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betaflight/src/main/io/osd.c
Bruce Luckcuck 05cc74a4ae Extend OSD warnings storage to 32bits; add count to MSP 
Extends the possible OSD warnings elements from 16 to 32.

Adds a warnings count to MSP data to enable improved handling of warnings added to the firmware but not in the Configurator. Incremental Configurator development required.
2019-01-17 19:46:58 -05:00

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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
Created by Marcin Baliniak
some functions based on MinimOSD
OSD-CMS separation by jflyper
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <math.h>
#include "platform.h"
#ifdef USE_OSD
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "build/version.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/printf.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/feature.h"
#include "drivers/display.h"
#include "drivers/flash.h"
#include "drivers/max7456_symbols.h"
#include "drivers/sdcard.h"
#include "drivers/time.h"
#include "fc/config.h"
#include "fc/core.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/rc.h"
#include "fc/runtime_config.h"
#include "flight/gps_rescue.h"
#include "flight/failsafe.h"
#include "flight/position.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/osd.h"
#include "io/vtx_string.h"
#include "io/vtx.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "sensors/sensors.h"
#if defined(USE_GYRO_DATA_ANALYSE)
#include "sensors/gyroanalyse.h"
#endif
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#define VIDEO_BUFFER_CHARS_PAL 480
#define FULL_CIRCLE 360
#define STICK_OVERLAY_HORIZONTAL_CHAR '-'
#define STICK_OVERLAY_VERTICAL_CHAR '|'
#define STICK_OVERLAY_CROSS_CHAR '+'
#define STICK_OVERLAY_CURSOR_CHAR '0'
const char * const osdTimerSourceNames[] = {
"ON TIME ",
"TOTAL ARM",
"LAST ARM "
};
// Blink control
static bool blinkState = true;
static bool showVisualBeeper = false;
static uint32_t blinkBits[(OSD_ITEM_COUNT + 31)/32];
#define SET_BLINK(item) (blinkBits[(item) / 32] |= (1 << ((item) % 32)))
#define CLR_BLINK(item) (blinkBits[(item) / 32] &= ~(1 << ((item) % 32)))
#define IS_BLINK(item) (blinkBits[(item) / 32] & (1 << ((item) % 32)))
#define BLINK(item) (IS_BLINK(item) && blinkState)
// Things in both OSD and CMS
#define IS_HI(X) (rcData[X] > 1750)
#define IS_LO(X) (rcData[X] < 1250)
#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
static timeUs_t flyTime = 0;
static float osdGForce = 0;
typedef struct statistic_s {
timeUs_t armed_time;
int16_t max_speed;
int16_t min_voltage; // /100
int16_t max_current; // /10
uint8_t min_rssi;
int32_t max_altitude;
int16_t max_distance;
float max_g_force;
int16_t max_esc_temp;
int32_t max_esc_rpm;
uint8_t min_link_quality;
} statistic_t;
typedef struct radioControls_s {
uint8_t left_vertical;
uint8_t left_horizontal;
uint8_t right_vertical;
uint8_t right_horizontal;
} radioControls_t;
typedef enum radioModes_e {
MODE1,
MODE2,
MODE3,
MODE4
} radioModes_t;
static statistic_t stats;
#ifdef USE_OSD_STICK_OVERLAY
static const radioControls_t radioModes[4] = {
{ PITCH, YAW, THROTTLE, ROLL }, // Mode 1
{ THROTTLE, YAW, PITCH, ROLL }, // Mode 2
{ PITCH, ROLL, THROTTLE, YAW }, // Mode 3
{ THROTTLE, ROLL, PITCH, YAW }, // Mode 4
};
#endif
timeUs_t resumeRefreshAt = 0;
#define REFRESH_1S 1000 * 1000
static uint8_t armState;
static bool lastArmState;
#ifdef USE_OSD_PROFILES
static uint8_t osdProfile = 1;
#endif
static displayPort_t *osdDisplayPort;
static bool suppressStatsDisplay = false;
#ifdef USE_ESC_SENSOR
static escSensorData_t *escDataCombined;
#endif
#define AH_SYMBOL_COUNT 9
#define AH_SIDEBAR_WIDTH_POS 7
#define AH_SIDEBAR_HEIGHT_POS 3
static const char compassBar[] = {
SYM_HEADING_W,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_N,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_E,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_S,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_W,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE,
SYM_HEADING_N,
SYM_HEADING_LINE, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE
};
static const uint8_t osdElementDisplayOrder[] = {
OSD_MAIN_BATT_VOLTAGE,
OSD_RSSI_VALUE,
OSD_CROSSHAIRS,
OSD_HORIZON_SIDEBARS,
OSD_ITEM_TIMER_1,
OSD_ITEM_TIMER_2,
OSD_REMAINING_TIME_ESTIMATE,
OSD_FLYMODE,
OSD_THROTTLE_POS,
OSD_VTX_CHANNEL,
OSD_CURRENT_DRAW,
OSD_MAH_DRAWN,
OSD_CRAFT_NAME,
OSD_ALTITUDE,
OSD_ROLL_PIDS,
OSD_PITCH_PIDS,
OSD_YAW_PIDS,
OSD_POWER,
OSD_PIDRATE_PROFILE,
OSD_WARNINGS,
OSD_AVG_CELL_VOLTAGE,
OSD_DEBUG,
OSD_PITCH_ANGLE,
OSD_ROLL_ANGLE,
OSD_MAIN_BATT_USAGE,
OSD_DISARMED,
OSD_NUMERICAL_HEADING,
OSD_NUMERICAL_VARIO,
OSD_COMPASS_BAR,
OSD_ANTI_GRAVITY,
OSD_MOTOR_DIAG,
OSD_FLIP_ARROW,
#ifdef USE_RTC_TIME
OSD_RTC_DATETIME,
#endif
#ifdef USE_OSD_ADJUSTMENTS
OSD_ADJUSTMENT_RANGE,
#endif
#ifdef USE_ADC_INTERNAL
OSD_CORE_TEMPERATURE,
#endif
#ifdef USE_RX_LINK_QUALITY_INFO
OSD_LINK_QUALITY,
#endif
};
PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 5);
/**
* Gets the correct altitude symbol for the current unit system
*/
static char osdGetMetersToSelectedUnitSymbol(void)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return SYM_FT;
default:
return SYM_M;
}
}
static char osdGetBatterySymbol(int cellVoltage)
{
if (getBatteryState() == BATTERY_CRITICAL) {
return SYM_MAIN_BATT; // FIXME: currently the BAT- symbol, ideally replace with a battery with exclamation mark
} else {
// Calculate a symbol offset using cell voltage over full cell voltage range
const int symOffset = scaleRange(cellVoltage, batteryConfig()->vbatmincellvoltage, batteryConfig()->vbatmaxcellvoltage, 0, 8);
return SYM_BATT_EMPTY - constrain(symOffset, 0, 6);
}
}
/**
* Converts altitude based on the current unit system.
* @param meters Value in meters to convert
*/
static int32_t osdGetMetersToSelectedUnit(int32_t meters)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return (meters * 328) / 100; // Convert to feet / 100
default:
return meters; // Already in metre / 100
}
}
#if defined(USE_ADC_INTERNAL) || defined(USE_ESC_SENSOR)
STATIC_UNIT_TESTED int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return lrintf(((tempInDegreesCelcius * 9.0f) / 5) + 32);
default:
return tempInDegreesCelcius;
}
}
static char osdGetTemperatureSymbolForSelectedUnit(void)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return 'F';
default:
return 'C';
}
}
#endif
static void osdFormatAltitudeString(char * buff, int32_t altitudeCm)
{
const int alt = osdGetMetersToSelectedUnit(altitudeCm) / 10;
tfp_sprintf(buff, "%5d %c", alt, osdGetMetersToSelectedUnitSymbol());
buff[5] = buff[4];
buff[4] = '.';
}
static void osdFormatPID(char * buff, const char * label, const pidf_t * pid)
{
tfp_sprintf(buff, "%s %3d %3d %3d", label, pid->P, pid->I, pid->D);
}
static uint8_t osdGetHeadingIntoDiscreteDirections(int heading, unsigned directions)
{
heading += FULL_CIRCLE; // Ensure positive value
// Split input heading 0..359 into sectors 0..(directions-1), but offset
// by half a sector so that sector 0 gets centered around heading 0.
// We multiply heading by directions to not loose precision in divisions
// In this way each segment will be a FULL_CIRCLE length
int direction = (heading * directions + FULL_CIRCLE / 2) / FULL_CIRCLE; // scale with rounding
direction %= directions; // normalize
return direction; // return segment number
}
static uint8_t osdGetDirectionSymbolFromHeading(int heading)
{
heading = osdGetHeadingIntoDiscreteDirections(heading, 16);
// Now heading 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.
heading = 16 - heading;
heading = (heading + 8) % 16;
return SYM_ARROW_SOUTH + heading;
}
static char osdGetTimerSymbol(osd_timer_source_e src)
{
switch (src) {
case OSD_TIMER_SRC_ON:
return SYM_ON_M;
case OSD_TIMER_SRC_TOTAL_ARMED:
case OSD_TIMER_SRC_LAST_ARMED:
return SYM_FLY_M;
default:
return ' ';
}
}
static timeUs_t osdGetTimerValue(osd_timer_source_e src)
{
switch (src) {
case OSD_TIMER_SRC_ON:
return micros();
case OSD_TIMER_SRC_TOTAL_ARMED:
return flyTime;
case OSD_TIMER_SRC_LAST_ARMED:
return stats.armed_time;
default:
return 0;
}
}
STATIC_UNIT_TESTED void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time)
{
int seconds = time / 1000000;
const int minutes = seconds / 60;
seconds = seconds % 60;
switch (precision) {
case OSD_TIMER_PREC_SECOND:
default:
tfp_sprintf(buff, "%02d:%02d", minutes, seconds);
break;
case OSD_TIMER_PREC_HUNDREDTHS:
{
const int hundredths = (time / 10000) % 100;
tfp_sprintf(buff, "%02d:%02d.%02d", minutes, seconds, hundredths);
break;
}
}
}
STATIC_UNIT_TESTED void osdFormatTimer(char *buff, bool showSymbol, bool usePrecision, int timerIndex)
{
const uint16_t timer = osdConfig()->timers[timerIndex];
const uint8_t src = OSD_TIMER_SRC(timer);
if (showSymbol) {
*(buff++) = osdGetTimerSymbol(src);
}
osdFormatTime(buff, (usePrecision ? OSD_TIMER_PRECISION(timer) : OSD_TIMER_PREC_SECOND), osdGetTimerValue(src));
}
#ifdef USE_GPS
static void osdFormatCoordinate(char *buff, char sym, int32_t val)
{
// latitude maximum integer width is 3 (-90).
// longitude maximum integer width is 4 (-180).
// We show 7 decimals, so we need to use 12 characters:
// eg: s-180.1234567z s=symbol, z=zero terminator, decimal separator between 0 and 1
static const int coordinateMaxLength = 13;//12 for the number (4 + dot + 7) + 1 for the symbol
buff[0] = sym;
const int32_t integerPart = val / GPS_DEGREES_DIVIDER;
const int32_t decimalPart = labs(val % GPS_DEGREES_DIVIDER);
const int written = tfp_sprintf(buff + 1, "%d.%07d", integerPart, decimalPart);
// pad with blanks to coordinateMaxLength
for (int pos = 1 + written; pos < coordinateMaxLength; ++pos) {
buff[pos] = SYM_BLANK;
}
buff[coordinateMaxLength] = '\0';
}
#endif // USE_GPS
#ifdef USE_RTC_TIME
static bool osdFormatRtcDateTime(char *buffer)
{
dateTime_t dateTime;
if (!rtcGetDateTime(&dateTime)) {
buffer[0] = '\0';
return false;
}
dateTimeFormatLocalShort(buffer, &dateTime);
return true;
}
#endif
static void osdFormatMessage(char *buff, size_t size, const char *message)
{
memset(buff, SYM_BLANK, size);
if (message) {
memcpy(buff, message, strlen(message));
}
// Ensure buff is zero terminated
buff[size - 1] = '\0';
}
void osdStatSetState(uint8_t statIndex, bool enabled)
{
if (enabled) {
osdConfigMutable()->enabled_stats |= (1 << statIndex);
} else {
osdConfigMutable()->enabled_stats &= ~(1 << statIndex);
}
}
bool osdStatGetState(uint8_t statIndex)
{
return osdConfig()->enabled_stats & (1 << statIndex);
}
void osdWarnSetState(uint8_t warningIndex, bool enabled)
{
if (enabled) {
osdConfigMutable()->enabledWarnings |= (1 << warningIndex);
} else {
osdConfigMutable()->enabledWarnings &= ~(1 << warningIndex);
}
}
bool osdWarnGetState(uint8_t warningIndex)
{
return osdConfig()->enabledWarnings & (1 << warningIndex);
}
#ifdef USE_OSD_PROFILES
void setOsdProfile(uint8_t value)
{
// 1 ->> 001
// 2 ->> 010
// 3 ->> 100
if (value <= OSD_PROFILE_COUNT) {
if (value == 0) {
osdProfile = 1;
} else {
osdProfile = 1 << (value - 1);
}
}
}
uint8_t getCurrentOsdProfileIndex(void)
{
return osdConfig()->osdProfileIndex;
}
void changeOsdProfileIndex(uint8_t profileIndex)
{
if (profileIndex <= OSD_PROFILE_COUNT) {
osdConfigMutable()->osdProfileIndex = profileIndex;
setOsdProfile(profileIndex);
}
}
#endif
static bool osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(osdConfig()->item_pos[item]) || BLINK(item)) {
return false;
}
uint8_t elemPosX = OSD_X(osdConfig()->item_pos[item]);
uint8_t elemPosY = OSD_Y(osdConfig()->item_pos[item]);
char buff[OSD_ELEMENT_BUFFER_LENGTH] = "";
switch (item) {
case OSD_FLIP_ARROW:
{
int rollAngle = attitude.values.roll / 10;
const int pitchAngle = attitude.values.pitch / 10;
if (abs(rollAngle) > 90) {
rollAngle = (rollAngle < 0 ? -180 : 180) - rollAngle;
}
if ((isFlipOverAfterCrashActive() || (!ARMING_FLAG(ARMED) && !STATE(SMALL_ANGLE))) && !((imuConfig()->small_angle < 180) && STATE(SMALL_ANGLE)) && (rollAngle || pitchAngle)) {
if (abs(pitchAngle) < 2 * abs(rollAngle) && abs(rollAngle) < 2 * abs(pitchAngle)) {
if (pitchAngle > 0) {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST + 2;
} else {
buff[0] = SYM_ARROW_EAST - 2;
}
} else {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST - 2;
} else {
buff[0] = SYM_ARROW_EAST + 2;
}
}
} else {
if (abs(pitchAngle) > abs(rollAngle)) {
if (pitchAngle > 0) {
buff[0] = SYM_ARROW_SOUTH;
} else {
buff[0] = SYM_ARROW_NORTH;
}
} else {
if (rollAngle > 0) {
buff[0] = SYM_ARROW_WEST;
} else {
buff[0] = SYM_ARROW_EAST;
}
}
}
} else {
buff[0] = ' ';
}
buff[1] = '\0';
break;
}
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = getRssi() * 100 / 1024; // change range
if (osdRssi >= 100) {
osdRssi = 99;
}
tfp_sprintf(buff, "%c%2d", SYM_RSSI, osdRssi);
break;
}
#ifdef USE_RX_LINK_QUALITY_INFO
case OSD_LINK_QUALITY:
{
// change range to 0-9 (two sig. fig. adds little extra value, also reduces screen estate)
uint8_t osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
if (osdLinkQuality >= 10) {
osdLinkQuality = 9;
}
tfp_sprintf(buff, "%1d", osdLinkQuality);
break;
}
#endif
case OSD_MAIN_BATT_VOLTAGE:
buff[0] = osdGetBatterySymbol(getBatteryAverageCellVoltage());
tfp_sprintf(buff + 1, "%2d.%02d%c", getBatteryVoltage() / 100, getBatteryVoltage() % 100, SYM_VOLT);
break;
case OSD_CURRENT_DRAW:
{
const int32_t amperage = getAmperage();
tfp_sprintf(buff, "%3d.%02d%c", abs(amperage) / 100, abs(amperage) % 100, SYM_AMP);
break;
}
case OSD_MAH_DRAWN:
tfp_sprintf(buff, "%4d%c", getMAhDrawn(), SYM_MAH);
break;
#ifdef USE_GPS
case OSD_GPS_SATS:
tfp_sprintf(buff, "%c%c%2d", SYM_SAT_L, SYM_SAT_R, gpsSol.numSat);
break;
case OSD_GPS_SPEED:
// FIXME ideally we want to use SYM_KMH symbol but it's not in the font any more, so we use K (M for MPH)
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
tfp_sprintf(buff, "%3dM", CM_S_TO_MPH(gpsSol.groundSpeed));
break;
default:
tfp_sprintf(buff, "%3dK", CM_S_TO_KM_H(gpsSol.groundSpeed));
break;
}
break;
case OSD_GPS_LAT:
// The SYM_LAT symbol in the actual font contains only blank, so we use the SYM_ARROW_NORTH
osdFormatCoordinate(buff, SYM_ARROW_NORTH, gpsSol.llh.lat);
break;
case OSD_GPS_LON:
// The SYM_LON symbol in the actual font contains only blank, so we use the SYM_ARROW_EAST
osdFormatCoordinate(buff, SYM_ARROW_EAST, gpsSol.llh.lon);
break;
case OSD_HOME_DIR:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
if (GPS_distanceToHome > 0) {
const int h = GPS_directionToHome - DECIDEGREES_TO_DEGREES(attitude.values.yaw);
buff[0] = osdGetDirectionSymbolFromHeading(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;
case OSD_HOME_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceToHome);
tfp_sprintf(buff, "%d%c", distance, osdGetMetersToSelectedUnitSymbol());
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
// overwrite any previous distance with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
case OSD_FLIGHT_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceFlownInCm / 100);
tfp_sprintf(buff, "%d%c", distance, osdGetMetersToSelectedUnitSymbol());
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
// overwrite any previous distance with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
#endif // GPS
case OSD_COMPASS_BAR:
memcpy(buff, compassBar + osdGetHeadingIntoDiscreteDirections(DECIDEGREES_TO_DEGREES(attitude.values.yaw), 16), 9);
buff[9] = 0;
break;
case OSD_ALTITUDE:
{
bool haveBaro = false;
bool haveGps = false;
#ifdef USE_BARO
haveBaro = sensors(SENSOR_BARO);
#endif
#ifdef USE_GPS
haveGps = sensors(SENSOR_GPS) && STATE(GPS_FIX);
#endif
if (haveBaro || haveGps) {
osdFormatAltitudeString(buff, getEstimatedAltitudeCm());
} else {
// We use this symbol when we don't have a valid measure
buff[0] = SYM_COLON;
// overwrite any previous altitude with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
}
break;
case OSD_ITEM_TIMER_1:
case OSD_ITEM_TIMER_2:
osdFormatTimer(buff, true, true, item - OSD_ITEM_TIMER_1);
break;
case OSD_REMAINING_TIME_ESTIMATE:
{
const int mAhDrawn = getMAhDrawn();
if (mAhDrawn <= 0.1 * osdConfig()->cap_alarm) { // also handles the mAhDrawn == 0 condition
tfp_sprintf(buff, "--:--");
} else if (mAhDrawn > osdConfig()->cap_alarm) {
tfp_sprintf(buff, "00:00");
} else {
const int remaining_time = (int)((osdConfig()->cap_alarm - mAhDrawn) * ((float)flyTime) / mAhDrawn);
osdFormatTime(buff, OSD_TIMER_PREC_SECOND, remaining_time);
}
break;
}
case OSD_FLYMODE:
{
// Note that flight mode display has precedence in what to display.
// 1. FS
// 2. GPS RESCUE
// 3. ANGLE, HORIZON, ACRO TRAINER
// 4. AIR
// 5. ACRO
if (FLIGHT_MODE(FAILSAFE_MODE)) {
strcpy(buff, "!FS!");
} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
strcpy(buff, "RESC");
} else if (FLIGHT_MODE(HEADFREE_MODE)) {
strcpy(buff, "HEAD");
} else if (FLIGHT_MODE(ANGLE_MODE)) {
strcpy(buff, "STAB");
} else if (FLIGHT_MODE(HORIZON_MODE)) {
strcpy(buff, "HOR ");
} else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
strcpy(buff, "ATRN");
} else if (airmodeIsEnabled()) {
strcpy(buff, "AIR ");
} else {
strcpy(buff, "ACRO");
}
break;
}
case OSD_ANTI_GRAVITY:
{
if (pidOsdAntiGravityActive()) {
strcpy(buff, "AG");
}
break;
}
case OSD_MOTOR_DIAG:
{
int i = 0;
const bool motorsRunning = areMotorsRunning();
for (; i < getMotorCount(); i++) {
if (motorsRunning) {
buff[i] = 0x88 - scaleRange(motor[i], motorOutputLow, motorOutputHigh, 0, 8);
} else {
buff[i] = 0x88;
}
}
buff[i] = '\0';
break;
}
case OSD_CRAFT_NAME:
// This does not strictly support iterative updating if the craft name changes at run time. But since the craft name is not supposed to be changing this should not matter, and blanking the entire length of the craft name string on update will make it impossible to configure elements to be displayed on the right hand side of the craft name.
//TODO: When iterative updating is implemented, change this so the craft name is only printed once whenever the OSD 'flight' screen is entered.
if (strlen(pilotConfig()->name) == 0) {
strcpy(buff, "CRAFT_NAME");
} else {
unsigned i;
for (i = 0; i < MAX_NAME_LENGTH; i++) {
if (pilotConfig()->name[i]) {
buff[i] = toupper((unsigned char)pilotConfig()->name[i]);
} else {
break;
}
}
buff[i] = '\0';
}
break;
case OSD_THROTTLE_POS:
buff[0] = SYM_THR;
buff[1] = SYM_THR1;
tfp_sprintf(buff + 2, "%3d", calculateThrottlePercent());
break;
#if defined(USE_VTX_COMMON)
case OSD_VTX_CHANNEL:
{
const vtxDevice_t *vtxDevice = vtxCommonDevice();
const char vtxBandLetter = vtxCommonLookupBandLetter(vtxDevice, vtxSettingsConfig()->band);
const char *vtxChannelName = vtxCommonLookupChannelName(vtxDevice, vtxSettingsConfig()->channel);
uint8_t vtxPower = vtxSettingsConfig()->power;
if (vtxDevice && vtxSettingsConfig()->lowPowerDisarm) {
vtxCommonGetPowerIndex(vtxDevice, &vtxPower);
}
tfp_sprintf(buff, "%c:%s:%1d", vtxBandLetter, vtxChannelName, vtxPower);
break;
}
#endif
case OSD_CROSSHAIRS:
buff[0] = SYM_AH_CENTER_LINE;
buff[1] = SYM_AH_CENTER;
buff[2] = SYM_AH_CENTER_LINE_RIGHT;
buff[3] = 0;
break;
case OSD_ARTIFICIAL_HORIZON:
{
// Get pitch and roll limits in tenths of degrees
const int maxPitch = osdConfig()->ahMaxPitch * 10;
const int maxRoll = osdConfig()->ahMaxRoll * 10;
const int ahSign = osdConfig()->ahInvert ? -1 : 1;
const int rollAngle = constrain(attitude.values.roll * ahSign, -maxRoll, maxRoll);
int pitchAngle = constrain(attitude.values.pitch * ahSign, -maxPitch, maxPitch);
// Convert pitchAngle to y compensation value
// (maxPitch / 25) divisor matches previous settings of fixed divisor of 8 and fixed max AHI pitch angle of 20.0 degrees
if (maxPitch > 0) {
pitchAngle = ((pitchAngle * 25) / maxPitch);
}
pitchAngle -= 41; // 41 = 4 * AH_SYMBOL_COUNT + 5
for (int x = -4; x <= 4; x++) {
const int y = ((-rollAngle * x) / 64) - pitchAngle;
if (y >= 0 && y <= 81) {
displayWriteChar(osdDisplayPort, elemPosX + x, elemPosY + (y / AH_SYMBOL_COUNT), (SYM_AH_BAR9_0 + (y % AH_SYMBOL_COUNT)));
}
}
return true;
}
case OSD_HORIZON_SIDEBARS:
{
// Draw AH sides
const int8_t hudwidth = AH_SIDEBAR_WIDTH_POS;
const int8_t hudheight = AH_SIDEBAR_HEIGHT_POS;
for (int y = -hudheight; y <= hudheight; y++) {
displayWriteChar(osdDisplayPort, elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
}
// AH level indicators
displayWriteChar(osdDisplayPort, elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
return true;
}
case OSD_G_FORCE:
{
const int gForce = lrintf(osdGForce * 10);
tfp_sprintf(buff, "%01d.%01dG", gForce / 10, gForce % 10);
break;
}
case OSD_ROLL_PIDS:
osdFormatPID(buff, "ROL", &currentPidProfile->pid[PID_ROLL]);
break;
case OSD_PITCH_PIDS:
osdFormatPID(buff, "PIT", &currentPidProfile->pid[PID_PITCH]);
break;
case OSD_YAW_PIDS:
osdFormatPID(buff, "YAW", &currentPidProfile->pid[PID_YAW]);
break;
case OSD_POWER:
tfp_sprintf(buff, "%4dW", getAmperage() * getBatteryVoltage() / 10000);
break;
case OSD_PIDRATE_PROFILE:
tfp_sprintf(buff, "%d-%d", getCurrentPidProfileIndex() + 1, getCurrentControlRateProfileIndex() + 1);
break;
case OSD_WARNINGS:
{
#define OSD_WARNINGS_MAX_SIZE 11
#define OSD_FORMAT_MESSAGE_BUFFER_SIZE (OSD_WARNINGS_MAX_SIZE + 1)
STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= sizeof(buff), osd_warnings_size_exceeds_buffer_size);
const batteryState_e batteryState = getBatteryState();
const timeUs_t currentTimeUs = micros();
static timeUs_t armingDisabledUpdateTimeUs;
static unsigned armingDisabledDisplayIndex;
CLR_BLINK(OSD_WARNINGS);
// Cycle through the arming disabled reasons
if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE)) {
if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
const armingDisableFlags_e armSwitchOnlyFlag = 1 << (ARMING_DISABLE_FLAGS_COUNT - 1);
armingDisableFlags_e flags = getArmingDisableFlags();
// Remove the ARMSWITCH flag unless it's the only one
if ((flags & armSwitchOnlyFlag) && (flags != armSwitchOnlyFlag)) {
flags -= armSwitchOnlyFlag;
}
// Rotate to the next arming disabled reason after a 0.5 second time delay
// or if the current flag is no longer set
if ((currentTimeUs - armingDisabledUpdateTimeUs > 5e5) || !(flags & (1 << armingDisabledDisplayIndex))) {
if (armingDisabledUpdateTimeUs == 0) {
armingDisabledDisplayIndex = ARMING_DISABLE_FLAGS_COUNT - 1;
}
armingDisabledUpdateTimeUs = currentTimeUs;
do {
if (++armingDisabledDisplayIndex >= ARMING_DISABLE_FLAGS_COUNT) {
armingDisabledDisplayIndex = 0;
}
} while (!(flags & (1 << armingDisabledDisplayIndex)));
}
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDisableFlagNames[armingDisabledDisplayIndex]);
break;
} else {
armingDisabledUpdateTimeUs = 0;
}
}
#ifdef USE_DSHOT
if (isTryingToArm() && !ARMING_FLAG(ARMED)) {
int armingDelayTime = (getLastDshotBeaconCommandTimeUs() + DSHOT_BEACON_GUARD_DELAY_US - currentTimeUs) / 1e5;
if (armingDelayTime < 0) {
armingDelayTime = 0;
}
if (armingDelayTime >= (DSHOT_BEACON_GUARD_DELAY_US / 1e5 - 5)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " BEACON ON"); // Display this message for the first 0.5 seconds
} else {
char armingDelayMessage[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
tfp_sprintf(armingDelayMessage, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDelayMessage);
}
break;
}
#endif
if (osdWarnGetState(OSD_WARNING_FAIL_SAFE) && failsafeIsActive()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "FAIL SAFE");
SET_BLINK(OSD_WARNINGS);
break;
}
// Warn when in flip over after crash mode
if (osdWarnGetState(OSD_WARNING_CRASH_FLIP) && isFlipOverAfterCrashActive()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "CRASH FLIP");
break;
}
#ifdef USE_LAUNCH_CONTROL
// Warn when in launch control mode
if (osdWarnGetState(OSD_WARNING_LAUNCH_CONTROL) && isLaunchControlActive()) {
if (sensors(SENSOR_ACC)) {
char launchControlMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
const int pitchAngle = constrain((attitude.raw[FD_PITCH] - accelerometerConfig()->accelerometerTrims.raw[FD_PITCH]) / 10, -90, 90);
tfp_sprintf(launchControlMsg, "LAUNCH %d", pitchAngle);
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, launchControlMsg);
} else {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "LAUNCH");
}
break;
}
#endif
if (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) && batteryState == BATTERY_CRITICAL) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " LAND NOW");
SET_BLINK(OSD_WARNINGS);
break;
}
#ifdef USE_GPS_RESCUE
if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_UNAVAILABLE) &&
ARMING_FLAG(ARMED) &&
gpsRescueIsConfigured() &&
!gpsRescueIsDisabled() &&
!gpsRescueIsAvailable()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "NO GPS RESC");
SET_BLINK(OSD_WARNINGS);
break;
}
if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_DISABLED) &&
ARMING_FLAG(ARMED) &&
gpsRescueIsConfigured() &&
gpsRescueIsDisabled() &&
!cmpTimeUs(stats.armed_time, OSD_GPS_RESCUE_DISABLED_WARNING_DURATION_US)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "RESC OFF!!!");
SET_BLINK(OSD_WARNINGS);
break;
}
#endif
// Show warning if in HEADFREE flight mode
if (FLIGHT_MODE(HEADFREE_MODE)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "HEADFREE");
SET_BLINK(OSD_WARNINGS);
break;
}
#ifdef USE_ADC_INTERNAL
const int16_t coreTemperature = getCoreTemperatureCelsius();
if (osdWarnGetState(OSD_WARNING_CORE_TEMPERATURE) && coreTemperature >= osdConfig()->core_temp_alarm) {
char coreTemperatureWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
tfp_sprintf(coreTemperatureWarningMsg, "CORE: %3d%c", osdConvertTemperatureToSelectedUnit(coreTemperature), osdGetTemperatureSymbolForSelectedUnit());
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, coreTemperatureWarningMsg);
SET_BLINK(OSD_WARNINGS);
break;
}
#endif
#ifdef USE_ESC_SENSOR
// Show warning if we lose motor output, the ESC is overheating or excessive current draw
if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
unsigned pos = 0;
const char *title = "ESC";
// center justify message
while (pos < (OSD_WARNINGS_MAX_SIZE - (strlen(title) + getMotorCount())) / 2) {
escWarningMsg[pos++] = ' ';
}
strcpy(escWarningMsg + pos, title);
pos += strlen(title);
unsigned i = 0;
unsigned escWarningCount = 0;
while (i < getMotorCount() && pos < OSD_FORMAT_MESSAGE_BUFFER_SIZE - 1) {
escSensorData_t *escData = getEscSensorData(i);
const char motorNumber = '1' + i;
// if everything is OK just display motor number else R, T or C
char warnFlag = motorNumber;
if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && calcEscRpm(escData->rpm) <= osdConfig()->esc_rpm_alarm) {
warnFlag = 'R';
}
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escData->temperature >= osdConfig()->esc_temp_alarm) {
warnFlag = 'T';
}
if (ARMING_FLAG(ARMED) && osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF && escData->current >= osdConfig()->esc_current_alarm) {
warnFlag = 'C';
}
escWarningMsg[pos++] = warnFlag;
if (warnFlag != motorNumber) {
escWarningCount++;
}
i++;
}
escWarningMsg[pos] = '\0';
if (escWarningCount > 0) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, escWarningMsg);
SET_BLINK(OSD_WARNINGS);
break;
}
}
#endif
if (osdWarnGetState(OSD_WARNING_BATTERY_WARNING) && batteryState == BATTERY_WARNING) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "LOW BATTERY");
SET_BLINK(OSD_WARNINGS);
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");
SET_BLINK(OSD_WARNINGS);
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) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "BATT < FULL");
break;
}
// Visual beeper
if (osdWarnGetState(OSD_WARNING_VISUAL_BEEPER) && showVisualBeeper) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " * * * *");
break;
}
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, NULL);
break;
}
case OSD_AVG_CELL_VOLTAGE:
{
const int cellV = getBatteryAverageCellVoltage();
buff[0] = osdGetBatterySymbol(cellV);
tfp_sprintf(buff + 1, "%d.%02d%c", cellV / 100, cellV % 100, SYM_VOLT);
break;
}
case OSD_DEBUG:
tfp_sprintf(buff, "DBG %5d %5d %5d %5d", debug[0], debug[1], debug[2], debug[3]);
break;
case OSD_PITCH_ANGLE:
case OSD_ROLL_ANGLE:
{
const int angle = (item == OSD_PITCH_ANGLE) ? attitude.values.pitch : attitude.values.roll;
tfp_sprintf(buff, "%c%02d.%01d", angle < 0 ? '-' : ' ', abs(angle / 10), abs(angle % 10));
break;
}
case OSD_MAIN_BATT_USAGE:
{
// Set length of indicator bar
#define MAIN_BATT_USAGE_STEPS 11 // Use an odd number so the bar can be centered.
// Calculate constrained value
const float value = constrain(batteryConfig()->batteryCapacity - getMAhDrawn(), 0, batteryConfig()->batteryCapacity);
// Calculate mAh used progress
const uint8_t mAhUsedProgress = ceilf((value / (batteryConfig()->batteryCapacity / MAIN_BATT_USAGE_STEPS)));
// Create empty battery indicator bar
buff[0] = SYM_PB_START;
for (int i = 1; i <= MAIN_BATT_USAGE_STEPS; i++) {
buff[i] = i <= mAhUsedProgress ? SYM_PB_FULL : SYM_PB_EMPTY;
}
buff[MAIN_BATT_USAGE_STEPS + 1] = SYM_PB_CLOSE;
if (mAhUsedProgress > 0 && mAhUsedProgress < MAIN_BATT_USAGE_STEPS) {
buff[1 + mAhUsedProgress] = SYM_PB_END;
}
buff[MAIN_BATT_USAGE_STEPS+2] = '\0';
break;
}
case OSD_DISARMED:
if (!ARMING_FLAG(ARMED)) {
tfp_sprintf(buff, "DISARMED");
} else {
if (!lastArmState) { // previously disarmed - blank out the message one time
tfp_sprintf(buff, " ");
}
}
break;
case OSD_NUMERICAL_HEADING:
{
const int heading = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
tfp_sprintf(buff, "%c%03d", osdGetDirectionSymbolFromHeading(heading), heading);
break;
}
#ifdef USE_VARIO
case OSD_NUMERICAL_VARIO:
{
bool haveBaro = false;
bool haveGps = false;
#ifdef USE_BARO
haveBaro = sensors(SENSOR_BARO);
#endif
#ifdef USE_GPS
haveGps = sensors(SENSOR_GPS) && STATE(GPS_FIX);
#endif
if (haveBaro || haveGps) {
const int verticalSpeed = osdGetMetersToSelectedUnit(getEstimatedVario());
const char directionSymbol = verticalSpeed < 0 ? SYM_ARROW_SOUTH : SYM_ARROW_NORTH;
tfp_sprintf(buff, "%c%01d.%01d", directionSymbol, abs(verticalSpeed / 100), abs((verticalSpeed % 100) / 10));
} else {
// We use this symbol when we don't have a valid measure
buff[0] = SYM_COLON;
// overwrite any previous vertical speed with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
}
#endif
#ifdef USE_ESC_SENSOR
case OSD_ESC_TMP:
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature), osdGetTemperatureSymbolForSelectedUnit());
}
break;
case OSD_ESC_RPM:
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
}
break;
#endif
#ifdef USE_RTC_TIME
case OSD_RTC_DATETIME:
osdFormatRtcDateTime(&buff[0]);
break;
#endif
#ifdef USE_OSD_ADJUSTMENTS
case OSD_ADJUSTMENT_RANGE:
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()), 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
default:
return false;
}
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
return true;
}
#ifdef USE_OSD_STICK_OVERLAY
static void osdDrawStickOverlayAxis(uint8_t xpos, uint8_t ypos)
{
for (unsigned x = 0; x < OSD_STICK_OVERLAY_WIDTH; x++) {
for (unsigned y = 0; y < OSD_STICK_OVERLAY_HEIGHT; y++) {
// draw the axes, vertical and horizonal
if ((x == ((OSD_STICK_OVERLAY_WIDTH - 1) / 2)) && (y == (OSD_STICK_OVERLAY_HEIGHT - 1) / 2)) {
displayWriteChar(osdDisplayPort, xpos + x, ypos + y, STICK_OVERLAY_CROSS_CHAR);
} else if (x == ((OSD_STICK_OVERLAY_WIDTH - 1) / 2)) {
displayWriteChar(osdDisplayPort, xpos + x, ypos + y, STICK_OVERLAY_VERTICAL_CHAR);
} else if (y == ((OSD_STICK_OVERLAY_HEIGHT - 1) / 2)) {
displayWriteChar(osdDisplayPort, xpos + x, ypos + y, STICK_OVERLAY_HORIZONTAL_CHAR);
}
}
}
}
static void osdDrawStickOverlayAxisItem(osd_items_e osd_item)
{
osdDrawStickOverlayAxis(OSD_X(osdConfig()->item_pos[osd_item]),
OSD_Y(osdConfig()->item_pos[osd_item]));
}
static void osdDrawStickOverlayPos(osd_items_e osd_item, uint8_t xpos, uint8_t ypos)
{
uint8_t elemPosX = OSD_X(osdConfig()->item_pos[osd_item]);
uint8_t elemPosY = OSD_Y(osdConfig()->item_pos[osd_item]);
displayWriteChar(osdDisplayPort, elemPosX + xpos, elemPosY + ypos, STICK_OVERLAY_CURSOR_CHAR);
}
static void osdDrawStickOverlayCursor(osd_items_e osd_item)
{
rc_alias_e vertical_channel, horizontal_channel;
if (osd_item == OSD_STICK_OVERLAY_LEFT) {
vertical_channel = radioModes[osdConfig()->overlay_radio_mode-1].left_vertical;
horizontal_channel = radioModes[osdConfig()->overlay_radio_mode-1].left_horizontal;
} else {
vertical_channel = radioModes[osdConfig()->overlay_radio_mode-1].right_vertical;
horizontal_channel = radioModes[osdConfig()->overlay_radio_mode-1].right_horizontal;
}
uint8_t x_pos = (uint8_t)scaleRange(constrain(rcData[horizontal_channel], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, 0, OSD_STICK_OVERLAY_WIDTH);
uint8_t y_pos = (uint8_t)scaleRange(PWM_RANGE_MAX - constrain(rcData[vertical_channel], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, 0, OSD_STICK_OVERLAY_HEIGHT) + OSD_STICK_OVERLAY_HEIGHT - 1;
osdDrawStickOverlayPos(osd_item, x_pos, y_pos);
}
#endif
static void osdDrawElements(void)
{
displayClearScreen(osdDisplayPort);
// Hide OSD when OSDSW mode is active
if (IS_RC_MODE_ACTIVE(BOXOSD)) {
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);
}
for (unsigned i = 0; i < sizeof(osdElementDisplayOrder); i++) {
osdDrawSingleElement(osdElementDisplayOrder[i]);
}
#ifdef USE_GPS
if (sensors(SENSOR_GPS)) {
osdDrawSingleElement(OSD_GPS_SATS);
osdDrawSingleElement(OSD_GPS_SPEED);
osdDrawSingleElement(OSD_GPS_LAT);
osdDrawSingleElement(OSD_GPS_LON);
osdDrawSingleElement(OSD_HOME_DIST);
osdDrawSingleElement(OSD_HOME_DIR);
osdDrawSingleElement(OSD_FLIGHT_DIST);
}
#endif // GPS
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
osdDrawSingleElement(OSD_ESC_TMP);
osdDrawSingleElement(OSD_ESC_RPM);
}
#endif
#ifdef USE_BLACKBOX
if (IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
osdDrawSingleElement(OSD_LOG_STATUS);
}
#endif
#ifdef USE_OSD_STICK_OVERLAY
if (VISIBLE(osdConfig()->item_pos[OSD_STICK_OVERLAY_LEFT])) {
osdDrawStickOverlayAxisItem(OSD_STICK_OVERLAY_LEFT);
osdDrawStickOverlayCursor(OSD_STICK_OVERLAY_LEFT);
}
if (VISIBLE(osdConfig()->item_pos[OSD_STICK_OVERLAY_RIGHT])) {
osdDrawStickOverlayAxisItem(OSD_STICK_OVERLAY_RIGHT);
osdDrawStickOverlayCursor(OSD_STICK_OVERLAY_RIGHT);
}
#endif
}
void pgResetFn_osdConfig(osdConfig_t *osdConfig)
{
// Position elements near centre of screen and disabled by default
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
osdConfig->item_pos[i] = OSD_POS(10, 7);
}
// Always enable warnings elements by default
osdConfig->item_pos[OSD_WARNINGS] = OSD_POS(9, 10) | OSD_PROFILE_1_FLAG;
// Default to old fixed positions for these elements
osdConfig->item_pos[OSD_CROSSHAIRS] = OSD_POS(13, 6);
osdConfig->item_pos[OSD_ARTIFICIAL_HORIZON] = OSD_POS(14, 2);
osdConfig->item_pos[OSD_HORIZON_SIDEBARS] = OSD_POS(14, 6);
// Enable the default stats
osdConfig->enabled_stats = 0; // reset all to off and enable only a few initially
osdStatSetState(OSD_STAT_MAX_SPEED, true);
osdStatSetState(OSD_STAT_MIN_BATTERY, true);
osdStatSetState(OSD_STAT_MIN_RSSI, true);
osdStatSetState(OSD_STAT_MAX_CURRENT, true);
osdStatSetState(OSD_STAT_USED_MAH, true);
osdStatSetState(OSD_STAT_BLACKBOX, true);
osdStatSetState(OSD_STAT_BLACKBOX_NUMBER, true);
osdStatSetState(OSD_STAT_TIMER_2, true);
osdConfig->units = OSD_UNIT_METRIC;
// Enable all warnings by default
for (int i=0; i < OSD_WARNING_COUNT; i++) {
osdWarnSetState(i, true);
}
osdConfig->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_SECOND, 10);
osdConfig->timers[OSD_TIMER_2] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_SECOND, 10);
osdConfig->overlay_radio_mode = 2;
osdConfig->rssi_alarm = 20;
osdConfig->cap_alarm = 2200;
osdConfig->alt_alarm = 100; // meters or feet depend on configuration
osdConfig->esc_temp_alarm = ESC_TEMP_ALARM_OFF; // off by default
osdConfig->esc_rpm_alarm = ESC_RPM_ALARM_OFF; // off by default
osdConfig->esc_current_alarm = ESC_CURRENT_ALARM_OFF; // off by default
osdConfig->core_temp_alarm = 70; // a temperature above 70C should produce a warning, lockups have been reported above 80C
osdConfig->ahMaxPitch = 20; // 20 degrees
osdConfig->ahMaxRoll = 40; // 40 degrees
osdConfig->osdProfileIndex = 1;
osdConfig->ahInvert = false;
}
static void osdDrawLogo(int x, int y)
{
// display logo and help
int fontOffset = 160;
for (int row = 0; row < 4; row++) {
for (int column = 0; column < 24; column++) {
if (fontOffset <= SYM_END_OF_FONT)
displayWriteChar(osdDisplayPort, x + column, y + row, fontOffset++);
}
}
}
void osdInit(displayPort_t *osdDisplayPortToUse)
{
if (!osdDisplayPortToUse) {
return;
}
STATIC_ASSERT(OSD_POS_MAX == OSD_POS(31,31), OSD_POS_MAX_incorrect);
osdDisplayPort = osdDisplayPortToUse;
#ifdef USE_CMS
cmsDisplayPortRegister(osdDisplayPort);
#endif
armState = ARMING_FLAG(ARMED);
memset(blinkBits, 0, sizeof(blinkBits));
displayClearScreen(osdDisplayPort);
osdDrawLogo(3, 1);
char string_buffer[30];
tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
displayWrite(osdDisplayPort, 20, 6, string_buffer);
#ifdef USE_CMS
displayWrite(osdDisplayPort, 7, 8, CMS_STARTUP_HELP_TEXT1);
displayWrite(osdDisplayPort, 11, 9, CMS_STARTUP_HELP_TEXT2);
displayWrite(osdDisplayPort, 11, 10, CMS_STARTUP_HELP_TEXT3);
#endif
#ifdef USE_RTC_TIME
char dateTimeBuffer[FORMATTED_DATE_TIME_BUFSIZE];
if (osdFormatRtcDateTime(&dateTimeBuffer[0])) {
displayWrite(osdDisplayPort, 5, 12, dateTimeBuffer);
}
#endif
displayResync(osdDisplayPort);
resumeRefreshAt = micros() + (4 * REFRESH_1S);
#ifdef USE_OSD_PROFILES
changeOsdProfileIndex(osdConfig()->osdProfileIndex);
#endif
}
bool osdInitialized(void)
{
return osdDisplayPort;
}
void osdUpdateAlarms(void)
{
// This is overdone?
int32_t alt = osdGetMetersToSelectedUnit(getEstimatedAltitudeCm()) / 100;
if (getRssiPercent() < osdConfig()->rssi_alarm) {
SET_BLINK(OSD_RSSI_VALUE);
} else {
CLR_BLINK(OSD_RSSI_VALUE);
}
if (getBatteryState() == BATTERY_OK) {
CLR_BLINK(OSD_MAIN_BATT_VOLTAGE);
CLR_BLINK(OSD_AVG_CELL_VOLTAGE);
} else {
SET_BLINK(OSD_MAIN_BATT_VOLTAGE);
SET_BLINK(OSD_AVG_CELL_VOLTAGE);
}
#ifdef USE_GPS
if ((STATE(GPS_FIX) == 0) || (gpsSol.numSat < 5) || ((gpsSol.numSat < gpsRescueConfig()->minSats) && gpsRescueIsConfigured())) {
SET_BLINK(OSD_GPS_SATS);
} else {
CLR_BLINK(OSD_GPS_SATS);
}
#endif //USE_GPS
for (int i = 0; i < OSD_TIMER_COUNT; i++) {
const uint16_t timer = osdConfig()->timers[i];
const timeUs_t time = osdGetTimerValue(OSD_TIMER_SRC(timer));
const timeUs_t alarmTime = OSD_TIMER_ALARM(timer) * 60000000; // convert from minutes to us
if (alarmTime != 0 && time >= alarmTime) {
SET_BLINK(OSD_ITEM_TIMER_1 + i);
} else {
CLR_BLINK(OSD_ITEM_TIMER_1 + i);
}
}
if (getMAhDrawn() >= osdConfig()->cap_alarm) {
SET_BLINK(OSD_MAH_DRAWN);
SET_BLINK(OSD_MAIN_BATT_USAGE);
SET_BLINK(OSD_REMAINING_TIME_ESTIMATE);
} else {
CLR_BLINK(OSD_MAH_DRAWN);
CLR_BLINK(OSD_MAIN_BATT_USAGE);
CLR_BLINK(OSD_REMAINING_TIME_ESTIMATE);
}
if (alt >= osdConfig()->alt_alarm) {
SET_BLINK(OSD_ALTITUDE);
} else {
CLR_BLINK(OSD_ALTITUDE);
}
#ifdef USE_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);
} else {
CLR_BLINK(OSD_ESC_TMP);
}
}
#endif
}
void osdResetAlarms(void)
{
CLR_BLINK(OSD_RSSI_VALUE);
CLR_BLINK(OSD_MAIN_BATT_VOLTAGE);
CLR_BLINK(OSD_WARNINGS);
CLR_BLINK(OSD_GPS_SATS);
CLR_BLINK(OSD_MAH_DRAWN);
CLR_BLINK(OSD_ALTITUDE);
CLR_BLINK(OSD_AVG_CELL_VOLTAGE);
CLR_BLINK(OSD_MAIN_BATT_USAGE);
CLR_BLINK(OSD_ITEM_TIMER_1);
CLR_BLINK(OSD_ITEM_TIMER_2);
CLR_BLINK(OSD_REMAINING_TIME_ESTIMATE);
CLR_BLINK(OSD_ESC_TMP);
}
static void osdResetStats(void)
{
stats.max_current = 0;
stats.max_speed = 0;
stats.min_voltage = 5000;
stats.min_rssi = 99; // percent
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;
stats.min_link_quality = 99; // percent
}
static void osdUpdateStats(void)
{
int16_t value = 0;
#ifdef USE_GPS
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
value = CM_S_TO_MPH(gpsSol.groundSpeed);
break;
default:
value = CM_S_TO_KM_H(gpsSol.groundSpeed);
break;
}
#endif
if (stats.max_speed < value) {
stats.max_speed = value;
}
value = getBatteryVoltage();
if (stats.min_voltage > value) {
stats.min_voltage = value;
}
value = getAmperage() / 100;
if (stats.max_current < value) {
stats.max_current = value;
}
value = getRssiPercent();
if (stats.min_rssi > value) {
stats.min_rssi = value;
}
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_RX_LINK_QUALITY_INFO
value = rxGetLinkQualityPercent();
if (stats.min_link_quality > value) {
stats.min_link_quality = value;
}
#endif
#ifdef USE_GPS
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
value = GPS_distanceToHome;
if (stats.max_distance < GPS_distanceToHome) {
stats.max_distance = GPS_distanceToHome;
}
}
#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 = isBlackboxDeviceWorking();
uint32_t storageUsed = 0;
uint32_t storageTotal = 0;
switch (blackboxConfig()->device) {
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
if (storageDeviceIsWorking) {
storageTotal = sdcard_getMetadata()->numBlocks / 2000;
storageUsed = storageTotal - (afatfs_getContiguousFreeSpace() / 1024000);
}
break;
#endif
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
if (storageDeviceIsWorking) {
const flashGeometry_t *geometry = flashfsGetGeometry();
storageTotal = geometry->totalSize / 1024;
storageUsed = flashfsGetOffset() / 1024;
}
break;
#endif
default:
break;
}
if (storageDeviceIsWorking) {
const uint16_t storageUsedPercent = (storageUsed * 100) / storageTotal;
tfp_sprintf(buff, "%d%%", storageUsedPercent);
} else {
tfp_sprintf(buff, "FAULT");
}
}
#endif
static void osdDisplayStatisticLabel(uint8_t y, const char * text, const char * value)
{
displayWrite(osdDisplayPort, 2, y, text);
displayWrite(osdDisplayPort, 20, y, ":");
displayWrite(osdDisplayPort, 22, y, value);
}
/*
* Test if there's some stat enabled
*/
static bool isSomeStatEnabled(void)
{
return (osdConfig()->enabled_stats != 0);
}
// *** IMPORTANT ***
// The order of the OSD stats as displayed on-screen must match the osd_stats_e enumeration.
// This is because the fields are presented in the configurator in the order of the enumeration
// and we want the configuration order to match the on-screen display order. If you change the
// display order you *must* update the osd_stats_e enumeration to match. Additionally the
// changes to the stats display order *must* be implemented in the configurator otherwise the
// stats selections will not be populated correctly and the settings will become corrupted.
static void osdShowStats(uint16_t endBatteryVoltage)
{
uint8_t top = 2;
char buff[OSD_ELEMENT_BUFFER_LENGTH];
displayClearScreen(osdDisplayPort);
displayWrite(osdDisplayPort, 2, top++, " --- STATS ---");
if (osdStatGetState(OSD_STAT_RTC_DATE_TIME)) {
bool success = false;
#ifdef USE_RTC_TIME
success = osdFormatRtcDateTime(&buff[0]);
#endif
if (!success) {
tfp_sprintf(buff, "NO RTC");
}
displayWrite(osdDisplayPort, 2, top++, buff);
}
if (osdStatGetState(OSD_STAT_TIMER_1)) {
osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_1);
osdDisplayStatisticLabel(top++, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1])], buff);
}
if (osdStatGetState(OSD_STAT_TIMER_2)) {
osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_2);
osdDisplayStatisticLabel(top++, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2])], buff);
}
#ifdef USE_GPS
if (osdStatGetState(OSD_STAT_MAX_SPEED) && featureIsEnabled(FEATURE_GPS)) {
itoa(stats.max_speed, buff, 10);
osdDisplayStatisticLabel(top++, "MAX SPEED", buff);
}
if (osdStatGetState(OSD_STAT_MAX_DISTANCE) && featureIsEnabled(FEATURE_GPS)) {
tfp_sprintf(buff, "%d%c", osdGetMetersToSelectedUnit(stats.max_distance), osdGetMetersToSelectedUnitSymbol());
osdDisplayStatisticLabel(top++, "MAX DISTANCE", buff);
}
#endif
if (osdStatGetState(OSD_STAT_MIN_BATTERY)) {
tfp_sprintf(buff, "%d.%02d%c", stats.min_voltage / 100, stats.min_voltage % 100, SYM_VOLT);
osdDisplayStatisticLabel(top++, "MIN BATTERY", buff);
}
if (osdStatGetState(OSD_STAT_END_BATTERY)) {
tfp_sprintf(buff, "%d.%02d%c", endBatteryVoltage / 100, endBatteryVoltage % 100, SYM_VOLT);
osdDisplayStatisticLabel(top++, "END BATTERY", buff);
}
if (osdStatGetState(OSD_STAT_BATTERY)) {
tfp_sprintf(buff, "%d.%02d%c", getBatteryVoltage() / 100, getBatteryVoltage() % 100, SYM_VOLT);
osdDisplayStatisticLabel(top++, "BATTERY", buff);
}
if (osdStatGetState(OSD_STAT_MIN_RSSI)) {
itoa(stats.min_rssi, buff, 10);
strcat(buff, "%");
osdDisplayStatisticLabel(top++, "MIN RSSI", buff);
}
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
if (osdStatGetState(OSD_STAT_MAX_CURRENT)) {
itoa(stats.max_current, buff, 10);
strcat(buff, "A");
osdDisplayStatisticLabel(top++, "MAX CURRENT", buff);
}
if (osdStatGetState(OSD_STAT_USED_MAH)) {
tfp_sprintf(buff, "%d%c", getMAhDrawn(), SYM_MAH);
osdDisplayStatisticLabel(top++, "USED MAH", buff);
}
}
if (osdStatGetState(OSD_STAT_MAX_ALTITUDE)) {
osdFormatAltitudeString(buff, stats.max_altitude);
osdDisplayStatisticLabel(top++, "MAX ALTITUDE", buff);
}
#ifdef USE_BLACKBOX
if (osdStatGetState(OSD_STAT_BLACKBOX) && blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
osdGetBlackboxStatusString(buff);
osdDisplayStatisticLabel(top++, "BLACKBOX", buff);
}
if (osdStatGetState(OSD_STAT_BLACKBOX_NUMBER) && blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
itoa(blackboxGetLogNumber(), buff, 10);
osdDisplayStatisticLabel(top++, "BB LOG NUM", buff);
}
#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
#ifdef USE_RX_LINK_QUALITY_INFO
if (osdStatGetState(OSD_STAT_MIN_LINK_QUALITY)) {
itoa(stats.min_link_quality, buff, 10);
strcat(buff, "%");
osdDisplayStatisticLabel(top++, "MIN LINK", buff);
}
#endif
#ifdef USE_GPS
if (osdStatGetState(OSD_STAT_FLIGHT_DISTANCE) && featureIsEnabled(FEATURE_GPS)) {
const uint32_t distanceFlown = GPS_distanceFlownInCm / 100;
tfp_sprintf(buff, "%d%c", osdGetMetersToSelectedUnit(distanceFlown), osdGetMetersToSelectedUnitSymbol());
osdDisplayStatisticLabel(top++, "FLIGHT DISTANCE", buff);
}
#endif
#if defined(USE_GYRO_DATA_ANALYSE)
if (osdStatGetState(OSD_STAT_MAX_FFT) && featureIsEnabled(FEATURE_DYNAMIC_FILTER)) {
int value = getMaxFFT();
if (value > 0) {
tfp_sprintf(buff, "%dHZ", value);
osdDisplayStatisticLabel(top++, "PEAK FFT", buff);
} else {
osdDisplayStatisticLabel(top++, "PEAK FFT", "THRT<20%");
}
}
#endif
}
static void osdShowArmed(void)
{
displayClearScreen(osdDisplayPort);
displayWrite(osdDisplayPort, 12, 7, "ARMED");
}
STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
{
static timeUs_t lastTimeUs = 0;
static bool osdStatsEnabled = false;
static bool osdStatsVisible = false;
static timeUs_t osdStatsRefreshTimeUs;
static uint16_t endBatteryVoltage;
// detect arm/disarm
if (armState != ARMING_FLAG(ARMED)) {
if (ARMING_FLAG(ARMED)) {
osdStatsEnabled = false;
osdStatsVisible = false;
osdResetStats();
osdShowArmed();
resumeRefreshAt = currentTimeUs + (REFRESH_1S / 2);
} else if (isSomeStatEnabled()
&& !suppressStatsDisplay
&& (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)
|| !VISIBLE(osdConfig()->item_pos[OSD_WARNINGS]))) { // suppress stats if runaway takeoff triggered disarm and WARNINGS element is visible
osdStatsEnabled = true;
resumeRefreshAt = currentTimeUs + (60 * REFRESH_1S);
endBatteryVoltage = getBatteryVoltage();
}
armState = ARMING_FLAG(ARMED);
}
if (ARMING_FLAG(ARMED)) {
osdUpdateStats();
timeUs_t deltaT = currentTimeUs - lastTimeUs;
flyTime += deltaT;
stats.armed_time += deltaT;
} else if (osdStatsEnabled) { // handle showing/hiding stats based on OSD disable switch position
if (displayIsGrabbed(osdDisplayPort)) {
osdStatsEnabled = false;
resumeRefreshAt = 0;
stats.armed_time = 0;
} else {
if (IS_RC_MODE_ACTIVE(BOXOSD) && osdStatsVisible) {
osdStatsVisible = false;
displayClearScreen(osdDisplayPort);
} else if (!IS_RC_MODE_ACTIVE(BOXOSD)) {
if (!osdStatsVisible) {
osdStatsVisible = true;
osdStatsRefreshTimeUs = 0;
}
if (currentTimeUs >= osdStatsRefreshTimeUs) {
osdStatsRefreshTimeUs = currentTimeUs + REFRESH_1S;
osdShowStats(endBatteryVoltage);
}
}
}
}
lastTimeUs = currentTimeUs;
if (resumeRefreshAt) {
if (cmp32(currentTimeUs, resumeRefreshAt) < 0) {
// in timeout period, check sticks for activity to resume display.
if (IS_HI(THROTTLE) || IS_HI(PITCH)) {
resumeRefreshAt = currentTimeUs;
}
displayHeartbeat(osdDisplayPort);
return;
} else {
displayClearScreen(osdDisplayPort);
resumeRefreshAt = 0;
osdStatsEnabled = false;
stats.armed_time = 0;
}
}
blinkState = (currentTimeUs / 200000) % 2;
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
}
#endif
#ifdef USE_CMS
if (!displayIsGrabbed(osdDisplayPort)) {
osdUpdateAlarms();
osdDrawElements();
displayHeartbeat(osdDisplayPort);
#ifdef OSD_CALLS_CMS
} else {
cmsUpdate(currentTimeUs);
#endif
}
#endif
lastArmState = ARMING_FLAG(ARMED);
}
/*
* Called periodically by the scheduler
*/
void osdUpdate(timeUs_t currentTimeUs)
{
static uint32_t counter = 0;
if (isBeeperOn()) {
showVisualBeeper = true;
}
#ifdef MAX7456_DMA_CHANNEL_TX
// don't touch buffers if DMA transaction is in progress
if (displayIsTransferInProgress(osdDisplayPort)) {
return;
}
#endif // MAX7456_DMA_CHANNEL_TX
#ifdef USE_SLOW_MSP_DISPLAYPORT_RATE_WHEN_UNARMED
static uint32_t idlecounter = 0;
if (!ARMING_FLAG(ARMED)) {
if (idlecounter++ % 4 != 0) {
return;
}
}
#endif
// redraw values in buffer
#ifdef USE_MAX7456
#define DRAW_FREQ_DENOM 5
#else
#define DRAW_FREQ_DENOM 10 // MWOSD @ 115200 baud (
#endif
#define STATS_FREQ_DENOM 50
if (counter % DRAW_FREQ_DENOM == 0) {
osdRefresh(currentTimeUs);
showVisualBeeper = false;
} else {
// rest of time redraw screen 10 chars per idle so it doesn't lock the main idle
displayDrawScreen(osdDisplayPort);
}
++counter;
#ifdef USE_CMS
// do not allow ARM if we are in menu
if (displayIsGrabbed(osdDisplayPort)) {
setArmingDisabled(ARMING_DISABLED_OSD_MENU);
} else {
unsetArmingDisabled(ARMING_DISABLED_OSD_MENU);
}
#endif
}
void osdSuppressStats(bool flag)
{
suppressStatsDisplay = flag;
}
#ifdef USE_OSD_PROFILES
bool osdElementVisible(uint16_t value)
{
return (bool)((((value & OSD_PROFILE_MASK) >> OSD_PROFILE_BITS_POS) & osdProfile) != 0);
}
#endif
#endif // USE_OSD
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