mirror of https://github.com/ArduPilot/ardupilot
666 lines
21 KiB
C++
666 lines
21 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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#include "AP_OSD.h"
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#if OSD_ENABLED || OSD_PARAM_ENABLED
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#include "AP_OSD_MAX7456.h"
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#ifdef WITH_SITL_OSD
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#include "AP_OSD_SITL.h"
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#endif
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#include "AP_OSD_MSP.h"
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#include "AP_OSD_MSP_DisplayPort.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Util.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <utility>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include <GCS_MAVLink/GCS.h>
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// macro for easy use of var_info2
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#define AP_SUBGROUPINFO2(element, name, idx, thisclazz, elclazz) { name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info2 }, AP_PARAM_FLAG_NESTED_OFFSET, idx, AP_PARAM_GROUP }
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const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Param: _TYPE
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// @DisplayName: OSD type
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// @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.
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// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
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#if OSD_ENABLED
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// @Param: _CHAN
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// @DisplayName: Screen switch transmitter channel
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// @Description: This sets the channel used to switch different OSD screens.
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// @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
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// @User: Standard
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AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0),
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// @Group: 1_
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// @Path: AP_OSD_Screen.cpp
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AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen),
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// @Group: 2_
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// @Path: AP_OSD_Screen.cpp
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AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen),
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// @Group: 3_
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// @Path: AP_OSD_Screen.cpp
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AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen),
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// @Group: 4_
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// @Path: AP_OSD_Screen.cpp
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AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen),
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// @Param: _SW_METHOD
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// @DisplayName: Screen switch method
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// @Description: This sets the method used to switch different OSD screens.
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// @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
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// @User: Standard
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AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE),
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// @Param: _OPTIONS
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// @DisplayName: OSD Options
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// @Description: This sets options that change the display
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// @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH
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// @User: Standard
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AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
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// @Param: _FONT
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// @DisplayName: OSD Font
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// @Description: This sets which OSD font to use. It is an integer from 0 to the number of fonts available
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0),
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// @Param: _V_OFFSET
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// @DisplayName: OSD vertical offset
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// @Description: Sets vertical offset of the osd inside image
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// @Range: 0 31
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16),
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// @Param: _H_OFFSET
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// @DisplayName: OSD horizontal offset
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// @Description: Sets horizontal offset of the osd inside image
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// @Range: 0 63
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32),
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// @Param: _W_RSSI
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// @DisplayName: RSSI warn level (in %)
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// @Description: Set level at which RSSI item will flash
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// @Range: 0 99
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// @User: Standard
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AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
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// @Param: _W_NSAT
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// @DisplayName: NSAT warn level
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// @Description: Set level at which NSAT item will flash
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// @Range: 1 30
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// @User: Standard
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AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9),
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// @Param: _W_BATVOLT
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// @DisplayName: BAT_VOLT warn level
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// @Description: Set level at which BAT_VOLT item will flash
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f),
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// @Param: _UNITS
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// @DisplayName: Display Units
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// @Description: Sets the units to use in displaying items
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// @Values: 0:Metric,1:Imperial,2:SI,3:Aviation
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// @User: Standard
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AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0),
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// @Param: _MSG_TIME
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// @DisplayName: Message display duration in seconds
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// @Description: Sets message duration seconds
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// @Range: 1 20
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// @User: Standard
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AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
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// @Param: _ARM_SCR
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// @DisplayName: Arm screen
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// @Description: Screen to be shown on Arm event. Zero to disable the feature.
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// @Range: 0 4
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// @User: Standard
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AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
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// @Param: _DSARM_SCR
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// @DisplayName: Disarm screen
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// @Description: Screen to be shown on disarm event. Zero to disable the feature.
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// @Range: 0 4
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// @User: Standard
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AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0),
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// @Param: _FS_SCR
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// @DisplayName: Failsafe screen
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// @Description: Screen to be shown on failsafe event. Zero to disable the feature.
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// @Range: 0 4
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// @User: Standard
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AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0),
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#if OSD_PARAM_ENABLED
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// @Param: _BTN_DELAY
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// @DisplayName: Button delay
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// @Description: Debounce time in ms for stick commanded parameter navigation.
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// @Range: 0 3000
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// @User: Advanced
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AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
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#endif
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#if AP_TERRAIN_AVAILABLE
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// @Param: _W_TERR
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// @DisplayName: Terrain warn level
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// @Description: Set level below which TER_HGT item will flash. -1 disables.
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// @Range: -1 3000
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// @Units: m
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// @User: Standard
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AP_GROUPINFO("_W_TERR", 23, AP_OSD, warn_terr, -1),
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#endif
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// @Param: _W_AVGCELLV
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// @DisplayName: AVGCELLV warn level
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// @Description: Set level at which AVGCELLV item will flash
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("_W_AVGCELLV", 24, AP_OSD, warn_avgcellvolt, 3.6f),
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// @Param: _CELL_COUNT
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// @DisplayName: Battery cell count
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// @Description: Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("_CELL_COUNT", 25, AP_OSD, cell_count, -1),
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// @Param: _W_RESTVOLT
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// @DisplayName: RESTVOLT warn level
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// @Description: Set level at which RESTVOLT item will flash
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("_W_RESTVOLT", 26, AP_OSD, warn_restvolt, 10.0f),
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// @Param: _W_ACRVOLT
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// @DisplayName: Avg Cell Resting Volt warn level
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// @Description: Set level at which ACRVOLT item will flash
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("_W_ACRVOLT", 31, AP_OSD, warn_avgcellrestvolt, 3.6f),
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#endif //osd enabled
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#if OSD_PARAM_ENABLED
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// @Group: 5_
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// @Path: AP_OSD_ParamScreen.cpp
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AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
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// @Group: 6_
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// @Path: AP_OSD_ParamScreen.cpp
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AP_SUBGROUPINFO(param_screen[1], "6_", 22, AP_OSD, AP_OSD_ParamScreen),
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#endif
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#if OSD_ENABLED
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// additional tables to go beyond 63 limit
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AP_SUBGROUPINFO2(screen[0], "1_", 27, AP_OSD, AP_OSD_Screen),
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AP_SUBGROUPINFO2(screen[1], "2_", 28, AP_OSD, AP_OSD_Screen),
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AP_SUBGROUPINFO2(screen[2], "3_", 29, AP_OSD, AP_OSD_Screen),
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AP_SUBGROUPINFO2(screen[3], "4_", 30, AP_OSD, AP_OSD_Screen),
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#endif
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// @Param: _TYPE2
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// @DisplayName: OSD type 2
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// @Description: OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
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// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_TYPE2", 32, AP_OSD, osd_type2, 0),
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AP_GROUPEND
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};
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extern const AP_HAL::HAL& hal;
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// singleton instance
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AP_OSD *AP_OSD::_singleton;
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AP_OSD::AP_OSD()
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{
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_OSD must be singleton");
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}
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AP_Param::setup_object_defaults(this, var_info);
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#if OSD_ENABLED
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// default first screen enabled
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screen[0].enabled.set(1);
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previous_pwm_screen = -1;
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#endif
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#ifdef WITH_SITL_OSD
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osd_type.set_default(OSD_SITL);
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#endif
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#ifdef HAL_OSD_TYPE_DEFAULT
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osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
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#endif
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_singleton = this;
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}
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void AP_OSD::init()
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{
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const AP_OSD::osd_types types[OSD_MAX_INSTANCES] = {
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osd_types(osd_type.get()),
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osd_types(osd_type2.get())
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};
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for (uint8_t instance = 0; instance < OSD_MAX_INSTANCES; instance++) {
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if (init_backend(types[instance], instance)) {
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_backend_count++;
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}
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}
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if (_backend_count > 0) {
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
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}
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}
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bool AP_OSD::init_backend(const AP_OSD::osd_types type, const uint8_t instance)
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{
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// check if we can run this backend instance in parallel with backend instance 0
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if (instance > 0) {
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if (_backends[0] && !_backends[0]->is_compatible_with_backend_type(type)) {
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return false;
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}
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}
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switch (type) {
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case OSD_NONE:
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case OSD_TXONLY:
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default:
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break;
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case OSD_MAX7456: {
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#ifdef HAL_WITH_SPI_OSD
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AP_HAL::OwnPtr<AP_HAL::Device> spi_dev = std::move(hal.spi->get_device("osd"));
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if (!spi_dev) {
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break;
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}
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#if HAL_WITH_OSD_BITMAP
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_backends[instance] = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
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#endif
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if (_backends[instance] == nullptr) {
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break;
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}
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DEV_PRINTF("Started MAX7456 OSD\n");
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#endif
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break;
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}
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#ifdef WITH_SITL_OSD
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case OSD_SITL: {
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_backends[instance] = AP_OSD_SITL::probe(*this);
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if (_backends[instance] == nullptr) {
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break;
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}
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DEV_PRINTF("Started SITL OSD\n");
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break;
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}
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#endif
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case OSD_MSP: {
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_backends[instance] = AP_OSD_MSP::probe(*this);
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if (_backends[instance] == nullptr) {
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break;
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}
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DEV_PRINTF("Started MSP OSD\n");
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break;
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}
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#if HAL_WITH_MSP_DISPLAYPORT
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case OSD_MSP_DISPLAYPORT: {
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_backends[instance] = AP_OSD_MSP_DisplayPort::probe(*this);
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if (_backends[instance] == nullptr) {
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break;
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}
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DEV_PRINTF("Started MSP DisplayPort OSD\n");
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break;
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}
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#endif
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}
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#if OSD_ENABLED
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if (_backends[instance] != nullptr) {
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// populate the fonts lookup table
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_backends[instance]->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
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return true;
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}
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#endif
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return false;
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}
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#if OSD_ENABLED
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void AP_OSD::osd_thread()
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{
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// initialize thread specific code once
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for (uint8_t instance = 0; instance < _backend_count; instance++) {
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_backends[instance]->osd_thread_run_once();
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}
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while (true) {
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hal.scheduler->delay(100);
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if (!_disable) {
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update_stats();
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update_current_screen();
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}
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update_osd();
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}
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}
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void AP_OSD::update_osd()
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{
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for (uint8_t instance = 0; instance < _backend_count; instance++) {
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_backends[instance]->clear();
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if (!_disable) {
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get_screen(current_screen).set_backend(_backends[instance]);
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// skip drawing for MSP OSD backends to save some resources
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if (_backends[instance]->get_backend_type() != OSD_MSP) {
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get_screen(current_screen).draw();
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}
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}
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_backends[instance]->flush();
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}
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}
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//update maximums and totals
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void AP_OSD::update_stats()
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{
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// allow other threads to consume stats info
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WITH_SEMAPHORE(_sem);
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uint32_t now = AP_HAL::millis();
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if (!AP_Notify::flags.armed) {
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_stats.last_update_ms = now;
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return;
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}
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// flight distance
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uint32_t delta_ms = now - _stats.last_update_ms;
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_stats.last_update_ms = now;
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Vector2f v;
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Location loc {};
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Location home_loc;
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bool home_is_set;
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bool have_airspeed_estimate;
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float alt;
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float aspd_mps = 0.0f;
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{
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// minimize semaphore scope
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AP_AHRS &ahrs = AP::ahrs();
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WITH_SEMAPHORE(ahrs.get_semaphore());
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v = ahrs.groundspeed_vector();
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home_is_set = ahrs.get_location(loc) && ahrs.home_is_set();
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if (home_is_set) {
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home_loc = ahrs.get_home();
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}
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ahrs.get_relative_position_D_home(alt);
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have_airspeed_estimate = ahrs.airspeed_estimate(aspd_mps);
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}
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float speed = v.length();
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if (speed < 0.178) {
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speed = 0.0;
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}
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float dist_m = (speed * delta_ms)*0.001;
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_stats.last_distance_m += dist_m;
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// maximum ground speed
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_stats.max_speed_mps = fmaxf(_stats.max_speed_mps,speed);
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// maximum distance
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if (home_is_set) {
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float distance = home_loc.get_distance(loc);
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_stats.max_dist_m = fmaxf(_stats.max_dist_m, distance);
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}
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// maximum altitude
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alt = -alt;
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_stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
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// maximum current
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AP_BattMonitor &battery = AP::battery();
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float amps;
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if (battery.current_amps(amps)) {
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_stats.max_current_a = fmaxf(_stats.max_current_a, amps);
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}
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// minimum voltage
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float voltage = battery.voltage();
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if (voltage > 0) {
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_stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
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}
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#if AP_RSSI_ENABLED
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// minimum rssi
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AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
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if (ap_rssi) {
|
|
_stats.min_rssi = fminf(_stats.min_rssi, ap_rssi->read_receiver_rssi());
|
|
}
|
|
#endif
|
|
// max airspeed either true or synthetic
|
|
if (have_airspeed_estimate) {
|
|
_stats.max_airspeed_mps = fmaxf(_stats.max_airspeed_mps, aspd_mps);
|
|
}
|
|
#if HAL_WITH_ESC_TELEM
|
|
// max esc temp
|
|
AP_ESC_Telem& telem = AP::esc_telem();
|
|
int16_t highest_temperature = 0;
|
|
telem.get_highest_motor_temperature(highest_temperature);
|
|
_stats.max_esc_temp = MAX(_stats.max_esc_temp, highest_temperature);
|
|
#endif
|
|
}
|
|
|
|
//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;
|
|
}
|
|
|
|
#if AP_RC_CHANNEL_ENABLED
|
|
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) {
|
|
if (previous_pwm_screen == i) {
|
|
break;
|
|
} else {
|
|
current_screen = previous_pwm_screen = i;
|
|
}
|
|
}
|
|
}
|
|
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;
|
|
#endif // AP_RC_CHANNEL_ENABLED
|
|
}
|
|
|
|
//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;
|
|
}
|
|
|
|
// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
|
|
bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
|
|
{
|
|
#if OSD_PARAM_ENABLED
|
|
// currently in the OSD menu, do not allow arming
|
|
if (!is_readonly_screen()) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
//check if second backend was requested by user but not instantiated
|
|
if (osd_type.get() != OSD_NONE && _backend_count == 1 && osd_type2.get() != OSD_NONE) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "OSD_TYPE2 not compatible with first OSD");
|
|
return false;
|
|
}
|
|
|
|
// if we got this far everything must be ok
|
|
return true;
|
|
}
|
|
|
|
#endif // OSD_ENABLED
|
|
|
|
// handle OSD parameter configuration
|
|
#if HAL_GCS_ENABLED
|
|
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;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
AP_OSD *AP::osd() {
|
|
return AP_OSD::get_singleton();
|
|
}
|
|
|
|
#endif // OSD_ENABLED || OSD_PARAM_ENABLED
|