mirror of https://github.com/ArduPilot/ardupilot
479 lines
14 KiB
C++
479 lines
14 KiB
C++
/*
|
|
* 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 <http://www.gnu.org/licenses/>.
|
|
*
|
|
* 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
|
|
|
|
#include "AP_OSD_MAX7456.h"
|
|
#ifdef WITH_SITL_OSD
|
|
#include "AP_OSD_SITL.h"
|
|
#endif
|
|
#include "AP_OSD_MSP.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/Util.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_BattMonitor/AP_BattMonitor.h>
|
|
#include <utility>
|
|
#include <AP_Notify/AP_Notify.h>
|
|
|
|
const AP_Param::GroupInfo AP_OSD::var_info[] = {
|
|
|
|
// @Param: _TYPE
|
|
// @DisplayName: OSD type
|
|
// @Description: OSD type
|
|
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP
|
|
// @User: Standard
|
|
// @RebootRequired: True
|
|
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
|
|
|
|
// @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),
|
|
|
|
// @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);
|
|
// default first screen enabled
|
|
screen[0].enabled = 1;
|
|
#ifdef WITH_SITL_OSD
|
|
osd_type.set_default(2);
|
|
#endif
|
|
|
|
#ifdef HAL_OSD_TYPE_DEFAULT
|
|
osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
|
|
#endif
|
|
previous_pwm_screen = -1;
|
|
_singleton = this;
|
|
}
|
|
|
|
void AP_OSD::init()
|
|
{
|
|
switch ((enum osd_types)osd_type.get()) {
|
|
case OSD_NONE:
|
|
default:
|
|
break;
|
|
|
|
case OSD_MAX7456: {
|
|
#ifdef HAL_WITH_SPI_OSD
|
|
AP_HAL::OwnPtr<AP_HAL::Device> 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 (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);
|
|
}
|
|
}
|
|
|
|
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<AP_OSD_NUM_SCREENS; i++) {
|
|
if (get_screen(i).enabled && get_screen(i).channel_min <= channel_value && get_screen(i).channel_max > 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;
|
|
}
|
|
|
|
// 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
|