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c483c04d4b
Ardupilot2/libraries/AP_OSD/AP_OSD.h
Andy Piper c483c04d4b AP_OSD: separate parameter screen 
display parameter names and types and allow modification via stick gestures
add support for updating selected parameters
support symbolic names for cetain options with add vehicle specific labels
add support for OSD parameter access and modification over mavlink
save OSD parameter when setting
add missing serial protocols
set defaults on settings correctly
re-organise defaults for NTSC screens and add 9th parameter
allow parameter control to be disabled
add plane aux options (from vierfuffzig)
only enable osd param on bitmap enabled backends
make sure draw() is elided on non-bitmap backends
2020-09-09 20:36:42 +10:00

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#ifndef OSD_ENABLED
#define OSD_ENABLED 0
#endif
#ifndef HAL_WITH_OSD_BITMAP
#define HAL_WITH_OSD_BITMAP defined(HAL_WITH_SPI_OSD) || defined(WITH_SITL_OSD)
#endif
#ifndef OSD_PARAM_ENABLED
#define OSD_PARAM_ENABLED HAL_WITH_OSD_BITMAP && !HAL_MINIMIZE_FEATURES
#endif
class AP_OSD_Backend;
class AP_MSP;
#define AP_OSD_NUM_DISPLAY_SCREENS 4
#if OSD_PARAM_ENABLED
#define AP_OSD_NUM_PARAM_SCREENS 2
#else
#define AP_OSD_NUM_PARAM_SCREENS 0
#endif
#define AP_OSD_NUM_SCREENS (AP_OSD_NUM_DISPLAY_SCREENS + AP_OSD_NUM_PARAM_SCREENS)
#define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
#define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
/*
class to hold one setting
*/
class AP_OSD_Setting
{
public:
AP_Int8 enabled;
AP_Int8 xpos;
AP_Int8 ypos;
AP_OSD_Setting(bool enabled, uint8_t x, uint8_t y);
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
};
class AP_OSD;
class AP_OSD_AbstractScreen
{
public:
// constructor
AP_OSD_AbstractScreen() {}
#if OSD_PARAM_ENABLED
virtual void draw(void) = 0;
#endif
void set_backend(AP_OSD_Backend *_backend);
AP_Int8 enabled;
AP_Int16 channel_min;
AP_Int16 channel_max;
protected:
bool check_option(uint32_t option);
enum unit_type {
ALTITUDE=0,
SPEED=1,
VSPEED=2,
DISTANCE=3,
DISTANCE_LONG=4,
TEMPERATURE=5,
UNIT_TYPE_LAST=6,
};
char u_icon(enum unit_type unit);
float u_scale(enum unit_type unit, float value);
AP_OSD_Backend *backend;
AP_OSD *osd;
};
/*
class to hold one screen of settings
*/
class AP_OSD_Screen : public AP_OSD_AbstractScreen
{
public:
// constructor
AP_OSD_Screen();
#if OSD_PARAM_ENABLED
void draw(void) override;
#else
void draw(void);
#endif
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
static const uint8_t message_visible_width = 26;
static const uint8_t message_scroll_time_ms = 200;
static const uint8_t message_scroll_delay = 5;
static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
//typical fpv camera has 80deg vertical field of view, 16 row of chars
static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);
AP_OSD_Setting altitude{true, 23, 8};
AP_OSD_Setting bat_volt{true, 24, 1};
AP_OSD_Setting rssi{true, 1, 1};
AP_OSD_Setting current{true, 25, 2};
AP_OSD_Setting batused{true, 23, 3};
AP_OSD_Setting sats{true, 1, 3};
AP_OSD_Setting fltmode{true, 2, 8};
AP_OSD_Setting message{true, 2, 6};
AP_OSD_Setting gspeed{true, 2, 14};
AP_OSD_Setting horizon{true, 14, 8};
AP_OSD_Setting home{true, 14, 1};
AP_OSD_Setting throttle{true, 24, 11};
AP_OSD_Setting heading{true, 13, 2};
AP_OSD_Setting compass{true, 15, 3};
AP_OSD_Setting wind{false, 2, 12};
AP_OSD_Setting aspeed{false, 2, 13};
AP_OSD_Setting aspd1{false, 0, 0};
AP_OSD_Setting aspd2{false, 0, 0};
AP_OSD_Setting vspeed{true, 24, 9};
#ifdef HAVE_AP_BLHELI_SUPPORT
AP_OSD_Setting blh_temp {false, 24, 13};
AP_OSD_Setting blh_rpm{false, 22, 12};
AP_OSD_Setting blh_amps{false, 24, 14};
#endif
AP_OSD_Setting gps_latitude{true, 9, 13};
AP_OSD_Setting gps_longitude{true, 9, 14};
AP_OSD_Setting roll_angle{false, 0, 0};
AP_OSD_Setting pitch_angle{false, 0, 0};
AP_OSD_Setting temp{false, 0, 0};
AP_OSD_Setting btemp{false, 0, 0};
AP_OSD_Setting hdop{false, 0, 0};
AP_OSD_Setting waypoint{false, 0, 0};
AP_OSD_Setting xtrack_error{false, 0, 0};
AP_OSD_Setting dist{false,22,11};
AP_OSD_Setting stat{false,0,0};
AP_OSD_Setting flightime{false, 23, 10};
AP_OSD_Setting climbeff{false,0,0};
AP_OSD_Setting eff{false, 22, 10};
AP_OSD_Setting atemp{false, 0, 0};
AP_OSD_Setting bat2_vlt{false, 0, 0};
AP_OSD_Setting bat2used{false, 0, 0};
AP_OSD_Setting clk{false, 0, 0};
// MSP OSD only
AP_OSD_Setting sidebars{false, 0, 0};
AP_OSD_Setting crosshair{false, 0, 0};
AP_OSD_Setting home_dist{true, 1, 1};
AP_OSD_Setting home_dir{true, 1, 1};
AP_OSD_Setting power{true, 1, 1};
AP_OSD_Setting cell_volt{true, 1, 1};
AP_OSD_Setting batt_bar{true, 1, 1};
AP_OSD_Setting arming{true, 1, 1};
void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
void draw_rssi(uint8_t x, uint8_t y);
void draw_current(uint8_t x, uint8_t y);
void draw_batused(uint8_t x, uint8_t y);
void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
void draw_sats(uint8_t x, uint8_t y);
void draw_fltmode(uint8_t x, uint8_t y);
void draw_message(uint8_t x, uint8_t y);
void draw_gspeed(uint8_t x, uint8_t y);
void draw_horizon(uint8_t x, uint8_t y);
void draw_home(uint8_t x, uint8_t y);
void draw_throttle(uint8_t x, uint8_t y);
void draw_heading(uint8_t x, uint8_t y);
void draw_compass(uint8_t x, uint8_t y);
void draw_wind(uint8_t x, uint8_t y);
void draw_aspeed(uint8_t x, uint8_t y);
void draw_aspd1(uint8_t x, uint8_t y);
void draw_aspd2(uint8_t x, uint8_t y);
void draw_vspeed(uint8_t x, uint8_t y);
//helper functions
void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
void draw_distance(uint8_t x, uint8_t y, float distance);
#ifdef HAVE_AP_BLHELI_SUPPORT
void draw_blh_temp(uint8_t x, uint8_t y);
void draw_blh_rpm(uint8_t x, uint8_t y);
void draw_blh_amps(uint8_t x, uint8_t y);
#endif
void draw_gps_latitude(uint8_t x, uint8_t y);
void draw_gps_longitude(uint8_t x, uint8_t y);
void draw_roll_angle(uint8_t x, uint8_t y);
void draw_pitch_angle(uint8_t x, uint8_t y);
void draw_temp(uint8_t x, uint8_t y);
void draw_btemp(uint8_t x, uint8_t y);
void draw_hdop(uint8_t x, uint8_t y);
void draw_waypoint(uint8_t x, uint8_t y);
void draw_xtrack_error(uint8_t x, uint8_t y);
void draw_dist(uint8_t x, uint8_t y);
void draw_stat(uint8_t x, uint8_t y);
void draw_flightime(uint8_t x, uint8_t y);
void draw_climbeff(uint8_t x, uint8_t y);
void draw_eff(uint8_t x, uint8_t y);
void draw_atemp(uint8_t x, uint8_t y);
void draw_bat2_vlt(uint8_t x, uint8_t y);
void draw_bat2used(uint8_t x, uint8_t y);
void draw_clk(uint8_t x, uint8_t y);
};
#if OSD_PARAM_ENABLED
/*
class to hold one setting
*/
class AP_OSD_ParamSetting : public AP_OSD_Setting
{
public:
// configured index.
AP_Int32 _param_group;
AP_Int16 _param_key;
AP_Int8 _param_idx;
// metadata
AP_Float _param_min;
AP_Float _param_max;
AP_Float _param_incr;
AP_Int8 _type;
// parameter number
uint8_t _param_number;
AP_Param* _param;
ap_var_type _param_type;
AP_Param::ParamToken _current_token;
// structure to contain setting constraints for important settings
struct ParamMetadata {
float min_value;
float max_value;
float increment;
uint8_t values_max;
const char** values;
};
static const ParamMetadata _param_metadata[];
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 = OSD_PARAM_NONE, float min = 0.0f, float max = 1.0f, float incr = 0.001f);
// initialize the setting from the configured information
void update();
// set the ranges from static metadata
bool set_from_metadata();
bool set_by_name(const char* name, uint8_t config_type, float pmin=0, float pmax=0, float pincr=0);
void guess_ranges(bool force = false);
void save_as_new();
const ParamMetadata* get_custom_metadata() const {
return (_type > 0 ? &_param_metadata[_type - 1] : nullptr);
}
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
};
/*
class to hold one screen of settings
*/
class AP_OSD_ParamScreen : public AP_OSD_AbstractScreen
{
public:
AP_OSD_ParamScreen();
enum class Event {
NONE,
MENU_ENTER,
MENU_UP,
MENU_DOWN,
MENU_EXIT
};
enum class MenuState {
PARAM_SELECT,
PARAM_VALUE_MODIFY,
PARAM_PARAM_MODIFY
};
static const uint8_t NUM_PARAMS = 9;
static const uint8_t SAVE_PARAM = NUM_PARAMS + 1;
void draw(void) override;
void handle_write_msg(const mavlink_osd_param_config_t& packet, const GCS_MAVLINK& link);
void handle_read_msg(const mavlink_osd_param_show_config_t& packet, const GCS_MAVLINK& link);
// Save button co-ordinates
AP_Int8 save_x;
AP_Int8 save_y;
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
AP_OSD_ParamSetting params[NUM_PARAMS] = {
{1, true, 2, 2, 102, 0, 4034 }, // ATC_RAT_PIT_P
{2, true, 2, 3, 102, 0, 130 }, // ATC_RAT_PIT_D
{3, true, 2, 4, 102, 0, 4033 }, // ATC_RAT_RLL_P
{4, true, 2, 5, 102, 0, 129 }, // ATC_RAT_RLL_D
{5, true, 2, 6, 102, 0, 4035 }, // ATC_RAT_YAW_P
{6, true, 2, 7, 102, 0, 131 }, // ATC_RAT_YAW_D
{7, true, 2, 8, 6, 0, 25041, OSD_PARAM_AUX_FUNCTION }, // RC7_OPTION
{8, true, 2, 9, 6, 0, 25105, OSD_PARAM_AUX_FUNCTION }, // RC8_OPTION
{9, true, 2, 10, 36, 0, 1047, OSD_PARAM_FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT
};
void update_state_machine();
void draw_parameter(uint8_t param_number, uint8_t x, uint8_t y);
void modify_parameter(uint8_t number, Event ev);
void modify_configured_parameter(uint8_t number, Event ev);
void save_parameters();
Event map_rc_input_to_event() const;
RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
uint8_t _selected_param = 1;
uint16_t _requires_save;
MenuState _menu_state = MenuState::PARAM_SELECT;
Event _last_rc_event = Event::NONE;
// start time of the current button press
uint32_t _transition_start_ms;
// timeout of the current button press
uint32_t _transition_timeout_ms;
// number of consecutive times the current transition has happened
uint32_t _transition_count;
};
#endif
class AP_OSD
{
public:
friend class AP_OSD_Screen;
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
friend class AP_OSD_ParamScreen;
//constructor
AP_OSD();
/* Do not allow copies */
AP_OSD(const AP_OSD &other) = delete;
AP_OSD &operator=(const AP_OSD&) = delete;
// get singleton instance
static AP_OSD *get_singleton()
{
return _singleton;
}
// init - perform required initialisation
void init();
// User settable parameters
static const struct AP_Param::GroupInfo var_info[];
enum osd_types {
OSD_NONE=0,
OSD_MAX7456=1,
OSD_SITL=2,
OSD_MSP=3,
};
enum switch_method {
TOGGLE=0,
PWM_RANGE=1,
AUTO_SWITCH=2,
};
AP_Int8 osd_type;
AP_Int8 rc_channel;
AP_Int8 sw_method;
AP_Int8 font_num;
AP_Int8 v_offset;
AP_Int8 h_offset;
AP_Int8 warn_rssi;
AP_Int8 warn_nsat;
AP_Float warn_batvolt;
AP_Float warn_bat2volt;
AP_Int8 msgtime_s;
AP_Int8 arm_scr;
AP_Int8 disarm_scr;
AP_Int8 failsafe_scr;
AP_Int32 button_delay_ms;
enum {
OPTION_DECIMAL_PACK = 1U<<0,
OPTION_INVERTED_WIND = 1U<<1,
OPTION_INVERTED_AH_ROLL = 1U<<2,
};
AP_Int32 options;
enum {
UNITS_METRIC=0,
UNITS_IMPERIAL=1,
UNITS_SI=2,
UNITS_AVIATION=3,
UNITS_LAST=4,
};
AP_Int8 units;
AP_OSD_Screen screen[AP_OSD_NUM_DISPLAY_SCREENS];
#if OSD_PARAM_ENABLED
AP_OSD_ParamScreen param_screen[AP_OSD_NUM_PARAM_SCREENS];
#endif
struct NavInfo {
float wp_distance;
int32_t wp_bearing;
float wp_xtrack_error;
uint16_t wp_number;
};
void set_nav_info(NavInfo &nav_info);
// disable the display
void disable() {
_disable = true;
}
// enable the display
void enable() {
_disable = false;
}
AP_OSD_AbstractScreen& get_screen(uint8_t idx) {
#if OSD_PARAM_ENABLED
if (idx >= AP_OSD_NUM_DISPLAY_SCREENS) {
return param_screen[idx - AP_OSD_NUM_DISPLAY_SCREENS];
}
#endif
return screen[idx];
}
// Check whether arming is allowed
bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;
bool is_readonly_screen() const { return current_screen < AP_OSD_NUM_DISPLAY_SCREENS; }
// handle OSD parameter configuration
void handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link);
private:
void osd_thread();
void update_osd();
void stats();
void update_current_screen();
void next_screen();
AP_OSD_Backend *backend;
//variables for screen switching
uint8_t current_screen;
uint16_t previous_channel_value;
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;
bool _disable;
uint32_t last_update_ms;
float last_distance_m;
float max_dist_m;
float max_alt_m;
float max_speed_mps;
float max_current_a;
float avg_current_a;
static AP_OSD *_singleton;
};
namespace AP
{
AP_OSD *osd();
};
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