Add HOME DIRECTION arrow to OSD

src/main/cms/cms_menu_osd.c

@@ -122,6 +122,9 @@ OSD_Entry menuOsdActiveElemsEntries[] =
 #ifdef GPS
     {"GPS SPEED",          OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_GPS_SPEED], 0},
     {"GPS SATS.",          OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_GPS_SATS], 0},
+#ifdef COMPASS
+    {"HOME DIR",           OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_HOME_DIR], 0},
+#endif
 #endif // GPS
     {"ALTITUDE",           OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ALTITUDE], 0},
     {"POWER",              OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_POWER], 0},

src/main/fc/settings.c

@@ -642,6 +642,7 @@ const clivalue_t valueTable[] = {
     { "osd_gps_lon_pos",            VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_LON]) },
     { "osd_gps_lat_pos",            VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_LAT]) },
     { "osd_gps_sats_pos",           VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_SATS]) },
+    { "osd_home_dir_pos",           VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_HOME_DIR]) },
     { "osd_altitude_pos",           VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_ALTITUDE]) },
     { "osd_pid_roll_pos",           VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_ROLL_PIDS]) },
     { "osd_pid_pitch_pos",          VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_PITCH_PIDS]) },

src/main/io/osd.c

@@ -79,6 +79,11 @@
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 
+#ifdef MAG // For OSD_HOME_DIR
+#include "sensors/compass.h"
+#include "flight/navigation.h"
+#endif
+
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -263,6 +268,38 @@ static void osdDrawSingleElement(uint8_t item)
             break;
         }
 
+#ifdef MAG
+    case OSD_HOME_DIR:
+        if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
+            if (GPS_distanceToHome > 0) {
+                int16_t h = GPS_directionToHome - DECIDEGREES_TO_DEGREES(attitude.values.yaw);
+
+                h = (h + 360) % 360;
+
+                h = h * 2 / 45;
+
+                // Now h has a heading with Up=0, Right=4, Down=8 and Left=12
+                // Our symbols are Down=0, Right=4, Up=8 and Left=12
+                // There're 16 arrow symbols. Transform it.
+                h = 16 - h;
+                h = (h + 8) % 16;
+
+                buff[0] = SYM_ARROW_SOUTH + h;
+            } else {
+                // We don't have a HOME symbol in the font, by now we use this
+                buff[0] = SYM_THR1;
+            }
+
+        } else {
+            // We use this symbol when we don't have a FIX
+            buff[0] = SYM_COLON;
+        }
+
+        buff[1] = 0;
+
+        break;
+
+#endif // COMPASS
 #endif // GPS
 
     case OSD_ALTITUDE:
@@ -581,6 +618,11 @@ void osdDrawElements(void)
         osdDrawSingleElement(OSD_GPS_SPEED);
         osdDrawSingleElement(OSD_GPS_LAT);
         osdDrawSingleElement(OSD_GPS_LON);
+#ifdef COMPASS
+        if (sensors(SENSOR_MAG) || sensors(SENSOR_GPSMAG))
+        	osdDrawSingleElement(OSD_HOME_DIR);            
+#endif
+        
     }
 #endif // GPS
 }
@@ -615,6 +657,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     osdConfig->item_pos[OSD_ROLL_ANGLE]         = OSD_POS(1, 9)   | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_GPS_LAT]            = OSD_POS(1, 2)   | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_GPS_LON]            = OSD_POS(18, 2)  | VISIBLE_FLAG;
+    osdConfig->item_pos[OSD_HOME_DIR]           = OSD_POS(14, 9)  | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_MAIN_BATT_USAGE]    = OSD_POS(8, 12)  | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_ARMED_TIME]         = OSD_POS(1, 2)   | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_DISARMED]           = OSD_POS(10, 4)  | VISIBLE_FLAG;

src/main/io/osd.h

@@ -58,6 +58,7 @@ typedef enum {
     OSD_MAIN_BATT_USAGE,
     OSD_ARMED_TIME,
     OSD_DISARMED,
+    OSD_HOME_DIR,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;