Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_OSD: Add height above terrain panel and warning

Browse Source
This commit is contained in:
Hwurzburg 2021-03-05 11:12:43 -06:00 committed by Peter Barker
parent f78d7c3b25
commit fd9c497232
3 changed files with 57 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_OSD/AP_OSD.cpp
View File

@ -33,6 +33,7 @@
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <utility>
#include <AP_Notify/AP_Notify.h>
#include <AP_Terrain/AP_Terrain.h>
const AP_Param::GroupInfo AP_OSD::var_info[] = {
@ -169,8 +170,17 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @User: Advanced
AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
#endif
#if AP_TERRAIN_AVAILABLE
// @Param: _W_TERR
// @DisplayName: Terrain warn level
// @Description: Set level below which HGT_TER item will flash. -1 disables
// @Range: 1 3000
// @Units: m
// @User: Standard
AP_GROUPINFO("_W_TERR", 23, AP_OSD, warn_terr, -1),
#endif
#endif //osd enabled
#if OSD_PARAM_ENABLED
// @Group: 5_
// @Path: AP_OSD_ParamScreen.cpp

6
libraries/AP_OSD/AP_OSD.h
View File

@ -25,6 +25,7 @@
#include <GCS_MAVLink/GCS.h>
#include <AP_OLC/AP_OLC.h>
#ifndef OSD_ENABLED
#define OSD_ENABLED !HAL_MINIMIZE_FEATURES
#endif
@ -180,6 +181,7 @@ private:
AP_OSD_Setting clk{false, 0, 0};
AP_OSD_Setting callsign{false, 0, 0};
AP_OSD_Setting vtx_power{false, 0, 0};
AP_OSD_Setting hgt_abvterr{true, 23, 7};
#if HAL_PLUSCODE_ENABLE
AP_OSD_Setting pluscode{false, 0, 0};
#endif
@ -218,7 +220,6 @@ private:
#if HAL_PLUSCODE_ENABLE
void draw_pluscode(uint8_t x, uint8_t y);
#endif
//helper functions
void draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude);
void draw_distance(uint8_t x, uint8_t y, float distance);
@ -250,6 +251,8 @@ private:
void draw_callsign(uint8_t x, uint8_t y);
void draw_current2(uint8_t x, uint8_t y);
void draw_vtx_power(uint8_t x, uint8_t y);
void draw_hgt_abvterr(uint8_t x, uint8_t y);
struct {
bool load_attempted;
@ -448,6 +451,7 @@ public:
AP_Int8 warn_rssi;
AP_Int8 warn_nsat;
AP_Int32 warn_terr;
AP_Float warn_batvolt;
AP_Float warn_bat2volt;
AP_Int8 msgtime_s;

46
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -38,6 +38,7 @@
#include <AP_MSP/msp.h>
#include <AP_OLC/AP_OLC.h>
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_Terrain/AP_Terrain.h>
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#include <AP_WindVane/AP_WindVane.h>
#endif
@ -712,7 +713,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),
#if HAL_MSP_ENABLED
// @Param: SIDEBARS_EN
// @DisplayName: SIDEBARS_EN
@ -721,7 +722,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Param: SIDEBARS_X
// @DisplayName: SIDEBARS_X
// @Description: Horizontal position on screen (MSP OSD only)
// @Description: Horizontal position on screen (MSP OSD only)
// @Range: 0 29
// @Param: SIDEBARS_Y
@ -737,7 +738,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Param: CRSSHAIR_X
// @DisplayName: CRSSHAIR_X
// @Description: Horizontal position on screen (MSP OSD only)
// @Description: Horizontal position on screen (MSP OSD only)
// @Range: 0 29
// @Param: CRSSHAIR_Y
@ -846,7 +847,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
#if HAL_PLUSCODE_ENABLE
// @Param: PLUSCODE_EN
// @DisplayName: PLUSCODE_EN
// @Description: Displays pluscode (OLC) element
// @Description: Displays pluscode (OLC) element
// @Values: 0:Disabled,1:Enabled
// @Param: PLUSCODE_X
@ -911,6 +912,23 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Range: 0 15
AP_SUBGROUPINFO(vtx_power, "VTX_PWR", 55, AP_OSD_Screen, AP_OSD_Setting),
#if AP_TERRAIN_AVAILABLE
// @Param: TER_HGT_EN
// @DisplayName: TER_HGT_EN
// @Description: Displays Height above terrain
// @Values: 0:Disabled,1:Enabled
// @Param: TER_HGT_X
// @DisplayName: TER_HGT_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: TER_HGT_Y
// @DisplayName: TER_HGT_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(hgt_abvterr, "TER_HGT", 56, AP_OSD_Screen, AP_OSD_Setting),
#endif
AP_GROUPEND
};
@ -1274,7 +1292,7 @@ void AP_OSD_Screen::draw_speed(uint8_t x, uint8_t y, float angle_rad, float magn
static const int32_t interval = 36000 / SYM_ARROW_COUNT;
char arrow = SYM_ARROW_START + ((int32_t(angle_rad*DEGX100) + interval / 2) / interval) % SYM_ARROW_COUNT;
if (u_scale(SPEED, magnitude) < 10.0) {
backend->write(x, y, false, "%c%3.1f%c", arrow, u_scale(SPEED, magnitude), u_icon(SPEED));
backend->write(x, y, false, "%c%3.1f%c", arrow, u_scale(SPEED, magnitude), u_icon(SPEED));
} else {
backend->write(x, y, false, "%c%3d%c", arrow, (int)u_scale(SPEED, magnitude), u_icon(SPEED));
}
@ -1851,6 +1869,19 @@ void AP_OSD_Screen::draw_vtx_power(uint8_t x, uint8_t y)
}
backend->write(x, y, false, "%4hu%c", powr, SYM_MW);
}
#if AP_TERRAIN_AVAILABLE
void AP_OSD_Screen::draw_hgt_abvterr(uint8_t x, uint8_t y)
{
AP_Terrain &terrain = AP::terrain();
float terrain_altitude;
if (terrain.height_above_terrain(terrain_altitude,true)) {
backend->write(x, y, terrain_altitude < osd->warn_terr, "%4d%c", (int)u_scale(ALTITUDE, terrain_altitude), u_icon(ALTITUDE));
} else {
backend->write(x, y, false, " ---%c", u_icon(ALTITUDE));
}
}
#endif
#define DRAW_SETTING(n) if (n.enabled) draw_ ## n(n.xpos, n.ypos)
@ -1868,6 +1899,11 @@ void AP_OSD_Screen::draw(void)
DRAW_SETTING(horizon);
DRAW_SETTING(compass);
DRAW_SETTING(altitude);
#if AP_TERRAIN_AVAILABLE
DRAW_SETTING(hgt_abvterr);
#endif
DRAW_SETTING(waypoint);
DRAW_SETTING(xtrack_error);
DRAW_SETTING(bat_volt);