mirror of https://github.com/ArduPilot/ardupilot
470 lines
18 KiB
C++
470 lines
18 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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* AP_OSD partially based on betaflight and inav osd.c implemention.
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* clarity.mcm font is taken from inav configurator.
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* Many thanks to their authors.
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*/
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/*
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parameter object for one setting in AP_OSD
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*/
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#include "AP_OSD.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include <ctype.h>
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#if OSD_PARAM_ENABLED
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const AP_Param::GroupInfo AP_OSD_ParamSetting::var_info[] = {
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// @Param: _EN
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// @DisplayName: Enable
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// @Description: Enable setting
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("_EN", 1, AP_OSD_ParamSetting, enabled, 0),
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// @Param: _X
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// @DisplayName: X position
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// @Description: Horizontal position on screen
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// @Range: 0 29
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// @User: Standard
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AP_GROUPINFO("_X", 2, AP_OSD_ParamSetting, xpos, 0),
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// @Param: _Y
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// @DisplayName: Y position
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// @Description: Vertical position on screen
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// @Range: 0 15
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// @User: Standard
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AP_GROUPINFO("_Y", 3, AP_OSD_ParamSetting, ypos, 0),
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// Parameter access keys. These default to -1 too allow user overrides
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// to work properly
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// @Param: _KEY
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// @DisplayName: Parameter key
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// @Description: Key of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_KEY", 4, AP_OSD_ParamSetting, _param_key, -1),
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// @Param: _IDX
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// @DisplayName: Parameter index
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// @Description: Index of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_IDX", 5, AP_OSD_ParamSetting, _param_idx, -1),
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// @Param: _GRP
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// @DisplayName: Parameter group
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// @Description: Group of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_GRP", 6, AP_OSD_ParamSetting, _param_group, -1),
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// @Param: _MIN
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// @DisplayName: Parameter minimum
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// @Description: Minimum value of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_MIN", 7, AP_OSD_ParamSetting, _param_min, 0.0f),
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// @Param: _MAX
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// @DisplayName: Parameter maximum
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// @Description: Maximum of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_MAX", 8, AP_OSD_ParamSetting, _param_max, 1.0f),
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// @Param: _INCR
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// @DisplayName: Parameter increment
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// @Description: Increment of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_INCR", 9, AP_OSD_ParamSetting, _param_incr, 0.001f),
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// @Param: _TYPE
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// @DisplayName: Parameter type
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// @Description: Type of the parameter to be displayed and modified
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// @User: Standard
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AP_GROUPINFO("_TYPE", 10, AP_OSD_ParamSetting, _type, 0),
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AP_GROUPEND
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};
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#define PARAM_COMPOSITE_INDEX(key, idx, group) (uint32_t((uint32_t(key) << 23) | (uint32_t(idx) << 18) | uint32_t(group)))
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#define OSD_PARAM_DEBUG 0
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#if OSD_PARAM_DEBUG
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#define debug(fmt, args ...) do { hal.console->printf("OSD: " fmt, args); } while (0)
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#else
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#define debug(fmt, args ...)
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#endif
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// at the cost of a little flash, we can create much better ranges and values for certain important settings
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// common labels - all strings must be upper case
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_COPTER_OR_HELI
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static const char* SERIAL_PROTOCOL_VALUES[] = {
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"", "MAV", "MAV2", "FSKY_D", "FSKY_S", "GPS", "", "ALEX", "STORM", "RNG",
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"FSKY_TX", "LID360", "", "BEACN", "VOLZ", "SBUS", "ESC_TLM", "DEV_TLM", "OPTFLW", "RBTSRV",
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"NMEA", "WNDVNE", "SLCAN", "RCIN", "MGSQRT", "LTM", "RUNCAM", "HOT_TLM", "SCRIPT", "CRSF",
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"GEN", "WNCH", "MSP", "DJI"
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};
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static const char* SERVO_FUNCTIONS[] = {
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"NONE", "RCPASS", "FLAP", "FLAP_AUTO", "AIL", "", "MNT_PAN", "MNT_TLT", "MNT_RLL", "MNT_OPEN",
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"CAM_TRG", "", "MNT2_PAN", "MNT2_TLT", "MNT2_RLL", "MNT2_OPEN", "DIF_SPL_L1", "DIF_SPL_R1", "", "ELE",
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"", "RUD", "SPR_PMP", "SPR_SPIN", "FLPRON_L", "FLPRON_R", "GRND_STEER", "PARACHT", "GRIP", "GEAR",
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"ENG_RUN_EN", "HELI_RSC", "HELI_TAIL_RSC", "MOT_1", "MOT_2", "MOT_3", "MOT_4", "MOT_5", "MOT_6", "MOT_7",
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"MOT_8", "MOT_TLT", "", "", "", "", "", "", "", "",
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"", "RCIN_1", "RCIN_2", "RCIN_3", "RCIN_4", "RCIN_5", "RCIN_6", "RCIN_7", "RCIN_8", "RCIN_9",
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"RCIN_10", "RCIN_11", "RCIN_12", "RCIN_13", "RCIN_14", "RCIN_15", "RCIN_16", "IGN", "", "START",
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"THR", "TRCK_YAW", "TRCK_PIT", "THR_L", "THR_R", "TLTMOT_L", "TLTMOT_R", "ELEVN_L", "ELEVN_R", "VTAIL_L",
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"VTAIL_R", "BOOST_THR", "MOT_9", "MOT_10", "MOT_11", "MOT_12", "DIF_SPL_L2", "DIF_SPL_R2", "", "MAIN_SAIL",
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"CAM_ISO", "CAM_APTR", "CAM_FOC", "CAM_SH_SPD", "SCRPT_1", "SCRPT_2", "SCRPT_3", "SCRPT_4", "SCRPT_5", "SCRPT_6",
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"SCRPT_7", "SCRPT_8", "SCRPT_9", "SCRPT_10", "SCRPT_11", "SCRPT_12", "SCRPT_13", "SCRPT_14", "SCRPT_15", "SCRPT_16",
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"", "", "", "", "", "", "", "", "", "",
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"NEOPX_1", "NEOPX_2", "NEOPX_3", "NEOPX_4", "RAT_RLL", "RAT_PIT","RAT_THRST", "RAT_YAW", "WSAIL_EL", "PRLED_1",
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"PRLED_2", "PRLED_3", "PRLED_CLK", "WNCH_CL"
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};
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#endif
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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static const char* AUX_OPTIONS[] = {
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"NONE", "", "", "", "RTL", "", "", "", "", "CAM_TRG",
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"", "", "", "", "", "", "AUTO", "", "", "",
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"", "", "", "", "MIS_RST", "", "", "", "RLY", "LAND_GR",
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"LOST_SND", "M_ESTOP", "", "", "", "RLY3", "RLY4", "", "OA_ADSB", "",
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"", "ARM/DS", "", "INVERT", "", "", "RC_OVRD", "", "", "",
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"", "MANUAL", "", "", "", "GUIDE", "LOIT", "", "CLR_WP", "",
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"", "", "COMP_LRN", "", "REV_THR", "GPS_DIS", "RLY5", "RLY6", "", "",
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"", "", "CIRCLE", "", "", "", "", "TAKEOFF", "RCAM_CTL", "RCAM_OSD",
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"", "DSARM", "QASS3POS", "", "AIR", "GEN", "TER_AUTO", "CROW_SEL", "SOAR", "",
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"", "", "", "", "", "", "", "", "", "",
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"KILLIMU1", "KILLIMU2", "CAM_TOG", "", "", "GPSYAW_DIS"
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};
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static const char* FLTMODES[] = {
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"MAN", "CIRC", "STAB", "TRAIN", "ACRO", "FBWA", "FBWB", "CRUISE", "ATUNE", "", "AUTO",
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"RTL", "LOIT", "TKOF", "ADSB", "GUID", "", "QSTAB", "QHOV", "QLOIT", "QLAND",
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"QRTL", "QTUNE", "QACRO"
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};
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static const char* FS_ACT[] = {
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"NONE", "RTL", "LAND", "TERM", "QLAND", "PARA"
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};
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static const char* FS_SHRT_ACTNS[] = {
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"CRC_NOCHNGE", "CIRC", "FBWA", "DSABLE"
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};
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static const char* FS_LNG_ACTNS[] = {
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"CNTNUE", "RTL", "GLIDE", "PARACHT"
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};
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// plane parameters
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const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {
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{ -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL
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{ 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION
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{ 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION
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{ 0, 23, 1, ARRAY_SIZE(FLTMODES), FLTMODES }, // OSD_PARAM_FLIGHT_MODE
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{ 0, 5, 1, ARRAY_SIZE(FS_ACT), FS_ACT }, // OSD_PARAM_FAILSAFE_ACTION
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{ 0, 3, 1, ARRAY_SIZE(FS_SHRT_ACTNS), FS_SHRT_ACTNS }, // OSD_PARAM_FAILSAFE_ACTION_1
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{ 0, 3, 1, ARRAY_SIZE(FS_LNG_ACTNS), FS_LNG_ACTNS }, // OSD_PARAM_FAILSAFE_ACTION_2
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};
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#elif APM_BUILD_COPTER_OR_HELI
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static const char* AUX_OPTIONS[] = {
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"NONE", "", "FLIP", "SIMP", "RTL", "SAV_TRM", "", "SAV_WP", "", "CAM_TRG",
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"RNG", "FENCE", "", "SSIMP", "ACRO_TRN", "SPRAY", "AUTO", "AUTOTN", "LAND", "GRIP",
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"", "CHUTE_EN", "CHUTE_RL", "CHUTE_3P", "MIS_RST", "ATT_FF", "ATT_ACC", "RET_MNT", "RLY", "LAND_GR",
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"LOST_SND", "M_ESTOP", "M_ILOCK", "BRAKE", "RLY2", "RLY3", "RLY4", "THROW", "OA_ADSB", "PR_LOIT",
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"OA_PROX", "ARM/DS", "SMRT_RTL", "INVERT", "", "", "RC_OVRD", "USR1", "USR2", "USR3",
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"", "", "ACRO", "", "", "GUIDE", "LOIT", "FOLLOW", "CLR_WP", "",
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"ZZAG", "ZZ_SVWP", "COMP_LRN", "", "", "GPS_DIS", "RLY5", "RLY6", "STAB", "PHOLD",
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"AHOLD", "FHOLD", "CIRCLE", "DRIFT", "", "", "STANDBY", "", "RCAM_CTL", "RCAM_OSD",
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"VISO_CAL", "DISARM", "", "ZZ_Auto", "AIR", "", "", "", "", "",
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"", "", "", "", "", "", "", "", "", "",
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"KILLIMU1", "KILLIMU2", "CAM_MOD_TOG", "", "", "GPSYAW_DIS"
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};
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static const char* FLTMODES[] = {
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"STAB", "ACRO", "ALTHOLD", "AUTO", "GUIDED", "LOIT", "RTL", "CIRC", "", "LAND",
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"", "DRFT", "", "SPORT", "FLIP", "ATUN", "POSHLD", "BRAKE", "THROW", "AVD_ADSB",
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"GUID_NOGPS", "SMRTRTL", "FLOHOLD", "FOLLOW", "ZIGZAG", "SYSID", "HELI_ARO"
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};
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static const char* FS_OPTIONS[] = {
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"NONE", "CONT_RCFS", "CONT_GCSFS", "CONT_RC/GCSFS", "CONT_GUID_RC", "", "", "", "CONT_LAND", "",
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"", "", "", "", "", "CONT_CTRL_GCS", "", "", "CONTNUE"
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};
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static const char* THR_FS_ACT[] = {
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"NONE", "RTL", "CONT", "LAND", "SRTL_RTL", "SRTL_LAND"
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};
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static const char* FS_ACT[] = {
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"NONE", "LAND", "RTL", "SRTL_RTL", "SRTL_LAND", "TERM"
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};
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// copter parameters
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const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {
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{ -1, AP_SerialManager::SerialProtocol_NumProtocols - 1, 1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES }, // OSD_PARAM_SERIAL_PROTOCOL
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{ 0, SRV_Channel::k_nr_aux_servo_functions - 1, 1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS }, // OSD_PARAM_SERVO_FUNCTION
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{ 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS }, // OSD_PARAM_AUX_FUNCTION
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{ 0, 23, 1, ARRAY_SIZE(FLTMODES), FLTMODES }, // OSD_PARAM_FLIGHT_MODE
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{ 0, 3, 1, ARRAY_SIZE(FS_OPTIONS), FS_OPTIONS }, // OSD_PARAM_FAILSAFE_ACTION
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{ 0, 5, 1, ARRAY_SIZE(FS_ACT), FS_ACT }, // OSD_PARAM_FAILSAFE_ACTION_1
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{ 0, 5, 1, ARRAY_SIZE(THR_FS_ACT), THR_FS_ACT }, // OSD_PARAM_FAILSAFE_ACTION_2
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};
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#else
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const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {};
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#endif
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_OSD_ParamSetting::AP_OSD_ParamSetting(uint8_t param_number, bool _enabled, uint8_t x, uint8_t y, int16_t key, int8_t idx, int32_t group, int8_t type, float min, float max, float incr)
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: AP_OSD_Setting(_enabled, x, y), _param_number(param_number)
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{
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_param_group = group;
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_param_idx = idx;
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_param_key = key;
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_param_min = min;
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_param_max = max;
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_param_incr = incr;
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_type = type;
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}
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// default constructor that just sets some sensible defaults that exist on all platforms
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AP_OSD_ParamSetting::AP_OSD_ParamSetting(uint8_t param_number)
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: AP_OSD_Setting(false, 2, param_number + 1), _param_number(param_number)
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{
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_param_min = 0.0f;
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_param_max = 1.0f;
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_param_incr = 0.001f;
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_type = OSD_PARAM_NONE;
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}
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// construct a setting from a compact static initializer structure
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AP_OSD_ParamSetting::AP_OSD_ParamSetting(const Initializer& initializer)
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: AP_OSD_ParamSetting(initializer.index)
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{
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_param_group = initializer.token.group_element;
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_param_idx = initializer.token.idx;
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_param_key = initializer.token.key;
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_type = initializer.type;
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enabled = true;
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}
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// update the contained parameter
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void AP_OSD_ParamSetting::update()
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{
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// if the user has not made any changes then skip the update
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if (PARAM_TOKEN_INDEX(_current_token) == PARAM_COMPOSITE_INDEX(_param_key, _param_idx, _param_group) && _param_key >= 0) {
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return;
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}
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// if a parameter was configured then use that
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_current_token = AP_Param::ParamToken {};
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// surely there is a more efficient way than brute-force search
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for (_param = AP_Param::first(&_current_token, &_param_type);
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_param && (AP_Param::get_persistent_key(_current_token.key) != uint16_t(_param_key.get())
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|| _current_token.idx != uint8_t(_param_idx.get())
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|| _current_token.group_element != uint32_t(_param_group.get()));
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_param = AP_Param::next_scalar(&_current_token, &_param_type)) {
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}
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if (_param == nullptr) {
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enabled = false;
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} else {
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guess_ranges();
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}
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}
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// update parameter settings from the named parameter
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bool AP_OSD_ParamSetting::set_by_name(const char* name, uint8_t config_type, float pmin, float pmax, float pincr)
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{
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AP_Param::ParamToken token = AP_Param::ParamToken {};
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ap_var_type type;
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AP_Param* param = AP_Param::find_by_name(name, &type, &token);
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if (param == nullptr) {
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// leave unchanged
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return false;
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} else {
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_current_token = token;
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_param_type = type;
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_param = param;
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enabled.set_and_save_ifchanged(true);
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}
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_type.set_and_save_ifchanged(config_type);
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if (config_type == OSD_PARAM_NONE && !is_zero(pincr)) {
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// ranges
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_param_min.set_and_save_ifchanged(pmin);
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_param_max.set_and_save_ifchanged(pmax);
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_param_incr.set_and_save_ifchanged(pincr);
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} else {
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guess_ranges(true);
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}
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_param_key.set_and_save_ifchanged(AP_Param::get_persistent_key(_current_token.key));
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_param_idx.set_and_save_ifchanged(_current_token.idx);
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_param_group.set_and_save_ifchanged(_current_token.group_element);
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return true;
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}
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// guess the ranges and increment for the selected parameter
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// only called when a change has been made
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void AP_OSD_ParamSetting::guess_ranges(bool force)
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{
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if (_param->is_read_only()) {
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return;
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}
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// check for statically configured setting metadata
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if (set_from_metadata()) {
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return;
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}
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// nothing statically configured so guess some appropriate values
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float min = -1, max = 127, incr = 1;
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if (_param != nullptr) {
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switch (_param_type) {
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case AP_PARAM_INT8:
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break;
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case AP_PARAM_INT16: {
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AP_Int16* p = (AP_Int16*)_param;
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min = -1;
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uint8_t digits = 0;
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for (int16_t int16p = p->get(); int16p > 0; int16p /= 10) {
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digits++;
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}
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incr = MAX(1, powf(10, digits - 2));
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max = powf(10, digits + 1);
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debug("Guessing range for value %d as %f -> %f, %f\n", p->get(), min, max, incr);
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break;
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}
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case AP_PARAM_INT32: {
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AP_Int32* p = (AP_Int32*)_param;
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min = -1;
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uint8_t digits = 0;
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for (int32_t int32p = p->get(); int32p > 0; int32p /= 10) {
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digits++;
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}
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incr = MAX(1, powf(10, digits - 2));
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max = powf(10, digits + 1);
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debug("Guessing range for value %d as %f -> %f, %f\n", int(p->get()), min, max, incr);
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break;
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}
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case AP_PARAM_FLOAT: {
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AP_Float* p = (AP_Float*)_param;
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uint8_t digits = 0;
|
|
for (float floatp = p->get(); floatp > 1.0f; floatp /= 10) {
|
|
digits++;
|
|
}
|
|
float floatp = p->get();
|
|
if (digits < 1) {
|
|
if (!is_zero(floatp)) {
|
|
incr = floatp * 0.01f; // move in 1% increments
|
|
} else {
|
|
incr = 0.01f; // move in absolute 1% increments
|
|
}
|
|
max = 1.0;
|
|
min = 0.0f;
|
|
} else {
|
|
if (!is_zero(floatp)) {
|
|
incr = floatp * 0.01f; // move in 1% increments
|
|
} else {
|
|
incr = MAX(1, powf(10, digits - 2));
|
|
}
|
|
max = powf(10, digits + 1);
|
|
min = 0.0f;
|
|
}
|
|
debug("Guessing range for value %f as %f -> %f, %f\n", p->get(), min, max, incr);
|
|
break;
|
|
}
|
|
case AP_PARAM_VECTOR3F:
|
|
case AP_PARAM_NONE:
|
|
case AP_PARAM_GROUP:
|
|
break;
|
|
}
|
|
|
|
if (force || !_param_min.configured()) {
|
|
_param_min = min;
|
|
}
|
|
if (force || !_param_max.configured()) {
|
|
_param_max = max;
|
|
}
|
|
if (force || !_param_incr.configured()) {
|
|
_param_incr = incr;
|
|
}
|
|
}
|
|
}
|
|
|
|
// copy the name converting FOO_BAR_BAZ to FooBarBaz
|
|
void AP_OSD_ParamSetting::copy_name_camel_case(char* name, size_t len) const
|
|
{
|
|
char buf[17];
|
|
_param->copy_name_token(_current_token, buf, 17);
|
|
buf[16] = 0;
|
|
name[0] = buf[0];
|
|
for (uint8_t i = 1, n = 1; i < len; i++, n++) {
|
|
if (buf[i] == '_') {
|
|
name[n] = buf[i+1];
|
|
i++;
|
|
} else {
|
|
name[n] = tolower(buf[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool AP_OSD_ParamSetting::set_from_metadata()
|
|
{
|
|
// check for statically configured setting metadata
|
|
if (_type > 0 && _type < OSD_PARAM_NUM_TYPES && _param_metadata[_type - 1].values_max > 0) {
|
|
_param_incr = _param_metadata[_type - 1].increment;
|
|
_param_min = _param_metadata[_type - 1].min_value;
|
|
_param_max = _param_metadata[_type - 1].max_value;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// modify the selected parameter values
|
|
void AP_OSD_ParamSetting::save_as_new()
|
|
{
|
|
_param_group.save();
|
|
_param_key.save();
|
|
_param_idx.save();
|
|
// the user has configured the range and increment, but the parameter
|
|
// is no longer valid so reset these to guessed values
|
|
guess_ranges(true);
|
|
if (_param_min.configured()) {
|
|
_param_min.save();
|
|
}
|
|
if (_param_max.configured()) {
|
|
_param_max.save();
|
|
}
|
|
if (_param_incr.configured()) {
|
|
_param_incr.save();
|
|
}
|
|
}
|
|
|
|
#endif // OSD_PARAM_ENABLED
|
|
|