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AP_OSD: fixed speed vector calculation

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Alexander Malishev 2018-07-04 09:03:17 +04:00 committed by Andrew Tridgell
parent 2ef82173b4
commit e2b431f69f
2 changed files with 9 additions and 7 deletions
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2
libraries/AP_OSD/AP_OSD.h
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@ -110,7 +110,7 @@ private:
void draw_aspeed(uint8_t x, uint8_t y); void draw_aspeed(uint8_t x, uint8_t y);
void draw_vspeed(uint8_t x, uint8_t y); void draw_vspeed(uint8_t x, uint8_t y);
void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v); void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
}; };
class AP_OSD { class AP_OSD {

14
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -280,12 +280,12 @@ void AP_OSD_Screen::draw_message(uint8_t x, uint8_t y)
} }
} }
void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v) void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v, int32_t yaw)
{ {
float v_length = v.length(); float v_length = v.length();
char arrow = SYM_ARROW_START; char arrow = SYM_ARROW_START;
if (v_length > 1.0f) { if (v_length > 1.0f) {
int32_t angle = wrap_360_cd(DEGX100 * atan2f(v.x, v.y)); int32_t angle = wrap_360_cd(DEGX100 * atan2f(v.x, v.y) - yaw);
int32_t interval = 36000 / SYM_ARROW_COUNT; int32_t interval = 36000 / SYM_ARROW_COUNT;
arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT; arrow = SYM_ARROW_START + ((angle + interval / 2) / interval) % SYM_ARROW_COUNT;
} }
@ -294,9 +294,10 @@ void AP_OSD_Screen::draw_speed_vector(uint8_t x, uint8_t y,Vector2f v)
void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
{ {
Vector2f v = AP::ahrs().groundspeed_vector(); AP_AHRS &ahrs = AP::ahrs();
Vector2f v = ahrs.groundspeed_vector();
backend->write(x, y, false, "G"); backend->write(x, y, false, "G");
draw_speed_vector(x + 1, y, v); draw_speed_vector(x + 1, y, v, ahrs.yaw_sensor);
} }
//Thanks to betaflight/inav for simple and clean artificial horizon visual design //Thanks to betaflight/inav for simple and clean artificial horizon visual design
@ -395,9 +396,10 @@ void AP_OSD_Screen::draw_compass(uint8_t x, uint8_t y)
void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
{ {
Vector3f v = AP::ahrs().wind_estimate(); AP_AHRS &ahrs = AP::ahrs();
Vector3f v = ahrs.wind_estimate();
backend->write(x, y, false, "%c", SYM_WIND); backend->write(x, y, false, "%c", SYM_WIND);
draw_speed_vector(x + 1, y, Vector2f(v.x, v.y)); draw_speed_vector(x + 1, y, Vector2f(v.x, v.y), ahrs.yaw_sensor);
} }
void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)