mirror of https://github.com/ArduPilot/ardupilot
Copter: publish navigation info to OSD
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@ -190,6 +190,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
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#if STATS_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Stats, &copter.g2.stats, update, 1, 100),
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#endif
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#if OSD_ENABLED == ENABLED
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SCHED_TASK(publish_osd_info, 1, 10),
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#endif
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};
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void Copter::read_aux_all()
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@ -580,4 +583,16 @@ void Copter::update_altitude()
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}
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}
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#if OSD_ENABLED == ENABLED
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void Copter::publish_osd_info()
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{
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AP_OSD::NavInfo nav_info;
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nav_info.wp_distance = flightmode->wp_distance();
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nav_info.wp_bearing = flightmode->wp_bearing();
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nav_info.wp_xtrack_error = flightmode->crosstrack_error();
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nav_info.wp_number = mission.get_current_nav_index();
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osd.set_nav_info(nav_info);
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}
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#endif
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AP_HAL_MAIN_CALLBACKS(&copter);
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@ -919,6 +919,10 @@ private:
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void userhook_auxSwitch2(uint8_t ch_flag);
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void userhook_auxSwitch3(uint8_t ch_flag);
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#if OSD_ENABLED == ENABLED
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void publish_osd_info();
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#endif
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#include "mode.h"
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Mode *flightmode;
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