Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 13:38:38 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_OSD: add imperial units option

Browse Source
This commit is contained in:
Alexander Malishev 2018-07-06 02:02:08 +04:00 committed by Andrew Tridgell
parent eaac477131
commit 731ae44ffa
3 changed files with 57 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_OSD/AP_OSD.cpp
View File

@ -73,7 +73,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _OPTIONS
// @DisplayName: OSD Options
// @Description: This sets options that change the display
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:ImperialUnits
// @User: Standard
AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),

1
libraries/AP_OSD/AP_OSD.h
View File

@ -177,6 +177,7 @@ public:
OPTION_DECIMAL_PACK = 1U<<0,
OPTION_INVERTED_WIND = 1U<<1,
OPTION_INVERTED_AH_ROLL = 1U<<2,
OPTION_IMPERIAL_UNITS = 1U<<3,
};
AP_Int32 options;

66
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -157,7 +157,10 @@ AP_OSD_Screen::AP_OSD_Screen()
#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
@ -165,7 +168,9 @@ AP_OSD_Screen::AP_OSD_Screen()
#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
@ -214,11 +219,24 @@ AP_OSD_Screen::AP_OSD_Screen()
#define SYM_GPS_LAT 0xA6
#define SYM_GPS_LONG 0xA7
//units convertion
#define M_TO_FT(x) (3.28084f*(x))
#define M_TO_MI(x) ((x)/1609.34f)
#define M_TO_KM(x) ((x)/1000.0f)
#define MS_TO_KMH(x) (3.6f*(x))
#define MS_TO_MPH(x) (2.23694f*(x))
#define MS_TO_FS(x) (3.28084f*(x))
void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
{
float alt;
AP::ahrs().get_relative_position_D_home(alt);
backend->write(x, y, false, "%4.0f%c", -alt, SYM_ALT_M);
alt = -alt;
if(osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
backend->write(x, y, false, "%4d%c", (int)M_TO_FT(alt), SYM_ALT_FT);
} else {
backend->write(x, y, false, "%4d%c", (int)alt, SYM_ALT_M);
}
}
void AP_OSD_Screen::draw_bat_volt(uint8_t x, uint8_t y)
@ -325,7 +343,11 @@ void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v, int32_t y
int32_t interval = 36000 / SYM_ARROW_COUNT;
arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
}
backend->write(x, y, false, "%c%3.0f%c", arrow, v_length * 3.6, SYM_KMH);
if(osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
backend->write(x, y, false, "%c%3d%c", arrow, (int)MS_TO_MPH(v_length), SYM_MPH);
} else {
backend->write(x, y, false, "%c%3d%c", arrow, (int)MS_TO_KMH(v_length), SYM_KMH);
}
}
void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
@ -378,12 +400,21 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
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);
} else if (distance < 9999.0f) {
backend->write(x, y, false, "%c%c%1.1f%c", SYM_HOME, arrow, distance/1000, SYM_KM);
if(osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
float distance_in_ft = M_TO_FT(distance);
if(distance_in_ft < 9999.0f) {
backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)distance_in_ft, SYM_FT);
} else {
backend->write(x, y, false, "%c%c%2.2f%c", SYM_HOME, arrow, M_TO_MI(distance), SYM_MI);
}
} else {
backend->write(x, y, false, "%c%c%3.0f%c", SYM_HOME, arrow, distance/1000, SYM_KM);
if (distance < 9999.0f) {
backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)distance, SYM_M);
} else if (distance < 99999.0f) {
backend->write(x, y, false, "%c%c%2.2f%c", SYM_HOME, arrow, M_TO_KM(distance), SYM_KM);
} else {
backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)M_TO_KM(distance), SYM_KM);
}
}
} else {
backend->write(x, y, true, "%c", SYM_HOME);
@ -449,10 +480,19 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t 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, "%c%4.0f%c", SYM_ASPD, aspd * 3.6, SYM_KMH);
bool have_estimate = AP::ahrs().airspeed_estimate(&aspd);
if(osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
if (have_estimate) {
backend->write(x, y, false, "%c%3d%c", SYM_ASPD, (int)MS_TO_MPH(aspd), SYM_MPH);
} else {
backend->write(x, y, false, "%c---%c", SYM_ASPD, SYM_MPH);
}
} else {
backend->write(x, y, false, "%c ---%c", SYM_ASPD, SYM_KMH);
if (have_estimate) {
backend->write(x, y, false, "%c%3d%c", SYM_ASPD, (int)MS_TO_KMH(aspd), SYM_KMH);
} else {
backend->write(x, y, false, "%c---%c", SYM_ASPD, SYM_KMH);
}
}
}
@ -472,7 +512,11 @@ void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
sym = SYM_DOWN_DOWN;
}
vspd = fabsf(vspd);
backend->write(x, y, false, "%c%2.0f%c", sym, vspd, SYM_MS);
if(osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
backend->write(x, y, false, "%c%2d%c", sym, (int)MS_TO_FS(vspd), SYM_FS);
} else {
backend->write(x, y, false, "%c%2d%c", sym, (int)vspd, SYM_MS);
}
}
#ifdef HAVE_AP_BLHELI_SUPPORT