AP_OSD: refactor to enable a TX-only set of parameter screens

add accessor for getting parameter names
add camel-case conversion for parameters names
enable OSD parameters unless HAL_MINIMIZE_FEATURES
correct OSD parameter documentation
don't default to TXONLY

libraries/AP_OSD/AP_OSD.cpp

@@ -19,7 +19,7 @@
 
 #include "AP_OSD.h"
 
-#if OSD_ENABLED
+#if OSD_ENABLED || OSD_PARAM_ENABLED
 
 #include "AP_OSD_MAX7456.h"
 #ifdef WITH_SITL_OSD
@@ -38,12 +38,13 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
 
     // @Param: _TYPE
     // @DisplayName: OSD type
-    // @Description: OSD type
+    // @Description: OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
-    // @Values: 0:None,1:MAX7456,2:SITL,3:MSP
+    // @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
 
+#if OSD_ENABLED
     // @Param: _CHAN
     // @DisplayName: Screen switch transmitter channel
     // @Description: This sets the channel used to switch different OSD screens.
@@ -167,7 +168,10 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Range: 0 3000
     // @User: Advanced
     AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
+#endif
 
+#endif
+#if OSD_PARAM_ENABLED
     // @Group: 5_
     // @Path: AP_OSD_ParamScreen.cpp
     AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
@@ -190,16 +194,18 @@ AP_OSD::AP_OSD()
         AP_HAL::panic("AP_OSD must be singleton");
     }
     AP_Param::setup_object_defaults(this, var_info);
+#if OSD_ENABLED
     // default first screen enabled
     screen[0].enabled = 1;
+    previous_pwm_screen = -1;
+#endif
 #ifdef WITH_SITL_OSD
-    osd_type.set_default(2);
+    osd_type.set_default(OSD_SITL);
 #endif
 
 #ifdef HAL_OSD_TYPE_DEFAULT
     osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
 #endif
-    previous_pwm_screen = -1;
     _singleton = this;
 }
 
@@ -207,6 +213,7 @@ void AP_OSD::init()
 {
     switch ((enum osd_types)osd_type.get()) {
     case OSD_NONE:
+    case OSD_TXONLY:
     default:
         break;
 
@@ -244,12 +251,15 @@ void AP_OSD::init()
         break;
     }
     }
+#if OSD_ENABLED
     if (backend != nullptr && (enum osd_types)osd_type.get() != OSD_MSP) {
         // create thread as higher priority than IO for all backends but MSP which has its own
         hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1024, AP_HAL::Scheduler::PRIORITY_IO, 1);
     }
+#endif
 }
 
+#if OSD_ENABLED
 void AP_OSD::osd_thread()
 {
     while (true) {
@@ -424,6 +434,7 @@ void AP_OSD::set_nav_info(NavInfo &navinfo)
     // do this without a lock for now
     nav_info = navinfo;
 }
+#endif // OSD_ENABLED
 
 // handle OSD parameter configuration
 void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link)
@@ -475,4 +486,4 @@ AP_OSD *AP::osd() {
     return AP_OSD::get_singleton();
 }
 
-#endif // OSD_ENABLED
+#endif // OSD_ENABLED || OSD_PARAM_ENABLED

libraries/AP_OSD/AP_OSD.h

@@ -30,11 +30,11 @@
 #endif
 
 #ifndef HAL_WITH_OSD_BITMAP
-#define HAL_WITH_OSD_BITMAP defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD)
+#define HAL_WITH_OSD_BITMAP OSD_ENABLED && (defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD))
 #endif
 
 #ifndef OSD_PARAM_ENABLED
-#define OSD_PARAM_ENABLED HAL_WITH_OSD_BITMAP && !HAL_MINIMIZE_FEATURES
+#define OSD_PARAM_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 class AP_OSD_Backend;
@@ -102,6 +102,7 @@ protected:
     AP_OSD *osd;
 };
 
+#if OSD_ENABLED
 /*
   class to hold one screen of settings
  */
@@ -243,6 +244,7 @@ private:
     void draw_bat2used(uint8_t x, uint8_t y);
     void draw_clk(uint8_t x, uint8_t y);
 };
+#endif // OSD_ENABLED
 
 #if OSD_PARAM_ENABLED
 /*
@@ -291,7 +293,13 @@ public:
 
     // initialize the setting from the configured information
     void update();
-
+    // grab the parameter name
+    void copy_name(char* name, size_t len) {
+        _param->copy_name_token(_current_token, name, len);
+        if (len > 16) name[16] = 0;
+    }
+    // copy the name converting FOO_BAR_BAZ to FooBarBaz
+    void copy_name_camel_case(char* name, size_t len);
     // set the ranges from static metadata
     bool set_from_metadata();
     bool set_by_name(const char* name, uint8_t config_type, float pmin=0, float pmax=0, float pincr=0);
@@ -333,10 +341,13 @@ public:
     static const uint8_t NUM_PARAMS = 9;
     static const uint8_t SAVE_PARAM = NUM_PARAMS + 1;
 
+#if HAL_WITH_OSD_BITMAP
     void draw(void) override;
+#endif
     void handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link);
     void handle_read_msg(const mavlink_osd_param_show_config_t& packet, const GCS_MAVLINK& link);
-
+    // get a setting and associated metadata
+    AP_OSD_ParamSetting* get_setting(uint8_t param_idx);
     // Save button co-ordinates
     AP_Int8 save_x;
     AP_Int8 save_y;
@@ -347,17 +358,17 @@ public:
 private:
     AP_OSD_ParamSetting params[NUM_PARAMS] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };
 
+    void save_parameters();
+#if OSD_ENABLED
     void update_state_machine();
     void draw_parameter(uint8_t param_number, uint8_t x, uint8_t y);
     void modify_parameter(uint8_t number, Event ev);
     void modify_configured_parameter(uint8_t number, Event ev);
-    void save_parameters();
 
     Event map_rc_input_to_event() const;
     RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
 
     uint8_t _selected_param = 1;
-    uint16_t _requires_save;
     MenuState _menu_state = MenuState::PARAM_SELECT;
     Event _last_rc_event = Event::NONE;
 
@@ -367,9 +378,11 @@ private:
     uint32_t _transition_timeout_ms;
     // number of consecutive times the current transition has happened
     uint32_t _transition_count;
+#endif
+    uint16_t _requires_save;
 };
 
-#endif
+#endif // OSD_PARAM_ENABLED
 
 class AP_OSD
 {
@@ -402,6 +415,7 @@ public:
         OSD_MAX7456=1,
         OSD_SITL=2,
         OSD_MSP=3,
+        OSD_TXONLY=4
     };
     enum switch_method {
         TOGGLE=0,
@@ -410,9 +424,12 @@ public:
     };
 
     AP_Int8 osd_type;
+    AP_Int8 font_num;
+    AP_Int32 options;
+
+#if OSD_ENABLED
     AP_Int8 rc_channel;
     AP_Int8 sw_method;
-    AP_Int8 font_num;
 
     AP_Int8 v_offset;
     AP_Int8 h_offset;
@@ -433,8 +450,6 @@ public:
         OPTION_INVERTED_AH_ROLL = 1U<<2,
     };
 
-    AP_Int32 options;
-
     enum {
         UNITS_METRIC=0,
         UNITS_IMPERIAL=1,
@@ -446,9 +461,7 @@ public:
     AP_Int8 units;
 
     AP_OSD_Screen screen[AP_OSD_NUM_DISPLAY_SCREENS];
-#if OSD_PARAM_ENABLED
+
-    AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
-#endif
     struct NavInfo {
         float wp_distance;
         int32_t wp_bearing;
@@ -478,16 +491,27 @@ public:
     // Check whether arming is allowed
     bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
     bool is_readonly_screen() const { return current_screen < AP_OSD_NUM_DISPLAY_SCREENS; }
+#endif // OSD_ENABLED
+#if OSD_PARAM_ENABLED
+    AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
+    // return a setting for use by TX based OSD
+    AP_OSD_ParamSetting* get_setting(uint8_t screen_idx, uint8_t param_idx) {
+        if (screen_idx >= AP_OSD_NUM_PARAM_SCREENS) {
+            return nullptr;
+        }
+        return param_screen[screen_idx].get_setting(param_idx);
+    }
+#endif
     // handle OSD parameter configuration
     void handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link);
 
 private:
     void osd_thread();
+#if OSD_ENABLED
     void update_osd();
     void stats();
     void update_current_screen();
     void next_screen();
-    AP_OSD_Backend *backend;
 
     //variables for screen switching
     uint8_t current_screen;
@@ -508,6 +532,8 @@ private:
     float max_speed_mps;
     float max_current_a;
     float avg_current_a;
+#endif
+    AP_OSD_Backend *backend;
 
     static AP_OSD *_singleton;
 };

libraries/AP_OSD/AP_OSD_Backend.cpp

@@ -25,6 +25,7 @@ extern const AP_HAL::HAL& hal;
 
 void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...)
 {
+#if OSD_ENABLED
     if (blink && (blink_phase < 2)) {
         return;
     }
@@ -48,4 +49,5 @@ void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ..
         write(x, y, buff);
     }
     va_end(ap);
+#endif
 }

libraries/AP_OSD/AP_OSD_MAX7456.cpp

@@ -18,6 +18,7 @@
 
 #include <AP_OSD/AP_OSD_MAX7456.h>
 
+#if HAL_WITH_OSD_BITMAP
 #include <AP_HAL/Util.h>
 #include <AP_HAL/Semaphores.h>
 #include <AP_HAL/Scheduler.h>
@@ -478,3 +479,4 @@ float AP_OSD_MAX7456::get_aspect_ratio_correction() const
         return 1.0f;
     };
 }
+#endif // HAL_WITH_OSD_BITMAP

libraries/AP_OSD/AP_OSD_MAX7456.h

@@ -18,6 +18,7 @@
 #include <AP_OSD/AP_OSD_Backend.h>
 #include <AP_Common/Bitmask.h>
 
+#if HAL_WITH_OSD_BITMAP
 class AP_OSD_MAX7456 : public AP_OSD_Backend
 {
 
@@ -88,3 +89,4 @@ private:
 
     uint16_t video_lines;
 };
+#endif // HAL_WITH_OSD_BITMAP

libraries/AP_OSD/AP_OSD_ParamScreen.cpp

@@ -71,10 +71,13 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM1_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM1
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[0], "PARAM1", 4, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
     
     // @Param: PARAM2_EN
-    // @DisplayName: PARAM21_EN
+    // @DisplayName: PARAM2_EN
     // @Description: Enables display of parameter 2
     // @Values: 0:Disabled,1:Enabled
 
@@ -87,6 +90,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM2_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM2
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[1], "PARAM2", 5, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM3_EN
@@ -103,6 +109,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM3_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM3
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[2], "PARAM3", 6, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM4_EN
@@ -119,6 +128,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM4_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM4
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[3], "PARAM4", 7, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM5_EN
@@ -135,6 +147,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM5_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM5
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[4], "PARAM5", 8, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM6_EN
@@ -151,6 +166,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM6_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM6
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[5], "PARAM6", 9, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM7_EN
@@ -167,6 +185,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM7_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM7
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[6], "PARAM7", 10, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM8_EN
@@ -183,6 +204,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM8_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM8
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[7], "PARAM8", 11, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: PARAM9_EN
@@ -199,6 +223,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
     // @DisplayName: PARAM9_Y
     // @Description: Vertical position on screen
     // @Range: 0 15
+
+    // @Group: PARAM9
+    // @Path: AP_OSD_ParamSetting.cpp
     AP_SUBGROUPINFO(params[8], "PARAM9", 12, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
 
     // @Param: SAVE_X
@@ -297,6 +324,16 @@ AP_OSD_ParamScreen::AP_OSD_ParamScreen(uint8_t index)
     AP_Param::setup_object_defaults(this, var_info);
 }
 
+AP_OSD_ParamSetting* AP_OSD_ParamScreen::get_setting(uint8_t param_idx)
+{
+    if (param_idx >= NUM_PARAMS) {
+        return nullptr;
+    }
+    params[param_idx].update(); // make sure we are fresh
+    return &params[param_idx];
+}
+
+#if OSD_ENABLED
 void AP_OSD_ParamScreen::draw_parameter(uint8_t number, uint8_t x, uint8_t y)
 {
     bool param_blink = false;
@@ -328,8 +365,7 @@ void AP_OSD_ParamScreen::draw_parameter(uint8_t number, uint8_t x, uint8_t y)
     if (p != nullptr) {
         // grab the name of the parameter
         char name[17];
-        p->copy_name_token(setting._current_token, name, 16);
+        setting.copy_name(name, 17);
-        name[16] = 0;
 
         const AP_OSD_ParamSetting::ParamMetadata* metadata = setting.get_custom_metadata();
 
@@ -437,7 +473,7 @@ void AP_OSD_ParamScreen::modify_parameter(uint8_t number, Event ev)
     }
 }
 
-// modify which parameter is configued for the given selection
+// modify which parameter is configured for the given selection
 void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
 {
     if (number > NUM_PARAMS) {
@@ -487,25 +523,6 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
     }
 }
 
-// save all of the parameters
-void AP_OSD_ParamScreen::save_parameters()
-{
-    if (!_requires_save) {
-        return;
-    }
-
-    for (uint8_t i = 0; i < NUM_PARAMS; i++) {
-        if (params[i].enabled && (_requires_save & (1 << i))) {
-            AP_Param* p = params[i]._param;
-            if (p != nullptr) {
-                p->save();
-            }
-            params[i].save_as_new();
-        }
-    }
-    _requires_save = 0;
-}
-
 // return radio values as LOW, MIDDLE, HIGH
 // this function uses different threshold values to RC_Chanel::get_channel_pos()
 // to avoid glitching on the stick travel
@@ -710,6 +727,40 @@ void AP_OSD_ParamScreen::draw(void)
     draw_parameter(SAVE_PARAM, save_x, save_y);
 }
 
+// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
+bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
+{
+    // currently in the OSD menu, do not allow arming
+    if (!is_readonly_screen()) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
+        return false;
+    }
+
+    // if we got this far everything must be ok
+    return true;
+}
+
+#endif // OSD_ENABLED
+
+// save all of the parameters
+void AP_OSD_ParamScreen::save_parameters()
+{
+    if (!_requires_save) {
+        return;
+    }
+
+    for (uint8_t i = 0; i < NUM_PARAMS; i++) {
+        if (params[i].enabled && (_requires_save & (1 << i))) {
+            AP_Param* p = params[i]._param;
+            if (p != nullptr) {
+                p->save();
+            }
+            params[i].save_as_new();
+        }
+    }
+    _requires_save = 0;
+}
+
 // handle OSD configuration messages
 void AP_OSD_ParamScreen::handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link)
 {
@@ -751,16 +802,3 @@ void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t&
 }
 
 #endif // OSD_PARAM_ENABLED
-
-// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
-bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
-{
-    // currently in the OSD menu, do not allow arming
-    if (!is_readonly_screen()) {
-        hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
-        return false;
-    }
-
-    // if we got this far everything must be ok
-    return true;
-}

libraries/AP_OSD/AP_OSD_ParamSetting.cpp

@@ -24,6 +24,7 @@
 #include "AP_OSD.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <ctype.h>
 
 #if OSD_PARAM_ENABLED
 
@@ -366,7 +367,7 @@ void AP_OSD_ParamSetting::guess_ranges(bool force)
             }
             incr = MAX(1, powf(10, digits - 2));
             max = powf(10, digits + 1);
-            debug("Guessing range for value %d as %f -> %f, %f\n", p->get(), min, max, incr);
+            debug("Guessing range for value %d as %f -> %f, %f\n", int(p->get()), min, max, incr);
             break;
         }
         case AP_PARAM_FLOAT: {
@@ -415,6 +416,23 @@ void AP_OSD_ParamSetting::guess_ranges(bool force)
     }
 }
 
+// copy the name converting FOO_BAR_BAZ to FooBarBaz
+void AP_OSD_ParamSetting::copy_name_camel_case(char* name, size_t len)
+{
+    char buf[17];
+    _param->copy_name_token(_current_token, buf, 17);
+    buf[16] = 0;
+    name[0] = buf[0];
+    for (uint8_t i = 1, n = 1; i < len; i++, n++) {
+        if (buf[i] == '_') {
+            name[n] = buf[i+1];
+            i++;
+        } else {
+            name[n] = tolower(buf[i]);
+        }
+    }
+}
+
 bool AP_OSD_ParamSetting::set_from_metadata()
 {
     // check for statically configured setting metadata

libraries/AP_OSD/AP_OSD_Screen.cpp

@@ -22,6 +22,7 @@
 #include "AP_OSD.h"
 #include "AP_OSD_Backend.h"
 
+#if OSD_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Util.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -1809,3 +1810,4 @@ void AP_OSD_Screen::draw(void)
     DRAW_SETTING(eff);
 }
 #endif
+#endif // OSD_ENABLED