mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
Merge branch 'master' of https://github.com/betaflight/betaflight into motor-diag
# Conflicts: # src/main/io/osd.c # src/main/io/osd.h # src/test/unit/osd_unittest.cc
This commit is contained in:
Maciej Janowski
commit
9656dbba40
840 changed files with 15513 additions and 10766 deletions
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@ -46,6 +46,7 @@
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#include "cms/cms.h"
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#include "cms/cms_types.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/printf.h"
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#include "common/typeconversion.h"
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@ -60,11 +61,14 @@
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#include "drivers/time.h"
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#include "fc/config.h"
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#include "fc/fc_core.h"
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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/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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@ -84,6 +88,7 @@
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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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@ -121,6 +126,7 @@ static uint32_t blinkBits[(OSD_ITEM_COUNT + 31)/32];
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#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
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static timeUs_t flyTime = 0;
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static float osdGForce = 0;
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typedef struct statistic_s {
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timeUs_t armed_time;
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@ -130,6 +136,9 @@ typedef struct statistic_s {
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int16_t min_rssi;
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int32_t max_altitude;
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int16_t max_distance;
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float max_g_force;
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int16_t max_esc_temp;
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int32_t max_esc_rpm;
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} statistic_t;
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static statistic_t stats;
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@ -196,7 +205,17 @@ static const uint8_t osdElementDisplayOrder[] = {
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OSD_NUMERICAL_VARIO,
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OSD_COMPASS_BAR,
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OSD_ANTI_GRAVITY,
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OSD_MOTOR_DIAG
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OSD_MOTOR_DIAG,
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OSD_FLIP_ARROW,
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#ifdef USE_RTC_TIME
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OSD_RTC_DATETIME,
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#endif
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#ifdef USE_OSD_ADJUSTMENTS
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OSD_ADJUSTMENT_RANGE,
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#endif
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#ifdef USE_ADC_INTERNAL
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OSD_CORE_TEMPERATURE,
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#endif
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};
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PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 3);
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@ -248,13 +267,13 @@ static int32_t osdGetMetersToSelectedUnit(int32_t meters)
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}
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#if defined(USE_ADC_INTERNAL) || defined(USE_ESC_SENSOR)
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STATIC_UNIT_TESTED int osdConvertTemperatureToSelectedUnit(int tempInDeciDegrees)
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STATIC_UNIT_TESTED int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius)
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{
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switch (osdConfig()->units) {
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case OSD_UNIT_IMPERIAL:
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return ((tempInDeciDegrees * 9) / 5) + 320;
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return lrintf(((tempInDegreesCelcius * 9.0f) / 5) + 32);
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default:
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return tempInDeciDegrees;
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return tempInDegreesCelcius;
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}
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}
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@ -269,16 +288,16 @@ static char osdGetTemperatureSymbolForSelectedUnit(void)
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}
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#endif
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static void osdFormatAltitudeString(char * buff, int altitude)
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static void osdFormatAltitudeString(char * buff, int32_t altitudeCm)
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{
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const int alt = osdGetMetersToSelectedUnit(altitude) / 10;
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const int alt = osdGetMetersToSelectedUnit(altitudeCm) / 10;
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tfp_sprintf(buff, "%5d %c", alt, osdGetMetersToSelectedUnitSymbol());
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buff[5] = buff[4];
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buff[4] = '.';
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}
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static void osdFormatPID(char * buff, const char * label, const pid8_t * pid)
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static void osdFormatPID(char * buff, const char * label, const pidf_t * pid)
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{
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tfp_sprintf(buff, "%s %3d %3d %3d", label, pid->P, pid->I, pid->D);
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}
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@ -456,6 +475,30 @@ static bool osdDrawSingleElement(uint8_t item)
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char buff[OSD_ELEMENT_BUFFER_LENGTH] = "";
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switch (item) {
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case OSD_FLIP_ARROW:
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{
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const int angleR = attitude.values.roll / 10;
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const int angleP = attitude.values.pitch / 10; // still gotta update all angleR and angleP pointers.
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if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
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if (angleP > 0 && ((angleR > 175 && angleR < 180) || (angleR > -180 && angleR < -175))) {
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buff[0] = SYM_ARROW_SOUTH;
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} else if (angleP > 0 && angleR > 0 && angleR < 175) {
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buff[0] = (SYM_ARROW_EAST + 2);
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} else if (angleP > 0 && angleR < 0 && angleR > -175) {
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buff[0] = (SYM_ARROW_WEST + 2);
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} else if (angleP <= 0 && ((angleR > 175 && angleR < 180) || (angleR > -180 && angleR < -175))) {
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buff[0] = SYM_ARROW_NORTH;
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} else if (angleP <= 0 && angleR > 0 && angleR < 175) {
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buff[0] = (SYM_ARROW_NORTH + 2);
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} else if (angleP <= 0 && angleR < 0 && angleR > -175) {
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buff[0] = (SYM_ARROW_SOUTH + 2);
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}
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} else {
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buff[0] = ' ';
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}
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buff[1] = '\0';
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break;
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}
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case OSD_RSSI_VALUE:
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{
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uint16_t osdRssi = getRssi() * 100 / 1024; // change range
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@ -549,7 +592,7 @@ static bool osdDrawSingleElement(uint8_t item)
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break;
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case OSD_ALTITUDE:
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osdFormatAltitudeString(buff, getEstimatedAltitude());
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osdFormatAltitudeString(buff, getEstimatedAltitudeCm());
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break;
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case OSD_ITEM_TIMER_1:
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@ -560,13 +603,13 @@ static bool osdDrawSingleElement(uint8_t item)
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case OSD_REMAINING_TIME_ESTIMATE:
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{
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const int mAhDrawn = getMAhDrawn();
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const int remaining_time = (int)((osdConfig()->cap_alarm - mAhDrawn) * ((float)flyTime) / mAhDrawn);
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if (mAhDrawn < 0.1 * osdConfig()->cap_alarm) {
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if (mAhDrawn <= 0.1 * osdConfig()->cap_alarm) { // also handles the mAhDrawn == 0 condition
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tfp_sprintf(buff, "--:--");
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} else if (mAhDrawn > osdConfig()->cap_alarm) {
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tfp_sprintf(buff, "00:00");
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} else {
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const int remaining_time = (int)((osdConfig()->cap_alarm - mAhDrawn) * ((float)flyTime) / mAhDrawn);
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osdFormatTime(buff, OSD_TIMER_PREC_SECOND, remaining_time);
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}
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break;
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@ -574,15 +617,26 @@ static bool osdDrawSingleElement(uint8_t item)
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case OSD_FLYMODE:
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{
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// Note that flight mode display has precedence in what to display.
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// 1. FS
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// 2. GPS RESCUE
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// 3. ANGLE, HORIZON, ACRO TRAINER
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// 4. AIR
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// 5. ACRO
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if (FLIGHT_MODE(FAILSAFE_MODE)) {
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strcpy(buff, "!FS!");
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} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
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strcpy(buff, "RESC");
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} else if (FLIGHT_MODE(HEADFREE_MODE)) {
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strcpy(buff, "HEAD");
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} else if (FLIGHT_MODE(ANGLE_MODE)) {
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strcpy(buff, "STAB");
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} else if (FLIGHT_MODE(HORIZON_MODE)) {
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strcpy(buff, "HOR ");
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} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
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strcpy(buff, "RESC");
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} else if (isAirmodeActive()) {
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} else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
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strcpy(buff, "ATRN");
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} else if (airmodeIsEnabled()) {
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strcpy(buff, "AIR ");
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} else {
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strcpy(buff, "ACRO");
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@ -593,7 +647,7 @@ static bool osdDrawSingleElement(uint8_t item)
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case OSD_ANTI_GRAVITY:
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{
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if (pidItermAccelerator() > 1.0f) {
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if (pidOsdAntiGravityActive()) {
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strcpy(buff, "AG");
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}
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@ -671,7 +725,10 @@ static bool osdDrawSingleElement(uint8_t item)
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int pitchAngle = constrain(attitude.values.pitch, -maxPitch, maxPitch);
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// Convert pitchAngle to y compensation value
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// (maxPitch / 25) divisor matches previous settings of fixed divisor of 8 and fixed max AHI pitch angle of 20.0 degrees
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pitchAngle = ((pitchAngle * 25) / maxPitch) - 41; // 41 = 4 * AH_SYMBOL_COUNT + 5
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if (maxPitch > 0) {
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pitchAngle = ((pitchAngle * 25) / maxPitch);
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}
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pitchAngle -= 41; // 41 = 4 * AH_SYMBOL_COUNT + 5
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for (int x = -4; x <= 4; x++) {
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const int y = ((-rollAngle * x) / 64) - pitchAngle;
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@ -700,6 +757,13 @@ static bool osdDrawSingleElement(uint8_t item)
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return true;
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}
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case OSD_G_FORCE:
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{
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const int gForce = lrintf(osdGForce * 10);
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tfp_sprintf(buff, "%01d.%01dG", gForce / 10, gForce % 10);
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break;
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}
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case OSD_ROLL_PIDS:
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osdFormatPID(buff, "ROL", ¤tPidProfile->pid[PID_ROLL]);
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break;
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@ -729,17 +793,81 @@ static bool osdDrawSingleElement(uint8_t item)
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STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= sizeof(buff), 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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// 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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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDisableFlagNames[armingDisabledDisplayIndex]);
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break;
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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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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " BEACON ON"); // Display this message for the first 0.5 seconds
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} else {
|
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char armingDelayMessage[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
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tfp_sprintf(armingDelayMessage, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDelayMessage);
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}
|
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break;
|
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}
|
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#endif
|
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if (osdWarnGetState(OSD_WARNING_FAIL_SAFE) && failsafeIsActive()) {
|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "FAIL SAFE");
|
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break;
|
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}
|
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|
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if (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) && batteryState == BATTERY_CRITICAL) {
|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " LAND NOW");
|
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break;
|
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}
|
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|
||||
// Show warning if in HEADFREE flight mode
|
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if (FLIGHT_MODE(HEADFREE_MODE)) {
|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "HEADFREE");
|
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break;
|
||||
}
|
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|
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#ifdef USE_ADC_INTERNAL
|
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uint8_t coreTemperature = getCoreTemperatureCelsius();
|
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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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char coreTemperatureWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
|
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tfp_sprintf(coreTemperatureWarningMsg, "CORE: %3d%c", osdConvertTemperatureToSelectedUnit(getCoreTemperatureCelsius() * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
|
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tfp_sprintf(coreTemperatureWarningMsg, "CORE: %3d%c", osdConvertTemperatureToSelectedUnit(coreTemperature), osdGetTemperatureSymbolForSelectedUnit());
|
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|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, coreTemperatureWarningMsg);
|
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|
||||
|
|
@ -749,7 +877,7 @@ static bool osdDrawSingleElement(uint8_t item)
|
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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 (feature(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
|
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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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|
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|
|
@ -793,8 +921,8 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
|
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if (escWarningCount > 0) {
|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, escWarningMsg);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -804,23 +932,19 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
break;
|
||||
}
|
||||
|
||||
// Show most severe reason for arming being disabled
|
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if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE) && IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
|
||||
const armingDisableFlags_e flags = getArmingDisableFlags();
|
||||
for (int i = 0; i < ARMING_DISABLE_FLAGS_COUNT; i++) {
|
||||
if (flags & (1 << i)) {
|
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osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDisableFlagNames[i]);
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if (osdWarnGetState(OSD_WARNING_BATTERY_WARNING) && batteryState == BATTERY_WARNING) {
|
||||
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "LOW BATTERY");
|
||||
break;
|
||||
}
|
||||
|
||||
#ifdef USE_RC_SMOOTHING_FILTER
|
||||
// Show warning if rc smoothing hasn't initialized the filters
|
||||
if (osdWarnGetState(OSD_WARNING_RC_SMOOTHING) && ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
|
||||
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "RCSMOOTHING");
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Show warning if battery is not fresh
|
||||
if (osdWarnGetState(OSD_WARNING_BATTERY_NOT_FULL) && !ARMING_FLAG(WAS_EVER_ARMED) && (getBatteryState() == BATTERY_OK)
|
||||
&& getBatteryAverageCellVoltage() < batteryConfig()->vbatfullcellvoltage) {
|
||||
|
|
@ -898,7 +1022,7 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
tfp_sprintf(buff, "%c%03d", osdGetDirectionSymbolFromHeading(heading), heading);
|
||||
break;
|
||||
}
|
||||
|
||||
#ifdef USE_VARIO
|
||||
case OSD_NUMERICAL_VARIO:
|
||||
{
|
||||
const int verticalSpeed = osdGetMetersToSelectedUnit(getEstimatedVario());
|
||||
|
|
@ -906,16 +1030,17 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
tfp_sprintf(buff, "%c%01d.%01d", directionSymbol, abs(verticalSpeed / 100), abs((verticalSpeed % 100) / 10));
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
case OSD_ESC_TMP:
|
||||
if (feature(FEATURE_ESC_SENSOR)) {
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature), osdGetTemperatureSymbolForSelectedUnit());
|
||||
}
|
||||
break;
|
||||
|
||||
case OSD_ESC_RPM:
|
||||
if (feature(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
|
||||
}
|
||||
break;
|
||||
|
|
@ -929,13 +1054,27 @@ static bool osdDrawSingleElement(uint8_t item)
|
|||
|
||||
#ifdef USE_OSD_ADJUSTMENTS
|
||||
case OSD_ADJUSTMENT_RANGE:
|
||||
tfp_sprintf(buff, "%s: %3d", adjustmentRangeName, adjustmentRangeValue);
|
||||
if (getAdjustmentsRangeName()) {
|
||||
tfp_sprintf(buff, "%s: %3d", getAdjustmentsRangeName(), getAdjustmentsRangeValue());
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ADC_INTERNAL
|
||||
case OSD_CORE_TEMPERATURE:
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(getCoreTemperatureCelsius() * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(getCoreTemperatureCelsius()), osdGetTemperatureSymbolForSelectedUnit());
|
||||
break;
|
||||
#endif
|
||||
|
||||
#ifdef USE_BLACKBOX
|
||||
case OSD_LOG_STATUS:
|
||||
if (!isBlackboxDeviceWorking()) {
|
||||
tfp_sprintf(buff, "L-");
|
||||
} else if (isBlackboxDeviceFull()) {
|
||||
tfp_sprintf(buff, "L>");
|
||||
} else {
|
||||
tfp_sprintf(buff, "L%d", blackboxGetLogNumber());
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
|
||||
|
|
@ -957,8 +1096,18 @@ static void osdDrawElements(void)
|
|||
return;
|
||||
}
|
||||
|
||||
osdGForce = 0.0f;
|
||||
if (sensors(SENSOR_ACC)) {
|
||||
// only calculate the G force if the element is visible or the stat is enabled
|
||||
if (VISIBLE(osdConfig()->item_pos[OSD_G_FORCE]) || osdStatGetState(OSD_STAT_MAX_G_FORCE)) {
|
||||
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
|
||||
const float a = accAverage[axis];
|
||||
osdGForce += a * a;
|
||||
}
|
||||
osdGForce = sqrtf(osdGForce) * acc.dev.acc_1G_rec;
|
||||
}
|
||||
osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
|
||||
osdDrawSingleElement(OSD_G_FORCE);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -978,22 +1127,16 @@ static void osdDrawElements(void)
|
|||
#endif // GPS
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (feature(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
osdDrawSingleElement(OSD_ESC_TMP);
|
||||
osdDrawSingleElement(OSD_ESC_RPM);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RTC_TIME
|
||||
osdDrawSingleElement(OSD_RTC_DATETIME);
|
||||
#endif
|
||||
|
||||
#ifdef USE_OSD_ADJUSTMENTS
|
||||
osdDrawSingleElement(OSD_ADJUSTMENT_RANGE);
|
||||
#endif
|
||||
|
||||
#ifdef USE_ADC_INTERNAL
|
||||
osdDrawSingleElement(OSD_CORE_TEMPERATURE);
|
||||
#ifdef USE_BLACKBOX
|
||||
if (IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
|
||||
osdDrawSingleElement(OSD_LOG_STATUS);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -1063,7 +1206,7 @@ void osdInit(displayPort_t *osdDisplayPortToUse)
|
|||
return;
|
||||
}
|
||||
|
||||
BUILD_BUG_ON(OSD_POS_MAX != OSD_POS(31,31));
|
||||
STATIC_ASSERT(OSD_POS_MAX == OSD_POS(31,31), OSD_POS_MAX_incorrect);
|
||||
|
||||
osdDisplayPort = osdDisplayPortToUse;
|
||||
#ifdef USE_CMS
|
||||
|
|
@ -1099,11 +1242,16 @@ void osdInit(displayPort_t *osdDisplayPortToUse)
|
|||
resumeRefreshAt = micros() + (4 * REFRESH_1S);
|
||||
}
|
||||
|
||||
bool osdInitialized(void)
|
||||
{
|
||||
return osdDisplayPort;
|
||||
}
|
||||
|
||||
void osdUpdateAlarms(void)
|
||||
{
|
||||
// This is overdone?
|
||||
|
||||
int32_t alt = osdGetMetersToSelectedUnit(getEstimatedAltitude()) / 100;
|
||||
int32_t alt = osdGetMetersToSelectedUnit(getEstimatedAltitudeCm()) / 100;
|
||||
|
||||
if (getRssiPercent() < osdConfig()->rssi_alarm) {
|
||||
SET_BLINK(OSD_RSSI_VALUE);
|
||||
|
|
@ -1111,12 +1259,22 @@ void osdUpdateAlarms(void)
|
|||
CLR_BLINK(OSD_RSSI_VALUE);
|
||||
}
|
||||
|
||||
if (getBatteryState() == BATTERY_OK) {
|
||||
// Determine if the OSD_WARNINGS should blink
|
||||
if (getBatteryState() != BATTERY_OK
|
||||
&& (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) || osdWarnGetState(OSD_WARNING_BATTERY_WARNING))
|
||||
#ifdef USE_DSHOT
|
||||
&& (!isTryingToArm())
|
||||
#endif
|
||||
) {
|
||||
SET_BLINK(OSD_WARNINGS);
|
||||
} else {
|
||||
CLR_BLINK(OSD_WARNINGS);
|
||||
}
|
||||
|
||||
if (getBatteryState() == BATTERY_OK) {
|
||||
CLR_BLINK(OSD_MAIN_BATT_VOLTAGE);
|
||||
CLR_BLINK(OSD_AVG_CELL_VOLTAGE);
|
||||
} else {
|
||||
SET_BLINK(OSD_WARNINGS);
|
||||
SET_BLINK(OSD_MAIN_BATT_VOLTAGE);
|
||||
SET_BLINK(OSD_AVG_CELL_VOLTAGE);
|
||||
}
|
||||
|
|
@ -1155,7 +1313,7 @@ void osdUpdateAlarms(void)
|
|||
}
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (feature(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
// This works because the combined ESC data contains the maximum temperature seen amongst all ESCs
|
||||
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escDataCombined->temperature >= osdConfig()->esc_temp_alarm) {
|
||||
SET_BLINK(OSD_ESC_TMP);
|
||||
|
|
@ -1187,11 +1345,13 @@ static void osdResetStats(void)
|
|||
stats.max_current = 0;
|
||||
stats.max_speed = 0;
|
||||
stats.min_voltage = 500;
|
||||
stats.max_current = 0;
|
||||
stats.min_rssi = 99;
|
||||
stats.max_altitude = 0;
|
||||
stats.max_distance = 0;
|
||||
stats.armed_time = 0;
|
||||
stats.max_g_force = 0;
|
||||
stats.max_esc_temp = 0;
|
||||
stats.max_esc_rpm = 0;
|
||||
}
|
||||
|
||||
static void osdUpdateStats(void)
|
||||
|
|
@ -1226,9 +1386,13 @@ static void osdUpdateStats(void)
|
|||
stats.min_rssi = value;
|
||||
}
|
||||
|
||||
int altitude = getEstimatedAltitude();
|
||||
if (stats.max_altitude < altitude) {
|
||||
stats.max_altitude = altitude;
|
||||
int32_t altitudeCm = getEstimatedAltitudeCm();
|
||||
if (stats.max_altitude < altitudeCm) {
|
||||
stats.max_altitude = altitudeCm;
|
||||
}
|
||||
|
||||
if (stats.max_g_force < osdGForce) {
|
||||
stats.max_g_force = osdGForce;
|
||||
}
|
||||
|
||||
#ifdef USE_GPS
|
||||
|
|
@ -1240,19 +1404,31 @@ static void osdUpdateStats(void)
|
|||
}
|
||||
}
|
||||
#endif
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
value = escDataCombined->temperature;
|
||||
if (stats.max_esc_temp < value) {
|
||||
stats.max_esc_temp = value;
|
||||
}
|
||||
value = calcEscRpm(escDataCombined->rpm);
|
||||
if (stats.max_esc_rpm < value) {
|
||||
stats.max_esc_rpm = value;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef USE_BLACKBOX
|
||||
|
||||
static void osdGetBlackboxStatusString(char * buff)
|
||||
{
|
||||
bool storageDeviceIsWorking = false;
|
||||
bool storageDeviceIsWorking = isBlackboxDeviceWorking();
|
||||
uint32_t storageUsed = 0;
|
||||
uint32_t storageTotal = 0;
|
||||
|
||||
switch (blackboxConfig()->device) {
|
||||
#ifdef USE_SDCARD
|
||||
case BLACKBOX_DEVICE_SDCARD:
|
||||
storageDeviceIsWorking = sdcard_isInserted() && sdcard_isFunctional() && (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_READY);
|
||||
if (storageDeviceIsWorking) {
|
||||
storageTotal = sdcard_getMetadata()->numBlocks / 2000;
|
||||
storageUsed = storageTotal - (afatfs_getContiguousFreeSpace() / 1024000);
|
||||
|
|
@ -1262,7 +1438,6 @@ static void osdGetBlackboxStatusString(char * buff)
|
|||
|
||||
#ifdef USE_FLASHFS
|
||||
case BLACKBOX_DEVICE_FLASH:
|
||||
storageDeviceIsWorking = flashfsIsReady();
|
||||
if (storageDeviceIsWorking) {
|
||||
const flashGeometry_t *geometry = flashfsGetGeometry();
|
||||
storageTotal = geometry->totalSize / 1024;
|
||||
|
|
@ -1398,6 +1573,24 @@ static void osdShowStats(uint16_t endBatteryVoltage)
|
|||
}
|
||||
#endif
|
||||
|
||||
if (osdStatGetState(OSD_STAT_MAX_G_FORCE) && sensors(SENSOR_ACC)) {
|
||||
const int gForce = lrintf(stats.max_g_force * 10);
|
||||
tfp_sprintf(buff, "%01d.%01dG", gForce / 10, gForce % 10);
|
||||
osdDisplayStatisticLabel(top++, "MAX G-FORCE", buff);
|
||||
}
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (osdStatGetState(OSD_STAT_MAX_ESC_TEMP)) {
|
||||
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(stats.max_esc_temp), osdGetTemperatureSymbolForSelectedUnit());
|
||||
osdDisplayStatisticLabel(top++, "MAX ESC TEMP", buff);
|
||||
}
|
||||
|
||||
if (osdStatGetState(OSD_STAT_MAX_ESC_RPM)) {
|
||||
itoa(stats.max_esc_rpm, buff, 10);
|
||||
osdDisplayStatisticLabel(top++, "MAX ESC RPM", buff);
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
static void osdShowArmed(void)
|
||||
|
|
@ -1481,7 +1674,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
|
|||
blinkState = (currentTimeUs / 200000) % 2;
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
if (feature(FEATURE_ESC_SENSOR)) {
|
||||
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
|
||||
escDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue