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AP_OSD: fixed issues with horizont and home

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Fixed roll direction.
Fixed home direction at small distances
This commit is contained in:
Alexander Malishev 2018-07-01 08:22:58 +04:00 committed by Andrew Tridgell
parent daf13cb9f4
commit 0169a9287d
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -253,7 +253,7 @@ void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
{
AP_AHRS &ahrs = AP::ahrs();
float roll = ahrs.roll;
float roll = -ahrs.roll;
float pitch = ahrs.pitch;
roll = constrain_float(roll, -ah_max_roll, ah_max_roll);
@ -281,6 +281,10 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
float distance = get_distance(home_loc, loc);
int32_t angle = get_bearing_cd(loc, home_loc);
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;
if (distance < 999.0f) {
backend->write(x, y, false, "%c%c%3.0f%c", SYM_HOME, arrow, distance, SYM_M);