mirror of https://github.com/ArduPilot/ardupilot
512 lines
14 KiB
C++
512 lines
14 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_BLHeli/AP_BLHeli.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS.h>
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#ifndef OSD_ENABLED
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#define OSD_ENABLED 0
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#endif
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#ifndef HAL_WITH_OSD_BITMAP
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#define HAL_WITH_OSD_BITMAP defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD)
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#endif
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#ifndef OSD_PARAM_ENABLED
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#define OSD_PARAM_ENABLED HAL_WITH_OSD_BITMAP && !HAL_MINIMIZE_FEATURES
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#endif
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class AP_OSD_Backend;
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class AP_MSP;
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#define AP_OSD_NUM_DISPLAY_SCREENS 4
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#if OSD_PARAM_ENABLED
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#define AP_OSD_NUM_PARAM_SCREENS 2
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#else
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#define AP_OSD_NUM_PARAM_SCREENS 0
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#endif
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#define AP_OSD_NUM_SCREENS (AP_OSD_NUM_DISPLAY_SCREENS + AP_OSD_NUM_PARAM_SCREENS)
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#define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
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#define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
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/*
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class to hold one setting
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*/
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class AP_OSD_Setting
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{
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public:
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AP_Int8 enabled;
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AP_Int8 xpos;
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AP_Int8 ypos;
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AP_OSD_Setting(bool enabled, uint8_t x, uint8_t y);
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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};
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class AP_OSD;
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class AP_OSD_AbstractScreen
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{
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public:
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// constructor
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AP_OSD_AbstractScreen() {}
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virtual void draw(void) {}
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void set_backend(AP_OSD_Backend *_backend);
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AP_Int8 enabled;
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AP_Int16 channel_min;
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AP_Int16 channel_max;
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protected:
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bool check_option(uint32_t option);
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enum unit_type {
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ALTITUDE=0,
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SPEED=1,
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VSPEED=2,
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DISTANCE=3,
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DISTANCE_LONG=4,
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TEMPERATURE=5,
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UNIT_TYPE_LAST=6,
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};
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char u_icon(enum unit_type unit);
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float u_scale(enum unit_type unit, float value);
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AP_OSD_Backend *backend;
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AP_OSD *osd;
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};
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/*
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class to hold one screen of settings
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*/
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class AP_OSD_Screen : public AP_OSD_AbstractScreen
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{
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public:
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// constructor
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AP_OSD_Screen();
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// skip the drawing if we are not using a font based backend. This saves a lot of flash space when
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// using the MSP OSD system on boards that don't have a MAX7456
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#if HAL_WITH_OSD_BITMAP
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void draw(void) override;
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#endif
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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friend class AP_MSP;
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friend class AP_MSP_Telem_Backend;
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static const uint8_t message_visible_width = 26;
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static const uint8_t message_scroll_time_ms = 200;
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static const uint8_t message_scroll_delay = 5;
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static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
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//typical fpv camera has 80deg vertical field of view, 16 row of chars
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static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);
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AP_OSD_Setting altitude{true, 23, 8};
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AP_OSD_Setting bat_volt{true, 24, 1};
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AP_OSD_Setting rssi{true, 1, 1};
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AP_OSD_Setting current{true, 25, 2};
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AP_OSD_Setting batused{true, 23, 3};
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AP_OSD_Setting sats{true, 1, 3};
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AP_OSD_Setting fltmode{true, 2, 8};
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AP_OSD_Setting message{true, 2, 6};
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AP_OSD_Setting gspeed{true, 2, 14};
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AP_OSD_Setting horizon{true, 14, 8};
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AP_OSD_Setting home{true, 14, 1};
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AP_OSD_Setting throttle{true, 24, 11};
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AP_OSD_Setting heading{true, 13, 2};
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AP_OSD_Setting compass{true, 15, 3};
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AP_OSD_Setting wind{false, 2, 12};
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AP_OSD_Setting aspeed{false, 2, 13};
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AP_OSD_Setting aspd1{false, 0, 0};
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AP_OSD_Setting aspd2{false, 0, 0};
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AP_OSD_Setting vspeed{true, 24, 9};
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#ifdef HAVE_AP_BLHELI_SUPPORT
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AP_OSD_Setting blh_temp {false, 24, 13};
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AP_OSD_Setting blh_rpm{false, 22, 12};
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AP_OSD_Setting blh_amps{false, 24, 14};
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#endif
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AP_OSD_Setting gps_latitude{true, 9, 13};
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AP_OSD_Setting gps_longitude{true, 9, 14};
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AP_OSD_Setting roll_angle{false, 0, 0};
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AP_OSD_Setting pitch_angle{false, 0, 0};
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AP_OSD_Setting temp{false, 0, 0};
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AP_OSD_Setting btemp{false, 0, 0};
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AP_OSD_Setting hdop{false, 0, 0};
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AP_OSD_Setting waypoint{false, 0, 0};
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AP_OSD_Setting xtrack_error{false, 0, 0};
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AP_OSD_Setting dist{false,22,11};
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AP_OSD_Setting stat{false,0,0};
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AP_OSD_Setting flightime{false, 23, 10};
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AP_OSD_Setting climbeff{false,0,0};
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AP_OSD_Setting eff{false, 22, 10};
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AP_OSD_Setting atemp{false, 0, 0};
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AP_OSD_Setting bat2_vlt{false, 0, 0};
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AP_OSD_Setting bat2used{false, 0, 0};
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AP_OSD_Setting clk{false, 0, 0};
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// MSP OSD only
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AP_OSD_Setting sidebars{false, 0, 0};
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AP_OSD_Setting crosshair{false, 0, 0};
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AP_OSD_Setting home_dist{true, 1, 1};
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AP_OSD_Setting home_dir{true, 1, 1};
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AP_OSD_Setting power{true, 1, 1};
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AP_OSD_Setting cell_volt{true, 1, 1};
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AP_OSD_Setting batt_bar{true, 1, 1};
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AP_OSD_Setting arming{true, 1, 1};
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void draw_altitude(uint8_t x, uint8_t y);
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void draw_bat_volt(uint8_t x, uint8_t y);
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void draw_rssi(uint8_t x, uint8_t y);
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void draw_current(uint8_t x, uint8_t y);
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void draw_batused(uint8_t x, uint8_t y);
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void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
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void draw_sats(uint8_t x, uint8_t y);
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void draw_fltmode(uint8_t x, uint8_t y);
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void draw_message(uint8_t x, uint8_t y);
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void draw_gspeed(uint8_t x, uint8_t y);
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void draw_horizon(uint8_t x, uint8_t y);
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void draw_home(uint8_t x, uint8_t y);
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void draw_throttle(uint8_t x, uint8_t y);
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void draw_heading(uint8_t x, uint8_t y);
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void draw_compass(uint8_t x, uint8_t y);
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void draw_wind(uint8_t x, uint8_t y);
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void draw_aspeed(uint8_t x, uint8_t y);
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void draw_aspd1(uint8_t x, uint8_t y);
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void draw_aspd2(uint8_t x, uint8_t y);
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void draw_vspeed(uint8_t x, uint8_t y);
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//helper functions
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void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
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void draw_distance(uint8_t x, uint8_t y, float distance);
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#ifdef HAVE_AP_BLHELI_SUPPORT
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void draw_blh_temp(uint8_t x, uint8_t y);
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void draw_blh_rpm(uint8_t x, uint8_t y);
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void draw_blh_amps(uint8_t x, uint8_t y);
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#endif
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void draw_gps_latitude(uint8_t x, uint8_t y);
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void draw_gps_longitude(uint8_t x, uint8_t y);
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void draw_roll_angle(uint8_t x, uint8_t y);
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void draw_pitch_angle(uint8_t x, uint8_t y);
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void draw_temp(uint8_t x, uint8_t y);
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void draw_btemp(uint8_t x, uint8_t y);
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void draw_hdop(uint8_t x, uint8_t y);
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void draw_waypoint(uint8_t x, uint8_t y);
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void draw_xtrack_error(uint8_t x, uint8_t y);
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void draw_dist(uint8_t x, uint8_t y);
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void draw_stat(uint8_t x, uint8_t y);
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void draw_flightime(uint8_t x, uint8_t y);
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void draw_climbeff(uint8_t x, uint8_t y);
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void draw_eff(uint8_t x, uint8_t y);
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void draw_atemp(uint8_t x, uint8_t y);
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void draw_bat2_vlt(uint8_t x, uint8_t y);
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void draw_bat2used(uint8_t x, uint8_t y);
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void draw_clk(uint8_t x, uint8_t y);
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};
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#if OSD_PARAM_ENABLED
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/*
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class to hold one setting
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*/
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class AP_OSD_ParamSetting : public AP_OSD_Setting
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{
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public:
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// configured index.
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AP_Int32 _param_group;
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AP_Int16 _param_key;
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AP_Int8 _param_idx;
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// metadata
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AP_Float _param_min;
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AP_Float _param_max;
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AP_Float _param_incr;
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AP_Int8 _type;
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// parameter number
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uint8_t _param_number;
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AP_Param* _param;
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ap_var_type _param_type;
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AP_Param::ParamToken _current_token;
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// structure to contain setting constraints for important settings
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struct ParamMetadata {
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float min_value;
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float max_value;
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float increment;
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uint8_t values_max;
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const char** values;
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};
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// compact structure used to hold default values for static initialization
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struct Initializer {
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uint8_t index;
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AP_Param::ParamToken token;
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int8_t type;
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};
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static const ParamMetadata _param_metadata[];
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AP_OSD_ParamSetting(uint8_t param_number, bool enabled, uint8_t x, uint8_t y, int16_t key, int8_t idx, int32_t group,
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int8_t type = OSD_PARAM_NONE, float min = 0.0f, float max = 1.0f, float incr = 0.001f);
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AP_OSD_ParamSetting(uint8_t param_number);
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AP_OSD_ParamSetting(const Initializer& initializer);
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// initialize the setting from the configured information
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void update();
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// set the ranges from static metadata
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bool set_from_metadata();
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bool set_by_name(const char* name, uint8_t config_type, float pmin=0, float pmax=0, float pincr=0);
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void guess_ranges(bool force = false);
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void save_as_new();
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const ParamMetadata* get_custom_metadata() const {
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return (_type > 0 ? &_param_metadata[_type - 1] : nullptr);
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}
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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};
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/*
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class to hold one screen of settings
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*/
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class AP_OSD_ParamScreen : public AP_OSD_AbstractScreen
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{
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public:
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AP_OSD_ParamScreen(uint8_t index);
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enum class Event {
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NONE,
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MENU_ENTER,
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MENU_UP,
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MENU_DOWN,
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MENU_EXIT
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};
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enum class MenuState {
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PARAM_SELECT,
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PARAM_VALUE_MODIFY,
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PARAM_PARAM_MODIFY
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};
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static const uint8_t NUM_PARAMS = 9;
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static const uint8_t SAVE_PARAM = NUM_PARAMS + 1;
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void draw(void) override;
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void handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link);
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void handle_read_msg(const mavlink_osd_param_show_config_t& packet, const GCS_MAVLINK& link);
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// Save button co-ordinates
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AP_Int8 save_x;
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AP_Int8 save_y;
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_OSD_ParamSetting params[NUM_PARAMS] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };
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void update_state_machine();
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void draw_parameter(uint8_t param_number, uint8_t x, uint8_t y);
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void modify_parameter(uint8_t number, Event ev);
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void modify_configured_parameter(uint8_t number, Event ev);
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void save_parameters();
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Event map_rc_input_to_event() const;
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RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
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uint8_t _selected_param = 1;
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uint16_t _requires_save;
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MenuState _menu_state = MenuState::PARAM_SELECT;
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Event _last_rc_event = Event::NONE;
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// start time of the current button press
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uint32_t _transition_start_ms;
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// timeout of the current button press
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uint32_t _transition_timeout_ms;
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// number of consecutive times the current transition has happened
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uint32_t _transition_count;
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};
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#endif
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class AP_OSD
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{
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public:
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friend class AP_OSD_Screen;
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friend class AP_MSP;
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friend class AP_MSP_Telem_Backend;
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friend class AP_OSD_ParamScreen;
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//constructor
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AP_OSD();
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/* Do not allow copies */
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AP_OSD(const AP_OSD &other) = delete;
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AP_OSD &operator=(const AP_OSD&) = delete;
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// get singleton instance
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static AP_OSD *get_singleton()
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{
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return _singleton;
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}
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// init - perform required initialisation
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void init();
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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enum osd_types {
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OSD_NONE=0,
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OSD_MAX7456=1,
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OSD_SITL=2,
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OSD_MSP=3,
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};
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enum switch_method {
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TOGGLE=0,
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PWM_RANGE=1,
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AUTO_SWITCH=2,
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};
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AP_Int8 osd_type;
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AP_Int8 rc_channel;
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AP_Int8 sw_method;
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AP_Int8 font_num;
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AP_Int8 v_offset;
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AP_Int8 h_offset;
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AP_Int8 warn_rssi;
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AP_Int8 warn_nsat;
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AP_Float warn_batvolt;
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AP_Float warn_bat2volt;
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AP_Int8 msgtime_s;
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AP_Int8 arm_scr;
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AP_Int8 disarm_scr;
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AP_Int8 failsafe_scr;
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AP_Int32 button_delay_ms;
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enum {
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OPTION_DECIMAL_PACK = 1U<<0,
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OPTION_INVERTED_WIND = 1U<<1,
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OPTION_INVERTED_AH_ROLL = 1U<<2,
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};
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AP_Int32 options;
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enum {
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UNITS_METRIC=0,
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UNITS_IMPERIAL=1,
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UNITS_SI=2,
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UNITS_AVIATION=3,
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UNITS_LAST=4,
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};
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AP_Int8 units;
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AP_OSD_Screen screen[AP_OSD_NUM_DISPLAY_SCREENS];
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#if OSD_PARAM_ENABLED
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AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS] { 0, 1 };
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#endif
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struct NavInfo {
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float wp_distance;
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int32_t wp_bearing;
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float wp_xtrack_error;
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uint16_t wp_number;
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};
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void set_nav_info(NavInfo &nav_info);
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// disable the display
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void disable() {
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_disable = true;
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}
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// enable the display
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void enable() {
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_disable = false;
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}
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AP_OSD_AbstractScreen& get_screen(uint8_t idx) {
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#if OSD_PARAM_ENABLED
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if (idx >= AP_OSD_NUM_DISPLAY_SCREENS) {
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return param_screen[idx - AP_OSD_NUM_DISPLAY_SCREENS];
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}
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#endif
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return screen[idx];
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}
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// Check whether arming is allowed
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bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
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bool is_readonly_screen() const { return current_screen < AP_OSD_NUM_DISPLAY_SCREENS; }
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// handle OSD parameter configuration
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void handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link);
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private:
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void osd_thread();
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void update_osd();
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void stats();
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void update_current_screen();
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void next_screen();
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AP_OSD_Backend *backend;
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//variables for screen switching
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uint8_t current_screen;
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uint16_t previous_channel_value;
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bool switch_debouncer;
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uint32_t last_switch_ms;
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struct NavInfo nav_info;
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int8_t previous_pwm_screen;
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|
int8_t pre_fs_screen;
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|
bool was_armed;
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|
bool was_failsafe;
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|
bool _disable;
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|
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|
uint32_t last_update_ms;
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|
float last_distance_m;
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|
float max_dist_m;
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|
float max_alt_m;
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|
float max_speed_mps;
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|
float max_current_a;
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|
float avg_current_a;
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|
|
|
static AP_OSD *_singleton;
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|
};
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|
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namespace AP
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{
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AP_OSD *osd();
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};
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