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AP_OSD: add compass item

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This commit is contained in:
Alexander Malishev 2018-07-04 01:06:36 +04:00 committed by Andrew Tridgell
parent fa19c3a680
commit c05bae3ca2
2 changed files with 42 additions and 2 deletions
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2
libraries/AP_OSD/AP_OSD.h
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@ -87,6 +87,7 @@ private:
AP_OSD_Setting home{false, 0, 0};
AP_OSD_Setting throttle{false, 0, 0};
AP_OSD_Setting heading{false, 0, 0};
AP_OSD_Setting compass{false, 0, 0};
void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
@ -101,6 +102,7 @@ private:
void draw_home(uint8_t x, uint8_t y);
void draw_throttle(uint8_t x, uint8_t y);
void draw_heading(uint8_t x, uint8_t y);
void draw_compass(uint8_t x, uint8_t y);
};
class AP_OSD {

38
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -106,6 +106,10 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
//@Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(throttle, "THROTTLE", 16, AP_OSD_Screen, AP_OSD_Setting),
//@Group: COMPASS
//@Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(throttle, "COMPASS", 17, AP_OSD_Screen, AP_OSD_Setting),
AP_GROUPEND
};
@ -324,6 +328,39 @@ void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYM_PCNT);
}
//Thanks to betaflight/inav for simple and clean compass visual design
void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
{
const int8_t total_sectors = 16;
char compass_circle[total_sectors] = {
SYM_HEADING_N,
SYM_HEADING_LINE,
SYM_HEADING_DIVIDED_LINE,
SYM_HEADING_LINE,
SYM_HEADING_E,
SYM_HEADING_LINE,
SYM_HEADING_DIVIDED_LINE,
SYM_HEADING_LINE,
SYM_HEADING_S,
SYM_HEADING_LINE,
SYM_HEADING_DIVIDED_LINE,
SYM_HEADING_LINE,
SYM_HEADING_W,
SYM_HEADING_LINE,
SYM_HEADING_DIVIDED_LINE,
SYM_HEADING_LINE,
};
AP_AHRS &ahrs = AP::ahrs();
int32_t yaw = ahrs.yaw_sensor;
int32_t interval = 36000 / total_sectors;
int8_t center_sector = ((yaw + interval / 2) / interval) % total_sectors;
for (int8_t i=-2; i<=2; i++) {
int8_t sector = center_sector + i;
sector = (sector + total_sectors) % total_sectors;
backend->write(x + i, y, "%c", compass_circle[sector]);
}
}
#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
void AP_OSD_Screen::draw(void)
@ -337,6 +374,7 @@ void AP_OSD_Screen::draw(void)
//so they will not overwrite more important ones.
DRAW_SETTING(message);
DRAW_SETTING(horizon);
DRAW_SETTING(compass);
DRAW_SETTING(altitude);
DRAW_SETTING(bat_volt);
DRAW_SETTING(rssi);