mirror of https://github.com/ArduPilot/ardupilot
AP_OSD: refactoring based on review suggestions
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e364a815f8
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@ -73,7 +73,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Param: _OPTIONS
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// @DisplayName: OSD Options
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// @Description: This sets options that change the display
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// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll, 3:ImperialUnits
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// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll
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// @User: Standard
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AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
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@ -89,6 +89,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Description: Sets vertical offset of the osd inside image
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// @Range: 0 31
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16),
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// @Param: _H_OFFSET
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@ -96,6 +97,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Description: Sets horizontal offset of the osd inside image
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// @Range: 0 63
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32),
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// @Param: _W_RSSI
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@ -103,21 +105,21 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Description: Set level at which RSSI item will flash
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// @Range: 0 99
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// @User: Standard
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AP_GROUPINFO("_W_RSSI", 11, AP_OSD, warn_rssi, 30),
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AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
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// @Param: _W_NSAT
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// @DisplayName: NSAT warn leve
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// @DisplayName: NSAT warn level
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// @Description: Set level at which NSAT item will flash
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// @Range: 1 30
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// @User: Standard
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AP_GROUPINFO("_W_NSAT", 12, AP_OSD, warn_nsat, 9),
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AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9),
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// @Param: _W_BATVOLT
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// @DisplayName: BAT_VOLT warn level
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// @Description: Set level at which BAT_VOLT item will flash
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("_W_BATVOLT", 13, AP_OSD, warn_batvolt, 10.0f),
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AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f),
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AP_GROUPEND
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};
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@ -185,7 +187,6 @@ void AP_OSD::update_osd()
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update_current_screen();
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screen[current_screen].set_osd(this);
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screen[current_screen].set_backend(backend);
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screen[current_screen].draw();
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@ -51,15 +51,7 @@ public:
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void draw(void);
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void set_backend(AP_OSD_Backend *_backend)
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{
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backend = _backend;
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};
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void set_osd(AP_OSD *_osd)
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{
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osd = _osd;
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};
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void set_backend(AP_OSD_Backend *_backend);
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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@ -109,6 +101,11 @@ private:
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AP_OSD_Setting gps_latitude{true, 9, 13};
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AP_OSD_Setting gps_longitude{true, 9, 14};
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bool check_option(uint32_t option);
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char u_icon(uint16_t unit_type);
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float u_scale(uint16_t unit_type, float value);
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void draw_altitude(uint8_t x, uint8_t y);
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void draw_bat_volt(uint8_t x, uint8_t y);
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void draw_rssi(uint8_t x, uint8_t y);
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@ -127,7 +124,9 @@ private:
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void draw_aspeed(uint8_t x, uint8_t y);
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void draw_vspeed(uint8_t x, uint8_t y);
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//helper functions
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void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
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void draw_distance(uint8_t x, uint8_t y, float distance);
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#ifdef HAVE_AP_BLHELI_SUPPORT
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void draw_blh_temp(uint8_t x, uint8_t y);
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@ -137,6 +136,17 @@ private:
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void draw_gps_latitude(uint8_t x, uint8_t y);
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void draw_gps_longitude(uint8_t x, uint8_t y);
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enum {
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ALTITUDE=0,
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SPEED=1,
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VSPEED=2,
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DISTANCE=3,
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DISTANCE_LONG=4,
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TEMPERATURE=5,
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UNIT_LAST=6,
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};
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};
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class AP_OSD {
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@ -181,11 +191,18 @@ public:
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OPTION_DECIMAL_PACK = 1U<<0,
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OPTION_INVERTED_WIND = 1U<<1,
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OPTION_INVERTED_AH_ROLL = 1U<<2,
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OPTION_IMPERIAL_UNITS = 1U<<3,
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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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UNITS_LAST=2,
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};
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AP_Int8 units;
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AP_OSD_Screen screen[AP_OSD_NUM_SCREENS];
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private:
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@ -49,6 +49,11 @@ public:
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INVERT = (1 << 3),
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};
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AP_OSD * get_osd()
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{
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return &_osd;
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}
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protected:
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AP_OSD& _osd;
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@ -137,14 +137,13 @@ void AP_OSD_SITL::update_thread(void)
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}
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uint8_t blink = 0;
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while (w->isOpen())
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{
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while (w->isOpen()) {
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sf::Event event;
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while (w->pollEvent(event))
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{
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if (event.type == sf::Event::Closed)
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while (w->pollEvent(event)) {
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if (event.type == sf::Event::Closed) {
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w->close();
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}
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}
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if (counter == last_counter) {
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usleep(10000);
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continue;
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@ -219,24 +219,59 @@ AP_OSD_Screen::AP_OSD_Screen()
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#define SYM_GPS_LAT 0xA6
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#define SYM_GPS_LONG 0xA7
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//units convertion
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#define M_TO_FT(x) (3.28084f*(x))
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#define M_TO_MI(x) ((x)/1609.34f)
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#define M_TO_KM(x) ((x)/1000.0f)
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#define MS_TO_KMH(x) (3.6f*(x))
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#define MS_TO_MPH(x) (2.23694f*(x))
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#define MS_TO_FS(x) (3.28084f*(x))
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void AP_OSD_Screen::set_backend(AP_OSD_Backend *_backend)
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{
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backend = _backend;
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osd = _backend->get_osd();
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};
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bool AP_OSD_Screen::check_option(uint32_t option)
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{
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return (osd->options & option) != 0;
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}
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char AP_OSD_Screen::u_icon(uint16_t unit)
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{
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static const char icons[UNIT_LAST][AP_OSD::UNITS_LAST] = {
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{(char)SYM_ALT_M, (char)SYM_ALT_FT}, //ALTITUDE
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{(char)SYM_KMH, (char)SYM_MPH}, //SPEED
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{(char)SYM_MS, (char)SYM_FS}, //VSPEED
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{(char)SYM_M, (char)SYM_FT}, //DISTANCE
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{(char)SYM_KM, (char)SYM_MI}, //DISTANCE_LONG
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{(char)SYM_DEGREES_C, (char)SYM_DEGREES_F}//TEMPERATURE
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};
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return icons[unit][osd->units];
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}
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float AP_OSD_Screen::u_scale(uint16_t unit, float value)
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{
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static const float scale[UNIT_LAST][AP_OSD::UNITS_LAST] = {
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{1.0f, 3.28084f}, //ALTITUDE
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{3.6f, 2.23694f}, //SPEED
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{1.0f, 3.28084f}, //VSPEED
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{1.0f, 3.28084f}, //DISTANCE
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{1.0f/1000.0f, 1.0f/1609.34f},//DISTANCE_LONG
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{1.0f, 1.8f} //TEMPERATURE
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};
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static const float offset[UNIT_LAST][AP_OSD::UNITS_LAST] = {
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{0.0f, 0.0f}, //ALTITUDE
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{0.0f, 0.0f}, //SPEED
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{0.0f, 0.0f}, //VSPEED
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{0.0f, 0.0f}, //DISTANCE
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{0.0f, 0.0f}, //DISTANCE_LONG
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{0.0f, 32.0f}, //TEMPERATURE
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};
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return value * scale[unit][osd->units] + offset[unit][osd->units];
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}
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void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
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{
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float alt;
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AP::ahrs().get_relative_position_D_home(alt);
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alt = -alt;
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if (osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
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backend->write(x, y, false, "%4d%c", (int)M_TO_FT(alt), SYM_ALT_FT);
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} else {
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backend->write(x, y, false, "%4d%c", (int)alt, SYM_ALT_M);
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}
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backend->write(x, y, false, "%4d%c", (int)u_scale(ALTITUDE, alt), u_icon(ALTITUDE));
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}
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void AP_OSD_Screen::draw_bat_volt(uint8_t x, uint8_t y)
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@ -345,11 +380,8 @@ void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v, int32_t y
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int32_t interval = 36000 / SYM_ARROW_COUNT;
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arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
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}
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if (osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
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backend->write(x, y, false, "%c%3d%c", arrow, (int)MS_TO_MPH(v_length), SYM_MPH);
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} else {
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backend->write(x, y, false, "%c%3d%c", arrow, (int)MS_TO_KMH(v_length), SYM_KMH);
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}
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backend->write(x, y, false, "%c%3d%c", arrow, (int)u_scale(SPEED, v_length), u_icon(SPEED));
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}
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void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
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@ -368,7 +400,7 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
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float pitch = -ahrs.pitch;
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//inverted roll AH
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if (osd->options.get() & AP_OSD::OPTION_INVERTED_AH_ROLL) {
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if (check_option(AP_OSD::OPTION_INVERTED_AH_ROLL)) {
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roll = -roll;
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}
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@ -388,6 +420,28 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
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backend->write(x-1,y, false, "%c%c%c", SYM_AH_CENTER_LINE_LEFT, SYM_AH_CENTER, SYM_AH_CENTER_LINE_RIGHT);
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}
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void AP_OSD_Screen::draw_distance(uint8_t x, uint8_t y, float distance)
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{
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char unit_icon = u_icon(DISTANCE);
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float distance_scaled = u_scale(DISTANCE, distance);
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const char *fmt = "%4.0f%c";
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if (distance_scaled > 9999.0f) {
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distance_scaled = u_scale(DISTANCE_LONG, distance);
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unit_icon= u_icon(DISTANCE_LONG);
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//try to pack as many useful info as possible
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if (distance_scaled<9.0f) {
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fmt = "%1.3f%c";
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} else if (distance_scaled < 99.0f) {
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fmt = "%2.2f%c";
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} else if (distance_scaled < 999.0f) {
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fmt = "%3.1f%c";
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} else {
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fmt = "%4.0f%c";
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}
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}
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backend->write(x, y, false, fmt, distance_scaled, unit_icon);
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}
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void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
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{
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AP_AHRS &ahrs = AP::ahrs();
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@ -402,22 +456,8 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
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angle = 0;
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}
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char arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
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if (osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
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float distance_in_ft = M_TO_FT(distance);
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if (distance_in_ft < 9999.0f) {
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backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)distance_in_ft, SYM_FT);
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} else {
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backend->write(x, y, false, "%c%c%2.2f%c", SYM_HOME, arrow, M_TO_MI(distance), SYM_MI);
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}
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} else {
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if (distance < 9999.0f) {
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backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)distance, SYM_M);
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} else if (distance < 99999.0f) {
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backend->write(x, y, false, "%c%c%2.2f%c", SYM_HOME, arrow, M_TO_KM(distance), SYM_KM);
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} else {
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backend->write(x, y, false, "%c%c%4d%c", SYM_HOME, arrow, (int)M_TO_KM(distance), SYM_KM);
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}
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}
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backend->write(x, y, false, "%c%c", SYM_HOME, arrow);
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draw_distance(x+2, y, distance);
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} else {
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backend->write(x, y, true, "%c", SYM_HOME);
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}
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@ -472,7 +512,7 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
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{
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AP_AHRS &ahrs = AP::ahrs();
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Vector3f v = ahrs.wind_estimate();
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if (osd->options.get() & AP_OSD::OPTION_INVERTED_WIND) {
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if (check_option(AP_OSD::OPTION_INVERTED_WIND)) {
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v = -v;
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}
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backend->write(x, y, false, "%c", SYM_WSPD);
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@ -483,18 +523,10 @@ void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
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{
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float aspd = 0.0f;
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bool have_estimate = AP::ahrs().airspeed_estimate(&aspd);
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if (osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
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if (have_estimate) {
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backend->write(x, y, false, "%c%3d%c", SYM_ASPD, (int)MS_TO_MPH(aspd), SYM_MPH);
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backend->write(x, y, false, "%c%4d%c", SYM_ASPD, (int)u_scale(SPEED, aspd), u_icon(SPEED));
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} else {
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backend->write(x, y, false, "%c---%c", SYM_ASPD, SYM_MPH);
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}
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} else {
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if (have_estimate) {
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backend->write(x, y, false, "%c%3d%c", SYM_ASPD, (int)MS_TO_KMH(aspd), SYM_KMH);
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} else {
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backend->write(x, y, false, "%c---%c", SYM_ASPD, SYM_KMH);
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}
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backend->write(x, y, false, "%c ---%c", SYM_ASPD, u_icon(SPEED));
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}
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}
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@ -514,11 +546,7 @@ void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
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sym = SYM_DOWN_DOWN;
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}
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vspd = fabsf(vspd);
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if (osd->options.get() & AP_OSD::OPTION_IMPERIAL_UNITS) {
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backend->write(x, y, false, "%c%2d%c", sym, (int)MS_TO_FS(vspd), SYM_FS);
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} else {
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backend->write(x, y, false, "%c%2d%c", sym, (int)vspd, SYM_MS);
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}
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backend->write(x, y, false, "%c%2d%c", sym, (int)u_scale(VSPEED, vspd), u_icon(VSPEED));
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}
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#ifdef HAVE_AP_BLHELI_SUPPORT
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@ -535,7 +563,7 @@ void AP_OSD_Screen::draw_blh_temp(uint8_t x, uint8_t y)
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// AP_BLHeli & blh = AP_BLHeli::AP_BLHeli();
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uint8_t esc_temp = td.temperature;
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backend->write(x, y, false, "%3d%c", esc_temp, SYM_DEGREES_C);
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backend->write(x, y, false, "%3d%c", (int)u_scale(TEMPERATURE, esc_temp), u_icon(TEMPERATURE));
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}
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}
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