Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-13 11:29:56 +03:00
Code Issues Wiki Activity

Merge branch 'master' of https://github.com/RomanLut/inav into osd-joystick

Browse source
This commit is contained in:
Roman Lut 2023-10-09 15:12:10 +02:00
commit 8ed76152a8
29 changed files with 253 additions and 170 deletions
Download patch file Download diff file Expand all files Collapse all files

1
AUTHORS
View file

@ -56,6 +56,7 @@ Krzysztof Rosinski
Kyle Manna
Larry Davis
Marc Egli
Marcelo Bezerra
Mark Williams
Martin Budden
Matthew Evans

6
docs/Controls.md
View file

@ -44,9 +44,9 @@ The stick positions are combined to activate different functions:
| Bypass Nav Arm disable | LOW | HIGH | CENTER | CENTER |
| Save setting | LOW | LOW | LOW | HIGH |
| Enter OSD Menu (CMS) | CENTER | LOW | HIGH | CENTER |
| Enter Camera OSD(RuncamDevice)| RIGHT | CENTER | CENTER | CENTER |
| Exit Camera OSD (RuncamDevice)| LEFT | CENTER | CENTER | CENTER |
| Confirm - Camera OSD | RIGHT | CENTER | CENTER | CENTER |
| Enter Camera OSD(RuncamDevice)| CENTER | HIGH | CENTER | CENTER |
| Exit Camera OSD (RuncamDevice)| CENTER | LOW | CENTER | CENTER |
| Confirm - Camera OSD | CENTER | HIGH | CENTER | CENTER |
| Navigation - Camera OSD | CENTER | CENTER | * | * |
For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).

3
docs/Programming Framework.md
View file

@ -153,6 +153,9 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 35 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
| 36 | AGL | integer Above The Groud Altitude in `cm` |
| 37 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` |
| 38 | ACTIVE_MIXER_PROFILE | Which mixers are currently active (for vtol etc) |
| 39 | MIXER_TRANSITION_ACTIVE | Currently switching between mixers (quad to plane etc) |
| 40 | ATTITUDE_YAW | current heading (yaw) in `degrees` |
#### FLIGHT_MODE

17
docs/Temperature sensors.md
View file

@ -89,23 +89,6 @@ To change for example the configuration of the fourth sensor to label `BATT`, mi
`temp_sensor 3 2 7d01186838f2ff28 5 450 0 BATT`
## Building a custom firmware with temperature sensor support (F3 only)
This needs to be added in the `target.h` file:
```
#define USE_TEMPERATURE_SENSOR
#define TEMPERATURE_I2C_BUS BUS_I2Cx // replace x with the index of the I²C bus the temperature sensors will be connected to
// for LM75 sensors support
#define USE_TEMPERATURE_LM75
// for DS18B20 sensors
#define USE_1WIRE
#define USE_1WIRE_DS2482
#define USE_TEMPERATURE_DS18B20
```
## Configuring the way OSD temperature labels are displayed
You can use the `osd_temp_label_align` setting to chose how the labels for the temperature sensor's values are displayed. Possible alignment values are `LEFT` and `RIGHT`.

17
docs/development/How to test a pull request.md
View file

@ -16,7 +16,7 @@ Building the pull request manually or using custom/unofficial targets is not the
- Make sure the pull request has passed all checks, otherwise you may not have pre-compiled firmware images.
- Make a diff all backup of your existing INAV configuration.
- Take notes of what INAV target you are using.
- You will need a recent version of INAV Configurator from master, or even a specific branch. If you don't need a specific branch, [inav-configurator-next](http://seyrsnys.myzen.co.uk/inav-configurator-next/) usually has recent unofficial pre-built versions of INAV Configurator. If your pull requests refers to an inav-configruator pull request, you are likely to need a specific branch of the configurator. In that case you can try to build it from source by following the build [``Instructions``](https://github.com/iNavFlight/inav-configurator#building-and-running-inav-configurator-locally-for-development) or follow instructions on how to do any needed configuration changes using the CLI.
- You will need a recent version of INAV Configurator from master, or even a specific branch. If you don't need a specific branch, [inav-configurator-next](https://seyrsnys-inav-cfg-next.surge.sh/) usually has recent unofficial pre-built versions of INAV Configurator. If your pull requests refers to an inav-configruator pull request, you are likely to need a specific branch of the configurator. In that case you can try to build it from source by following the build [``Instructions``](https://github.com/iNavFlight/inav-configurator#building-and-running-inav-configurator-locally-for-development) or follow instructions on how to do any needed configuration changes using the CLI.
# Finding the pull request
This is easy, but you will need to be logged in to your GitHub account.
@ -31,18 +31,11 @@ Once you find the one you are looking for, go ahead an open it!
Click on the ``Checks`` tab
Click on ``Build firmware``, it should take you to the ``Actions`` tab.
![Search results](assets/pr_testing/build_firmware.png)
Click on the down arrow next to the number of artifacts
![Artifact list](assets/pr_testing/artifacts_download.png)
You should see a summary with a column saying ``Artifacts`` and a number. Click on the number to be taken to the list of artifacts.
![Search results](assets/pr_testing/actions_summary.png)
On the ``Artifacts`` list, there should be an artifact without SITL in its name.
![Search results](assets/pr_testing/artifact_listing.png)
Click on it to download the zip file containing pre-compiled firmware images for all INAV official targets. Extract all files and select the firmware for your target using the configurator by clicking on ``Load Firmware [Local]`` button. Don't forget to use the ``Full chip erase`` option, as there are no guarantees the firmware will be compatible with your existing settings.
You should see a list of files. The one without SITL in the name, the biggest one, will be a zip file with all official target .hex files. Click on it to download it to your computer.
Extract all files and select the firmware for your target using the configurator by clicking on ``Load Firmware [Local]`` button. Don't forget to use the ``Full chip erase`` option, as there are no guarantees the firmware will be compatible with your existing settings.
# I have flashed the new firmware, what should I do next?

BIN
docs/development/assets/pr_testing/actions_summary.png
View file

Binary file not shown.
Side by side

Before

Width:  |  Height:  |  Size: 12 KiB

BIN
docs/development/assets/pr_testing/artifact_listing.png
View file

Binary file not shown.
Side by side

Before

Width:  |  Height:  |  Size: 71 KiB

BIN
docs/development/assets/pr_testing/artifacts_download.png Normal file
View file

Binary file not shown.
Side by side

After

Width:  |  Height:  |  Size: 98 KiB

BIN
docs/development/assets/pr_testing/build_firmware.png
View file

Binary file not shown.
Side by side

Before

Width:  |  Height:  |  Size: 32 KiB

3
src/main/common/maths.h
View file

@ -114,8 +114,7 @@ typedef union {
fp_angles_def angles;
} fp_angles_t;
typedef struct stdev_s
{
typedef struct stdev_s {
float m_oldM, m_newM, m_oldS, m_newS;
int m_n;
} stdev_t;

1
src/main/drivers/osd_symbols.h
View file

@ -228,6 +228,7 @@
#define SYM_HOME_DIST 0x165 // 357 DIST
#define SYM_AH_CH_CENTER 0x166 // 358 Crossair center
#define SYM_FLIGHT_DIST_REMAINING 0x167 // 359 Flight distance reminaing
#define SYM_ODOMETER 0x168 // 360 Odometer
#define SYM_AH_CH_TYPE3 0x190 // 400 to 402, crosshair 3
#define SYM_AH_CH_TYPE4 0x193 // 403 to 405, crosshair 4

2
src/main/fc/config.c
View file

@ -305,6 +305,7 @@ static void activateConfig(void)
{
activateControlRateConfig();
activateBatteryProfile();
activateMixerConfig();
resetAdjustmentStates();
@ -486,7 +487,6 @@ bool setConfigMixerProfile(uint8_t profileIndex)
profileIndex = 0;
}
systemConfigMutable()->current_mixer_profile_index = profileIndex;
// setMixerProfile(profileIndex);
return ret;
}

36
src/main/fc/fc_msp.c
View file

@ -1582,6 +1582,21 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_RATE_DYNAMICS:
{
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightEnd);
}
break;
#endif
default:
return false;
}
@ -3040,6 +3055,27 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_SET_RATE_DYNAMICS:
if (dataSize == 6) {
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
} else {
return MSP_RESULT_ERROR;
}
break;
#endif
default:
return MSP_RESULT_ERROR;
}

4
src/main/fc/stats.h
View file

@ -3,8 +3,8 @@
#ifdef USE_STATS
typedef struct statsConfig_s {
uint32_t stats_total_time; // [s]
uint32_t stats_total_dist; // [m]
uint32_t stats_total_time; // [Seconds]
uint32_t stats_total_dist; // [Metres]
#ifdef USE_ADC
uint32_t stats_total_energy; // deciWatt hour (x0.1Wh)
#endif

8
src/main/flight/mixer_profile.c
View file

@ -77,11 +77,15 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
}
}
void mixerConfigInit(void)
{
void activateMixerConfig(){
currentMixerProfileIndex = getConfigMixerProfile();
currentMixerConfig = *mixerConfig();
nextProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
}
void mixerConfigInit(void)
{
activateMixerConfig();
servosInit();
mixerUpdateStateFlags();
mixerInit();

1
src/main/flight/mixer_profile.h
View file

@ -73,5 +73,6 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
bool outputProfileHotSwitch(int profile_index);
bool checkMixerProfileHotSwitchAvalibility(void);
void activateMixerConfig(void);
void mixerConfigInit(void);
void outputProfileUpdateTask(timeUs_t currentTimeUs);

4
src/main/flight/rth_estimator.c
View file

@ -209,8 +209,8 @@ float calculateRemainingFlightTimeBeforeRTH(bool takeWindIntoAccount) {
// returns meters
float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) {
// Fixed wing only for now
if (!(STATE(FIXED_WING_LEGACY) || ARMING_FLAG(ARMED))) {
// Fixed wing only for now, and must be armed
if (!STATE(AIRPLANE) || !ARMING_FLAG(ARMED)) {
return -1;
}

167
src/main/io/osd.c
View file

@ -316,7 +316,7 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), FEET_PER_MILE, decimals, 3, digits)) {
if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), FEET_PER_MILE, decimals, 3, digits, false)) {
buff[sym_index] = symbol_mi;
} else {
buff[sym_index] = symbol_ft;
@ -326,7 +326,7 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
if (osdFormatCentiNumber(buff, dist, METERS_PER_KILOMETER, decimals, 3, digits)) {
if (osdFormatCentiNumber(buff, dist, METERS_PER_KILOMETER, decimals, 3, digits, false)) {
buff[sym_index] = symbol_km;
} else {
buff[sym_index] = symbol_m;
@ -334,7 +334,7 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals)
buff[sym_index + 1] = '\0';
break;
case OSD_UNIT_GA:
if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), (uint32_t)FEET_PER_NAUTICALMILE, decimals, 3, digits)) {
if (osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(dist), (uint32_t)FEET_PER_NAUTICALMILE, decimals, 3, digits, false)) {
buff[sym_index] = symbol_nm;
} else {
buff[sym_index] = symbol_ft;
@ -489,7 +489,7 @@ static void osdFormatWindSpeedStr(char *buff, int32_t ws, bool isValid)
break;
}
osdFormatCentiNumber(buff, centivalue, 0, 2, 0, 3);
osdFormatCentiNumber(buff, centivalue, 0, 2, 0, 3, false);
if (!isValid && ((millis() / 1000) % 4 < 2))
suffix = '*';
@ -562,7 +562,7 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
case OSD_UNIT_GA:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
if (osdFormatCentiNumber(buff + totalDigits - digits, CENTIMETERS_TO_CENTIFEET(alt), 1000, 0, 2, digits)) {
if (osdFormatCentiNumber(buff + totalDigits - digits, CENTIMETERS_TO_CENTIFEET(alt), 1000, 0, 2, digits, false)) {
// Scaled to kft
buff[symbolIndex++] = symbolKFt;
} else {
@ -575,7 +575,7 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
FALLTHROUGH;
case OSD_UNIT_METRIC:
// alt is alredy in cm
if (osdFormatCentiNumber(buff + totalDigits - digits, alt, 1000, 0, 2, digits)) {
if (osdFormatCentiNumber(buff + totalDigits - digits, alt, 1000, 0, 2, digits, false)) {
// Scaled to km
buff[symbolIndex++] = SYM_ALT_KM;
} else {
@ -1151,7 +1151,7 @@ static void osdFormatGVar(char *buff, uint8_t index)
buff[1] = '0'+index;
buff[2] = ':';
#ifdef USE_PROGRAMMING_FRAMEWORK
osdFormatCentiNumber(buff + 3, (int32_t)gvGet(index)*(int32_t)100, 1, 0, 0, 5);
osdFormatCentiNumber(buff + 3, (int32_t)gvGet(index)*(int32_t)100, 1, 0, 0, 5, false);
#endif
}
@ -1162,7 +1162,7 @@ static void osdFormatRpm(char *buff, uint32_t rpm)
if (rpm) {
if ( digitCount(rpm) > osdConfig()->esc_rpm_precision) {
uint8_t rpmMaxDecimals = (osdConfig()->esc_rpm_precision - 3);
osdFormatCentiNumber(buff + 1, rpm / 10, 0, rpmMaxDecimals, rpmMaxDecimals, osdConfig()->esc_rpm_precision-1);
osdFormatCentiNumber(buff + 1, rpm / 10, 0, rpmMaxDecimals, rpmMaxDecimals, osdConfig()->esc_rpm_precision-1, false);
buff[osdConfig()->esc_rpm_precision] = 'K';
buff[osdConfig()->esc_rpm_precision+1] = '\0';
}
@ -1486,13 +1486,13 @@ static void osdFormatPidControllerOutput(char *buff, const char *label, const pi
strcpy(buff, label);
for (uint8_t i = strlen(label); i < 5; ++i) buff[i] = ' ';
uint8_t decimals = showDecimal ? 1 : 0;
osdFormatCentiNumber(buff + 5, pidController->proportional * scale, 0, decimals, 0, 4);
osdFormatCentiNumber(buff + 5, pidController->proportional * scale, 0, decimals, 0, 4, false);
buff[9] = ' ';
osdFormatCentiNumber(buff + 10, pidController->integrator * scale, 0, decimals, 0, 4);
osdFormatCentiNumber(buff + 10, pidController->integrator * scale, 0, decimals, 0, 4, false);
buff[14] = ' ';
osdFormatCentiNumber(buff + 15, pidController->derivative * scale, 0, decimals, 0, 4);
osdFormatCentiNumber(buff + 15, pidController->derivative * scale, 0, decimals, 0, 4, false);
buff[19] = ' ';
osdFormatCentiNumber(buff + 20, pidController->output_constrained * scale, 0, decimals, 0, 4);
osdFormatCentiNumber(buff + 20, pidController->output_constrained * scale, 0, decimals, 0, 4, false);
buff[24] = '\0';
}
@ -1508,7 +1508,7 @@ static void osdDisplayBatteryVoltage(uint8_t elemPosX, uint8_t elemPosY, uint16_
elemAttr = TEXT_ATTRIBUTES_NONE;
digits = MIN(digits, 5);
osdFormatCentiNumber(buff, voltage, 0, decimals, 0, digits);
osdFormatCentiNumber(buff, voltage, 0, decimals, 0, digits, false);
buff[digits] = SYM_VOLT;
buff[digits+1] = '\0';
const batteryState_e batteryVoltageState = checkBatteryVoltageState();
@ -1602,7 +1602,7 @@ static void osdDisplayAdjustableDecimalValue(uint8_t elemPosX, uint8_t elemPosY,
displayWrite(osdDisplayPort, elemPosX, elemPosY, str);
elemAttr = TEXT_ATTRIBUTES_NONE;
osdFormatCentiNumber(buff, value * 100, 0, maxDecimals, 0, MIN(valueLength, 8));
osdFormatCentiNumber(buff, value * 100, 0, maxDecimals, 0, MIN(valueLength, 8), false);
if (isAdjustmentFunctionSelected(adjFunc))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + strlen(str) + 1 + valueOffset, elemPosY, buff, elemAttr);
@ -1707,7 +1707,7 @@ static bool osdDrawSingleElement(uint8_t item)
}
case OSD_CURRENT_DRAW: {
osdFormatCentiNumber(buff, getAmperage(), 0, 2, 0, 3);
osdFormatCentiNumber(buff, getAmperage(), 0, 2, 0, 3, false);
buff[3] = SYM_AMP;
buff[4] = '\0';
@ -1734,7 +1734,7 @@ static bool osdDrawSingleElement(uint8_t item)
buff[5] = SYM_MAH;
buff[6] = '\0';
} else {
if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (mah_digits - 2), mah_digits)) {
if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (mah_digits - 2), mah_digits, false)) {
// Shown in Ah
buff[mah_digits] = SYM_AH;
} else {
@ -1749,7 +1749,7 @@ static bool osdDrawSingleElement(uint8_t item)
}
case OSD_WH_DRAWN:
osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3);
osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3, false);
osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
buff[3] = SYM_WH;
buff[4] = '\0';
@ -1764,7 +1764,7 @@ static bool osdDrawSingleElement(uint8_t item)
else if (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH)
tfp_sprintf(buff, "%4lu", (unsigned long)getBatteryRemainingCapacity());
else // currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH
osdFormatCentiNumber(buff + 1, getBatteryRemainingCapacity() / 10, 0, 2, 0, 3);
osdFormatCentiNumber(buff + 1, getBatteryRemainingCapacity() / 10, 0, 2, 0, 3, false);
buff[4] = currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH;
buff[5] = '\0';
@ -1834,7 +1834,7 @@ static bool osdDrawSingleElement(uint8_t item)
buff[0] = SYM_GLIDESLOPE;
if (glideSlope > 0.0f && glideSlope < 100.0f) {
osdFormatCentiNumber(buff + 1, glideSlope * 100.0f, 0, 2, 0, 3);
osdFormatCentiNumber(buff + 1, glideSlope * 100.0f, 0, 2, 0, 3, false);
} else {
buff[1] = buff[2] = buff[3] = '-';
}
@ -1912,6 +1912,39 @@ static bool osdDrawSingleElement(uint8_t item)
osdFormatDistanceSymbol(buff + 1, getTotalTravelDistance(), 0);
break;
case OSD_ODOMETER:
{
displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_ODOMETER);
uint32_t odometerDist = (uint32_t)(getTotalTravelDistance() / 100);
#ifdef USE_STATS
odometerDist+= statsConfig()->stats_total_dist;
#endif
odometerDist = odometerDist / 10;
switch (osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(odometerDist), FEET_PER_MILE, 1, 0, 6, true);
buff[6] = SYM_MI;
break;
default:
case OSD_UNIT_GA:
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(odometerDist), (uint32_t)FEET_PER_NAUTICALMILE, 1, 0, 6, true);
buff[6] = SYM_NM;
break;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
osdFormatCentiNumber(buff, odometerDist, METERS_PER_KILOMETER, 1, 0, 6, true);
buff[6] = SYM_KM;
break;
}
buff[7] = '\0';
elemPosX++;
}
break;
case OSD_GROUND_COURSE:
{
buff[0] = SYM_GROUND_COURSE;
@ -1994,7 +2027,7 @@ static bool osdDrawSingleElement(uint8_t item)
digits = 3U;
}
#endif
osdFormatCentiNumber(&buff[2], centiHDOP, 0, 1, 0, digits);
osdFormatCentiNumber(&buff[2], centiHDOP, 0, 1, 0, digits, false);
break;
}
@ -2147,37 +2180,38 @@ static bool osdDrawSingleElement(uint8_t item)
updatedTimestamp = currentTimeUs;
}
#endif
//buff[0] = SYM_TRIP_DIST;
displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_FLIGHT_DIST_REMAINING);
if ((!ARMING_FLAG(ARMED)) || (distanceMeters == -1)) {
buff[4] = SYM_BLANK;
buff[5] = '\0';
strcpy(buff + 1, "---");
buff[3] = SYM_BLANK;
buff[4] = '\0';
strcpy(buff, "---");
} else if (distanceMeters == -2) {
// Wind is too strong to come back with cruise throttle
buff[1] = buff[2] = buff[3] = SYM_WIND_HORIZONTAL;
buff[0] = buff[1] = buff[2] = SYM_WIND_HORIZONTAL;
switch ((osd_unit_e)osdConfig()->units){
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
buff[4] = SYM_DIST_MI;
buff[3] = SYM_DIST_MI;
break;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
buff[4] = SYM_DIST_KM;
buff[3] = SYM_DIST_KM;
break;
case OSD_UNIT_GA:
buff[4] = SYM_DIST_NM;
buff[3] = SYM_DIST_NM;
break;
}
buff[5] = '\0';
buff[4] = '\0';
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
} else {
osdFormatDistanceSymbol(buff + 1, distanceMeters * 100, 0);
osdFormatDistanceSymbol(buff, distanceMeters * 100, 0);
if (distanceMeters == 0)
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
elemPosX++;
break;
case OSD_FLYMODE:
@ -2423,7 +2457,7 @@ static bool osdDrawSingleElement(uint8_t item)
buff[0] = SYM_ROLL_LEVEL;
if (ABS(attitude.values.roll) >= 1)
buff[0] += (attitude.values.roll < 0 ? -1 : 1);
osdFormatCentiNumber(buff + 1, DECIDEGREES_TO_CENTIDEGREES(ABS(attitude.values.roll)), 0, 1, 0, 3);
osdFormatCentiNumber(buff + 1, DECIDEGREES_TO_CENTIDEGREES(ABS(attitude.values.roll)), 0, 1, 0, 3, false);
break;
case OSD_ATTITUDE_PITCH:
@ -2433,7 +2467,7 @@ static bool osdDrawSingleElement(uint8_t item)
buff[0] = SYM_PITCH_DOWN;
else if (attitude.values.pitch < 0)
buff[0] = SYM_PITCH_UP;
osdFormatCentiNumber(buff + 1, DECIDEGREES_TO_CENTIDEGREES(ABS(attitude.values.pitch)), 0, 1, 0, 3);
osdFormatCentiNumber(buff + 1, DECIDEGREES_TO_CENTIDEGREES(ABS(attitude.values.pitch)), 0, 1, 0, 3, false);
break;
case OSD_ARTIFICIAL_HORIZON:
@ -2494,7 +2528,7 @@ static bool osdDrawSingleElement(uint8_t item)
break;
}
osdFormatCentiNumber(buff, value, 0, 1, 0, 3);
osdFormatCentiNumber(buff, value, 0, 1, 0, 3, false);
buff[3] = sym;
buff[4] = '\0';
break;
@ -2527,7 +2561,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_UNIT_IMPERIAL:
// mAh/foot
if (efficiencyValid) {
osdFormatCentiNumber(buff, (value * METERS_PER_FOOT), 1, 2, 2, 3);
osdFormatCentiNumber(buff, (value * METERS_PER_FOOT), 1, 2, 2, 3, false);
tfp_sprintf(buff, "%s%c%c", buff, SYM_AH_V_FT_0, SYM_AH_V_FT_1);
} else {
buff[0] = buff[1] = buff[2] = '-';
@ -2541,7 +2575,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_UNIT_METRIC:
// mAh/metre
if (efficiencyValid) {
osdFormatCentiNumber(buff, value, 1, 2, 2, 3);
osdFormatCentiNumber(buff, value, 1, 2, 2, 3, false);
tfp_sprintf(buff, "%s%c%c", buff, SYM_AH_V_M_0, SYM_AH_V_M_1);
} else {
buff[0] = buff[1] = buff[2] = '-';
@ -2836,7 +2870,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_POWER:
{
bool kiloWatt = osdFormatCentiNumber(buff, getPower(), 1000, 2, 2, 3);
bool kiloWatt = osdFormatCentiNumber(buff, getPower(), 1000, 2, 2, 3, false);
buff[3] = kiloWatt ? SYM_KILOWATT : SYM_WATT;
buff[4] = '\0';
@ -2999,7 +3033,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10, 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_MI_0, SYM_MAH_MI_1);
} else {
@ -3013,7 +3047,7 @@ static bool osdDrawSingleElement(uint8_t item)
}
break;
case OSD_UNIT_GA:
moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10, 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10, 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1);
} else {
@ -3029,7 +3063,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, value * 100, 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_KM_0, SYM_MAH_KM_1);
} else {
@ -3070,17 +3104,17 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3);
osdFormatCentiNumber(buff, value * METERS_PER_MILE / 10000, 0, 2, 0, 3, false);
buff[3] = SYM_WH_MI;
break;
case OSD_UNIT_GA:
osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10000, 0, 2, 0, 3);
osdFormatCentiNumber(buff, value * METERS_PER_NAUTICALMILE / 10000, 0, 2, 0, 3, false);
buff[3] = SYM_WH_NM;
break;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
osdFormatCentiNumber(buff, value / 10, 0, 2, 0, 3);
osdFormatCentiNumber(buff, value / 10, 0, 2, 0, 3, false);
buff[3] = SYM_WH_KM;
break;
}
@ -3094,7 +3128,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_GFORCE:
{
buff[0] = SYM_GFORCE;
osdFormatCentiNumber(buff + 1, GForce, 0, 2, 0, 3);
osdFormatCentiNumber(buff + 1, GForce, 0, 2, 0, 3, false);
if (GForce > osdConfig()->gforce_alarm * 100) {
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
@ -3107,7 +3141,7 @@ static bool osdDrawSingleElement(uint8_t item)
{
float GForceValue = GForceAxis[item - OSD_GFORCE_X];
buff[0] = SYM_GFORCE_X + item - OSD_GFORCE_X;
osdFormatCentiNumber(buff + 1, GForceValue, 0, 2, 0, 4);
osdFormatCentiNumber(buff + 1, GForceValue, 0, 2, 0, 4, false);
if ((GForceValue < osdConfig()->gforce_axis_alarm_min * 100) || (GForceValue > osdConfig()->gforce_axis_alarm_max * 100)) {
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
@ -3283,7 +3317,7 @@ static bool osdDrawSingleElement(uint8_t item)
}
buff[0] = SYM_SCALE;
if (osdMapData.scale > 0) {
bool scaled = osdFormatCentiNumber(&buff[1], osdMapData.scale * scaleToUnit, scaleUnitDivisor, maxDecimals, 2, 3);
bool scaled = osdFormatCentiNumber(&buff[1], osdMapData.scale * scaleToUnit, scaleUnitDivisor, maxDecimals, 2, 3, false);
buff[4] = scaled ? symScaled : symUnscaled;
// Make sure this is cleared if the map stops being drawn
osdMapData.scale = 0;
@ -3452,14 +3486,14 @@ static bool osdDrawSingleElement(uint8_t item)
#ifdef USE_POWER_LIMITS
case OSD_PLIMIT_REMAINING_BURST_TIME:
osdFormatCentiNumber(buff, powerLimiterGetRemainingBurstTime() * 100, 0, 1, 0, 3);
osdFormatCentiNumber(buff, powerLimiterGetRemainingBurstTime() * 100, 0, 1, 0, 3, false);
buff[3] = 'S';
buff[4] = '\0';
break;
case OSD_PLIMIT_ACTIVE_CURRENT_LIMIT:
if (currentBatteryProfile->powerLimits.continuousCurrent) {
osdFormatCentiNumber(buff, powerLimiterGetActiveCurrentLimit(), 0, 2, 0, 3);
osdFormatCentiNumber(buff, powerLimiterGetActiveCurrentLimit(), 0, 2, 0, 3, false);
buff[3] = SYM_AMP;
buff[4] = '\0';
@ -3473,7 +3507,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_PLIMIT_ACTIVE_POWER_LIMIT:
{
if (currentBatteryProfile->powerLimits.continuousPower) {
bool kiloWatt = osdFormatCentiNumber(buff, powerLimiterGetActivePowerLimit(), 1000, 2, 2, 3);
bool kiloWatt = osdFormatCentiNumber(buff, powerLimiterGetActivePowerLimit(), 1000, 2, 2, 3, false);
buff[3] = kiloWatt ? SYM_KILOWATT : SYM_WATT;
buff[4] = '\0';
@ -3750,6 +3784,7 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
//line 2
osdLayoutsConfig->item_pos[0][OSD_HOME_DIST] = OSD_POS(1, 1);
osdLayoutsConfig->item_pos[0][OSD_TRIP_DIST] = OSD_POS(1, 2);
osdLayoutsConfig->item_pos[0][OSD_ODOMETER] = OSD_POS(1, 3);
osdLayoutsConfig->item_pos[0][OSD_MAIN_BATT_CELL_VOLTAGE] = OSD_POS(12, 1);
osdLayoutsConfig->item_pos[0][OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE] = OSD_POS(12, 1);
osdLayoutsConfig->item_pos[0][OSD_GPS_SPEED] = OSD_POS(23, 1);
@ -4012,7 +4047,7 @@ static void osdCompleteAsyncInitialization(void)
#ifdef USE_ADC
if (feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER)) {
displayWrite(osdDisplayPort, statNameX, ++y, "TOTAL ENERGY:");
osdFormatCentiNumber(string_buffer, statsConfig()->stats_total_energy / 10, 0, 2, 0, 4);
osdFormatCentiNumber(string_buffer, statsConfig()->stats_total_energy / 10, 0, 2, 0, 4, false);
strcat(string_buffer, "\xAB"); // SYM_WH
displayWrite(osdDisplayPort, statValueX-4, y, string_buffer);
@ -4023,18 +4058,18 @@ static void osdCompleteAsyncInitialization(void)
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3, false);
string_buffer[3] = SYM_WH_MI;
break;
case OSD_UNIT_GA:
osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3);
osdFormatCentiNumber(string_buffer, avg_efficiency / 10, 0, 2, 0, 3, false);
string_buffer[3] = SYM_WH_NM;
break;
default:
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_METRIC:
osdFormatCentiNumber(string_buffer, avg_efficiency / 10000 * METERS_PER_MILE, 0, 2, 0, 3);
osdFormatCentiNumber(string_buffer, avg_efficiency / 10000 * METERS_PER_MILE, 0, 2, 0, 3, false);
string_buffer[3] = SYM_WH_KM;
break;
}
@ -4249,22 +4284,22 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
if (isSinglePageStatsCompatible || page == 1) {
if (osdConfig()->stats_min_voltage_unit == OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY) {
displayWrite(osdDisplayPort, statNameX, top, "MIN BATTERY VOLT :");
osdFormatCentiNumber(buff, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2);
osdFormatCentiNumber(buff, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2, false);
} else {
displayWrite(osdDisplayPort, statNameX, top, "MIN CELL VOLTAGE :");
osdFormatCentiNumber(buff, stats.min_voltage/getBatteryCellCount(), 0, 2, 0, 3);
osdFormatCentiNumber(buff, stats.min_voltage/getBatteryCellCount(), 0, 2, 0, 3, false);
}
tfp_sprintf(buff, "%s%c", buff, SYM_VOLT);
displayWrite(osdDisplayPort, statValuesX, top++, buff);
if (feature(FEATURE_CURRENT_METER)) {
displayWrite(osdDisplayPort, statNameX, top, "MAX CURRENT :");
osdFormatCentiNumber(buff, stats.max_current, 0, 2, 0, 3);
osdFormatCentiNumber(buff, stats.max_current, 0, 2, 0, 3, false);
tfp_sprintf(buff, "%s%c", buff, SYM_AMP);
displayWrite(osdDisplayPort, statValuesX, top++, buff);
displayWrite(osdDisplayPort, statNameX, top, "MAX POWER :");
bool kiloWatt = osdFormatCentiNumber(buff, stats.max_power, 1000, 2, 2, 3);
bool kiloWatt = osdFormatCentiNumber(buff, stats.max_power, 1000, 2, 2, 3, false);
buff[3] = kiloWatt ? SYM_KILOWATT : SYM_WATT;
buff[4] = '\0';
displayWrite(osdDisplayPort, statValuesX, top++, buff);
@ -4273,7 +4308,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
tfp_sprintf(buff, "%d%c", (int)getMAhDrawn(), SYM_MAH);
} else {
osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3);
osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3, false);
tfp_sprintf(buff, "%s%c", buff, SYM_WH);
}
displayWrite(osdDisplayPort, statValuesX, top++, buff);
@ -4295,7 +4330,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_MI_0, SYM_MAH_MI_1);
} else {
@ -4308,7 +4343,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
buff[5] = '\0';
}
} else {
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits);
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false);
tfp_sprintf(buff, "%s%c", buff, SYM_WH_MI);
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = '-';
@ -4317,7 +4352,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
break;
case OSD_UNIT_GA:
if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_NM_0, SYM_MAH_NM_1);
} else {
@ -4330,7 +4365,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
buff[5] = '\0';
}
} else {
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, digits);
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_NAUTICALMILE / totalDistance), 0, 2, 0, digits, false);
tfp_sprintf(buff, "%s%c", buff, SYM_WH_NM);
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = '-';
@ -4341,7 +4376,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
FALLTHROUGH;
case OSD_UNIT_METRIC:
if (osdConfig()->stats_energy_unit == OSD_STATS_ENERGY_UNIT_MAH) {
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000000.0f / totalDistance), 1000, 0, 2, digits);
moreThanAh = osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000000.0f / totalDistance), 1000, 0, 2, digits, false);
if (!moreThanAh) {
tfp_sprintf(buff, "%s%c%c", buff, SYM_MAH_KM_0, SYM_MAH_KM_1);
} else {
@ -4354,7 +4389,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
buff[5] = '\0';
}
} else {
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10000.0f / totalDistance), 0, 2, 0, digits);
osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10000.0f / totalDistance), 0, 2, 0, digits, false);
tfp_sprintf(buff, "%s%c", buff, SYM_WH_KM);
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = '-';
@ -4369,19 +4404,19 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
const float max_gforce = accGetMeasuredMaxG();
displayWrite(osdDisplayPort, statNameX, top, "MAX G-FORCE :");
osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3);
osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3, false);
displayWrite(osdDisplayPort, statValuesX, top++, buff);
const acc_extremes_t *acc_extremes = accGetMeasuredExtremes();
const float acc_extremes_min = acc_extremes[Z].min;
const float acc_extremes_max = acc_extremes[Z].max;
displayWrite(osdDisplayPort, statNameX, top, "MIN/MAX Z G-FORCE:");
osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4);
osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4, false);
osdLeftAlignString(buff);
strcat(osdFormatTrimWhiteSpace(buff),"/");
multiValueLengthOffset = strlen(buff);
displayWrite(osdDisplayPort, statValuesX, top, buff);
osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3);
osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3, false);
osdLeftAlignString(buff);
displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
}

3
src/main/io/osd.h
View file

@ -274,6 +274,7 @@ typedef enum {
OSD_PILOT_NAME,
OSD_PAN_SERVO_CENTRED,
OSD_MULTI_FUNCTION,
OSD_ODOMETER,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;
@ -483,7 +484,7 @@ void osdStartedSaveProcess(void);
void osdShowEEPROMSavedNotification(void);
void osdCrosshairPosition(uint8_t *x, uint8_t *y);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
void osdFormatAltitudeSymbol(char *buff, int32_t alt);
void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
// Returns a heading angle in degrees normalized to [0, 360).

12
src/main/io/osd_hud.c
View file

@ -256,18 +256,18 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
case OSD_UNIT_IMPERIAL:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 4, 4);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3, false);
}
}
break;
case OSD_UNIT_GA:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 4, 4);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 3, 3);
osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), (uint32_t)FEET_PER_NAUTICALMILE, 0, 3, 3, false);
}
}
break;
@ -278,9 +278,9 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
case OSD_UNIT_METRIC:
{
if (poiType == 1) {
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 4, 4);
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 4, 4, false);
} else {
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3, false);
}
}
break;

10
src/main/io/osd_utils.c
View file

@ -38,7 +38,7 @@ int digitCount(int32_t value)
}
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length)
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros)
{
char *ptr = buff;
char *dec;
@ -86,7 +86,11 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
// Done counting. Time to write the characters.
// Write spaces at the start
while (remaining > 0) {
if (leadingZeros)
*ptr = '0';
else
*ptr = SYM_BLANK;
ptr++;
remaining--;
}
@ -98,7 +102,11 @@ bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int ma
// Add any needed remaining leading spaces
while(rem_spaces > 0)
{
if (leadingZeros)
*ptr = '0';
else
*ptr = SYM_BLANK;
ptr++;
remaining--;
rem_spaces--;

2
src/main/io/osd_utils.h
View file

@ -33,6 +33,6 @@ int digitCount(int32_t value);
* of the same length. If the value doesn't fit into the provided length
* it will be divided by scale and true will be returned.
*/
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
#endif

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -92,3 +92,5 @@
#define MSP2_INAV_LED_STRIP_CONFIG_EX 0x2048
#define MSP2_INAV_SET_LED_STRIP_CONFIG_EX 0x2049
#define MSP2_INAV_RATE_DYNAMICS 0x2060
#define MSP2_INAV_SET_RATE_DYNAMICS 0x2061

3
src/main/navigation/navigation.c
View file

@ -2879,6 +2879,9 @@ static void updateNavigationFlightStatistics(void)
}
}
/*
* Total travel distance in cm
*/
uint32_t getTotalTravelDistance(void)
{
return lrintf(posControl.totalTripDistance);

4
src/main/programming/logic_condition.c
View file

@ -716,6 +716,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
return constrain(attitude.values.pitch / 10, -180, 180);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW: // deg
return constrain(attitude.values.yaw / 10, 0, 360);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED: // 0/1
return ARMING_FLAG(ARMED) ? 1 : 0;
break;

5
src/main/programming/logic_condition.h
View file

@ -136,8 +136,9 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS, //0,1,2 // 35
LOGIC_CONDITION_OPERAND_FLIGHT_AGL, //0,1,2 // 36
LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW, //int // 37
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 39
LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 40
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 38
LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE, //0,1 // 39
LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW, // deg // 40
} logicFlightOperands_e;
typedef enum {

1
src/main/target/MATEKH743/CMakeLists.txt
View file

@ -1 +1,2 @@
target_stm32h743xi(MATEKH743)
target_stm32h743xi(MATEKH743HD)

9
src/main/target/MATEKH743/target.h
View file

@ -19,7 +19,12 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "H743"
#if defined(MATEKH743HD)
#define USBD_PRODUCT_STRING "MATEKH743HD"
#else
#define USBD_PRODUCT_STRING "MATEKH743"
#endif
#define USE_TARGET_CONFIG
@ -74,9 +79,11 @@
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#if defined(MATEKH743)
#define USE_MAX7456
#define MAX7456_SPI_BUS BUS_SPI2
#define MAX7456_CS_PIN PB12
#endif
// *************** SPI3 SPARE for external RM3100 ***********
#define USE_SPI_DEVICE_3
@ -159,7 +166,7 @@
#define SERIAL_PORT_COUNT 9
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_PROVIDER SERIALRX_CRSF
#define SERIALRX_UART SERIAL_PORT_USART6
// *************** SDIO SD BLACKBOX*******************

20
src/test/unit/osd_unittest.cc
View file

@ -14,55 +14,55 @@ TEST(OSDTest, TestCentiNumber)
//bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
char buf[11] = "0123456789";
osdFormatCentiNumber(buf, 12345, 1, 2, 3, 7);
osdFormatCentiNumber(buf, 12345, 1, 2, 3, 7, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, " 123.45"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 6);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 6, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "123.45"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 5);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 5, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "123.4"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 4);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 4, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, " 123")); // this should be causing #8769
memset(buf, 0, 11);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 3);
osdFormatCentiNumber(buf, 12345, 1, 2, 2, 3, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "123"));
std::cout << "'" << buf << "'" << std::endl;
memset(buf, 0, 11);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 8);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 8, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, " -123.45"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 7);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 7, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "-123.45"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 6);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 6, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "-123.4"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 5);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 5, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, " -123"));
memset(buf, 0, 11);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 4);
osdFormatCentiNumber(buf, -12345, 1, 2, 2, 4, false);
std::cout << "'" << buf << "'" << std::endl;
EXPECT_FALSE(strcmp(buf, "-123"));