ardupilot/libraries/AP_OSD/AP_OSD.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_BLHeli/AP_BLHeli.h>
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#ifndef OSD_ENABLED
#define OSD_ENABLED 0
#endif
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class AP_OSD_Backend;
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#define AP_OSD_NUM_SCREENS 4
/*
class to hold one setting
*/
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class AP_OSD_Setting
{
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public:
AP_Int8 enabled;
AP_Int8 xpos;
AP_Int8 ypos;
AP_OSD_Setting(bool enabled, uint8_t x, uint8_t y);
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// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
};
class AP_OSD;
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/*
class to hold one screen of settings
*/
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class AP_OSD_Screen
{
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public:
// constructor
AP_OSD_Screen();
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void draw(void);
void set_backend(AP_OSD_Backend *_backend);
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// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
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AP_Int8 enabled;
AP_Int16 channel_min;
AP_Int16 channel_max;
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private:
AP_OSD_Backend *backend;
AP_OSD *osd;
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static const uint8_t message_visible_width = 26;
static const uint8_t message_scroll_time_ms = 200;
static const uint8_t message_scroll_delay = 5;
static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
//typical fpv camera has 80deg vertical field of view, 16 row of chars
static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);
AP_OSD_Setting altitude{true, 23, 8};
AP_OSD_Setting bat_volt{true, 24, 1};
AP_OSD_Setting rssi{true, 1, 1};
AP_OSD_Setting current{true, 25, 2};
AP_OSD_Setting batused{true, 23, 3};
AP_OSD_Setting sats{true, 1, 3};
AP_OSD_Setting fltmode{true, 2, 8};
AP_OSD_Setting message{true, 2, 6};
AP_OSD_Setting gspeed{true, 2, 14};
AP_OSD_Setting horizon{true, 14, 8};
AP_OSD_Setting home{true, 14, 1};
AP_OSD_Setting throttle{true, 24, 11};
AP_OSD_Setting heading{true, 13, 2};
AP_OSD_Setting compass{true, 15, 3};
AP_OSD_Setting wind{false, 2, 12};
AP_OSD_Setting aspeed{false, 2, 13};
AP_OSD_Setting aspd1{false, 0, 0};
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AP_OSD_Setting aspd2{false, 0, 0};
AP_OSD_Setting vspeed{true, 24, 9};
#ifdef HAVE_AP_BLHELI_SUPPORT
AP_OSD_Setting blh_temp {false, 24, 13};
AP_OSD_Setting blh_rpm{false, 22, 12};
AP_OSD_Setting blh_amps{false, 24, 14};
#endif
AP_OSD_Setting gps_latitude{true, 9, 13};
AP_OSD_Setting gps_longitude{true, 9, 14};
AP_OSD_Setting roll_angle{false, 0, 0};
AP_OSD_Setting pitch_angle{false, 0, 0};
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AP_OSD_Setting temp{false, 0, 0};
AP_OSD_Setting btemp{false, 0, 0};
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AP_OSD_Setting hdop{false, 0, 0};
AP_OSD_Setting waypoint{false, 0, 0};
AP_OSD_Setting xtrack_error{false, 0, 0};
AP_OSD_Setting dist{false,22,11};
AP_OSD_Setting stat{false,0,0};
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AP_OSD_Setting flightime{false, 23, 10};
AP_OSD_Setting climbeff{false,0,0};
AP_OSD_Setting eff{false, 22, 10};
AP_OSD_Setting atemp{false, 0, 0};
AP_OSD_Setting bat2_vlt{false, 0, 0};
AP_OSD_Setting bat2used{false, 0, 0};
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AP_OSD_Setting clk{false, 0, 0};
bool check_option(uint32_t option);
enum unit_type {
ALTITUDE=0,
SPEED=1,
VSPEED=2,
DISTANCE=3,
DISTANCE_LONG=4,
TEMPERATURE=5,
UNIT_TYPE_LAST=6,
};
char u_icon(enum unit_type unit);
float u_scale(enum unit_type unit, float value);
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void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
void draw_rssi(uint8_t x, uint8_t y);
void draw_current(uint8_t x, uint8_t y);
void draw_batused(uint8_t x, uint8_t y);
void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
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void draw_sats(uint8_t x, uint8_t y);
void draw_fltmode(uint8_t x, uint8_t y);
void draw_message(uint8_t x, uint8_t y);
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void draw_gspeed(uint8_t x, uint8_t y);
void draw_horizon(uint8_t x, uint8_t y);
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void draw_home(uint8_t x, uint8_t y);
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void draw_throttle(uint8_t x, uint8_t y);
void draw_heading(uint8_t x, uint8_t y);
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void draw_compass(uint8_t x, uint8_t y);
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void draw_wind(uint8_t x, uint8_t y);
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void draw_aspeed(uint8_t x, uint8_t y);
void draw_aspd1(uint8_t x, uint8_t y);
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void draw_aspd2(uint8_t x, uint8_t y);
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void draw_vspeed(uint8_t x, uint8_t y);
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//helper functions
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void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
void draw_distance(uint8_t x, uint8_t y, float distance);
#ifdef HAVE_AP_BLHELI_SUPPORT
void draw_blh_temp(uint8_t x, uint8_t y);
void draw_blh_rpm(uint8_t x, uint8_t y);
void draw_blh_amps(uint8_t x, uint8_t y);
#endif
void draw_gps_latitude(uint8_t x, uint8_t y);
void draw_gps_longitude(uint8_t x, uint8_t y);
void draw_roll_angle(uint8_t x, uint8_t y);
void draw_pitch_angle(uint8_t x, uint8_t y);
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void draw_temp(uint8_t x, uint8_t y);
void draw_btemp(uint8_t x, uint8_t y);
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void draw_hdop(uint8_t x, uint8_t y);
void draw_waypoint(uint8_t x, uint8_t y);
void draw_xtrack_error(uint8_t x, uint8_t y);
void draw_dist(uint8_t x, uint8_t y);
void draw_stat(uint8_t x, uint8_t y);
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void draw_flightime(uint8_t x, uint8_t y);
void draw_climbeff(uint8_t x, uint8_t y);
void draw_eff(uint8_t x, uint8_t y);
void draw_atemp(uint8_t x, uint8_t y);
void draw_bat2_vlt(uint8_t x, uint8_t y);
void draw_bat2used(uint8_t x, uint8_t y);
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void draw_clk(uint8_t x, uint8_t y);
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};
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class AP_OSD
{
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public:
friend class AP_OSD_Screen;
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//constructor
AP_OSD();
/* Do not allow copies */
AP_OSD(const AP_OSD &other) = delete;
AP_OSD &operator=(const AP_OSD&) = delete;
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// get singleton instance
static AP_OSD *get_singleton()
{
return _singleton;
}
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// init - perform required initialisation
void init();
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
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enum osd_types {
OSD_NONE=0,
OSD_MAX7456=1,
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OSD_SITL=2,
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};
enum switch_method {
TOGGLE=0,
PWM_RANGE=1,
AUTO_SWITCH=2,
};
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AP_Int8 osd_type;
AP_Int8 rc_channel;
AP_Int8 sw_method;
AP_Int8 font_num;
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AP_Int8 v_offset;
AP_Int8 h_offset;
AP_Int8 warn_rssi;
AP_Int8 warn_nsat;
AP_Float warn_batvolt;
AP_Float warn_bat2volt;
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AP_Int8 msgtime_s;
AP_Int8 arm_scr;
AP_Int8 disarm_scr;
AP_Int8 failsafe_scr;
enum {
OPTION_DECIMAL_PACK = 1U<<0,
OPTION_INVERTED_WIND = 1U<<1,
OPTION_INVERTED_AH_ROLL = 1U<<2,
};
AP_Int32 options;
enum {
UNITS_METRIC=0,
UNITS_IMPERIAL=1,
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UNITS_SI=2,
UNITS_AVIATION=3,
UNITS_LAST=4,
};
AP_Int8 units;
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AP_OSD_Screen screen[AP_OSD_NUM_SCREENS];
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struct NavInfo {
float wp_distance;
int32_t wp_bearing;
float wp_xtrack_error;
uint16_t wp_number;
};
void set_nav_info(NavInfo &nav_info);
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// disable the display
void disable() {
_disable = true;
}
// enable the display
void enable() {
_disable = false;
}
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private:
void osd_thread();
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void update_osd();
void stats();
void update_current_screen();
void next_screen();
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AP_OSD_Backend *backend;
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//variables for screen switching
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uint8_t current_screen;
uint16_t previous_channel_value;
bool switch_debouncer;
uint32_t last_switch_ms;
struct NavInfo nav_info;
int8_t previous_pwm_screen;
int8_t pre_fs_screen;
bool was_armed;
bool was_failsafe;
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bool _disable;
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uint32_t last_update_ms;
float last_distance_m;
float max_dist_m;
float max_alt_m;
float max_speed_mps;
float max_current_a;
float avg_current_a;
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static AP_OSD *_singleton;
};
namespace AP
{
AP_OSD *osd();
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};