Add OSD_THROTTLE_POS_AUTO_THR indicator

Displays stick THR position when the user controls THR directly,
actual applied THR when the navigation system controls THR.

Fixes #2031

src/main/drivers/max7456_symbols.h

@@ -208,6 +208,9 @@
 #define SYM_THR   0x04
 #define SYM_THR1  0x05
 
+#define SYM_AUTO_THR0   202
+#define SYM_AUTO_THR1   203
+
 // RSSI
 #define SYM_RSSI 0x01
 

src/main/fc/settings.yaml

@@ -1431,6 +1431,8 @@ groups:
         max: OSD_POS_MAX_CLI
       - name: osd_main_cell_voltage_pos
         field: item_pos[OSD_MAIN_BATT_CELL_VOLTAGE]
+      - name: osd_throttle_auto_thr_pos
+        field: item_pos[OSD_THROTTLE_POS_AUTO_THR]
         max: OSD_POS_MAX_CLI
 
   - name: PG_SYSTEM_CONFIG

src/main/io/osd.c

@@ -462,6 +462,25 @@ static void osdCrosshairsBounds(uint8_t *x, uint8_t *y, uint8_t *length)
     }
 }
 
+/**
+ * Formats throttle position prefixed by its symbol. If autoThr
+ * is true and the navigation system is controlling THR, it
+ * uses the THR value applied by the system rather than the
+ * input value received by the sticks.
+ **/
+static void osdFormatThrottlePosition(char *buff, bool autoThr)
+{
+    buff[0] = SYM_THR;
+    buff[1] = SYM_THR1;
+    int16_t thr = rcData[THROTTLE];
+    if (autoThr && navigationIsControllingThrottle()) {
+        buff[0] = SYM_AUTO_THR0;
+        buff[1] = SYM_AUTO_THR1;
+        thr = rcCommand[THROTTLE];
+    }
+    tfp_sprintf(buff + 2, "%3d", (constrain(thr, PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
+}
+
 static bool osdDrawSingleElement(uint8_t item)
 {
     if (!VISIBLE(osdConfig()->item_pos[item])) {
@@ -647,10 +666,10 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_THROTTLE_POS:
-        buff[0] = SYM_THR;
-        buff[1] = SYM_THR1;
-        tfp_sprintf(buff + 2, "%3d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
+    {
+        osdFormatThrottlePosition(buff, false);
         break;
+    }
 
 #ifdef VTX
     case OSD_VTX_CHANNEL:
@@ -926,6 +945,12 @@ static bool osdDrawSingleElement(uint8_t item)
             break;
         }
 
+    case OSD_THROTTLE_POS_AUTO_THR:
+        {
+            osdFormatThrottlePosition(buff, true);
+            break;
+        }
+
     default:
         return false;
     }
@@ -986,6 +1011,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     osdConfig->item_pos[OSD_GPS_SPEED] = OSD_POS(23, 1);
 
     osdConfig->item_pos[OSD_THROTTLE_POS] = OSD_POS(1, 2) | VISIBLE_FLAG;
+    osdConfig->item_pos[OSD_THROTTLE_POS_AUTO_THR] = OSD_POS(6, 2);
     osdConfig->item_pos[OSD_HEADING] = OSD_POS(12, 2);
     osdConfig->item_pos[OSD_CURRENT_DRAW] = OSD_POS(1, 3) | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_MAH_DRAWN] = OSD_POS(1, 4) | VISIBLE_FLAG;

src/main/io/osd.h

@@ -59,6 +59,7 @@ typedef enum {
     OSD_MESSAGES,
     OSD_GPS_HDOP,
     OSD_MAIN_BATT_CELL_VOLTAGE,
+    OSD_THROTTLE_POS_AUTO_THR,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

src/main/navigation/navigation.c

@@ -2693,6 +2693,11 @@ rthState_e getStateOfForcedRTH(void)
     }
 }
 
+bool navigationIsControllingThrottle(void)
+{
+    return posControl.navState != NAV_STATE_IDLE;
+}
+
 #else // NAV
 
 #ifdef GPS

src/main/navigation/navigation.h

@@ -299,6 +299,9 @@ void activateForcedRTH(void);
 void abortForcedRTH(void);
 rthState_e getStateOfForcedRTH(void);
 
+/* Getter functions which return data about the state of the navigation system */
+bool navigationIsControllingThrottle(void);
+
 /* Compatibility data */
 extern navSystemStatus_t    NAV_Status;
 
@@ -320,5 +323,6 @@ extern int16_t navAccNEU[3];
 #define navigationGetHeadingControlState() (0)
 #define navigationRequiresThrottleTiltCompensation() (0)
 #define getEstimatedActualVelocity(axis) (0)
+#define navigationIsControllingThrottle() (0)
 
 #endif