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Plane: publish navigation info to OSD

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This commit is contained in:
Alexander Malishev 2018-07-26 03:47:06 +04:00 committed by Andrew Tridgell
parent f5c540a127
commit 001948d40c
2 changed files with 18 additions and 0 deletions
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15
ArduPlane/ArduPlane.cpp
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@ -97,6 +97,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75), SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
#endif #endif
#if OSD_ENABLED == ENABLED
SCHED_TASK(publish_osd_info, 1, 10),
#endif
}; };
constexpr int8_t Plane::_failsafe_priorities[5]; constexpr int8_t Plane::_failsafe_priorities[5];
@ -952,4 +955,16 @@ float Plane::tecs_hgt_afe(void)
return hgt_afe; return hgt_afe;
} }
#if OSD_ENABLED == ENABLED
void Plane::publish_osd_info()
{
AP_OSD::NavInfo nav_info;
nav_info.wp_distance = auto_state.wp_distance;
nav_info.wp_bearing = nav_controller->target_bearing_cd();
nav_info.wp_xtrack_error = nav_controller->crosstrack_error();
nav_info.wp_number = mission.get_current_nav_index();
osd.set_nav_info(nav_info);
}
#endif
AP_HAL_MAIN_CALLBACKS(&plane); AP_HAL_MAIN_CALLBACKS(&plane);

3
ArduPlane/Plane.h
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@ -1026,6 +1026,9 @@ private:
void do_parachute(const AP_Mission::Mission_Command& cmd); void do_parachute(const AP_Mission::Mission_Command& cmd);
void parachute_release(); void parachute_release();
bool parachute_manual_release(); bool parachute_manual_release();
#endif
#if OSD_ENABLED == ENABLED
void publish_osd_info();
#endif #endif
void accel_cal_update(void); void accel_cal_update(void);
void update_soft_armed(); void update_soft_armed();