AP_OSD: add extended RC link stats OSD fields

Adds RSSI dBm, SNR, LQ, Tx power and active antenna OSD fields

libraries/AP_OSD/AP_OSD.cpp

@@ -85,7 +85,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: OSD Options
     // @Description: This sets options that change the display
-    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH
+    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
 
@@ -114,10 +114,10 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
 
     // @Param: _W_RSSI
     // @DisplayName: RSSI warn level (in %)
-    // @Description: Set level at which RSSI item will flash
-    // @Range: 0 99
+    // @Description: Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.
+    // @Range: -128 100
     // @User: Standard
-    AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
+    AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, AP_OSD_WARN_RSSI_DEFAULT),
 
     // @Param: _W_NSAT
     // @DisplayName: NSAT warn level
@@ -214,6 +214,22 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_W_ACRVOLT", 31, AP_OSD, warn_avgcellrestvolt, 3.6f),
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // @Param: _W_LQ
+    // @DisplayName: RC link quality warn level (in %)
+    // @Description: Set level at which RC_LQ item will flash (%)
+    // @Range: 0 100
+    // @User: Standard
+    AP_GROUPINFO("_W_LQ", 33, AP_OSD, warn_lq, 50),
+
+    // @Param: _W_SNR
+    // @DisplayName: RC link SNR warn level (in %)
+    // @Description: Set level at which RC_SNR item will flash (in db)
+    // @Range: -20 10
+    // @User: Standard
+    AP_GROUPINFO("_W_SNR", 34, AP_OSD, warn_snr, 0),
+#endif
+
 #endif //osd enabled
 #if OSD_PARAM_ENABLED
     // @Group: 5_

libraries/AP_OSD/AP_OSD.h

@@ -48,8 +48,18 @@ class AP_MSP;
 #define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
 #define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
 
-#define AP_OSD_NUM_SYMBOLS 91
+#define AP_OSD_NUM_SYMBOLS 107
 #define OSD_MAX_INSTANCES 2
+
+#if AP_OSD_LINK_STATS_EXTENSIONS_ENABLED
+// For the moment, these extra panels only work with CRSF protocol based RC systems
+#define AP_OSD_EXTENDED_LNK_STATS 1
+#define AP_OSD_WARN_RSSI_DEFAULT -100   // Default value for OSD RSSI panel warning, in dbm
+#else
+#define AP_OSD_EXTENDED_LNK_STATS 0
+#define AP_OSD_WARN_RSSI_DEFAULT 30     // Default value for OSD RSSI panel warning, in %
+#endif
+
 /*
   class to hold one setting
  */
@@ -226,6 +236,15 @@ private:
 #endif
     AP_OSD_Setting sidebars{false, 4, 5};
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // Extended link stats data panels
+    AP_OSD_Setting rc_tx_power{false, 25, 12};
+    AP_OSD_Setting rc_rssi_dbm{false, 6, 2};
+    AP_OSD_Setting rc_snr{false, 23, 13};
+    AP_OSD_Setting rc_active_antenna{false, 27, 13};
+    AP_OSD_Setting rc_lq{false, 18, 2};
+#endif
+
     // MSP OSD only
     AP_OSD_Setting crosshair;
     AP_OSD_Setting home_dist{true, 1, 1};
@@ -314,6 +333,16 @@ private:
 #endif
     void draw_rngf(uint8_t x, uint8_t y);
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // Extended link stats data panels
+    bool is_btfl_fonts();    
+    void draw_rc_tx_power(uint8_t x, uint8_t y);
+    void draw_rc_rssi_dbm(uint8_t x, uint8_t y);
+    void draw_rc_snr(uint8_t x, uint8_t y);
+    void draw_rc_active_antenna(uint8_t x, uint8_t y);    
+    void draw_rc_lq(uint8_t x, uint8_t y);
+#endif
+
     struct {
         bool load_attempted;
         const char *str;
@@ -557,6 +586,11 @@ public:
     AP_Int8 failsafe_scr;
     AP_Int32 button_delay_ms;
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    AP_Int8 warn_lq;
+    AP_Int8 warn_snr;
+#endif
+
     enum {
         OPTION_DECIMAL_PACK = 1U<<0,
         OPTION_INVERTED_WIND = 1U<<1,
@@ -565,6 +599,9 @@ public:
         OPTION_DISABLE_CROSSHAIR = 1U<<4,
         OPTION_BF_ARROWS = 1U<<5,
         OPTION_AVIATION_AH = 1U<<6,
+#if AP_OSD_EXTENDED_LNK_STATS
+        OPTION_RF_MODE_ALONG_WITH_LQ = 1U<<7,
+#endif
     };
 
     enum {

libraries/AP_OSD/AP_OSD_Backend.h

@@ -184,6 +184,22 @@ protected:
     static const uint8_t SYM_FENCE_DISABLED = 0xF6;
     static const uint8_t SYM_RNGFD = 0xF7;
     static const uint8_t SYM_LQ = 0xF8;
+    static const uint8_t SYM_WATT = 0xAE;
+    static const uint8_t SYM_WH = 0xAB;
+    static const uint8_t SYM_DB = 0xF9;
+    static const uint8_t SYM_DBM = 0xFA;
+    static const uint8_t SYM_SNR = 0xFB;
+    static const uint8_t SYM_ANT = 0xFC;
+    static const uint8_t SYM_ARROW_RIGHT = 0xFD;
+    static const uint8_t SYM_ARROW_LEFT = 0xFE;
+    static const uint8_t SYM_G = 0xDF;
+    static const uint8_t SYM_BATT_UNKNOWN = 0x97;
+    static const uint8_t SYM_ROLL = 0xA9;
+    static const uint8_t SYM_PITCH = 0xAF;
+    static const uint8_t SYM_DPS = 0xAA;
+    static const uint8_t SYM_HEADING = 0x89;
+    static const uint8_t SYM_RADIUS = 0x7A;
+    static const uint8_t SYM_FLAP = 0x23;
 
     static const uint8_t SYM_SIDEBAR_R_ARROW = 0x09;
     static const uint8_t SYM_SIDEBAR_L_ARROW = 0x0A;
@@ -290,5 +306,21 @@ protected:
         SYM_SIDEBAR_H,
         SYM_SIDEBAR_I,
         SYM_SIDEBAR_J,
+        SYM_WATT,
+        SYM_WH,
+        SYM_DB,
+        SYM_DBM,
+        SYM_SNR,
+        SYM_ANT,
+        SYM_ARROW_RIGHT,
+        SYM_ARROW_LEFT,
+        SYM_G,
+        SYM_BATT_UNKNOWN,
+        SYM_ROLL,
+        SYM_PITCH,
+        SYM_DPS,
+        SYM_HEADING,
+        SYM_RADIUS,
+        SYM_FLAP,
     };
 };

libraries/AP_OSD/AP_OSD_Screen.cpp

@@ -44,6 +44,7 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_RPM/AP_RPM.h>
+#include <AP_MSP/AP_MSP.h>
 #if APM_BUILD_TYPE(APM_BUILD_Rover)
 #include <AP_WindVane/AP_WindVane.h>
 #endif
@@ -53,6 +54,11 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AC_Fence/AC_Fence.h>
 
+#if AP_OSD_EXTENDED_LNK_STATS
+// We need to this file to access the CRSF telemetry objects which contains the link stats data
+#include <AP_RCProtocol/AP_RCProtocol_CRSF.h>   
+#endif
+
 const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
 
     // @Param: ENABLE
@@ -1077,6 +1083,89 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("FONT", 4, AP_OSD_Screen, font_index, 0),
 #endif
+
+#if AP_OSD_EXTENDED_LNK_STATS
+    // @Param: RC_PWR_EN
+    // @DisplayName: RC_PWR_EN
+    // @Description: Displays the RC link transmit (TX) power in mW or W, depending on level
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RC_PWR_X
+    // @DisplayName: RC_PWR_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 59
+
+    // @Param: RC_PWR_Y
+    // @DisplayName: RC_PWR_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 21
+    AP_SUBGROUPINFO(rc_tx_power, "RC_PWR", 5, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: RSSIDBM_EN
+    // @DisplayName: RSSIDBM_EN
+    // @Description: Displays RC link signal strength in dBm
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RSSIDBM_X
+    // @DisplayName: RSSIDBM_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 59
+
+    // @Param: RSSIDBM_Y
+    // @DisplayName: RSSIDBM_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 21
+    AP_SUBGROUPINFO(rc_rssi_dbm, "RSSIDBM", 6, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: RC_SNR_EN
+    // @DisplayName: RC_SNR_EN
+    // @Description: Displays RC link signal to noise ratio in dB
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RC_SNR_X
+    // @DisplayName: RC_SNR_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 59
+
+    // @Param: RC_SNR_Y
+    // @DisplayName: RC_SNR_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 21
+    AP_SUBGROUPINFO(rc_snr, "RC_SNR", 7, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: RC_ANT_EN
+    // @DisplayName: RC_ANT_EN
+    // @Description: Displays the current RC link active antenna
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RC_ANT_X
+    // @DisplayName: RC_ANT_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 59
+
+    // @Param: RC_ANT_Y
+    // @DisplayName: RC_ANT_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 21
+    AP_SUBGROUPINFO(rc_active_antenna, "RC_ANT", 8, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: RC_LQ_EN
+    // @DisplayName: RC_LQ_EN
+    // @Description: Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: RC_LQ_X
+    // @DisplayName: RC_LQ_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 59
+
+    // @Param: RC_LQ_Y
+    // @DisplayName: RC_LQ_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 21
+    AP_SUBGROUPINFO(rc_lq, "RC_LQ", 9, AP_OSD_Screen, AP_OSD_Setting),
+#endif
+
     AP_GROUPEND
 };
 
@@ -1186,6 +1275,24 @@ uint8_t AP_OSD_AbstractScreen::symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
 #define SYM_SIDEBAR_I 89
 #define SYM_SIDEBAR_J 90
 
+#define SYM_WATT 91
+#define SYM_WH 92
+#define SYM_DB 93
+#define SYM_DBM 94
+#define SYM_SNR 95
+#define SYM_ANT 96
+#define SYM_ARROW_RIGHT 97
+#define SYM_ARROW_LEFT 98
+
+#define SYM_G 99
+#define SYM_BATT_UNKNOWN 100
+#define SYM_ROLL 101
+#define SYM_PITCH 102
+#define SYM_DPS 103
+#define SYM_HEADING 104
+#define SYM_RADIUS 105
+#define SYM_FLAP 106
+
 #define SYMBOL(n) AP_OSD_AbstractScreen::symbols_lookup_table[n]
 
 // constructor
@@ -1923,6 +2030,142 @@ void AP_OSD_Screen::draw_esc_amps(uint8_t x, uint8_t y)
 }
 #endif
 
+#if AP_OSD_EXTENDED_LNK_STATS
+bool AP_OSD_Screen::is_btfl_fonts()
+{
+    const AP_MSP *p_msp = AP::msp();
+    return (p_msp != nullptr && p_msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS));
+}
+
+void AP_OSD_Screen::draw_rc_tx_power(uint8_t x, uint8_t y)
+{
+    const int16_t tx_power = AP::crsf()->get_link_status().tx_power;
+    bool btfl = is_btfl_fonts();
+    if (tx_power > 0) {
+        if (tx_power < 1000) {
+            if (btfl) {
+                backend->write(x, y, false, "%3d%cW", tx_power, SYMBOL(SYM_ALT_M));  // SYM_ALT_M (0x0C) is the BTFL character for a small "m"
+            } else {
+                backend->write(x, y, false, "%3d%c", tx_power, SYMBOL(SYM_MW));
+            }
+        } else {
+            const float value_w = float(tx_power) * 0.001f;
+            if (btfl) {
+                backend->write(x, y, false, "%.2fW", value_w);
+            } else {
+                backend->write(x, y, false, "%.2f%c", value_w, SYMBOL(SYM_WATT));
+            }
+        }
+    } else {
+        if (btfl) {
+            backend->write(x, y, false, "---%cW", SYMBOL(SYM_ALT_M));
+        } else {
+            backend->write(x, y, false, "---%c", SYMBOL(SYM_MW));
+        }
+    }
+}
+
+void AP_OSD_Screen::draw_rc_rssi_dbm(uint8_t x, uint8_t y)
+{
+    const int8_t rssidbm = AP::crsf()->get_link_status().rssi_dbm;
+    const bool blink = -rssidbm < osd->warn_rssi;
+    bool btfl = is_btfl_fonts();
+
+    backend->write(x, y, blink, "%c", SYMBOL(SYM_RSSI));
+    uint8_t new_x = x + 1;
+    if (rssidbm >= 0) {
+        if (btfl) {
+            backend->write(new_x, y, blink, "%4dDBM", -rssidbm);
+        } else {
+            backend->write(new_x, y, blink, "%4d%c", -rssidbm, SYMBOL(SYM_DBM));
+        }
+    } else {
+        if (btfl){
+            backend->write(new_x, y, blink, "----DBM");
+        } else {
+            backend->write(new_x, y, blink, "----%c", SYMBOL(SYM_DBM));
+        }
+    }
+}
+
+void AP_OSD_Screen::draw_rc_snr(uint8_t x, uint8_t y)
+{
+    const int8_t snr = AP::crsf()->get_link_status().snr;
+    const bool blink = snr < osd->warn_snr;
+    bool btfl = is_btfl_fonts();
+    if (snr == INT8_MIN) {
+        if (btfl) {
+            backend->write(x, y, blink, "SNR---DB");
+        } else {
+            backend->write(x, y, blink, "%c---%c", SYMBOL(SYM_SNR), SYMBOL(SYM_DB));
+        }
+    } else {
+        if (btfl) {
+            backend->write(x, y, blink, "SNR%3dDB", snr);
+        } else {
+            backend->write(x, y, blink, "%c%3d%c", SYMBOL(SYM_SNR), snr, SYMBOL(SYM_DB));
+        }
+    }
+}
+
+void AP_OSD_Screen::draw_rc_active_antenna(uint8_t x, uint8_t y)
+{
+    const int8_t active_antenna = AP::crsf()->get_link_status().active_antenna;
+    bool btfl = is_btfl_fonts();
+    if (active_antenna < 0) {
+        if (btfl) {
+            backend->write(x, y, false, "ANT-");
+        } else {
+            backend->write(x, y, false, "%c-", SYMBOL(SYM_ANT));
+        }
+    } else {
+        if (btfl) {
+            backend->write(x, y, false, "ANT%d", active_antenna + 1);
+        } else {
+            backend->write(x, y, false, "%c%d", SYMBOL(SYM_ANT), active_antenna + 1);
+        }
+    }
+}
+
+void AP_OSD_Screen::draw_rc_lq(uint8_t x, uint8_t y)
+{    
+    const int16_t lqv = AP::crsf()->get_link_status().link_quality;
+    const bool blink = lqv < osd->warn_lq;
+    bool btfl = is_btfl_fonts();
+    bool prefix_rf = check_option(AP_OSD::OPTION_RF_MODE_ALONG_WITH_LQ);
+    const int16_t rf_mode = AP::crsf()->get_link_status().rf_mode;    
+    if (lqv < 0) {
+        if (btfl) {
+            if (prefix_rf) {
+                backend->write(x, y, blink, "LQ--:--");
+            } else {
+                backend->write(x, y, blink, "LQ--");
+            }
+        } else {
+            if (prefix_rf) {
+                backend->write(x, y, blink, "%c--:--", SYMBOL(SYM_LQ));
+            } else {
+                backend->write(x, y, blink, "%c--", SYMBOL(SYM_LQ));
+            }
+        }
+    } else {    
+        if (btfl) {
+            if (prefix_rf) {                    
+                backend->write(x, y, blink, "LQ%2d:%2d", rf_mode, lqv);
+            } else {
+                backend->write(x, y, blink, "LQ%2d", lqv);
+            }
+        } else {
+            if(prefix_rf) {
+                backend->write(x, y, blink, "%c%2d:%2d", SYMBOL(SYM_LQ), rf_mode, lqv);
+            } else {
+                backend->write(x, y, blink, "%c%2d", SYMBOL(SYM_LQ), lqv);
+            }
+        }
+    }
+}
+#endif  // AP_OSD_EXTENDED_LNK_STATS
+
 void AP_OSD_Screen::draw_gps_latitude(uint8_t x, uint8_t y)
 {
     AP_GPS & gps = AP::gps();
@@ -2367,6 +2610,14 @@ void AP_OSD_Screen::draw(void)
     DRAW_SETTING(eff);
     DRAW_SETTING(callsign);
     DRAW_SETTING(current2);
+
+#if AP_OSD_EXTENDED_LNK_STATS
+    DRAW_SETTING(rc_tx_power);
+    DRAW_SETTING(rc_rssi_dbm);
+    DRAW_SETTING(rc_snr);
+    DRAW_SETTING(rc_active_antenna);
+    DRAW_SETTING(rc_lq);
+#endif
 }
 #endif
 #endif // OSD_ENABLED

libraries/AP_OSD/AP_OSD_config.h

@@ -22,3 +22,7 @@
 #ifndef AP_OSD_CALLSIGN_FROM_SD_ENABLED
 #define AP_OSD_CALLSIGN_FROM_SD_ENABLED (AP_FILESYSTEM_POSIX_ENABLED || AP_FILESYSTEM_FATFS_ENABLED)
 #endif
+
+#ifndef AP_OSD_LINK_STATS_EXTENSIONS_ENABLED
+#define AP_OSD_LINK_STATS_EXTENSIONS_ENABLED 0      // Disabled by default to save flash, enable via custom build server
+#endif

libraries/AP_OSD/fonts/HDFonts/WS/font_update.ini

@@ -0,0 +1,13 @@
+[config]
+count=1
+1=ARDU_Europa
+
+[ARDU_Europa]
+imgname_720=WS_APN_Europa_24.png
+imgname_1080=WS_APN_Europa_36.png
+font_width_720=24
+font_height_720=36
+font_width_1080=36
+font_height_1080=54
+x_offset=0
+y_offset=0