mirror of https://github.com/ArduPilot/ardupilot
AP_OSD: added a new backend for msp displayport aka canvas mode support
This commit is contained in:
parent
188b7a50a9
commit
7e3395eebd
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@ -26,6 +26,7 @@
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#include "AP_OSD_SITL.h"
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#endif
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#include "AP_OSD_MSP.h"
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#include "AP_OSD_MSP_DisplayPort.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Util.h>
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#include <RC_Channel/RC_Channel.h>
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@ -291,11 +292,23 @@ void AP_OSD::init()
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hal.console->printf("Started MSP OSD\n");
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break;
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}
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#if HAL_WITH_MSP_DISPLAYPORT
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case OSD_MSP_DISPLAYPORT: {
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backend = AP_OSD_MSP_DisplayPort::probe(*this);
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if (backend == nullptr) {
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break;
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}
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hal.console->printf("Started MSP DisplayPort OSD\n");
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break;
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}
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#endif
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}
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#if OSD_ENABLED
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if (backend != nullptr && (enum osd_types)osd_type.get() != OSD_MSP) {
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// populate the fonts lookup table
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backend->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
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// create thread as higher priority than IO for all backends but MSP which has its own
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1024, AP_HAL::Scheduler::PRIORITY_IO, 1);
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
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}
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#endif
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}
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@ -52,6 +52,7 @@ class AP_MSP;
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#define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
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#define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
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#define AP_OSD_NUM_SYMBOLS 79
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/*
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class to hold one setting
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*/
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@ -72,6 +73,7 @@ class AP_OSD;
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class AP_OSD_AbstractScreen
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{
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friend class AP_OSD;
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public:
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// constructor
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AP_OSD_AbstractScreen() {}
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@ -101,6 +103,8 @@ protected:
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AP_OSD_Backend *backend;
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AP_OSD *osd;
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static uint8_t symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
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};
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#if OSD_ENABLED
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@ -115,7 +119,7 @@ public:
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// skip the drawing if we are not using a font based backend. This saves a lot of flash space when
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// using the MSP OSD system on boards that don't have a MAX7456
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#if HAL_WITH_OSD_BITMAP
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#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
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void draw(void) override;
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#endif
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@ -363,7 +367,7 @@ public:
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static const uint8_t NUM_PARAMS = 9;
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static const uint8_t SAVE_PARAM = NUM_PARAMS + 1;
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#if HAL_WITH_OSD_BITMAP
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#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
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void draw(void) override;
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#endif
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void handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link);
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@ -437,7 +441,8 @@ public:
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OSD_MAX7456=1,
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OSD_SITL=2,
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OSD_MSP=3,
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OSD_TXONLY=4
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OSD_TXONLY=4,
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OSD_MSP_DISPLAYPORT=5
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};
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enum switch_method {
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TOGGLE=0,
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@ -19,6 +19,7 @@
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#include <ctype.h>
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extern const AP_HAL::HAL& hal;
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constexpr uint8_t AP_OSD_Backend::symbols[AP_OSD_NUM_SYMBOLS];
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#define SYM_DIG_OFS_1 0x90
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#define SYM_DIG_OFS_2 0xA0
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@ -80,3 +81,8 @@ FileData *AP_OSD_Backend::load_font_data(uint8_t font_num)
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}
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return fd;
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}
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void AP_OSD_Backend::init_symbol_set(uint8_t *lookup_table, const uint8_t size)
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{
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memcpy(lookup_table, symbols, size);
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}
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@ -53,6 +53,9 @@ public:
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blink_phase = (blink_phase+1)%4;
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};
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// copy the backend specific symbol set to the OSD lookup table
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virtual void init_symbol_set(uint8_t *symbols, const uint8_t size);
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AP_OSD * get_osd()
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{
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return &_osd;
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@ -83,6 +86,176 @@ protected:
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FORMAT_NTSC = 1,
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FORMAT_PAL = 2,
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} _format;
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// default OSD symbols
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static const uint8_t SYM_M = 0xB9;
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static const uint8_t SYM_KM = 0xBA;
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static const uint8_t SYM_FT = 0x0F;
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static const uint8_t SYM_MI = 0xBB;
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static const uint8_t SYM_ALT_M = 0xB1;
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static const uint8_t SYM_ALT_FT = 0xB3;
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static const uint8_t SYM_BATT_FULL = 0x90;
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static const uint8_t SYM_RSSI = 0x01;
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static const uint8_t SYM_VOLT = 0x06;
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static const uint8_t SYM_AMP = 0x9A;
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static const uint8_t SYM_MAH = 0x07;
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static const uint8_t SYM_MS = 0x9F;
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static const uint8_t SYM_FS = 0x99;
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static const uint8_t SYM_KMH = 0xA1;
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static const uint8_t SYM_MPH = 0xB0;
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static const uint8_t SYM_DEGR = 0xA8;
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static const uint8_t SYM_PCNT = 0x25;
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static const uint8_t SYM_RPM = 0xE0;
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static const uint8_t SYM_ASPD = 0xE1;
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static const uint8_t SYM_GSPD = 0xE2;
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static const uint8_t SYM_WSPD = 0xE3;
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static const uint8_t SYM_VSPD = 0xE4;
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static const uint8_t SYM_WPNO = 0xE5;
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static const uint8_t SYM_WPDIR = 0xE6;
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static const uint8_t SYM_WPDST = 0xE7;
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static const uint8_t SYM_FTMIN = 0xE8;
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static const uint8_t SYM_FTSEC = 0x99;
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static const uint8_t SYM_SAT_L = 0x1E;
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static const uint8_t SYM_SAT_R = 0x1F;
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static const uint8_t SYM_HDOP_L = 0xBD;
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static const uint8_t SYM_HDOP_R = 0xBE;
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static const uint8_t SYM_HOME = 0xBF;
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static const uint8_t SYM_WIND = 0x16;
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static const uint8_t SYM_ARROW_START = 0x60;
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static const uint8_t SYM_ARROW_COUNT = 16;
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static const uint8_t SYM_AH_H_START = 0x80;
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static const uint8_t SYM_AH_H_COUNT = 9;
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static const uint8_t SYM_AH_V_START = 0xCA;
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static const uint8_t SYM_AH_V_COUNT = 6;
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static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x26;
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static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x27;
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static const uint8_t SYM_AH_CENTER = 0x7E;
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static const uint8_t SYM_HEADING_N = 0x18;
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static const uint8_t SYM_HEADING_S = 0x19;
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static const uint8_t SYM_HEADING_E = 0x1A;
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static const uint8_t SYM_HEADING_W = 0x1B;
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static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C;
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static const uint8_t SYM_HEADING_LINE = 0x1D;
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static const uint8_t SYM_UP_UP = 0xA2;
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static const uint8_t SYM_UP = 0xA3;
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static const uint8_t SYM_DOWN = 0xA4;
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static const uint8_t SYM_DOWN_DOWN = 0xA5;
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static const uint8_t SYM_DEGREES_C = 0x0E;
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static const uint8_t SYM_DEGREES_F = 0x0D;
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static const uint8_t SYM_GPS_LAT = 0xA6;
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static const uint8_t SYM_GPS_LONG = 0xA7;
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static const uint8_t SYM_ARMED = 0x00;
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static const uint8_t SYM_DISARMED = 0xE9;
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static const uint8_t SYM_ROLL0 = 0x2D;
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static const uint8_t SYM_ROLLR = 0xEA;
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static const uint8_t SYM_ROLLL = 0xEB;
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static const uint8_t SYM_PTCH0 = 0x7C;
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static const uint8_t SYM_PTCHUP = 0xEC;
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static const uint8_t SYM_PTCHDWN = 0xED;
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static const uint8_t SYM_XERR = 0xEE;
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static const uint8_t SYM_KN = 0xF0;
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static const uint8_t SYM_NM = 0xF1;
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static const uint8_t SYM_DIST = 0x22;
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static const uint8_t SYM_FLY = 0x9C;
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static const uint8_t SYM_EFF = 0xF2;
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static const uint8_t SYM_AH = 0xF3;
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static const uint8_t SYM_MW = 0xF4;
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static const uint8_t SYM_CLK = 0xBC;
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static const uint8_t SYM_KILO = 0x4B;
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static const uint8_t SYM_TERALT = 0xEF;
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static const uint8_t SYM_FENCE_ENABLED = 0xF5;
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static const uint8_t SYM_FENCE_DISABLED = 0xF6;
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static const uint8_t SYM_RNGFD = 0xF7;
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static const uint8_t SYM_LQ = 0xF8;
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static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
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SYM_M,
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SYM_KM,
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SYM_FT,
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SYM_MI,
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SYM_ALT_M,
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SYM_ALT_FT,
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SYM_BATT_FULL,
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SYM_RSSI,
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SYM_VOLT,
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SYM_AMP,
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SYM_MAH,
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SYM_MS,
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SYM_FS,
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SYM_KMH,
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SYM_MPH,
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SYM_DEGR,
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SYM_PCNT,
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SYM_RPM,
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SYM_ASPD,
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SYM_GSPD,
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SYM_WSPD,
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SYM_VSPD,
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SYM_WPNO,
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SYM_WPDIR,
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SYM_WPDST,
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SYM_FTMIN,
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SYM_FTSEC,
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SYM_SAT_L,
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SYM_SAT_R,
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SYM_HDOP_L,
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SYM_HDOP_R,
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SYM_HOME,
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SYM_WIND,
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SYM_ARROW_START,
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SYM_ARROW_COUNT,
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SYM_AH_H_START,
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SYM_AH_H_COUNT,
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SYM_AH_V_START,
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SYM_AH_V_COUNT,
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SYM_AH_CENTER_LINE_LEFT,
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SYM_AH_CENTER_LINE_RIGHT,
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SYM_AH_CENTER,
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SYM_HEADING_N,
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SYM_HEADING_S,
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SYM_HEADING_E,
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SYM_HEADING_W,
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SYM_HEADING_DIVIDED_LINE,
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SYM_HEADING_LINE,
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SYM_UP_UP,
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SYM_UP,
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SYM_DOWN,
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SYM_DOWN_DOWN,
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SYM_DEGREES_C,
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SYM_DEGREES_F,
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SYM_GPS_LAT,
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SYM_GPS_LONG,
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SYM_ARMED,
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SYM_DISARMED,
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SYM_ROLL0,
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SYM_ROLLR,
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SYM_ROLLL,
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SYM_PTCH0,
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SYM_PTCHUP,
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SYM_PTCHDWN,
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SYM_XERR,
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SYM_KN,
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SYM_NM,
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SYM_DIST,
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SYM_FLY,
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SYM_EFF,
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SYM_AH,
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SYM_MW,
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SYM_CLK,
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SYM_KILO,
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SYM_TERALT,
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SYM_FENCE_ENABLED,
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SYM_FENCE_DISABLED,
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SYM_RNGFD,
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SYM_LQ,
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};
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};
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@ -131,7 +131,6 @@
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#endif
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#define BWBRIGHTNESS ((BLACKBRIGHTNESS << 2) | WHITEBRIGHTNESS)
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extern const AP_HAL::HAL &hal;
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AP_OSD_MAX7456::AP_OSD_MAX7456(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev):
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@ -181,8 +181,3 @@ AP_OSD_Backend *AP_OSD_MSP::probe(AP_OSD &osd)
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}
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return backend;
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}
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AP_OSD_MSP::AP_OSD_MSP(AP_OSD &osd):
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AP_OSD_Backend(osd)
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{
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}
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@ -3,7 +3,7 @@
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class AP_OSD_MSP : public AP_OSD_Backend
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{
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using AP_OSD_Backend::AP_OSD_Backend;
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public:
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static AP_OSD_Backend *probe(AP_OSD &osd);
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void clear() override {};
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private:
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//constructor
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AP_OSD_MSP(AP_OSD &osd);
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void setup_defaults(void);
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};
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@ -0,0 +1,129 @@
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/*
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OSD backend for MSP
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*/
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#include <AP_MSP/AP_MSP.h>
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#include <AP_MSP/msp.h>
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#include "AP_OSD_MSP_DisplayPort.h"
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#if HAL_WITH_MSP_DISPLAYPORT
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static const struct AP_Param::defaults_table_struct defaults_table[] = {
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/*
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{ "PARAM_NAME", value_float }
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*/
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};
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extern const AP_HAL::HAL &hal;
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constexpr uint8_t AP_OSD_MSP_DisplayPort::symbols[AP_OSD_NUM_SYMBOLS];
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// initialise backend
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bool AP_OSD_MSP_DisplayPort::init(void)
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{
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// check if we have a DisplayPort backend to use
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const AP_MSP *msp = AP::msp();
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if (msp == nullptr) {
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gcs().send_text(MAV_SEVERITY_WARNING,"MSP backend not available");
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return false;
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}
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_displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort);
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if (_displayport == nullptr) {
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gcs().send_text(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
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return false;
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}
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// re-init port here for use in this thread
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_displayport->init_uart();
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return true;
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}
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void AP_OSD_MSP_DisplayPort::clear(void)
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{
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// clear remote MSP screen
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_displayport->msp_displayport_clear_screen();
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// toggle flashing @2Hz
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const uint32_t now = AP_HAL::millis();
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if (((now / 500) & 0x01) != _blink_on) {
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_blink_on = !_blink_on;
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}
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}
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void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, const char* text)
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{
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_displayport->msp_displayport_write_string(x, y, 0, text);
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}
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void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...)
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{
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if (blink && !_blink_on) {
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return;
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}
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char buf[32+1]; // +1 for snprintf null-termination
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va_list ap;
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va_start(ap, fmt);
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int res = hal.util->vsnprintf(buf, sizeof(buf), fmt, ap);
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res = MIN(res, int(sizeof(buf)));
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if (res < int(sizeof(buf))-1) {
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_displayport->msp_displayport_write_string(x, y, blink, buf);
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}
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va_end(ap);
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}
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void AP_OSD_MSP_DisplayPort::flush(void)
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{
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// grab the screen and force a redraw
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_displayport->msp_displayport_grab();
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_displayport->msp_displayport_draw_screen();
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// ok done processing displayport data
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// let's process incoming MSP frames (and reply if needed)
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_displayport->process_incoming_data();
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}
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void AP_OSD_MSP_DisplayPort::init_symbol_set(uint8_t *lookup_table, const uint8_t size)
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{
|
||||
const AP_MSP *msp = AP::msp();
|
||||
if (msp == nullptr) {
|
||||
return;
|
||||
}
|
||||
// do we use backend specific symbols table?
|
||||
if (msp->check_option(AP_MSP::MspOption::OPTION_DISPLAYPORT_BTFL_SYMBOLS)) {
|
||||
memcpy(lookup_table, symbols, size);
|
||||
} else {
|
||||
memcpy(lookup_table, AP_OSD_Backend::symbols, size);
|
||||
}
|
||||
}
|
||||
|
||||
// override built in positions with defaults for MSP OSD
|
||||
void AP_OSD_MSP_DisplayPort::setup_defaults(void)
|
||||
{
|
||||
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
|
||||
}
|
||||
|
||||
AP_OSD_Backend *AP_OSD_MSP_DisplayPort::probe(AP_OSD &osd)
|
||||
{
|
||||
AP_OSD_MSP_DisplayPort *backend = new AP_OSD_MSP_DisplayPort(osd);
|
||||
if (!backend) {
|
||||
return nullptr;
|
||||
}
|
||||
if (!backend->init()) {
|
||||
delete backend;
|
||||
return nullptr;
|
||||
}
|
||||
return backend;
|
||||
}
|
||||
#endif
|
|
@ -0,0 +1,210 @@
|
|||
#include <AP_OSD/AP_OSD_Backend.h>
|
||||
#include <AP_MSP/AP_MSP.h>
|
||||
|
||||
#if HAL_WITH_MSP_DISPLAYPORT
|
||||
|
||||
class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
|
||||
{
|
||||
using AP_OSD_Backend::AP_OSD_Backend;
|
||||
public:
|
||||
static AP_OSD_Backend *probe(AP_OSD &osd);
|
||||
|
||||
//initialize display port and underlying hardware
|
||||
bool init() override;
|
||||
|
||||
//draw given text to framebuffer
|
||||
void write(uint8_t x, uint8_t y, const char* text) override;
|
||||
|
||||
//draw formatted text to framebuffer
|
||||
void write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...) override FMT_PRINTF(5, 6);
|
||||
|
||||
//flush framebuffer to screen
|
||||
void flush() override;
|
||||
|
||||
//clear framebuffer
|
||||
void clear() override;
|
||||
|
||||
// copy the backend specific symbol set to the OSD lookup table
|
||||
void init_symbol_set(uint8_t *lookup_table, const uint8_t size) override;
|
||||
|
||||
|
||||
private:
|
||||
void setup_defaults(void);
|
||||
|
||||
AP_MSP_Telem_Backend* _displayport;
|
||||
|
||||
// MSP DisplayPort symbols
|
||||
static const uint8_t SYM_M = 0x0C;
|
||||
static const uint8_t SYM_KM = 0x7D;
|
||||
static const uint8_t SYM_FT = 0x0F;
|
||||
static const uint8_t SYM_MI = 0x7E;
|
||||
static const uint8_t SYM_ALT_M = 0x0C;
|
||||
static const uint8_t SYM_ALT_FT = 0x0F;
|
||||
static const uint8_t SYM_BATT_FULL = 0x90;
|
||||
static const uint8_t SYM_RSSI = 0x01;
|
||||
|
||||
static const uint8_t SYM_VOLT = 0x06;
|
||||
static const uint8_t SYM_AMP = 0x9A;
|
||||
static const uint8_t SYM_MAH = 0x07;
|
||||
static const uint8_t SYM_MS = 0x9F;
|
||||
static const uint8_t SYM_FS = 0x99;
|
||||
static const uint8_t SYM_KMH = 0x9E;
|
||||
static const uint8_t SYM_MPH = 0x9D;
|
||||
static const uint8_t SYM_DEGR = 0x1D;
|
||||
static const uint8_t SYM_PCNT = 0x25;
|
||||
static const uint8_t SYM_RPM = 0x12;
|
||||
static const uint8_t SYM_ASPD = 0x41;
|
||||
static const uint8_t SYM_GSPD = 0x70;
|
||||
static const uint8_t SYM_WSPD = 0x1B;
|
||||
static const uint8_t SYM_VSPD = 0x7F;
|
||||
static const uint8_t SYM_WPNO = 0x23;
|
||||
static const uint8_t SYM_WPDIR = 0xE6;
|
||||
static const uint8_t SYM_WPDST = 0xE7;
|
||||
static const uint8_t SYM_FTMIN = 0xE8;
|
||||
static const uint8_t SYM_FTSEC = 0x99;
|
||||
|
||||
static const uint8_t SYM_SAT_L = 0x1E;
|
||||
static const uint8_t SYM_SAT_R = 0x1F;
|
||||
static const uint8_t SYM_HDOP_L = 0x11;
|
||||
static const uint8_t SYM_HDOP_R = 0x08;
|
||||
|
||||
static const uint8_t SYM_HOME = 0x05;
|
||||
static const uint8_t SYM_WIND = 0x57;
|
||||
|
||||
static const uint8_t SYM_ARROW_START = 0x60;
|
||||
static const uint8_t SYM_ARROW_COUNT = 16;
|
||||
static const uint8_t SYM_AH_H_START = 0x80;
|
||||
static const uint8_t SYM_AH_H_COUNT = 9;
|
||||
|
||||
static const uint8_t SYM_AH_V_START = 0x82;
|
||||
static const uint8_t SYM_AH_V_COUNT = 6;
|
||||
|
||||
static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x84;
|
||||
static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x84;
|
||||
static const uint8_t SYM_AH_CENTER = 0x2B;
|
||||
|
||||
static const uint8_t SYM_HEADING_N = 0x18;
|
||||
static const uint8_t SYM_HEADING_S = 0x19;
|
||||
static const uint8_t SYM_HEADING_E = 0x1A;
|
||||
static const uint8_t SYM_HEADING_W = 0x1B;
|
||||
static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C;
|
||||
static const uint8_t SYM_HEADING_LINE = 0x1D;
|
||||
|
||||
static const uint8_t SYM_UP_UP = 0x68;
|
||||
static const uint8_t SYM_UP = 0x68;
|
||||
static const uint8_t SYM_DOWN = 0x60;
|
||||
static const uint8_t SYM_DOWN_DOWN = 0x60;
|
||||
|
||||
static const uint8_t SYM_DEGREES_C = 0x0E;
|
||||
static const uint8_t SYM_DEGREES_F = 0x0D;
|
||||
static const uint8_t SYM_GPS_LAT = 0x68;
|
||||
static const uint8_t SYM_GPS_LONG = 0x6C;
|
||||
static const uint8_t SYM_ARMED = 0x08;
|
||||
static const uint8_t SYM_DISARMED = 0x08;
|
||||
static const uint8_t SYM_ROLL0 = 0x2D;
|
||||
static const uint8_t SYM_ROLLR = 0x64;
|
||||
static const uint8_t SYM_ROLLL = 0x6C;
|
||||
static const uint8_t SYM_PTCH0 = 0x7C;
|
||||
static const uint8_t SYM_PTCHUP = 0x68;
|
||||
static const uint8_t SYM_PTCHDWN = 0x60;
|
||||
static const uint8_t SYM_XERR = 0xEE;
|
||||
static const uint8_t SYM_KN = 0xF0;
|
||||
static const uint8_t SYM_NM = 0xF1;
|
||||
static const uint8_t SYM_DIST = 0x22;
|
||||
static const uint8_t SYM_FLY = 0x9C;
|
||||
static const uint8_t SYM_EFF = 0xF2;
|
||||
static const uint8_t SYM_AH = 0xF3;
|
||||
static const uint8_t SYM_MW = 0xF4;
|
||||
static const uint8_t SYM_CLK = 0x08;
|
||||
static const uint8_t SYM_KILO = 0x4B;
|
||||
static const uint8_t SYM_TERALT = 0xEF;
|
||||
static const uint8_t SYM_FENCE_ENABLED = 0xF5;
|
||||
static const uint8_t SYM_FENCE_DISABLED = 0xF6;
|
||||
static const uint8_t SYM_RNGFD = 0x72;
|
||||
static const uint8_t SYM_LQ = 0xF8;
|
||||
|
||||
static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
|
||||
SYM_M,
|
||||
SYM_KM,
|
||||
SYM_FT,
|
||||
SYM_MI,
|
||||
SYM_ALT_M,
|
||||
SYM_ALT_FT,
|
||||
SYM_BATT_FULL,
|
||||
SYM_RSSI,
|
||||
SYM_VOLT,
|
||||
SYM_AMP,
|
||||
SYM_MAH,
|
||||
SYM_MS,
|
||||
SYM_FS,
|
||||
SYM_KMH,
|
||||
SYM_MPH,
|
||||
SYM_DEGR,
|
||||
SYM_PCNT,
|
||||
SYM_RPM,
|
||||
SYM_ASPD,
|
||||
SYM_GSPD,
|
||||
SYM_WSPD,
|
||||
SYM_VSPD,
|
||||
SYM_WPNO,
|
||||
SYM_WPDIR,
|
||||
SYM_WPDST,
|
||||
SYM_FTMIN,
|
||||
SYM_FTSEC,
|
||||
SYM_SAT_L,
|
||||
SYM_SAT_R,
|
||||
SYM_HDOP_L,
|
||||
SYM_HDOP_R,
|
||||
SYM_HOME,
|
||||
SYM_WIND,
|
||||
SYM_ARROW_START,
|
||||
SYM_ARROW_COUNT,
|
||||
SYM_AH_H_START,
|
||||
SYM_AH_H_COUNT,
|
||||
SYM_AH_V_START,
|
||||
SYM_AH_V_COUNT,
|
||||
SYM_AH_CENTER_LINE_LEFT,
|
||||
SYM_AH_CENTER_LINE_RIGHT,
|
||||
SYM_AH_CENTER,
|
||||
SYM_HEADING_N,
|
||||
SYM_HEADING_S,
|
||||
SYM_HEADING_E,
|
||||
SYM_HEADING_W,
|
||||
SYM_HEADING_DIVIDED_LINE,
|
||||
SYM_HEADING_LINE,
|
||||
SYM_UP_UP,
|
||||
SYM_UP,
|
||||
SYM_DOWN,
|
||||
SYM_DOWN_DOWN,
|
||||
SYM_DEGREES_C,
|
||||
SYM_DEGREES_F,
|
||||
SYM_GPS_LAT,
|
||||
SYM_GPS_LONG,
|
||||
SYM_ARMED,
|
||||
SYM_DISARMED,
|
||||
SYM_ROLL0,
|
||||
SYM_ROLLR,
|
||||
SYM_ROLLL,
|
||||
SYM_PTCH0,
|
||||
SYM_PTCHUP,
|
||||
SYM_PTCHDWN,
|
||||
SYM_XERR,
|
||||
SYM_KN,
|
||||
SYM_NM,
|
||||
SYM_DIST,
|
||||
SYM_FLY,
|
||||
SYM_EFF,
|
||||
SYM_AH,
|
||||
SYM_MW,
|
||||
SYM_CLK,
|
||||
SYM_KILO,
|
||||
SYM_TERALT,
|
||||
SYM_FENCE_ENABLED,
|
||||
SYM_FENCE_DISABLED,
|
||||
SYM_RNGFD,
|
||||
SYM_LQ,
|
||||
};
|
||||
|
||||
bool _blink_on;
|
||||
};
|
||||
#endif
|
|
@ -568,7 +568,7 @@ void AP_OSD_ParamScreen::update_state_machine()
|
|||
}
|
||||
}
|
||||
|
||||
#if HAL_WITH_OSD_BITMAP
|
||||
#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
|
||||
void AP_OSD_ParamScreen::draw(void)
|
||||
{
|
||||
if (!enabled || !backend) {
|
||||
|
|
|
@ -1019,6 +1019,101 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info2[] = {
|
|||
AP_GROUPEND
|
||||
};
|
||||
|
||||
|
||||
uint8_t AP_OSD_AbstractScreen::symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
|
||||
|
||||
// Symbol indexes to acces _symbols[index][set]
|
||||
#define SYM_M 0
|
||||
#define SYM_KM 1
|
||||
#define SYM_FT 2
|
||||
#define SYM_MI 3
|
||||
#define SYM_ALT_M 4
|
||||
#define SYM_ALT_FT 5
|
||||
#define SYM_BATT_FULL 6
|
||||
#define SYM_RSSI 7
|
||||
|
||||
#define SYM_VOLT 8
|
||||
#define SYM_AMP 9
|
||||
#define SYM_MAH 10
|
||||
#define SYM_MS 11
|
||||
#define SYM_FS 12
|
||||
#define SYM_KMH 13
|
||||
#define SYM_MPH 14
|
||||
#define SYM_DEGR 15
|
||||
#define SYM_PCNT 16
|
||||
#define SYM_RPM 17
|
||||
#define SYM_ASPD 18
|
||||
#define SYM_GSPD 19
|
||||
#define SYM_WSPD 20
|
||||
#define SYM_VSPD 21
|
||||
#define SYM_WPNO 22
|
||||
#define SYM_WPDIR 23
|
||||
#define SYM_WPDST 24
|
||||
#define SYM_FTMIN 25
|
||||
#define SYM_FTSEC 26
|
||||
|
||||
#define SYM_SAT_L 27
|
||||
#define SYM_SAT_R 28
|
||||
#define SYM_HDOP_L 29
|
||||
#define SYM_HDOP_R 30
|
||||
|
||||
#define SYM_HOME 31
|
||||
#define SYM_WIND 32
|
||||
|
||||
#define SYM_ARROW_START 33
|
||||
#define SYM_ARROW_COUNT 34
|
||||
#define SYM_AH_H_START 35
|
||||
#define SYM_AH_H_COUNT 36
|
||||
|
||||
#define SYM_AH_V_START 37
|
||||
#define SYM_AH_V_COUNT 38
|
||||
|
||||
#define SYM_AH_CENTER_LINE_LEFT 39
|
||||
#define SYM_AH_CENTER_LINE_RIGHT 40
|
||||
#define SYM_AH_CENTER 41
|
||||
|
||||
#define SYM_HEADING_N 42
|
||||
#define SYM_HEADING_S 43
|
||||
#define SYM_HEADING_E 44
|
||||
#define SYM_HEADING_W 45
|
||||
#define SYM_HEADING_DIVIDED_LINE 46
|
||||
#define SYM_HEADING_LINE 47
|
||||
|
||||
#define SYM_UP_UP 48
|
||||
#define SYM_UP 49
|
||||
#define SYM_DOWN 50
|
||||
#define SYM_DOWN_DOWN 51
|
||||
|
||||
#define SYM_DEGREES_C 52
|
||||
#define SYM_DEGREES_F 53
|
||||
#define SYM_GPS_LAT 54
|
||||
#define SYM_GPS_LONG 55
|
||||
#define SYM_ARMED 56
|
||||
#define SYM_DISARMED 57
|
||||
#define SYM_ROLL0 58
|
||||
#define SYM_ROLLR 59
|
||||
#define SYM_ROLLL 60
|
||||
#define SYM_PTCH0 61
|
||||
#define SYM_PTCHUP 62
|
||||
#define SYM_PTCHDWN 63
|
||||
#define SYM_XERR 64
|
||||
#define SYM_KN 65
|
||||
#define SYM_NM 66
|
||||
#define SYM_DIST 67
|
||||
#define SYM_FLY 68
|
||||
#define SYM_EFF 69
|
||||
#define SYM_AH 70
|
||||
#define SYM_MW 71
|
||||
#define SYM_CLK 72
|
||||
#define SYM_KILO 73
|
||||
#define SYM_TERALT 74
|
||||
#define SYM_FENCE_ENABLED 75
|
||||
#define SYM_FENCE_DISABLED 76
|
||||
#define SYM_RNGFD 77
|
||||
#define SYM_LQ 78
|
||||
|
||||
#define SYMBOL(n) AP_OSD_AbstractScreen::symbols_lookup_table[n]
|
||||
|
||||
// constructor
|
||||
AP_OSD_Screen::AP_OSD_Screen()
|
||||
{
|
||||
|
@ -1026,99 +1121,6 @@ AP_OSD_Screen::AP_OSD_Screen()
|
|||
AP_Param::setup_object_defaults(this, var_info2);
|
||||
}
|
||||
|
||||
//Symbols
|
||||
|
||||
#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
|
||||
|
||||
#define SYM_VOLT 0x06
|
||||
#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
|
||||
#define SYM_ASPD 0xE1
|
||||
#define SYM_GSPD 0xE2
|
||||
#define SYM_WSPD 0xE3
|
||||
#define SYM_VSPD 0xE4
|
||||
#define SYM_WPNO 0xE5
|
||||
#define SYM_WPDIR 0xE6
|
||||
#define SYM_WPDST 0xE7
|
||||
#define SYM_FTMIN 0xE8
|
||||
#define SYM_FTSEC 0x99
|
||||
|
||||
#define SYM_SAT_L 0x1E
|
||||
#define SYM_SAT_R 0x1F
|
||||
#define SYM_HDOP_L 0xBD
|
||||
#define SYM_HDOP_R 0xBE
|
||||
|
||||
#define SYM_HOME 0xBF
|
||||
#define SYM_WIND 0x16
|
||||
|
||||
#define SYM_ARROW_START 0x60
|
||||
#define SYM_ARROW_COUNT 16
|
||||
|
||||
#define SYM_AH_H_START 0x80
|
||||
#define SYM_AH_H_COUNT 9
|
||||
|
||||
#define SYM_AH_V_START 0xCA
|
||||
#define SYM_AH_V_COUNT 6
|
||||
|
||||
#define SYM_AH_CENTER_LINE_LEFT 0x26
|
||||
#define SYM_AH_CENTER_LINE_RIGHT 0x27
|
||||
#define SYM_AH_CENTER 0x7E
|
||||
|
||||
#define SYM_HEADING_N 0x18
|
||||
#define SYM_HEADING_S 0x19
|
||||
#define SYM_HEADING_E 0x1A
|
||||
#define SYM_HEADING_W 0x1B
|
||||
#define SYM_HEADING_DIVIDED_LINE 0x1C
|
||||
#define SYM_HEADING_LINE 0x1D
|
||||
|
||||
#define SYM_UP_UP 0xA2
|
||||
#define SYM_UP 0xA3
|
||||
#define SYM_DOWN 0xA4
|
||||
#define SYM_DOWN_DOWN 0xA5
|
||||
|
||||
#define SYM_DEGREES_C 0x0E
|
||||
#define SYM_DEGREES_F 0x0D
|
||||
#define SYM_GPS_LAT 0xA6
|
||||
#define SYM_GPS_LONG 0xA7
|
||||
#define SYM_ARMED 0x00
|
||||
#define SYM_DISARMED 0xE9
|
||||
#define SYM_ROLL0 0x2D
|
||||
#define SYM_ROLLR 0xEA
|
||||
#define SYM_ROLLL 0xEB
|
||||
#define SYM_PTCH0 0x7C
|
||||
#define SYM_PTCHUP 0xEC
|
||||
#define SYM_PTCHDWN 0xED
|
||||
#define SYM_XERR 0xEE
|
||||
#define SYM_KN 0xF0
|
||||
#define SYM_NM 0xF1
|
||||
#define SYM_DIST 0x22
|
||||
#define SYM_FLY 0x9C
|
||||
#define SYM_EFF 0xF2
|
||||
#define SYM_AH 0xF3
|
||||
#define SYM_MW 0xF4
|
||||
#define SYM_CLK 0xBC
|
||||
#define SYM_KILO 0x4B
|
||||
#define SYM_TERALT 0xEF
|
||||
#define SYM_FENCE_ENABLED 0xF5
|
||||
#define SYM_FENCE_DISABLED 0xF6
|
||||
#define SYM_RNGFD 0xF7
|
||||
#define SYM_LQ 0xF8
|
||||
|
||||
|
||||
void AP_OSD_AbstractScreen::set_backend(AP_OSD_Backend *_backend)
|
||||
{
|
||||
backend = _backend;
|
||||
|
@ -1135,45 +1137,45 @@ bool AP_OSD_AbstractScreen::check_option(uint32_t option)
|
|||
*/
|
||||
char AP_OSD_AbstractScreen::u_icon(enum unit_type unit)
|
||||
{
|
||||
static const char icons_metric[UNIT_TYPE_LAST] {
|
||||
(char)SYM_ALT_M, //ALTITUDE
|
||||
(char)SYM_KMH, //SPEED
|
||||
(char)SYM_MS, //VSPEED
|
||||
(char)SYM_M, //DISTANCE
|
||||
(char)SYM_KM, //DISTANCE_LONG
|
||||
(char)SYM_DEGREES_C //TEMPERATURE
|
||||
static const uint8_t icons_metric[UNIT_TYPE_LAST] {
|
||||
SYM_ALT_M, //ALTITUDE
|
||||
SYM_KMH, //SPEED
|
||||
SYM_MS, //VSPEED
|
||||
SYM_M, //DISTANCE
|
||||
SYM_KM, //DISTANCE_LONG
|
||||
SYM_DEGREES_C //TEMPERATURE
|
||||
};
|
||||
static const char icons_imperial[UNIT_TYPE_LAST] {
|
||||
(char)SYM_ALT_FT, //ALTITUDE
|
||||
(char)SYM_MPH, //SPEED
|
||||
(char)SYM_FS, //VSPEED
|
||||
(char)SYM_FT, //DISTANCE
|
||||
(char)SYM_MI, //DISTANCE_LONG
|
||||
(char)SYM_DEGREES_F //TEMPERATURE
|
||||
static const uint8_t icons_imperial[UNIT_TYPE_LAST] {
|
||||
SYM_ALT_FT, //ALTITUDE
|
||||
SYM_MPH, //SPEED
|
||||
SYM_FS, //VSPEED
|
||||
SYM_FT, //DISTANCE
|
||||
SYM_MI, //DISTANCE_LONG
|
||||
SYM_DEGREES_F //TEMPERATURE
|
||||
};
|
||||
static const char icons_SI[UNIT_TYPE_LAST] {
|
||||
(char)SYM_ALT_M, //ALTITUDE
|
||||
(char)SYM_MS, //SPEED
|
||||
(char)SYM_MS, //VSPEED
|
||||
(char)SYM_M, //DISTANCE
|
||||
(char)SYM_KM, //DISTANCE_LONG
|
||||
(char)SYM_DEGREES_C //TEMPERATURE
|
||||
static const uint8_t icons_SI[UNIT_TYPE_LAST] {
|
||||
SYM_ALT_M, //ALTITUDE
|
||||
SYM_MS, //SPEED
|
||||
SYM_MS, //VSPEED
|
||||
SYM_M, //DISTANCE
|
||||
SYM_KM, //DISTANCE_LONG
|
||||
SYM_DEGREES_C //TEMPERATURE
|
||||
};
|
||||
static const char icons_aviation[UNIT_TYPE_LAST] {
|
||||
(char)SYM_ALT_FT, //ALTITUDE Ft
|
||||
(char)SYM_KN, //SPEED Knots
|
||||
(char)SYM_FTMIN, //VSPEED
|
||||
(char)SYM_FT, //DISTANCE
|
||||
(char)SYM_NM, //DISTANCE_LONG Nm
|
||||
(char)SYM_DEGREES_C //TEMPERATURE
|
||||
static const uint8_t icons_aviation[UNIT_TYPE_LAST] {
|
||||
SYM_ALT_FT, //ALTITUDE Ft
|
||||
SYM_KN, //SPEED Knots
|
||||
SYM_FTMIN, //VSPEED
|
||||
SYM_FT, //DISTANCE
|
||||
SYM_NM, //DISTANCE_LONG Nm
|
||||
SYM_DEGREES_C //TEMPERATURE
|
||||
};
|
||||
static const char *icons[AP_OSD::UNITS_LAST] = {
|
||||
static const uint8_t* icons[AP_OSD::UNITS_LAST] = {
|
||||
icons_metric,
|
||||
icons_imperial,
|
||||
icons_SI,
|
||||
icons_aviation,
|
||||
};
|
||||
return icons[constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1)][unit];
|
||||
return (char)SYMBOL(icons[constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1)][unit]);
|
||||
}
|
||||
|
||||
/*
|
||||
|
@ -1253,7 +1255,7 @@ void AP_OSD_Screen::draw_bat_volt(uint8_t x, uint8_t y)
|
|||
uint8_t pct = battery.capacity_remaining_pct();
|
||||
uint8_t p = (100 - pct) / 16.6;
|
||||
float v = battery.voltage();
|
||||
backend->write(x,y, v < osd->warn_batvolt, "%c%2.1f%c", SYM_BATT_FULL + p, (double)v, SYM_VOLT);
|
||||
backend->write(x,y, v < osd->warn_batvolt, "%c%2.1f%c", SYMBOL(SYM_BATT_FULL) + p, (double)v, SYMBOL(SYM_VOLT));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_avgcellvolt(uint8_t x, uint8_t y)
|
||||
|
@ -1266,12 +1268,12 @@ void AP_OSD_Screen::draw_avgcellvolt(uint8_t x, uint8_t y)
|
|||
osd->max_battery_voltage = MAX(osd->max_battery_voltage,v);
|
||||
if (osd->cell_count > 0) {
|
||||
v = v / osd->cell_count;
|
||||
backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYM_BATT_FULL + p, v, SYM_VOLT);
|
||||
backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYMBOL(SYM_BATT_FULL) + p, v, SYMBOL(SYM_VOLT));
|
||||
} else if (osd->cell_count < 0) { // user must decide on autodetect cell count or manually entered to display this panel since default is -1
|
||||
backend->write(x,y, false, "%c---%c", SYM_BATT_FULL + p, SYM_VOLT);
|
||||
backend->write(x,y, false, "%c---%c", SYMBOL(SYM_BATT_FULL) + p, SYMBOL(SYM_VOLT));
|
||||
} else { // use autodetected cell count
|
||||
v = v / (uint8_t)(osd->max_battery_voltage * 0.2381 + 1);
|
||||
backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYM_BATT_FULL + p, v, SYM_VOLT);
|
||||
backend->write(x,y, v < osd->warn_avgcellvolt, "%c%1.2f%c", SYMBOL(SYM_BATT_FULL) + p, v, SYMBOL(SYM_VOLT));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1281,7 +1283,7 @@ void AP_OSD_Screen::draw_restvolt(uint8_t x, uint8_t y)
|
|||
uint8_t pct = battery.capacity_remaining_pct();
|
||||
uint8_t p = (100 - pct) / 16.6;
|
||||
float v = battery.voltage_resting_estimate();
|
||||
backend->write(x,y, v < osd->warn_restvolt, "%c%2.1f%c", SYM_BATT_FULL + p, (double)v, SYM_VOLT);
|
||||
backend->write(x,y, v < osd->warn_restvolt, "%c%2.1f%c", SYMBOL(SYM_BATT_FULL) + p, (double)v, SYMBOL(SYM_VOLT));
|
||||
}
|
||||
|
||||
|
||||
|
@ -1291,7 +1293,7 @@ void AP_OSD_Screen::draw_rssi(uint8_t x, uint8_t y)
|
|||
AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
|
||||
if (ap_rssi) {
|
||||
const uint8_t rssiv = ap_rssi->read_receiver_rssi() * 99;
|
||||
backend->write(x, y, rssiv < osd->warn_rssi, "%c%2d", SYM_RSSI, rssiv);
|
||||
backend->write(x, y, rssiv < osd->warn_rssi, "%c%2d", SYMBOL(SYM_RSSI), rssiv);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1301,9 +1303,9 @@ void AP_OSD_Screen::draw_link_quality(uint8_t x, uint8_t y)
|
|||
if (ap_rssi) {
|
||||
const int16_t lqv = ap_rssi->read_receiver_link_quality();
|
||||
if (lqv < 0){
|
||||
backend->write(x, y, false, "%c--", SYM_LQ);
|
||||
backend->write(x, y, false, "%c--", SYMBOL(SYM_LQ));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c%2d", SYM_LQ, lqv);
|
||||
backend->write(x, y, false, "%c%2d", SYMBOL(SYM_LQ), lqv);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -1317,10 +1319,10 @@ void AP_OSD_Screen::draw_current(uint8_t instance, uint8_t x, uint8_t y)
|
|||
//filter current and display with autoranging for low values
|
||||
osd->avg_current_a= osd->avg_current_a + (amps - osd->avg_current_a) * 0.33;
|
||||
if (osd->avg_current_a < 10.0) {
|
||||
backend->write(x, y, false, "%2.2f%c", osd->avg_current_a, SYM_AMP);
|
||||
backend->write(x, y, false, "%2.2f%c", osd->avg_current_a, SYMBOL(SYM_AMP));
|
||||
}
|
||||
else {
|
||||
backend->write(x, y, false, "%2.1f%c", osd->avg_current_a, SYM_AMP);
|
||||
backend->write(x, y, false, "%2.1f%c", osd->avg_current_a, SYMBOL(SYM_AMP));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1334,9 +1336,9 @@ void AP_OSD_Screen::draw_fltmode(uint8_t x, uint8_t y)
|
|||
AP_Notify * notify = AP_Notify::get_singleton();
|
||||
char arm;
|
||||
if (AP_Notify::flags.armed) {
|
||||
arm = SYM_ARMED;
|
||||
arm = SYMBOL(SYM_ARMED);
|
||||
} else {
|
||||
arm = SYM_DISARMED;
|
||||
arm = SYMBOL(SYM_DISARMED);
|
||||
}
|
||||
if (notify) {
|
||||
backend->write(x, y, false, "%s%c", notify->get_flight_mode_str(), arm);
|
||||
|
@ -1348,7 +1350,7 @@ void AP_OSD_Screen::draw_sats(uint8_t x, uint8_t y)
|
|||
AP_GPS & gps = AP::gps();
|
||||
uint8_t nsat = gps.num_sats();
|
||||
bool flash = (nsat < osd->warn_nsat) || (gps.status() < AP_GPS::GPS_OK_FIX_3D);
|
||||
backend->write(x, y, flash, "%c%c%2u", SYM_SAT_L, SYM_SAT_R, nsat);
|
||||
backend->write(x, y, flash, "%c%c%2u", SYMBOL(SYM_SAT_L), SYMBOL(SYM_SAT_R), nsat);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_batused(uint8_t instance, uint8_t x, uint8_t y)
|
||||
|
@ -1358,10 +1360,10 @@ void AP_OSD_Screen::draw_batused(uint8_t instance, uint8_t x, uint8_t y)
|
|||
mah = 0;
|
||||
}
|
||||
if (mah <= 9999) {
|
||||
backend->write(x,y, false, "%4d%c", (int)mah, SYM_MAH);
|
||||
backend->write(x,y, false, "%4d%c", (int)mah, SYMBOL(SYM_MAH));
|
||||
} else {
|
||||
const float ah = mah * 1e-3f;
|
||||
backend->write(x,y, false, "%2.2f%c", (double)ah, SYM_AH);
|
||||
backend->write(x,y, false, "%2.2f%c", (double)ah, SYMBOL(SYM_AH));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1427,8 +1429,8 @@ void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y)
|
|||
// draw a arrow at the given angle, and print the given magnitude
|
||||
void AP_OSD_Screen::draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude)
|
||||
{
|
||||
static const int32_t interval = 36000 / SYM_ARROW_COUNT;
|
||||
char arrow = SYM_ARROW_START + ((int32_t(angle_rad*DEGX100) + interval / 2) / interval) % SYM_ARROW_COUNT;
|
||||
static const int32_t interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
|
||||
char arrow = SYMBOL(SYM_ARROW_START) + ((int32_t(angle_rad*DEGX100) + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
|
||||
if (u_scale(SPEED, magnitude) < 9.95) {
|
||||
backend->write(x, y, false, "%c %1.1f%c", arrow, u_scale(SPEED, magnitude), u_icon(SPEED));
|
||||
} else {
|
||||
|
@ -1441,7 +1443,7 @@ void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
|
|||
AP_AHRS &ahrs = AP::ahrs();
|
||||
WITH_SEMAPHORE(ahrs.get_semaphore());
|
||||
Vector2f v = ahrs.groundspeed_vector();
|
||||
backend->write(x, y, false, "%c", SYM_GSPD);
|
||||
backend->write(x, y, false, "%c", SYMBOL(SYM_GSPD));
|
||||
|
||||
float angle = 0;
|
||||
const float length = v.length();
|
||||
|
@ -1477,9 +1479,9 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
|
|||
for (int dx = -4; dx <= 4; dx++) {
|
||||
float fy = (ratio * dx) * (ky/kx) + pitch * ah_pitch_rad_to_char + 0.5f;
|
||||
int dy = floorf(fy);
|
||||
char c = (fy - dy) * SYM_AH_H_COUNT;
|
||||
char c = (fy - dy) * SYMBOL(SYM_AH_H_COUNT);
|
||||
//chars in font in reversed order
|
||||
c = SYM_AH_H_START + ((SYM_AH_H_COUNT - 1) - c);
|
||||
c = SYMBOL(SYM_AH_H_START) + ((SYMBOL(SYM_AH_H_COUNT) - 1) - c);
|
||||
if (dy >= -4 && dy <= 4) {
|
||||
backend->write(x + dx, y - dy, false, "%c", c);
|
||||
}
|
||||
|
@ -1488,8 +1490,8 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
|
|||
for (int dy=-4; dy<=4; dy++) {
|
||||
float fx = ((dy / ratio) - pitch * ah_pitch_rad_to_char) * (kx/ky) + 0.5f;
|
||||
int dx = floorf(fx);
|
||||
char c = (fx - dx) * SYM_AH_V_COUNT;
|
||||
c = SYM_AH_V_START + c;
|
||||
char c = (fx - dx) * SYMBOL(SYM_AH_V_COUNT);
|
||||
c = SYMBOL(SYM_AH_V_START) + c;
|
||||
if (dx >= -4 && dx <=4) {
|
||||
backend->write(x + dx, y - dy, false, "%c", c);
|
||||
}
|
||||
|
@ -1497,7 +1499,7 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
|
|||
}
|
||||
|
||||
if (!check_option(AP_OSD::OPTION_DISABLE_CROSSHAIR)) {
|
||||
backend->write(x-1,y, false, "%c%c%c", SYM_AH_CENTER_LINE_LEFT, SYM_AH_CENTER, SYM_AH_CENTER_LINE_RIGHT);
|
||||
backend->write(x-1,y, false, "%c%c%c", SYMBOL(SYM_AH_CENTER_LINE_LEFT), SYMBOL(SYM_AH_CENTER), SYMBOL(SYM_AH_CENTER_LINE_RIGHT));
|
||||
}
|
||||
|
||||
}
|
||||
|
@ -1535,16 +1537,16 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
|
|||
const Location &home_loc = ahrs.get_home();
|
||||
float distance = home_loc.get_distance(loc);
|
||||
int32_t angle = wrap_360_cd(loc.get_bearing_to(home_loc) - ahrs.yaw_sensor);
|
||||
int32_t interval = 36000 / SYM_ARROW_COUNT;
|
||||
int32_t interval = 36000 / SYMBOL(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;
|
||||
backend->write(x, y, false, "%c%c", SYM_HOME, arrow);
|
||||
char arrow = SYMBOL(SYM_ARROW_START) + ((angle + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
|
||||
backend->write(x, y, false, "%c%c", SYMBOL(SYM_HOME), arrow);
|
||||
draw_distance(x+2, y, distance);
|
||||
} else {
|
||||
backend->write(x, y, true, "%c", SYM_HOME);
|
||||
backend->write(x, y, true, "%c", SYMBOL(SYM_HOME));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1552,19 +1554,19 @@ void AP_OSD_Screen::draw_heading(uint8_t x, uint8_t y)
|
|||
{
|
||||
AP_AHRS &ahrs = AP::ahrs();
|
||||
uint16_t yaw = ahrs.yaw_sensor / 100;
|
||||
backend->write(x, y, false, "%3d%c", yaw, SYM_DEGR);
|
||||
backend->write(x, y, false, "%3d%c", yaw, SYMBOL(SYM_DEGR));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
|
||||
{
|
||||
backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYM_PCNT);
|
||||
backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYMBOL(SYM_PCNT));
|
||||
}
|
||||
|
||||
//Thanks to betaflight/inav for simple and clean compass visual design
|
||||
void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
|
||||
{
|
||||
const int8_t total_sectors = 16;
|
||||
static const char compass_circle[total_sectors] = {
|
||||
static const uint8_t compass_circle[total_sectors] = {
|
||||
SYM_HEADING_N,
|
||||
SYM_HEADING_LINE,
|
||||
SYM_HEADING_DIVIDED_LINE,
|
||||
|
@ -1589,7 +1591,7 @@ void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
|
|||
for (int8_t i = -4; i <= 4; i++) {
|
||||
int8_t sector = center_sector + i;
|
||||
sector = (sector + total_sectors) % total_sectors;
|
||||
backend->write(x + i, y, false, "%c", compass_circle[sector]);
|
||||
backend->write(x + i, y, false, "%c", SYMBOL(compass_circle[sector]));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1616,7 +1618,7 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
|
|||
}
|
||||
#endif
|
||||
|
||||
backend->write(x, y, false, "%c", SYM_WSPD);
|
||||
backend->write(x, y, false, "%c", SYMBOL(SYM_WSPD));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
|
||||
|
@ -1626,9 +1628,9 @@ void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
|
|||
WITH_SEMAPHORE(ahrs.get_semaphore());
|
||||
bool have_estimate = ahrs.airspeed_estimate(aspd);
|
||||
if (have_estimate) {
|
||||
backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, aspd), u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c%4d%c", SYMBOL(SYM_ASPD), (int)u_scale(SPEED, aspd), u_icon(SPEED));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c ---%c", SYMBOL(SYM_ASPD), u_icon(SPEED));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1648,13 +1650,13 @@ void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
|
|||
}
|
||||
char sym;
|
||||
if (vspd > 3.0f) {
|
||||
sym = SYM_UP_UP;
|
||||
sym = SYMBOL(SYM_UP_UP);
|
||||
} else if (vspd >=0.0f) {
|
||||
sym = SYM_UP;
|
||||
sym = SYMBOL(SYM_UP);
|
||||
} else if (vspd >= -3.0f) {
|
||||
sym = SYM_DOWN;
|
||||
sym = SYMBOL(SYM_DOWN);
|
||||
} else {
|
||||
sym = SYM_DOWN_DOWN;
|
||||
sym = SYMBOL(SYM_DOWN_DOWN);
|
||||
}
|
||||
vs_scaled = u_scale(VSPEED, fabsf(vspd));
|
||||
if ((osd->units != AP_OSD::UNITS_AVIATION) && (vs_scaled < 9.95f)) {
|
||||
|
@ -1686,7 +1688,7 @@ void AP_OSD_Screen::draw_esc_rpm(uint8_t x, uint8_t y)
|
|||
}
|
||||
float krpm = rpm * 0.001f;
|
||||
const char *format = krpm < 9.995 ? "%.2f%c%c" : (krpm < 99.95 ? "%.1f%c%c" : "%.0f%c%c");
|
||||
backend->write(x, y, false, format, krpm, SYM_KILO, SYM_RPM);
|
||||
backend->write(x, y, false, format, krpm, SYMBOL(SYM_KILO), SYMBOL(SYM_RPM));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_esc_amps(uint8_t x, uint8_t y)
|
||||
|
@ -1696,7 +1698,7 @@ void AP_OSD_Screen::draw_esc_amps(uint8_t x, uint8_t y)
|
|||
if (!AP::esc_telem().get_current(0, amps)) {
|
||||
return;
|
||||
}
|
||||
backend->write(x, y, false, "%4.1f%c", amps, SYM_AMP);
|
||||
backend->write(x, y, false, "%4.1f%c", amps, SYMBOL(SYM_AMP));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
@ -1710,7 +1712,7 @@ void AP_OSD_Screen::draw_gps_latitude(uint8_t x, uint8_t y)
|
|||
dec_portion = loc.lat / 10000000L;
|
||||
frac_portion = abs_lat - labs(dec_portion)*10000000UL;
|
||||
|
||||
backend->write(x, y, false, "%c%4ld.%07ld", SYM_GPS_LAT, (long)dec_portion,(long)frac_portion);
|
||||
backend->write(x, y, false, "%c%4ld.%07ld", SYMBOL(SYM_GPS_LAT), (long)dec_portion,(long)frac_portion);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_gps_longitude(uint8_t x, uint8_t y)
|
||||
|
@ -1723,7 +1725,7 @@ void AP_OSD_Screen::draw_gps_longitude(uint8_t x, uint8_t y)
|
|||
dec_portion = loc.lng / 10000000L;
|
||||
frac_portion = abs_lon - labs(dec_portion)*10000000UL;
|
||||
|
||||
backend->write(x, y, false, "%c%4ld.%07ld", SYM_GPS_LONG, (long)dec_portion,(long)frac_portion);
|
||||
backend->write(x, y, false, "%c%4ld.%07ld", SYMBOL(SYM_GPS_LONG), (long)dec_portion,(long)frac_portion);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_roll_angle(uint8_t x, uint8_t y)
|
||||
|
@ -1732,13 +1734,13 @@ void AP_OSD_Screen::draw_roll_angle(uint8_t x, uint8_t y)
|
|||
uint16_t roll = abs(ahrs.roll_sensor) / 100;
|
||||
char r;
|
||||
if (ahrs.roll_sensor > 50) {
|
||||
r = SYM_ROLLR;
|
||||
r = SYMBOL(SYM_ROLLR);
|
||||
} else if (ahrs.roll_sensor < -50) {
|
||||
r = SYM_ROLLL;
|
||||
r = SYMBOL(SYM_ROLLL);
|
||||
} else {
|
||||
r = SYM_ROLL0;
|
||||
r = SYMBOL(SYM_ROLL0);
|
||||
}
|
||||
backend->write(x, y, false, "%c%3d%c", r, roll, SYM_DEGR);
|
||||
backend->write(x, y, false, "%c%3d%c", r, roll, SYMBOL(SYM_DEGR));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_pitch_angle(uint8_t x, uint8_t y)
|
||||
|
@ -1747,13 +1749,13 @@ void AP_OSD_Screen::draw_pitch_angle(uint8_t x, uint8_t y)
|
|||
uint16_t pitch = abs(ahrs.pitch_sensor) / 100;
|
||||
char p;
|
||||
if (ahrs.pitch_sensor > 50) {
|
||||
p = SYM_PTCHUP;
|
||||
p = SYMBOL(SYM_PTCHUP);
|
||||
} else if (ahrs.pitch_sensor < -50) {
|
||||
p = SYM_PTCHDWN;
|
||||
p = SYMBOL(SYM_PTCHDWN);
|
||||
} else {
|
||||
p = SYM_PTCH0;
|
||||
p = SYMBOL(SYM_PTCH0);
|
||||
}
|
||||
backend->write(x, y, false, "%c%3d%c", p, pitch, SYM_DEGR);
|
||||
backend->write(x, y, false, "%c%3d%c", p, pitch, SYMBOL(SYM_DEGR));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_temp(uint8_t x, uint8_t y)
|
||||
|
@ -1768,45 +1770,45 @@ void AP_OSD_Screen::draw_hdop(uint8_t x, uint8_t y)
|
|||
{
|
||||
AP_GPS & gps = AP::gps();
|
||||
float hdp = gps.get_hdop() / 100.0f;
|
||||
backend->write(x, y, false, "%c%c%3.2f", SYM_HDOP_L, SYM_HDOP_R, (double)hdp);
|
||||
backend->write(x, y, false, "%c%c%3.2f", SYMBOL(SYM_HDOP_L), SYMBOL(SYM_HDOP_R), (double)hdp);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_waypoint(uint8_t x, uint8_t y)
|
||||
{
|
||||
AP_AHRS &ahrs = AP::ahrs();
|
||||
int32_t angle = wrap_360_cd(osd->nav_info.wp_bearing - ahrs.yaw_sensor);
|
||||
int32_t interval = 36000 / SYM_ARROW_COUNT;
|
||||
int32_t interval = 36000 / SYMBOL(SYM_ARROW_COUNT);
|
||||
if (osd->nav_info.wp_distance < 2.0f) {
|
||||
//avoid fast rotating arrow at small distances
|
||||
angle = 0;
|
||||
}
|
||||
char arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
|
||||
backend->write(x,y, false, "%c%2u%c",SYM_WPNO, osd->nav_info.wp_number, arrow);
|
||||
char arrow = SYMBOL(SYM_ARROW_START) + ((angle + interval / 2) / interval) % SYMBOL(SYM_ARROW_COUNT);
|
||||
backend->write(x,y, false, "%c%2u%c",SYMBOL(SYM_WPNO), osd->nav_info.wp_number, arrow);
|
||||
draw_distance(x+4, y, osd->nav_info.wp_distance);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_xtrack_error(uint8_t x, uint8_t y)
|
||||
{
|
||||
backend->write(x, y, false, "%c", SYM_XERR);
|
||||
backend->write(x, y, false, "%c", SYMBOL(SYM_XERR));
|
||||
draw_distance(x+1, y, osd->nav_info.wp_xtrack_error);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_stat(uint8_t x, uint8_t y)
|
||||
{
|
||||
backend->write(x+2, y, false, "%c%c%c", 0x4d,0x41,0x58);
|
||||
backend->write(x, y+1, false, "%c",SYM_GSPD);
|
||||
backend->write(x, y+1, false, "%c",SYMBOL(SYM_GSPD));
|
||||
backend->write(x+1, y+1, false, "%4d%c", (int)u_scale(SPEED, osd->max_speed_mps), u_icon(SPEED));
|
||||
backend->write(x, y+2, false, "%5.1f%c", (double)osd->max_current_a, SYM_AMP);
|
||||
backend->write(x, y+2, false, "%5.1f%c", (double)osd->max_current_a, SYMBOL(SYM_AMP));
|
||||
backend->write(x, y+3, false, "%5d%c", (int)u_scale(ALTITUDE, osd->max_alt_m), u_icon(ALTITUDE));
|
||||
backend->write(x, y+4, false, "%c", SYM_HOME);
|
||||
backend->write(x, y+4, false, "%c", SYMBOL(SYM_HOME));
|
||||
draw_distance(x+1, y+4, osd->max_dist_m);
|
||||
backend->write(x, y+5, false, "%c", SYM_DIST);
|
||||
backend->write(x, y+5, false, "%c", SYMBOL(SYM_DIST));
|
||||
draw_distance(x+1, y+5, osd->last_distance_m);
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_dist(uint8_t x, uint8_t y)
|
||||
{
|
||||
backend->write(x, y, false, "%c", SYM_DIST);
|
||||
backend->write(x, y, false, "%c", SYMBOL(SYM_DIST));
|
||||
draw_distance(x+1, y, osd->last_distance_m);
|
||||
}
|
||||
|
||||
|
@ -1815,7 +1817,7 @@ void AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
|
|||
AP_Stats *stats = AP::stats();
|
||||
if (stats) {
|
||||
uint32_t t = stats->get_flight_time_s();
|
||||
backend->write(x, y, false, "%c%3u:%02u", SYM_FLY, unsigned(t/60), unsigned(t%60));
|
||||
backend->write(x, y, false, "%c%3u:%02u", SYMBOL(SYM_FLY), unsigned(t/60), unsigned(t%60));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1831,9 +1833,9 @@ void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
|
|||
float speed = u_scale(SPEED,v.length());
|
||||
float current_amps;
|
||||
if ((speed > 2.0) && battery.current_amps(current_amps)) {
|
||||
backend->write(x, y, false, "%c%3d%c", SYM_EFF,int(1000.0f*current_amps/speed),SYM_MAH);
|
||||
backend->write(x, y, false, "%c%3d%c", SYMBOL(SYM_EFF),int(1000.0f*current_amps/speed),SYMBOL(SYM_MAH));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c---%c", SYM_EFF,SYM_MAH);
|
||||
backend->write(x, y, false, "%c---%c", SYMBOL(SYM_EFF),SYMBOL(SYM_MAH));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1861,9 +1863,9 @@ void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
|
|||
AP_BattMonitor &battery = AP::battery();
|
||||
float amps;
|
||||
if (battery.current_amps(amps) && is_positive(amps)) {
|
||||
backend->write(x, y, false,"%c%c%3.1f%c",SYM_PTCHUP,SYM_EFF,(double)(3.6f * u_scale(VSPEED,vspd)/amps),unit_icon);
|
||||
backend->write(x, y, false,"%c%c%3.1f%c",SYMBOL(SYM_PTCHUP),SYMBOL(SYM_EFF),(double)(3.6f * u_scale(VSPEED,vspd)/amps),unit_icon);
|
||||
} else {
|
||||
backend->write(x, y, false,"%c%c---%c",SYM_PTCHUP,SYM_EFF,unit_icon);
|
||||
backend->write(x, y, false,"%c%c---%c",SYMBOL(SYM_PTCHUP),SYMBOL(SYM_EFF),unit_icon);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1895,7 +1897,7 @@ void AP_OSD_Screen::draw_bat2_vlt(uint8_t x, uint8_t y)
|
|||
uint8_t pct2 = battery.capacity_remaining_pct(1);
|
||||
uint8_t p2 = (100 - pct2) / 16.6;
|
||||
float v2 = battery.voltage(1);
|
||||
backend->write(x,y, v2 < osd->warn_bat2volt, "%c%2.1f%c", SYM_BATT_FULL + p2, (double)v2, SYM_VOLT);
|
||||
backend->write(x,y, v2 < osd->warn_bat2volt, "%c%2.1f%c", SYMBOL(SYM_BATT_FULL) + p2, (double)v2, SYMBOL(SYM_VOLT));
|
||||
}
|
||||
|
||||
void AP_OSD_Screen::draw_bat2used(uint8_t x, uint8_t y)
|
||||
|
@ -1911,9 +1913,9 @@ void AP_OSD_Screen::draw_aspd1(uint8_t x, uint8_t y)
|
|||
}
|
||||
float asp1 = airspeed->get_airspeed();
|
||||
if (airspeed != nullptr && airspeed->healthy()) {
|
||||
backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, asp1), u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c%4d%c", SYMBOL(SYM_ASPD), (int)u_scale(SPEED, asp1), u_icon(SPEED));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c ---%c", SYMBOL(SYM_ASPD), u_icon(SPEED));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1925,9 +1927,9 @@ void AP_OSD_Screen::draw_aspd2(uint8_t x, uint8_t y)
|
|||
}
|
||||
float asp2 = airspeed->get_airspeed(1);
|
||||
if (airspeed != nullptr && airspeed->healthy(1)) {
|
||||
backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, asp2), u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c%4d%c", SYMBOL(SYM_ASPD), (int)u_scale(SPEED, asp2), u_icon(SPEED));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
|
||||
backend->write(x, y, false, "%c ---%c", SYMBOL(SYM_ASPD), u_icon(SPEED));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1937,9 +1939,9 @@ void AP_OSD_Screen::draw_clk(uint8_t x, uint8_t y)
|
|||
uint8_t hour, min, sec;
|
||||
uint16_t ms;
|
||||
if (!rtc.get_local_time(hour, min, sec, ms)) {
|
||||
backend->write(x, y, false, "%c--:--", SYM_CLK);
|
||||
backend->write(x, y, false, "%c--:--", SYMBOL(SYM_CLK));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c%02u:%02u", SYM_CLK, hour, min);
|
||||
backend->write(x, y, false, "%c%02u:%02u", SYMBOL(SYM_CLK), hour, min);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1999,7 +2001,7 @@ void AP_OSD_Screen::draw_vtx_power(uint8_t x, uint8_t y)
|
|||
if(!vtx->has_option(AP_VideoTX::VideoOptions::VTX_PITMODE)){
|
||||
powr = vtx->get_power_mw();
|
||||
}
|
||||
backend->write(x, y, !vtx->is_configuration_finished(), "%4hu%c", powr, SYM_MW);
|
||||
backend->write(x, y, !vtx->is_configuration_finished(), "%4hu%c", powr, SYMBOL(SYM_MW));
|
||||
}
|
||||
#if AP_TERRAIN_AVAILABLE
|
||||
void AP_OSD_Screen::draw_hgt_abvterr(uint8_t x, uint8_t y)
|
||||
|
@ -2009,9 +2011,9 @@ void AP_OSD_Screen::draw_hgt_abvterr(uint8_t x, uint8_t y)
|
|||
float terrain_altitude;
|
||||
if (terrain != nullptr && terrain->height_above_terrain(terrain_altitude,true)) {
|
||||
bool blink = (osd->warn_terr != -1)? (terrain_altitude < osd->warn_terr) : false; //blink if warn_terr is not disabled and alt above terrain is below warning value
|
||||
backend->write(x, y, blink, "%4d%c%c", (int)u_scale(ALTITUDE, terrain_altitude), u_icon(ALTITUDE), SYM_TERALT);
|
||||
backend->write(x, y, blink, "%4d%c%c", (int)u_scale(ALTITUDE, terrain_altitude), u_icon(ALTITUDE), SYMBOL(SYM_TERALT));
|
||||
} else {
|
||||
backend->write(x, y, false, " ---%c%c", u_icon(ALTITUDE),SYM_TERALT);
|
||||
backend->write(x, y, false, " ---%c%c", u_icon(ALTITUDE),SYMBOL(SYM_TERALT));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
@ -2024,9 +2026,9 @@ void AP_OSD_Screen::draw_fence(uint8_t x, uint8_t y)
|
|||
return;
|
||||
}
|
||||
if (fenceptr->enabled() && fenceptr->present()) {
|
||||
backend->write(x, y, fenceptr->get_breaches(), "%c", SYM_FENCE_ENABLED);
|
||||
backend->write(x, y, fenceptr->get_breaches(), "%c", SYMBOL(SYM_FENCE_ENABLED));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c", SYM_FENCE_DISABLED);
|
||||
backend->write(x, y, false, "%c", SYMBOL(SYM_FENCE_DISABLED));
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -2037,21 +2039,20 @@ void AP_OSD_Screen::draw_rngf(uint8_t x, uint8_t y)
|
|||
return;
|
||||
}
|
||||
if (rangefinder->status_orient(ROTATION_PITCH_270) <= RangeFinder::Status::NoData) {
|
||||
backend->write(x, y, false, "%cNO DATA", SYM_RNGFD);
|
||||
backend->write(x, y, false, "%cNO DATA", SYMBOL(SYM_RNGFD));
|
||||
} else {
|
||||
backend->write(x, y, false, "%c%2.2f%c", SYM_RNGFD, u_scale(DISTANCE, (rangefinder->distance_cm_orient(ROTATION_PITCH_270) * 0.01f)), u_icon(DISTANCE));
|
||||
backend->write(x, y, false, "%c%2.2f%c", SYMBOL(SYM_RNGFD), u_scale(DISTANCE, (rangefinder->distance_cm_orient(ROTATION_PITCH_270) * 0.01f)), u_icon(DISTANCE));
|
||||
}
|
||||
}
|
||||
|
||||
#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
|
||||
|
||||
#if HAL_WITH_OSD_BITMAP
|
||||
#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
|
||||
void AP_OSD_Screen::draw(void)
|
||||
{
|
||||
if (!enabled || !backend) {
|
||||
return;
|
||||
}
|
||||
|
||||
//Note: draw order should be optimized.
|
||||
//Big and less important items should be drawn first,
|
||||
//so they will not overwrite more important ones.
|
||||
|
|
Loading…
Reference in New Issue