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AP_OSD: added airspeed and climbrate

This commit is contained in:
Alexander Malishev 2018-07-04 02:23:53 +04:00 committed by Andrew Tridgell
parent 1514a96bcb
commit 5e66b57e0c
2 changed files with 48 additions and 2 deletions
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4
libraries/AP_OSD/AP_OSD.h
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@ -89,6 +89,8 @@ private:
AP_OSD_Setting heading{false, 0, 0};
AP_OSD_Setting compass{false, 0, 0};
AP_OSD_Setting wind{false, 0, 0};
AP_OSD_Setting aspeed{false, 0, 0};
AP_OSD_Setting vspeed{false, 0, 0};
void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
@ -105,6 +107,8 @@ private:
void draw_heading(uint8_t x, uint8_t y);
void draw_compass(uint8_t x, uint8_t y);
void draw_wind(uint8_t x, uint8_t y);
void draw_aspeed(uint8_t x, uint8_t y);
void draw_vspeed(uint8_t x, uint8_t y);
void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v);
};

46
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -114,6 +114,14 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
//@Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(wind, "WIND", 18, AP_OSD_Screen, AP_OSD_Setting),
//@Group: ASPEED
//@Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(wind, "ASPEED", 19, AP_OSD_Screen, AP_OSD_Setting),
//@Group: VSPEED
//@Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(wind, "VSPEED", 20, AP_OSD_Screen, AP_OSD_Setting),
AP_GROUPEND
};
@ -137,6 +145,7 @@ AP_OSD_Screen::AP_OSD_Screen()
#define SYM_VOLT 0x06
#define SYM_AMP 0x9A
#define SYM_MAH 0x07
#define SYM_MS 0x9F
#define SYM_KMH 0xA1
#define SYM_DEGR 0xA8
#define SYM_PCNT 0x25
@ -164,6 +173,11 @@ AP_OSD_Screen::AP_OSD_Screen()
#define SYM_HEADING_DIVIDED_LINE 0x1C
#define SYM_HEADING_LINE 0x1D
#define SYM_UP_UP 0xA3
#define SYM_UP 0xA4
#define SYM_DOWN 0xA5
#define SYM_DOWN_DOWN 0xA6
void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
{
float alt;
@ -281,7 +295,7 @@ void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v)
void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
{
Vector2f v = AP::ahrs().groundspeed_vector();
backend->write(x, y, false, "V");
backend->write(x, y, false, "G");
draw_speed_vector(x + 1, y, v);
}
@ -375,7 +389,7 @@ void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
for (int8_t i=-2; i<=2; i++) {
int8_t sector = center_sector + i;
sector = (sector + total_sectors) % total_sectors;
backend->write(x + i, y, "%c", compass_circle[sector]);
backend->write(x + i, y, false, "%c", compass_circle[sector]);
}
}
@ -386,6 +400,32 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
draw_speed_vector(x + 1, y, Vector2f(v.x, v.y));
}
void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
{
float aspd = 0.0f;
if (AP::ahrs().airspeed_estimate(&aspd)) {
backend->write(x, y, false, "A%3.0f%c", aspd * 3.6, SYM_KMH);
}
}
void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
{
Vector3f v;
AP::ahrs().get_velocity_NED(v);
float vspd = -v.z;
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;
}
backend->write(x, y, false, "%c%3.0f%c", sym, vspd, SYM_MS);
}
#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
void AP_OSD_Screen::draw(void)
@ -408,6 +448,8 @@ void AP_OSD_Screen::draw(void)
DRAW_SETTING(sats);
DRAW_SETTING(fltmode);
DRAW_SETTING(gspeed);
DRAW_SETTING(aspeed);
DRAW_SETTING(vspeed);
DRAW_SETTING(throttle);
DRAW_SETTING(heading);
DRAW_SETTING(wind);