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AP_OSD: Switch screens basing on FS state

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AP_OSD: Switch screens basing on ARM state
This commit is contained in:
SergeyBokhantsev 2019-03-01 14:54:36 +02:00 committed by Andrew Tridgell
parent d5d81f3a1c
commit cd166ec911
2 changed files with 58 additions and 3 deletions
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52
libraries/AP_OSD/AP_OSD.cpp
View File

@ -135,7 +135,27 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @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),
AP_GROUPEND
};
@ -154,6 +174,7 @@ AP_OSD::AP_OSD()
#ifdef HAL_OSD_TYPE_DEFAULT
osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
#endif
previous_pwm_screen = -1;
}
void AP_OSD::init()
@ -261,6 +282,33 @@ void AP_OSD::stats()
//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_SCREENS && 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_SCREENS && 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_SCREENS && screen[failsafe_scr-1].enabled){
pre_fs_screen = current_screen;
current_screen = failsafe_scr-1;
}
was_failsafe = true;
} else if (was_failsafe) {
if (screen[pre_fs_screen].enabled){
current_screen = pre_fs_screen;
}
was_failsafe = false;
}
if (rc_channel == 0) {
return;
}
@ -292,8 +340,8 @@ void AP_OSD::update_current_screen()
//select screen based on pwm ranges specified
case PWM_RANGE:
for (int i=0; i<AP_OSD_NUM_SCREENS; i++) {
if (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value) {
current_screen = i;
if (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value && previous_pwm_screen != i) {
current_screen = previous_pwm_screen = i;
break;
}
}

9
libraries/AP_OSD/AP_OSD.h
View File

@ -218,6 +218,9 @@ public:
AP_Float warn_batvolt;
AP_Float warn_bat2volt;
AP_Int8 msgtime_s;
AP_Int8 arm_scr;
AP_Int8 disarm_scr;
AP_Int8 failsafe_scr;
enum {
OPTION_DECIMAL_PACK = 1U<<0,
@ -263,7 +266,11 @@ private:
bool switch_debouncer;
uint32_t last_switch_ms;
struct NavInfo nav_info;
int8_t previous_pwm_screen;
int8_t pre_fs_screen;
bool was_armed;
bool was_failsafe;
uint32_t last_update_ms;
float last_distance_m;
float max_dist_m;