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https://github.com/betaflight/betaflight.git
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Merge pull request #2849 from martinbudden/bf_fake_accgyro_locks
Added locking to fake gyro and acc
This commit is contained in:
Martin Budden
GitHub
commit
3a672c82e8
15 changed files with 132 additions and 122 deletions
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@ -74,6 +74,7 @@
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/altitude.h"
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#include "flight/imu.h"
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#include "flight/altitude.h"
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@ -189,14 +190,14 @@ static void osdDrawSingleElement(uint8_t item)
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osdRssi = 99;
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buff[0] = SYM_RSSI;
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sprintf(buff + 1, "%d", osdRssi);
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tfp_sprintf(buff + 1, "%d", osdRssi);
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break;
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}
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case OSD_MAIN_BATT_VOLTAGE:
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{
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buff[0] = SYM_BATT_5;
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sprintf(buff + 1, "%d.%1dV", getBatteryVoltage() / 10, getBatteryVoltage() % 10);
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tfp_sprintf(buff + 1, "%d.%1dV", getBatteryVoltage() / 10, getBatteryVoltage() % 10);
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break;
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}
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@ -204,14 +205,14 @@ static void osdDrawSingleElement(uint8_t item)
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{
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int32_t amperage = getAmperage();
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buff[0] = SYM_AMP;
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sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
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tfp_sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
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break;
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}
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case OSD_MAH_DRAWN:
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{
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buff[0] = SYM_MAH;
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sprintf(buff + 1, "%d", getMAhDrawn());
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tfp_sprintf(buff + 1, "%d", getMAhDrawn());
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break;
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}
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@ -219,14 +220,14 @@ static void osdDrawSingleElement(uint8_t item)
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case OSD_GPS_SATS:
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{
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buff[0] = 0x1f;
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sprintf(buff + 1, "%d", GPS_numSat);
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tfp_sprintf(buff + 1, "%d", GPS_numSat);
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break;
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}
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case OSD_GPS_SPEED:
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{
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// FIXME ideally we want to use SYM_KMH symbol but it's not in the font any more, so we use K.
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sprintf(buff, "%dK", CM_S_TO_KM_H(GPS_speed) * 10);
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tfp_sprintf(buff, "%dK", CM_S_TO_KM_H(GPS_speed) * 10);
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break;
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}
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@ -258,7 +259,7 @@ static void osdDrawSingleElement(uint8_t item)
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case OSD_ALTITUDE:
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{
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int32_t alt = osdGetAltitude(getEstimatedAltitude());
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sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
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tfp_sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
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break;
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}
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@ -266,14 +267,14 @@ static void osdDrawSingleElement(uint8_t item)
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{
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uint32_t seconds = micros() / 1000000;
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buff[0] = SYM_ON_M;
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sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
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tfp_sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
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break;
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}
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case OSD_FLYTIME:
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{
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buff[0] = SYM_FLY_M;
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sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
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tfp_sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
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break;
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}
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@ -314,7 +315,7 @@ static void osdDrawSingleElement(uint8_t item)
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{
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buff[0] = SYM_THR;
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buff[1] = SYM_THR1;
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sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
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tfp_sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
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break;
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}
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@ -325,9 +326,9 @@ static void osdDrawSingleElement(uint8_t item)
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#if defined(VTX)
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const char vtxBandLetter = vtx58BandLetter[vtxConfig()->vtx_band + 1];
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const char *vtxChannelName = vtx58ChannelNames[vtxConfig()->vtx_channel + 1];
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sprintf(buff, "%c:%s", vtxBandLetter, vtxChannelName);
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tfp_sprintf(buff, "%c:%s", vtxBandLetter, vtxChannelName);
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#elif defined(USE_RTC6705)
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sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
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tfp_sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
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#endif
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break;
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}
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@ -410,27 +411,27 @@ static void osdDrawSingleElement(uint8_t item)
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case OSD_ROLL_PIDS:
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{
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const pidProfile_t *pidProfile = currentPidProfile;
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sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
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tfp_sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
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break;
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}
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case OSD_PITCH_PIDS:
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{
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const pidProfile_t *pidProfile = currentPidProfile;
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sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
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tfp_sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
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break;
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}
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case OSD_YAW_PIDS:
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{
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const pidProfile_t *pidProfile = currentPidProfile;
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sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
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tfp_sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
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break;
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}
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case OSD_POWER:
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{
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sprintf(buff, "%dW", getAmperage() * getBatteryVoltage() / 1000);
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tfp_sprintf(buff, "%dW", getAmperage() * getBatteryVoltage() / 1000);
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break;
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}
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@ -438,7 +439,7 @@ static void osdDrawSingleElement(uint8_t item)
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{
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const uint8_t pidProfileIndex = getCurrentPidProfileIndex();
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const uint8_t rateProfileIndex = getCurrentControlRateProfileIndex();
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sprintf(buff, "%d-%d", pidProfileIndex + 1, rateProfileIndex + 1);
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tfp_sprintf(buff, "%d-%d", pidProfileIndex + 1, rateProfileIndex + 1);
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break;
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}
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@ -446,11 +447,11 @@ static void osdDrawSingleElement(uint8_t item)
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{
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switch(getBatteryState()) {
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case BATTERY_WARNING:
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sprintf(buff, "LOW BATTERY");
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tfp_sprintf(buff, "LOW BATTERY");
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break;
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case BATTERY_CRITICAL:
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sprintf(buff, "LAND NOW");
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tfp_sprintf(buff, "LAND NOW");
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elemOffsetX += 1;
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break;
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@ -464,7 +465,7 @@ static void osdDrawSingleElement(uint8_t item)
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{
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uint16_t cellV = getBatteryVoltage() * 10 / getBatteryCellCount();
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buff[0] = SYM_BATT_5;
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sprintf(buff + 1, "%d.%dV", cellV / 100, cellV % 100);
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tfp_sprintf(buff + 1, "%d.%dV", cellV / 100, cellV % 100);
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break;
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}
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@ -603,7 +604,7 @@ void osdInit(displayPort_t *osdDisplayPortToUse)
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osdDrawLogo(3, 1);
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char string_buffer[30];
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sprintf(string_buffer, "V%s", FC_VERSION_STRING);
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tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
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displayWrite(osdDisplayPort, 20, 6, string_buffer);
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#ifdef CMS
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displayWrite(osdDisplayPort, 7, 8, CMS_STARTUP_HELP_TEXT1);
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@ -763,7 +764,7 @@ static void osdShowStats(void)
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}
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displayWrite(osdDisplayPort, 2, top, "MIN BATTERY :");
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sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
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tfp_sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
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displayWrite(osdDisplayPort, 22, top++, buff);
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displayWrite(osdDisplayPort, 2, top, "MIN RSSI :");
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@ -785,7 +786,7 @@ static void osdShowStats(void)
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displayWrite(osdDisplayPort, 2, top, "MAX ALTITUDE :");
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int32_t alt = osdGetAltitude(stats.max_altitude);
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sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
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tfp_sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
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displayWrite(osdDisplayPort, 22, top++, buff);
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#ifdef BLACKBOX
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