diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index 0930180886..cb71bda780 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -58,6 +58,15 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @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 every 2s if channel value is high
+    // @User: Standard
+    AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE),
+
     AP_GROUPEND
 };
 
@@ -126,11 +135,55 @@ void AP_OSD::update_current_screen()
     }
 
     int16_t channel_value = channel->get_radio_in();
-    for (uint8_t i=0; i<AP_OSD_NUM_SCREENS; i++) {
-        if (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value) {
-            current_screen = i;
-            break;
+    switch (sw_method) {
+    //switch to next screen if channel value was changed
+    default:
+    case TOGGLE:
+        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 (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value) {
+                current_screen = i;
+                break;
+            }
+        }
+        break;
+    //switch to next screen every 2s if channel value more than trim value
+    case AUTO_SWITCH:
+        if (channel_value > channel->get_radio_trim()) {
+            if (switch_debouncer) {
+                uint32_t now = AP_HAL::millis();
+                if (now - last_switch_ms > 2000) {
+                    next_screen();
+                    last_switch_ms = now;
+                }
+            } else {
+                switch_debouncer = true;
+                return;
+            }
+        }
+        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 && !screen[t].enabled);
+    current_screen = t;
 }
 
diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index e57c76c9e3..dcaa2af8b7 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -17,6 +17,7 @@
 #pragma once
 
 #include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
 
 class AP_OSD_Backend;
 
@@ -63,6 +64,16 @@ public:
 private:
     AP_OSD_Backend *backend;
 
+    static const uint16_t message_show_time_ms = 20000;
+    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_roll = DEG_TO_RAD * 40;
+    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, 1, 1};
     AP_OSD_Setting bat_volt{true, 9, 1};
     AP_OSD_Setting rssi{false, 0, 0};
@@ -70,8 +81,9 @@ private:
     AP_OSD_Setting batused{true, 1, 3};
     AP_OSD_Setting sats{true, 1, 4};
     AP_OSD_Setting fltmode{true, 12, 14};
-    AP_OSD_Setting message{false, 0, 0};
+    AP_OSD_Setting message{false, 2, 13};
     AP_OSD_Setting gspeed{false, 0, 0};
+    AP_OSD_Setting horizon{true, 15, 8};
 
     void draw_altitude(uint8_t x, uint8_t y);
     void draw_bat_volt(uint8_t x, uint8_t y);
@@ -82,6 +94,7 @@ private:
     void draw_fltmode(uint8_t x, uint8_t y);
     void draw_message(uint8_t x, uint8_t y);
     void draw_gspeed(uint8_t x, uint8_t y);
+    void draw_horizon(uint8_t x, uint8_t y);
 };
 
 class AP_OSD {
@@ -103,9 +116,15 @@ public:
         OSD_NONE=0,
         OSD_MAX7456=1,
     };
+    enum switch_method {
+        TOGGLE=0,
+        PWM_RANGE=1,
+        AUTO_SWITCH=2,
+    };
 
     AP_Int8 osd_type;
     AP_Int8 rc_channel;
+    AP_Int8 sw_method;
 
     AP_OSD_Screen screen[AP_OSD_NUM_SCREENS];
 
@@ -113,8 +132,13 @@ private:
     void timer();
     void update_osd();
     void update_current_screen();
+    void next_screen();
     AP_OSD_Backend *backend;
     uint32_t last_update_ms;
 
+    //variables for screen switching
     uint8_t current_screen;
+    uint16_t previous_channel_value;
+    bool switch_debouncer;
+    uint32_t last_switch_ms;
 };