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AP_OSD: add inverted roll AH and inverted wind direction

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This commit is contained in:
Alexander Malishev 2018-07-06 00:54:47 +04:00 committed by Andrew Tridgell
parent 7873aff0b8
commit eaac477131
3 changed files with 20 additions and 2 deletions
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5
libraries/AP_OSD/AP_OSD.cpp
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@ -73,7 +73,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _OPTIONS
// @DisplayName: OSD Options
// @Description: This sets options that change the display
// @Bitmask: 0:UseDecimalPack
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll
// @User: Standard
AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
@ -163,7 +163,8 @@ void AP_OSD::update_osd()
backend->clear();
update_current_screen();
screen[current_screen].set_osd(this);
screen[current_screen].set_backend(backend);
screen[current_screen].draw();

9
libraries/AP_OSD/AP_OSD.h
View File

@ -39,6 +39,7 @@ public:
static const struct AP_Param::GroupInfo var_info[];
};
class AP_OSD;
/*
class to hold one screen of settings
@ -55,6 +56,11 @@ public:
backend = _backend;
};
void set_osd(AP_OSD *_osd)
{
osd = _osd;
};
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
@ -64,6 +70,7 @@ public:
private:
AP_OSD_Backend *backend;
AP_OSD *osd;
static const uint16_t message_show_time_ms = 20000;
static const uint8_t message_visible_width = 26;
@ -168,6 +175,8 @@ public:
enum {
OPTION_DECIMAL_PACK = 1U<<0,
OPTION_INVERTED_WIND = 1U<<1,
OPTION_INVERTED_AH_ROLL = 1U<<2,
};
AP_Int32 options;

8
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -342,6 +342,11 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
AP_AHRS &ahrs = AP::ahrs();
float roll = ahrs.roll;
float pitch = -ahrs.pitch;
//inverted roll AH
if(osd->options.get() & AP_OSD::OPTION_INVERTED_AH_ROLL) {
roll = -roll;
}
roll = constrain_float(roll, -ah_max_roll, ah_max_roll);
pitch = constrain_float(pitch, -ah_max_pitch, ah_max_pitch);
@ -434,6 +439,9 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
{
AP_AHRS &ahrs = AP::ahrs();
Vector3f v = ahrs.wind_estimate();
if(osd->options.get() & AP_OSD::OPTION_INVERTED_WIND) {
v = -v;
}
backend->write(x, y, false, "%c", SYM_WSPD);
draw_speed_vector(x + 1, y, Vector2f(v.x, v.y), ahrs.yaw_sensor);
}