mirror of https://github.com/ArduPilot/ardupilot
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
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
4d1c660ebc
commit
8cd9af5ddd
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@ -19,7 +19,7 @@
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#include "AP_OSD.h"
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#if OSD_ENABLED
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#if OSD_ENABLED || OSD_PARAM_ENABLED
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#include "AP_OSD_MAX7456.h"
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#ifdef WITH_SITL_OSD
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@ -38,12 +38,13 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Param: _TYPE
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// @DisplayName: OSD type
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// @Description: OSD type
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// @Values: 0:None,1:MAX7456,2:SITL,3:MSP
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// @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.
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// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
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#if OSD_ENABLED
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// @Param: _CHAN
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// @DisplayName: Screen switch transmitter channel
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// @Description: This sets the channel used to switch different OSD screens.
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@ -167,7 +168,10 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Range: 0 3000
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// @User: Advanced
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AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
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#endif
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#endif
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#if OSD_PARAM_ENABLED
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// @Group: 5_
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// @Path: AP_OSD_ParamScreen.cpp
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AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
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@ -190,16 +194,18 @@ AP_OSD::AP_OSD()
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AP_HAL::panic("AP_OSD must be singleton");
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}
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AP_Param::setup_object_defaults(this, var_info);
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#if OSD_ENABLED
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// default first screen enabled
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screen[0].enabled = 1;
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previous_pwm_screen = -1;
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#endif
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#ifdef WITH_SITL_OSD
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osd_type.set_default(2);
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osd_type.set_default(OSD_SITL);
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#endif
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#ifdef HAL_OSD_TYPE_DEFAULT
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osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
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#endif
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previous_pwm_screen = -1;
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_singleton = this;
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}
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@ -207,6 +213,7 @@ void AP_OSD::init()
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{
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switch ((enum osd_types)osd_type.get()) {
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case OSD_NONE:
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case OSD_TXONLY:
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default:
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break;
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@ -244,12 +251,15 @@ void AP_OSD::init()
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break;
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}
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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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// 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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}
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#endif
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}
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#if OSD_ENABLED
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void AP_OSD::osd_thread()
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{
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while (true) {
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@ -424,6 +434,7 @@ void AP_OSD::set_nav_info(NavInfo &navinfo)
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// do this without a lock for now
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nav_info = navinfo;
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}
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#endif // OSD_ENABLED
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// handle OSD parameter configuration
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void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link)
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@ -475,4 +486,4 @@ AP_OSD *AP::osd() {
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return AP_OSD::get_singleton();
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}
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#endif // OSD_ENABLED
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#endif // OSD_ENABLED || OSD_PARAM_ENABLED
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@ -30,11 +30,11 @@
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#endif
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#ifndef HAL_WITH_OSD_BITMAP
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#define HAL_WITH_OSD_BITMAP defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD)
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#define HAL_WITH_OSD_BITMAP OSD_ENABLED && (defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD))
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#endif
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#ifndef OSD_PARAM_ENABLED
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#define OSD_PARAM_ENABLED HAL_WITH_OSD_BITMAP && !HAL_MINIMIZE_FEATURES
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#define OSD_PARAM_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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class AP_OSD_Backend;
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@ -102,6 +102,7 @@ protected:
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AP_OSD *osd;
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};
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#if OSD_ENABLED
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/*
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class to hold one screen of settings
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*/
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@ -243,6 +244,7 @@ private:
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void draw_bat2used(uint8_t x, uint8_t y);
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void draw_clk(uint8_t x, uint8_t y);
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};
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#endif // OSD_ENABLED
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#if OSD_PARAM_ENABLED
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/*
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@ -291,7 +293,13 @@ public:
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// initialize the setting from the configured information
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void update();
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// grab the parameter name
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void copy_name(char* name, size_t len) {
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_param->copy_name_token(_current_token, name, len);
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if (len > 16) name[16] = 0;
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}
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// copy the name converting FOO_BAR_BAZ to FooBarBaz
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void copy_name_camel_case(char* name, size_t len);
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// set the ranges from static metadata
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bool set_from_metadata();
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bool set_by_name(const char* name, uint8_t config_type, float pmin=0, float pmax=0, float pincr=0);
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@ -333,10 +341,13 @@ 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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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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void handle_read_msg(const mavlink_osd_param_show_config_t& packet, const GCS_MAVLINK& link);
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// get a setting and associated metadata
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AP_OSD_ParamSetting* get_setting(uint8_t param_idx);
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// Save button co-ordinates
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AP_Int8 save_x;
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AP_Int8 save_y;
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@ -347,17 +358,17 @@ public:
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private:
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AP_OSD_ParamSetting params[NUM_PARAMS] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };
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void save_parameters();
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#if OSD_ENABLED
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void update_state_machine();
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void draw_parameter(uint8_t param_number, uint8_t x, uint8_t y);
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void modify_parameter(uint8_t number, Event ev);
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void modify_configured_parameter(uint8_t number, Event ev);
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void save_parameters();
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Event map_rc_input_to_event() const;
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RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
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uint8_t _selected_param = 1;
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uint16_t _requires_save;
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MenuState _menu_state = MenuState::PARAM_SELECT;
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Event _last_rc_event = Event::NONE;
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@ -367,9 +378,11 @@ private:
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uint32_t _transition_timeout_ms;
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// number of consecutive times the current transition has happened
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uint32_t _transition_count;
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#endif
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uint16_t _requires_save;
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};
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#endif
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#endif // OSD_PARAM_ENABLED
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class AP_OSD
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{
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@ -402,6 +415,7 @@ 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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};
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enum switch_method {
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TOGGLE=0,
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@ -410,9 +424,12 @@ public:
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};
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AP_Int8 osd_type;
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AP_Int8 font_num;
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AP_Int32 options;
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#if OSD_ENABLED
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AP_Int8 rc_channel;
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AP_Int8 sw_method;
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AP_Int8 font_num;
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AP_Int8 v_offset;
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AP_Int8 h_offset;
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@ -433,8 +450,6 @@ public:
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OPTION_INVERTED_AH_ROLL = 1U<<2,
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};
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AP_Int32 options;
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enum {
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UNITS_METRIC=0,
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UNITS_IMPERIAL=1,
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@ -446,9 +461,7 @@ public:
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AP_Int8 units;
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AP_OSD_Screen screen[AP_OSD_NUM_DISPLAY_SCREENS];
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#if OSD_PARAM_ENABLED
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AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
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#endif
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struct NavInfo {
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float wp_distance;
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int32_t wp_bearing;
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@ -478,16 +491,27 @@ public:
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// Check whether arming is allowed
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bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
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bool is_readonly_screen() const { return current_screen < AP_OSD_NUM_DISPLAY_SCREENS; }
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#endif // OSD_ENABLED
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#if OSD_PARAM_ENABLED
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AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
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// return a setting for use by TX based OSD
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AP_OSD_ParamSetting* get_setting(uint8_t screen_idx, uint8_t param_idx) {
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if (screen_idx >= AP_OSD_NUM_PARAM_SCREENS) {
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return nullptr;
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}
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return param_screen[screen_idx].get_setting(param_idx);
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}
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#endif
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// handle OSD parameter configuration
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void handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link);
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private:
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void osd_thread();
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#if OSD_ENABLED
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void update_osd();
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void stats();
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void update_current_screen();
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void next_screen();
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AP_OSD_Backend *backend;
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//variables for screen switching
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uint8_t current_screen;
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@ -508,6 +532,8 @@ private:
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float max_speed_mps;
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float max_current_a;
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float avg_current_a;
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#endif
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AP_OSD_Backend *backend;
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static AP_OSD *_singleton;
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};
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@ -25,6 +25,7 @@ extern const AP_HAL::HAL& hal;
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void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...)
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{
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#if OSD_ENABLED
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if (blink && (blink_phase < 2)) {
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return;
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}
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@ -48,4 +49,5 @@ void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ..
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write(x, y, buff);
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}
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va_end(ap);
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#endif
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}
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@ -18,6 +18,7 @@
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#include <AP_OSD/AP_OSD_MAX7456.h>
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#if HAL_WITH_OSD_BITMAP
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#include <AP_HAL/Util.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_HAL/Scheduler.h>
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@ -478,3 +479,4 @@ float AP_OSD_MAX7456::get_aspect_ratio_correction() const
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return 1.0f;
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};
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}
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#endif // HAL_WITH_OSD_BITMAP
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@ -18,6 +18,7 @@
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#include <AP_OSD/AP_OSD_Backend.h>
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#include <AP_Common/Bitmask.h>
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#if HAL_WITH_OSD_BITMAP
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class AP_OSD_MAX7456 : public AP_OSD_Backend
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{
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@ -88,3 +89,4 @@ private:
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uint16_t video_lines;
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};
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#endif // HAL_WITH_OSD_BITMAP
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@ -71,10 +71,13 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM1_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM1
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[0], "PARAM1", 4, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM2_EN
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// @DisplayName: PARAM21_EN
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// @DisplayName: PARAM2_EN
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// @Description: Enables display of parameter 2
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// @Values: 0:Disabled,1:Enabled
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@ -87,6 +90,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM2_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM2
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[1], "PARAM2", 5, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM3_EN
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@ -103,6 +109,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM3_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM3
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[2], "PARAM3", 6, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM4_EN
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@ -119,6 +128,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM4_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM4
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[3], "PARAM4", 7, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM5_EN
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@ -135,6 +147,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM5_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM5
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[4], "PARAM5", 8, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM6_EN
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@ -151,6 +166,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM6_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM6
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[5], "PARAM6", 9, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM7_EN
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@ -167,6 +185,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM7_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM7
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[6], "PARAM7", 10, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM8_EN
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@ -183,6 +204,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM8_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM8
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[7], "PARAM8", 11, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: PARAM9_EN
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@ -199,6 +223,9 @@ const AP_Param::GroupInfo AP_OSD_ParamScreen::var_info[] = {
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// @DisplayName: PARAM9_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @Group: PARAM9
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// @Path: AP_OSD_ParamSetting.cpp
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AP_SUBGROUPINFO(params[8], "PARAM9", 12, AP_OSD_ParamScreen, AP_OSD_ParamSetting),
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// @Param: SAVE_X
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@ -297,6 +324,16 @@ AP_OSD_ParamScreen::AP_OSD_ParamScreen(uint8_t index)
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AP_Param::setup_object_defaults(this, var_info);
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}
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AP_OSD_ParamSetting* AP_OSD_ParamScreen::get_setting(uint8_t param_idx)
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{
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if (param_idx >= NUM_PARAMS) {
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return nullptr;
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}
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params[param_idx].update(); // make sure we are fresh
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return ¶ms[param_idx];
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}
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#if OSD_ENABLED
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void AP_OSD_ParamScreen::draw_parameter(uint8_t number, uint8_t x, uint8_t y)
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{
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bool param_blink = false;
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@ -328,8 +365,7 @@ void AP_OSD_ParamScreen::draw_parameter(uint8_t number, uint8_t x, uint8_t y)
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if (p != nullptr) {
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// grab the name of the parameter
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char name[17];
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p->copy_name_token(setting._current_token, name, 16);
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name[16] = 0;
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setting.copy_name(name, 17);
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const AP_OSD_ParamSetting::ParamMetadata* metadata = setting.get_custom_metadata();
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@ -437,7 +473,7 @@ void AP_OSD_ParamScreen::modify_parameter(uint8_t number, Event ev)
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}
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}
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// modify which parameter is configued for the given selection
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// modify which parameter is configured for the given selection
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void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
|
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{
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if (number > NUM_PARAMS) {
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|
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@ -487,25 +523,6 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
|
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}
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}
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// save all of the parameters
|
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void AP_OSD_ParamScreen::save_parameters()
|
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{
|
||||
if (!_requires_save) {
|
||||
return;
|
||||
}
|
||||
|
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for (uint8_t i = 0; i < NUM_PARAMS; i++) {
|
||||
if (params[i].enabled && (_requires_save & (1 << i))) {
|
||||
AP_Param* p = params[i]._param;
|
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if (p != nullptr) {
|
||||
p->save();
|
||||
}
|
||||
params[i].save_as_new();
|
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}
|
||||
}
|
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_requires_save = 0;
|
||||
}
|
||||
|
||||
// return radio values as LOW, MIDDLE, HIGH
|
||||
// this function uses different threshold values to RC_Chanel::get_channel_pos()
|
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// 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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
Loading…
Reference in New Issue