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AP_OSD: add home item

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Alexander Malishev 2018-07-01 01:43:51 +04:00 committed by Andrew Tridgell
parent d2e2a5b2ea
commit daf13cb9f4
2 changed files with 40 additions and 3 deletions
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2
libraries/AP_OSD/AP_OSD.h
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@ -84,6 +84,7 @@ private:
AP_OSD_Setting message{false, 2, 13};
AP_OSD_Setting gspeed{false, 0, 0};
AP_OSD_Setting horizon{true, 15, 8};
AP_OSD_Setting home{false, 0, 0};
void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
@ -95,6 +96,7 @@ private:
void draw_message(uint8_t x, uint8_t y);
void draw_gspeed(uint8_t x, uint8_t y);
void draw_horizon(uint8_t x, uint8_t y);
void draw_home(uint8_t x, uint8_t y);
};
class AP_OSD {

41
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -93,6 +93,10 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(horizon, "HORIZON", 13, AP_OSD_Screen, AP_OSD_Setting),
// @Group: HOME
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(home, "HOME", 14, AP_OSD_Screen, AP_OSD_Setting),
AP_GROUPEND
};
@ -107,10 +111,11 @@ AP_OSD_Screen::AP_OSD_Screen()
#define SYM_ZERO_HALF_TRAILING_DOT 192
#define SYM_ZERO_HALF_LEADING_DOT 208
#define SYM_M 177
#define SYM_ALT_M 177
#define SYM_M 0xB9
#define SYM_KM 0xBA
#define SYM_ALT_M 0xB1
#define SYM_BATT_FULL 0x90
#define SYM_RSSI 0x01
#define SYM_RSSI 0x01
#define SYM_VOLT 0x06
#define SYM_AMP 0x9A
@ -132,6 +137,13 @@ AP_OSD_Screen::AP_OSD_Screen()
#define SYM_AH_CENTER_LINE_RIGHT 0x27
#define SYM_AH_CENTER 0x7E
#define SYM_HEADING_N 0x18
#define SYM_HEADING_S 0x19
#define SYM_HEADING_E 0x1A
#define SYM_HEADING_W 0x1B
#define SYM_HEADING_DIVIDED_LINE 0x1C
#define SYM_HEADING_LINE 0x1D
void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
{
float alt;
@ -260,6 +272,28 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
backend->write(x-1,y, false, "%c%c%c", SYM_AH_CENTER_LINE_LEFT, SYM_AH_CENTER, SYM_AH_CENTER_LINE_RIGHT);
}
void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
{
AP_AHRS &ahrs = AP::ahrs();
Location loc;
if (ahrs.get_position(loc) && ahrs.home_is_set()) {
const Location &home_loc = ahrs.get_home();
float distance = get_distance(home_loc, loc);
int32_t angle = get_bearing_cd(loc, home_loc);
int32_t interval = 36000 / SYM_ARROW_COUNT;
char arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
if (distance < 999.0f) {
backend->write(x, y, false, "%c%c%3.0f%c", SYM_HOME, arrow, distance, SYM_M);
} else if (distance < 9999.0f) {
backend->write(x, y, false, "%c%c%1.1f%c", SYM_HOME, arrow, distance/1000, SYM_KM);
} else {
backend->write(x, y, false, "%c%c%3.0f%c", SYM_HOME, arrow, distance/1000, SYM_KM);
}
} else {
backend->write(x, y, true, "%c", SYM_HOME);
}
}
#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
void AP_OSD_Screen::draw(void)
@ -281,4 +315,5 @@ void AP_OSD_Screen::draw(void)
DRAW_SETTING(sats);
DRAW_SETTING(fltmode);
DRAW_SETTING(gspeed);
DRAW_SETTING(home);
}