f v;
    {
        AP_AHRS &ahrs = AP::ahrs();
        WITH_SEMAPHORE(ahrs.get_semaphore());
        v = ahrs.groundspeed_vector();
    }
    float speed = u_scale(SPEED,v.length());
    float 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);
    } else {
        backend->write(x, y, false, "%c---%c", SYM_EFF,SYM_MAH);
    }
}

void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
{
    char unit_icon = u_icon(DISTANCE);
    Vector3f v;
    float vspd;
    do {
        {
            auto &ahrs = AP::ahrs();
            WITH_SEMAPHORE(ahrs.get_semaphore());
            if (ahrs.get_velocity_NED(v)) {
                vspd = -v.z;
                break;
            }
        }
        auto &baro = AP::baro();
        WITH_SEMAPHORE(baro.get_semaphore());
        vspd = baro.get_climb_rate();
    } while (false);
    if (vspd < 0.0) {
        vspd = 0.0;
    }
    AP_BattMonitor &battery = AP::battery();
    float 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);
    } else {
        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)
{
    AP_Baro &barometer = AP::baro();
    float btmp = barometer.get_temperature(1);
    backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, btmp), u_icon(TEMPERATURE));
}

void AP_OSD_Screen::draw_atemp(uint8_t x, uint8_t y)
{
    AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
    if (!airspeed) {
        return;
    }
    float temperature = 0;
    airspeed->get_temperature(temperature);
    if (airspeed->healthy()) {
        backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, temperature), u_icon(TEMPERATURE));
    } else {
        backend->write(x, y, false, "--%c", u_icon(TEMPERATURE));
    }
}

void AP_OSD_Screen::draw_bat2_vlt(uint8_t x, uint8_t y)
{
    AP_BattMonitor &battery = AP::battery();
    uint8_t pct2 = battery.capacity_remaining_pct(1);
    uint8_t p2 = (100 - pct2) / 16.6;
    float v2 = battery.voltage(1);
    backend->write(x,y, v2 < osd->warn_bat2volt, "%c%2.1f%c", SYM_BATT_FULL + p2, (double)v2, SYM_VOLT);
}

void AP_OSD_Screen::draw_bat2used(uint8_t x, uint8_t y)
{
    draw_batused(1, x, y);
}

void AP_OSD_Screen::draw_aspd1(uint8_t x, uint8_t y)
{
    AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
    if (!airspeed) {
        return;
    }
    float asp1 = airspeed->get_airspeed();
    if (airspeed != nullptr && airspeed->healthy()) {
        backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, asp1), u_icon(SPEED));
    } else {
        backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
    }
}

void AP_OSD_Screen::draw_aspd2(uint8_t x, uint8_t y)
{
    AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
    if (!airspeed) {
        return;
    }
    float asp2 = airspeed->get_airspeed(1);
    if (airspeed != nullptr && airspeed->healthy(1)) {
        backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, asp2), u_icon(SPEED));
    } else {
        backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
    }
}

void AP_OSD_Screen::draw_clk(uint8_t x, uint8_t y)
{
    AP_RTC &rtc = AP::rtc();
    uint8_t hour, min, sec;
    uint16_t ms;
    if (!rtc.get_local_time(hour, min, sec, ms)) {
    backend->write(x, y, false, "%c--:--", SYM_CLK);
    } else {
    backend->write(x, y, false, "%c%02u:%02u", SYM_CLK, hour, min);
    }
}

#if HAL_PLUSCODE_ENABLE
void AP_OSD_Screen::draw_pluscode(uint8_t x, uint8_t y)
{
    AP_GPS & gps = AP::gps();
    const Location &loc = gps.location();
    char buff[16];
    if (gps.status() == AP_GPS::NO_GPS || gps.status() == AP_GPS::NO_FIX){
        backend->write(x, y, false, "--------+--");
    } else {
        AP_OLC::olc_encode(loc.lat, loc.lng, 10, buff, sizeof(buff));
        backend->write(x, y, false, "%s", buff);
    }
}
#endif

/*
  support callsign display from a file called callsign.txt
 */
void AP_OSD_Screen::draw_callsign(uint8_t x, uint8_t y)
{
#if HAVE_FILESYSTEM_SUPPORT
    if (!callsign_data.load_attempted) {
        callsign_data.load_attempted = true;
        FileData *fd = AP::FS().load_file("callsign.txt");
        if (fd != nullptr) {
            uint32_t len = fd->length;
            // trim off whitespace
            while (len > 0 && isspace(fd->data[len-1])) {
                len--;
            }
            callsign_data.str = strndup((const char *)fd->data, len);
            delete fd;
        }
    }
    if (callsign_data.str != nullptr) {
        backend->write(x, y, false, "%s", callsign_data.str);
    }
#endif
}

void AP_OSD_Screen::draw_current2(uint8_t x, uint8_t y)
{
    draw_current(1, x, y);
}

void AP_OSD_Screen::draw_vtx_power(uint8_t x, uint8_t y)
{
    AP_VideoTX *vtx = AP_VideoTX::get_singleton();
    if (!vtx) {
        return;
    }
    uint16_t powr = 0;
    // If currently in pit mode, just render 0mW to the screen
    if(!vtx->has_option(AP_VideoTX::VideoOptions::VTX_PITMODE)){
        powr = vtx->get_power_mw();
    }
    backend->write(x, y, !vtx->is_configuration_finished(), "%4hu%c", powr, SYM_MW);
}
#if AP_TERRAIN_AVAILABLE
void AP_OSD_Screen::draw_hgt_abvterr(uint8_t x, uint8_t y)
{
    AP_Terrain *terrain = AP::terrain();

    float terrain_altitude;
    if (terrain != nullptr && terrain->height_above_terrain(terrain_altitude,true)) {
        bool blink = (osd->warn_terr != -1)? (terrain_altitude < osd->warn_terr) : false; //blink if warn_terr is not disabled and alt above terrain is below warning value
        backend->write(x, y, blink, "%4d%c%c", (int)u_scale(ALTITUDE, terrain_altitude), u_icon(ALTITUDE), SYM_TERALT);
     } else {
        backend->write(x, y, false, " ---%c%c", u_icon(ALTITUDE),SYM_TERALT);
     }
}
#endif


void AP_OSD_Screen::draw_fence(uint8_t x, uint8_t y)
{
    AC_Fence *fenceptr = AP::fence();
    if (fenceptr == nullptr) {
       return;
    }
    if (fenceptr->enabled() && fenceptr->present()) {
        backend->write(x, y, fenceptr->get_breaches(), "%c", SYM_FENCE_ENABLED);
    } else {
        backend->write(x, y, false, "%c", SYM_FENCE_DISABLED);
    }
}

void AP_OSD_Screen::draw_rngf(uint8_t x, uint8_t y)
{
    RangeFinder *rangefinder = RangeFinder::get_singleton();
    if (rangefinder == nullptr) {
       return;
    }
    if (rangefinder->status_orient(ROTATION_PITCH_270) <= RangeFinder::Status::NoData) {
        backend->write(x, y, false, "%cNO DATA", SYM_RNGFD);
    } else {
        backend->write(x, y, false, "%c%2.2f%c", SYM_RNGFD, u_scale(DISTANCE, (rangefinder->distance_cm_orient(ROTATION_PITCH_270) * 0.01f)), u_icon(DISTANCE));
    }
}

#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)

#if HAL_WITH_OSD_BITMAP
void AP_OSD_Screen::draw(void)
{
    if (!enabled || !backend) {
        return;
    }

    //Note: draw order should be optimized.
    //Big and less important items should be drawn first,
    //so they will not overwrite more important ones.
    DRAW_SETTING(message);
    DRAW_SETTING(horizon);
    DRAW_SETTING(compass);
    DRAW_SETTING(altitude);

#if AP_TERRAIN_AVAILABLE
    DRAW_SETTING(hgt_abvterr);
#endif

    DRAW_SETTING(rngf);
    DRAW_SETTING(waypoint);
    DRAW_SETTING(xtrack_error);
    DRAW_SETTING(bat_volt);
    DRAW_SETTING(bat2_vlt);
    DRAW_SETTING(avgcellvolt);
    DRAW_SETTING(restvolt);
    DRAW_SETTING(rssi);
    DRAW_SETTING(current);
    DRAW_SETTING(batused);
    DRAW_SETTING(bat2used);
    DRAW_SETTING(sats);
    DRAW_SETTING(fltmode);
    DRAW_SETTING(gspeed);
    DRAW_SETTING(aspeed);
    DRAW_SETTING(aspd1);
    DRAW_SETTING(aspd2);
    DRAW_SETTING(vspeed);
    DRAW_SETTING(throttle);
    DRAW_SETTING(heading);
    DRAW_SETTING(wind);
    DRAW_SETTING(home);
    DRAW_SETTING(fence);
    DRAW_SETTING(roll_angle);
    DRAW_SETTING(pitch_angle);
    DRAW_SETTING(temp);
    DRAW_SETTING(btemp);
    DRAW_SETTING(atemp);
    DRAW_SETTING(hdop);
    DRAW_SETTING(flightime);
    DRAW_SETTING(clk);
    DRAW_SETTING(vtx_power);

#if HAL_WITH_ESC_TELEM
    DRAW_SETTING(blh_temp);
    DRAW_SETTING(blh_rpm);
    DRAW_SETTING(blh_amps);
#endif

    DRAW_SETTING(gps_latitude);
    DRAW_SETTING(gps_longitude);
#if HAL_PLUSCODE_ENABLE
    DRAW_SETTING(pluscode);
#endif
    DRAW_SETTING(dist);
    DRAW_SETTING(stat);
    DRAW_SETTING(climbeff);
    DRAW_SETTING(eff);
    DRAW_SETTING(callsign);
    DRAW_SETTING(current2);
}
#endif
#endif // OSD_ENABLED