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https://github.com/betaflight/betaflight.git
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Separate OSD warnings from OSD task and make available via MSP
Provides a properly implemented way for MSP query type OSD implementations (like DJI) to display OSD warnings. Separates the warnings generation from the OSD task and shares common code to make the text available for the OSD and/or via MSP. Eliminates the need to implement hacks and workarounds like using the `CRAFT_NAME` field to display warnings. Since the warnings logic is now separate, the OSD task does not need to be running unlike other hacks. Adds the `MSP2_GET_OSD_WARNINGS` message formatted as follows: ``` byte description 0 Display attributes including blink (see displayPortAttr_e in drivers/display.h) 1 Length of warning text 2-n Warning text characters ```
This commit is contained in:
Bruce Luckcuck
parent
21eea5db21
commit
84b6730cdd
9 changed files with 417 additions and 288 deletions
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@ -96,30 +96,26 @@
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#include "fc/core.h"
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#include "fc/rc_adjustments.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "fc/rc.h"
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#include "fc/runtime_config.h"
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#include "flight/gps_rescue.h"
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#include "flight/failsafe.h"
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#include "flight/position.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "io/beeper.h"
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#include "io/gps.h"
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#include "io/vtx.h"
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#include "osd/osd.h"
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#include "osd/osd_elements.h"
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#include "osd/osd_warnings.h"
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#include "pg/motor.h"
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#include "pg/stats.h"
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#include "rx/rx.h"
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#include "sensors/acceleration.h"
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#include "sensors/adcinternal.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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@ -1319,278 +1315,13 @@ static void osdElementVtxChannel(osdElementParms_t *element)
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static void osdElementWarnings(osdElementParms_t *element)
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{
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#define OSD_WARNINGS_MAX_SIZE 12
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#define OSD_FORMAT_MESSAGE_BUFFER_SIZE (OSD_WARNINGS_MAX_SIZE + 1)
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STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= OSD_ELEMENT_BUFFER_LENGTH, osd_warnings_size_exceeds_buffer_size);
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const batteryState_e batteryState = getBatteryState();
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const timeUs_t currentTimeUs = micros();
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static timeUs_t armingDisabledUpdateTimeUs;
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static unsigned armingDisabledDisplayIndex;
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CLR_BLINK(OSD_WARNINGS);
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// Cycle through the arming disabled reasons
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if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE)) {
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if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
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const armingDisableFlags_e armSwitchOnlyFlag = 1 << (ARMING_DISABLE_FLAGS_COUNT - 1);
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armingDisableFlags_e flags = getArmingDisableFlags();
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// Remove the ARMSWITCH flag unless it's the only one
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if ((flags & armSwitchOnlyFlag) && (flags != armSwitchOnlyFlag)) {
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flags -= armSwitchOnlyFlag;
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}
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// Rotate to the next arming disabled reason after a 0.5 second time delay
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// or if the current flag is no longer set
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if ((currentTimeUs - armingDisabledUpdateTimeUs > 5e5) || !(flags & (1 << armingDisabledDisplayIndex))) {
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if (armingDisabledUpdateTimeUs == 0) {
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armingDisabledDisplayIndex = ARMING_DISABLE_FLAGS_COUNT - 1;
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}
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armingDisabledUpdateTimeUs = currentTimeUs;
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do {
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if (++armingDisabledDisplayIndex >= ARMING_DISABLE_FLAGS_COUNT) {
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armingDisabledDisplayIndex = 0;
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}
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} while (!(flags & (1 << armingDisabledDisplayIndex)));
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}
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tfp_sprintf(element->buff, "%s", armingDisableFlagNames[armingDisabledDisplayIndex]);
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element->attr = DISPLAYPORT_ATTR_WARNING;
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return;
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} else {
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armingDisabledUpdateTimeUs = 0;
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}
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}
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#ifdef USE_DSHOT
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if (isTryingToArm() && !ARMING_FLAG(ARMED)) {
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int armingDelayTime = (getLastDshotBeaconCommandTimeUs() + DSHOT_BEACON_GUARD_DELAY_US - currentTimeUs) / 1e5;
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if (armingDelayTime < 0) {
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armingDelayTime = 0;
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}
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if (armingDelayTime >= (DSHOT_BEACON_GUARD_DELAY_US / 1e5 - 5)) {
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tfp_sprintf(element->buff, " BEACON ON"); // Display this message for the first 0.5 seconds
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} else {
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tfp_sprintf(element->buff, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
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}
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element->attr = DISPLAYPORT_ATTR_INFO;
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return;
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}
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#endif // USE_DSHOT
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if (osdWarnGetState(OSD_WARNING_FAIL_SAFE) && failsafeIsActive()) {
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tfp_sprintf(element->buff, "FAIL SAFE");
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element->attr = DISPLAYPORT_ATTR_CRITICAL;
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bool elementBlinking = false;
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renderOsdWarning(element->buff, &elementBlinking, &element->attr);
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if (elementBlinking) {
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SET_BLINK(OSD_WARNINGS);
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return;
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} else {
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CLR_BLINK(OSD_WARNINGS);
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}
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// Warn when in flip over after crash mode
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if (osdWarnGetState(OSD_WARNING_CRASH_FLIP) && isFlipOverAfterCrashActive()) {
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tfp_sprintf(element->buff, "CRASH FLIP");
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element->attr = DISPLAYPORT_ATTR_INFO;
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return;
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}
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#ifdef USE_LAUNCH_CONTROL
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// Warn when in launch control mode
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if (osdWarnGetState(OSD_WARNING_LAUNCH_CONTROL) && isLaunchControlActive()) {
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#ifdef USE_ACC
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if (sensors(SENSOR_ACC)) {
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const int pitchAngle = constrain((attitude.raw[FD_PITCH] - accelerometerConfig()->accelerometerTrims.raw[FD_PITCH]) / 10, -90, 90);
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tfp_sprintf(element->buff, "LAUNCH %d", pitchAngle);
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} else
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#endif // USE_ACC
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{
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tfp_sprintf(element->buff, "LAUNCH");
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}
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// Blink the message if the throttle is within 10% of the launch setting
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if ( calculateThrottlePercent() >= MAX(currentPidProfile->launchControlThrottlePercent - 10, 0)) {
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SET_BLINK(OSD_WARNINGS);
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}
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element->attr = DISPLAYPORT_ATTR_INFO;
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return;
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}
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#endif // USE_LAUNCH_CONTROL
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// RSSI
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if (osdWarnGetState(OSD_WARNING_RSSI) && (getRssiPercent() < osdConfig()->rssi_alarm)) {
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tfp_sprintf(element->buff, "RSSI LOW");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#ifdef USE_RX_RSSI_DBM
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// rssi dbm
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if (osdWarnGetState(OSD_WARNING_RSSI_DBM) && (getRssiDbm() < osdConfig()->rssi_dbm_alarm)) {
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tfp_sprintf(element->buff, "RSSI DBM");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#endif // USE_RX_RSSI_DBM
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#ifdef USE_RX_LINK_QUALITY_INFO
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// Link Quality
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if (osdWarnGetState(OSD_WARNING_LINK_QUALITY) && (rxGetLinkQualityPercent() < osdConfig()->link_quality_alarm)) {
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tfp_sprintf(element->buff, "LINK QUALITY");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#endif // USE_RX_LINK_QUALITY_INFO
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if (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) && batteryState == BATTERY_CRITICAL) {
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tfp_sprintf(element->buff, " LAND NOW");
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element->attr = DISPLAYPORT_ATTR_CRITICAL;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#ifdef USE_GPS_RESCUE
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if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_UNAVAILABLE) &&
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ARMING_FLAG(ARMED) &&
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gpsRescueIsConfigured() &&
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!gpsRescueIsDisabled() &&
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!gpsRescueIsAvailable()) {
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tfp_sprintf(element->buff, "RESCUE N/A");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_DISABLED) &&
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ARMING_FLAG(ARMED) &&
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gpsRescueIsConfigured() &&
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gpsRescueIsDisabled()) {
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statistic_t *stats = osdGetStats();
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if (cmpTimeUs(stats->armed_time, OSD_GPS_RESCUE_DISABLED_WARNING_DURATION_US) < 0) {
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tfp_sprintf(element->buff, "RESCUE OFF");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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}
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#endif // USE_GPS_RESCUE
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// Show warning if in HEADFREE flight mode
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if (FLIGHT_MODE(HEADFREE_MODE)) {
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tfp_sprintf(element->buff, "HEADFREE");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#ifdef USE_ADC_INTERNAL
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const int16_t coreTemperature = getCoreTemperatureCelsius();
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if (osdWarnGetState(OSD_WARNING_CORE_TEMPERATURE) && coreTemperature >= osdConfig()->core_temp_alarm) {
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tfp_sprintf(element->buff, "CORE %c: %3d%c", SYM_TEMPERATURE, osdConvertTemperatureToSelectedUnit(coreTemperature), osdGetTemperatureSymbolForSelectedUnit());
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#endif // USE_ADC_INTERNAL
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#ifdef USE_ESC_SENSOR
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// Show warning if we lose motor output, the ESC is overheating or excessive current draw
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if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
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char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
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unsigned pos = 0;
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const char *title = "ESC";
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// center justify message
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while (pos < (OSD_WARNINGS_MAX_SIZE - (strlen(title) + getMotorCount())) / 2) {
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escWarningMsg[pos++] = ' ';
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}
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strcpy(escWarningMsg + pos, title);
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pos += strlen(title);
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unsigned i = 0;
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unsigned escWarningCount = 0;
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while (i < getMotorCount() && pos < OSD_FORMAT_MESSAGE_BUFFER_SIZE - 1) {
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escSensorData_t *escData = getEscSensorData(i);
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const char motorNumber = '1' + i;
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// if everything is OK just display motor number else R, T or C
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char warnFlag = motorNumber;
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && calcEscRpm(escData->rpm) <= osdConfig()->esc_rpm_alarm) {
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warnFlag = 'R';
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}
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if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escData->temperature >= osdConfig()->esc_temp_alarm) {
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warnFlag = 'T';
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}
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF && escData->current >= osdConfig()->esc_current_alarm) {
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warnFlag = 'C';
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}
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escWarningMsg[pos++] = warnFlag;
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if (warnFlag != motorNumber) {
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escWarningCount++;
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}
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i++;
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}
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escWarningMsg[pos] = '\0';
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if (escWarningCount > 0) {
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tfp_sprintf(element->buff, "%s", escWarningMsg);
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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}
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#endif // USE_ESC_SENSOR
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if (osdWarnGetState(OSD_WARNING_BATTERY_WARNING) && batteryState == BATTERY_WARNING) {
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tfp_sprintf(element->buff, "LOW BATTERY");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#ifdef USE_RC_SMOOTHING_FILTER
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// Show warning if rc smoothing hasn't initialized the filters
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if (osdWarnGetState(OSD_WARNING_RC_SMOOTHING) && ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
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tfp_sprintf(element->buff, "RCSMOOTHING");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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#endif // USE_RC_SMOOTHING_FILTER
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// Show warning if mah consumed is over the configured limit
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if (osdWarnGetState(OSD_WARNING_OVER_CAP) && ARMING_FLAG(ARMED) && osdConfig()->cap_alarm > 0 && getMAhDrawn() >= osdConfig()->cap_alarm) {
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tfp_sprintf(element->buff, "OVER CAP");
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element->attr = DISPLAYPORT_ATTR_WARNING;
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SET_BLINK(OSD_WARNINGS);
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return;
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}
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// Show warning if battery is not fresh
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if (osdWarnGetState(OSD_WARNING_BATTERY_NOT_FULL) && !(ARMING_FLAG(ARMED) || ARMING_FLAG(WAS_EVER_ARMED)) && (getBatteryState() == BATTERY_OK)
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&& getBatteryAverageCellVoltage() < batteryConfig()->vbatfullcellvoltage) {
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tfp_sprintf(element->buff, "BATT < FULL");
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element->attr = DISPLAYPORT_ATTR_INFO;
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return;
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}
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// Visual beeper
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if (osdWarnGetState(OSD_WARNING_VISUAL_BEEPER) && osdGetVisualBeeperState()) {
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tfp_sprintf(element->buff, " * * * *");
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element->attr = DISPLAYPORT_ATTR_INFO;
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return;
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}
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}
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// Define the order in which the elements are drawn.
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