/* * This file is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the * Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This file is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program. If not, see . * * AP_OSD partially based on betaflight and inav osd.c implemention. * clarity.mcm font is taken from inav configurator. * Many thanks to their authors. */ #include "AP_OSD.h" #if OSD_ENABLED || OSD_PARAM_ENABLED #include "AP_OSD_MAX7456.h" #ifdef WITH_SITL_OSD #include "AP_OSD_SITL.h" #endif #include "AP_OSD_MSP.h" #include #include #include #include #include #include #include const AP_Param::GroupInfo AP_OSD::var_info[] = { // @Param: _TYPE // @DisplayName: OSD type // @Description: OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. // @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY // @User: Standard // @RebootRequired: True AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE), #if OSD_ENABLED // @Param: _CHAN // @DisplayName: Screen switch transmitter channel // @Description: This sets the channel used to switch different OSD screens. // @Values: 0:Disable,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16 // @User: Standard AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0), // @Group: 1_ // @Path: AP_OSD_Screen.cpp AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen), // @Group: 2_ // @Path: AP_OSD_Screen.cpp AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen), // @Group: 3_ // @Path: AP_OSD_Screen.cpp AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen), // @Group: 4_ // @Path: AP_OSD_Screen.cpp AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen), // @Param: _SW_METHOD // @DisplayName: Screen switch method // @Description: This sets the method used to switch different OSD screens. // @Values: 0: switch to next screen if channel value was changed, 1: select screen based on pwm ranges specified for each screen, 2: switch to next screen after low to high transition and every 1s while channel value is high // @User: Standard AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE), // @Param: _OPTIONS // @DisplayName: OSD Options // @Description: This sets options that change the display // @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll // @User: Standard AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK), // @Param: _FONT // @DisplayName: OSD Font // @Description: This sets which OSD font to use. It is an integer from 0 to the number of fonts available // @User: Standard // @RebootRequired: True AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0), // @Param: _V_OFFSET // @DisplayName: OSD vertical offset // @Description: Sets vertical offset of the osd inside image // @Range: 0 31 // @User: Standard // @RebootRequired: True AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16), // @Param: _H_OFFSET // @DisplayName: OSD horizontal offset // @Description: Sets horizontal offset of the osd inside image // @Range: 0 63 // @User: Standard // @RebootRequired: True AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32), // @Param: _W_RSSI // @DisplayName: RSSI warn level (in %) // @Description: Set level at which RSSI item will flash // @Range: 0 99 // @User: Standard AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30), // @Param: _W_NSAT // @DisplayName: NSAT warn level // @Description: Set level at which NSAT item will flash // @Range: 1 30 // @User: Standard AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9), // @Param: _W_BATVOLT // @DisplayName: BAT_VOLT warn level // @Description: Set level at which BAT_VOLT item will flash // @Range: 0 100 // @User: Standard AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f), // @Param: _UNITS // @DisplayName: Display Units // @Description: Sets the units to use in displaying items // @Values: 0:Metric,1:Imperial,2:SI,3:Aviation // @User: Standard AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0), // @Param: _MSG_TIME // @DisplayName: Message display duration in seconds // @Description: Sets message duration seconds // @Range: 1 20 // @User: Standard AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10), // @Param: _ARM_SCR // @DisplayName: Arm screen // @Description: Screen to be shown on Arm event. Zero to disable the feature. // @Range: 0 4 // @User: Standard AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0), // @Param: _DSARM_SCR // @DisplayName: Disarm screen // @Description: Screen to be shown on disarm event. Zero to disable the feature. // @Range: 0 4 // @User: Standard AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0), // @Param: _FS_SCR // @DisplayName: Failsafe screen // @Description: Screen to be shown on failsafe event. Zero to disable the feature. // @Range: 0 4 // @User: Standard AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0), #if OSD_PARAM_ENABLED // @Param: _BTN_DELAY // @DisplayName: Button delay // @Description: Debounce time in ms for stick commanded parameter navigation. // @Range: 0 3000 // @User: Advanced AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300), #endif #endif #if OSD_PARAM_ENABLED // @Group: 5_ // @Path: AP_OSD_ParamScreen.cpp AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen), // @Group: 6_ // @Path: AP_OSD_ParamScreen.cpp AP_SUBGROUPINFO(param_screen[1], "6_", 22, AP_OSD, AP_OSD_ParamScreen), #endif AP_GROUPEND }; extern const AP_HAL::HAL& hal; // singleton instance AP_OSD *AP_OSD::_singleton; AP_OSD::AP_OSD() { if (_singleton != nullptr) { AP_HAL::panic("AP_OSD must be singleton"); } AP_Param::setup_object_defaults(this, var_info); #if OSD_ENABLED // default first screen enabled screen[0].enabled = 1; previous_pwm_screen = -1; #endif #ifdef WITH_SITL_OSD osd_type.set_default(OSD_SITL); #endif #ifdef HAL_OSD_TYPE_DEFAULT osd_type.set_default(HAL_OSD_TYPE_DEFAULT); #endif _singleton = this; } void AP_OSD::init() { switch ((enum osd_types)osd_type.get()) { case OSD_NONE: case OSD_TXONLY: default: break; case OSD_MAX7456: { #ifdef HAL_WITH_SPI_OSD AP_HAL::OwnPtr spi_dev = std::move(hal.spi->get_device("osd")); if (!spi_dev) { break; } backend = AP_OSD_MAX7456::probe(*this, std::move(spi_dev)); if (backend == nullptr) { break; } hal.console->printf("Started MAX7456 OSD\n"); #endif break; } #ifdef WITH_SITL_OSD case OSD_SITL: { backend = AP_OSD_SITL::probe(*this); if (backend == nullptr) { break; } hal.console->printf("Started SITL OSD\n"); break; } #endif case OSD_MSP: { backend = AP_OSD_MSP::probe(*this); if (backend == nullptr) { break; } hal.console->printf("Started MSP OSD\n"); break; } } #if OSD_ENABLED if (backend != nullptr && (enum osd_types)osd_type.get() != OSD_MSP) { // create thread as higher priority than IO for all backends but MSP which has its own hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1024, AP_HAL::Scheduler::PRIORITY_IO, 1); } #endif } #if OSD_ENABLED void AP_OSD::osd_thread() { while (true) { hal.scheduler->delay(100); update_osd(); } } void AP_OSD::update_osd() { backend->clear(); if (!_disable) { stats(); update_current_screen(); get_screen(current_screen).set_backend(backend); get_screen(current_screen).draw(); } backend->flush(); } //update maximums and totals void AP_OSD::stats() { uint32_t now = AP_HAL::millis(); if (!AP_Notify::flags.armed) { last_update_ms = now; return; } // flight distance uint32_t delta_ms = now - last_update_ms; last_update_ms = now; AP_AHRS &ahrs = AP::ahrs(); Vector2f v = ahrs.groundspeed_vector(); float speed = v.length(); if (speed < 0.178) { speed = 0.0; } float dist_m = (speed * delta_ms)*0.001; last_distance_m += dist_m; // maximum ground speed max_speed_mps = fmaxf(max_speed_mps,speed); // maximum distance Location loc; if (ahrs.get_position(loc) && ahrs.home_is_set()) { const Location &home_loc = ahrs.get_home(); float distance = home_loc.get_distance(loc); max_dist_m = fmaxf(max_dist_m, distance); } // maximum altitude float alt; AP::ahrs().get_relative_position_D_home(alt); alt = -alt; max_alt_m = fmaxf(max_alt_m, alt); // maximum current AP_BattMonitor &battery = AP::battery(); float amps; if (battery.current_amps(amps)) { max_current_a = fmaxf(max_current_a, amps); } } //Thanks to minimosd authors for the multiple osd screen idea void AP_OSD::update_current_screen() { // Switch on ARM/DISARM event if (AP_Notify::flags.armed) { if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(arm_scr-1).enabled) { current_screen = arm_scr-1; } was_armed = true; } else if (was_armed) { if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(disarm_scr-1).enabled) { current_screen = disarm_scr-1; } was_armed = false; } // Switch on failsafe event if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) { if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(failsafe_scr-1).enabled) { pre_fs_screen = current_screen; current_screen = failsafe_scr-1; } was_failsafe = true; } else if (was_failsafe) { if (get_screen(pre_fs_screen).enabled) { current_screen = pre_fs_screen; } was_failsafe = false; } if (rc_channel == 0) { return; } RC_Channel *channel = RC_Channels::rc_channel(rc_channel-1); if (channel == nullptr) { return; } int16_t channel_value = channel->get_radio_in(); switch (sw_method) { //switch to next screen if channel value was changed default: case TOGGLE: if (previous_channel_value == 0) { //do not switch to the next screen just after initialization previous_channel_value = channel_value; } if (abs(channel_value-previous_channel_value) > 200) { if (switch_debouncer) { next_screen(); previous_channel_value = channel_value; } else { switch_debouncer = true; return; } } break; //select screen based on pwm ranges specified case PWM_RANGE: for (int i=0; i channel_value && previous_pwm_screen != i) { current_screen = previous_pwm_screen = i; break; } } break; //switch to next screen after low to high transition and every 1s while channel value is high case AUTO_SWITCH: if (channel_value > channel->get_radio_trim()) { if (switch_debouncer) { uint32_t now = AP_HAL::millis(); if (now - last_switch_ms > 1000) { next_screen(); last_switch_ms = now; } } else { switch_debouncer = true; return; } } else { last_switch_ms = 0; } break; } switch_debouncer = false; } //select next avaliable screen, do nothing if all screens disabled void AP_OSD::next_screen() { uint8_t t = current_screen; do { t = (t + 1)%AP_OSD_NUM_SCREENS; } while (t != current_screen && !get_screen(t).enabled); current_screen = t; } // set navigation information for display void AP_OSD::set_nav_info(NavInfo &navinfo) { // do this without a lock for now nav_info = navinfo; } #endif // OSD_ENABLED // handle OSD parameter configuration void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link) { bool found = false; switch (msg.msgid) { case MAVLINK_MSG_ID_OSD_PARAM_CONFIG: { mavlink_osd_param_config_t packet; mavlink_msg_osd_param_config_decode(&msg, &packet); #if OSD_PARAM_ENABLED for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) { if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) { param_screen[i].handle_write_msg(packet, link); found = true; } } #endif // send back an error if (!found) { mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN); } } break; case MAVLINK_MSG_ID_OSD_PARAM_SHOW_CONFIG: { mavlink_osd_param_show_config_t packet; mavlink_msg_osd_param_show_config_decode(&msg, &packet); #if OSD_PARAM_ENABLED for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) { if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) { param_screen[i].handle_read_msg(packet, link); found = true; } } #endif // send back an error if (!found) { mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN, nullptr, OSD_PARAM_NONE, 0, 0, 0); } } break; default: break; } } AP_OSD *AP::osd() { return AP_OSD::get_singleton(); } #endif // OSD_ENABLED || OSD_PARAM_ENABLED