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Merge pull request #10090 from breadoven/abo_osd_sys_msg_cleanup

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OSD system message improvements
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breadoven 2024-06-18 21:28:56 +01:00 • committed by GitHub
commit a4de24df6f
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6 changed files with 189 additions and 181 deletions
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16
src/main/fc/rc_modes.c
View file

@ -114,7 +114,6 @@ void processAirmode(void) {
} else if (STATE(MULTIROTOR)) {
processAirmodeMultirotor();
}
}
bool isUsingNavigationModes(void)
@ -122,6 +121,21 @@ bool isUsingNavigationModes(void)
return isUsingNAVModes;
}
bool isFwAutoModeActive(boxId_e mode)
{
/* Sets activation priority of fixed wing auto tune/trim modes: Autotune -> Autotrim -> Autolevel */
if (mode == BOXAUTOTUNE) {
return IS_RC_MODE_ACTIVE(BOXAUTOTUNE);
} else if (mode == BOXAUTOTRIM) {
return IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE);
} else if (mode == BOXAUTOLEVEL) {
return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && !IS_RC_MODE_ACTIVE(BOXAUTOTRIM);
}
return false;
}
bool IS_RC_MODE_ACTIVE(boxId_e boxId)
{
return bitArrayGet(rcModeActivationMask.bits, boxId);

1
src/main/fc/rc_modes.h
View file

@ -140,3 +140,4 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
void updateActivatedModes(void);
void updateUsedModeActivationConditionFlags(void);
bool isFwAutoModeActive(boxId_e mode);

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

@ -1385,7 +1385,7 @@ pidBank_t * pidBankMutable(void) {
bool isFixedWingLevelTrimActive(void)
{
return IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) && !areSticksDeflected() &&
return isFwAutoModeActive(BOXAUTOLEVEL) && !areSticksDeflected() &&
(FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) &&
!FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
!navigationIsControllingAltitude() && !(navCheckActiveAngleHoldAxis() == FD_PITCH && !angleHoldIsLevel);
@ -1409,7 +1409,7 @@ void updateFixedWingLevelTrim(timeUs_t currentTimeUs)
previousArmingState = ARMING_FLAG(ARMED);
// return if not active or disarmed
if (!IS_RC_MODE_ACTIVE(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) {
if (!isFwAutoModeActive(BOXAUTOLEVEL) || !ARMING_FLAG(ARMED)) {
return;
}

5
src/main/flight/pid_autotune.c
View file

@ -40,6 +40,7 @@
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/rc_adjustments.h"
#include "fc/runtime_config.h"
#include "fc/settings.h"
@ -130,7 +131,7 @@ void autotuneStart(void)
void autotuneUpdateState(void)
{
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) {
if (isFwAutoModeActive(BOXAUTOTUNE) && STATE(AIRPLANE) && ARMING_FLAG(ARMED)) {
if (!FLIGHT_MODE(AUTO_TUNE)) {
autotuneStart();
ENABLE_FLIGHT_MODE(AUTO_TUNE);
@ -202,7 +203,7 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
if ((tuneCurrent[axis].updateCount & 25) == 0 && tuneCurrent[axis].updateCount >= AUTOTUNE_FIXED_WING_MIN_SAMPLES) {
if (pidAutotuneConfig()->fw_rate_adjustment != FIXED && !FLIGHT_MODE(ANGLE_MODE)) { // Rate discovery is not possible in ANGLE mode
// Target 80% control surface deflection to leave some room for P and I to work
float pidSumTarget = (pidAutotuneConfig()->fw_max_rate_deflection / 100.0f) * pidSumLimit;

24
src/main/flight/servos.c
View file

@ -82,7 +82,7 @@ void Reset_servoMixers(servoMixer_t *instance)
#ifdef USE_PROGRAMMING_FRAMEWORK
,.conditionId = -1
#endif
);
);
}
}
@ -96,7 +96,7 @@ void pgResetFn_servoParams(servoParam_t *instance)
.max = DEFAULT_SERVO_MAX,
.middle = DEFAULT_SERVO_MIDDLE,
.rate = 100
);
);
}
}
@ -194,7 +194,7 @@ void servosInit(void)
}
int getServoCount(void)
{
{
if (mixerUsesServos) {
return 1 + maxServoIndex - minServoIndex;
}
@ -246,7 +246,7 @@ static void filterServos(void)
void writeServos(void)
{
filterServos();
#if !defined(SITL_BUILD)
int servoIndex = 0;
bool zeroServoValue = false;
@ -449,7 +449,7 @@ void processServoAutotrimMode(void)
static int32_t servoMiddleAccum[MAX_SUPPORTED_SERVOS];
static int32_t servoMiddleAccumCount[MAX_SUPPORTED_SERVOS];
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
if (isFwAutoModeActive(BOXAUTOTRIM)) {
switch (trimState) {
case AUTOTRIM_IDLE:
if (ARMING_FLAG(ARMED)) {
@ -544,7 +544,7 @@ void processServoAutotrimMode(void)
void processContinuousServoAutotrim(const float dT)
{
static timeMs_t lastUpdateTimeMs;
static servoAutotrimState_e trimState = AUTOTRIM_IDLE;
static servoAutotrimState_e trimState = AUTOTRIM_IDLE;
static uint32_t servoMiddleUpdateCount;
const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, fast_fsqrtf(vectorNormSquared(&imuMeasuredRotationBF)), SERVO_AUTOTRIM_FILTER_CUTOFF, dT);
@ -556,16 +556,16 @@ void processContinuousServoAutotrim(const float dT)
const bool planeIsFlyingStraight = rotRateMagnitudeFiltered <= DEGREES_TO_RADIANS(servoConfig()->servo_autotrim_rotation_limit);
const bool noRotationCommanded = targetRateMagnitudeFiltered <= servoConfig()->servo_autotrim_rotation_limit;
const bool sticksAreCentered = !areSticksDeflected();
const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT
const bool planeIsFlyingLevel = ABS(attitude.values.pitch + DEGREES_TO_DECIDEGREES(getFixedWingLevelTrim())) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT
&& ABS(attitude.values.roll) <= SERVO_AUTOTRIM_ATTITUDE_LIMIT;
if (
planeIsFlyingStraight &&
noRotationCommanded &&
planeIsFlyingStraight &&
noRotationCommanded &&
planeIsFlyingLevel &&
sticksAreCentered &&
!FLIGHT_MODE(MANUAL_MODE) &&
!FLIGHT_MODE(MANUAL_MODE) &&
isGPSHeadingValid() // TODO: proper flying detection
) {
) {
// Plane is flying straight and level: trim servos
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
// For each stabilized axis, add 5 units of I-term to all associated servo midpoints
@ -610,7 +610,7 @@ void processContinuousServoAutotrim(const float dT)
DEBUG_SET(DEBUG_AUTOTRIM, 1, servoMiddleUpdateCount);
DEBUG_SET(DEBUG_AUTOTRIM, 3, MAX(RADIANS_TO_DEGREES(rotRateMagnitudeFiltered), targetRateMagnitudeFiltered));
DEBUG_SET(DEBUG_AUTOTRIM, 5, axisPID_I[FD_ROLL]);
DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]);
DEBUG_SET(DEBUG_AUTOTRIM, 7, axisPID_I[FD_PITCH]);
}
void processServoAutotrim(const float dT) {

320
src/main/io/osd.c
View file

@ -525,7 +525,7 @@ void osdFormatAltitudeSymbol(char *buff, int32_t alt)
buff[0] = ' ';
}
#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values
#ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it and change the values
if (isDJICompatibleVideoSystem(osdConfig())) {
totalDigits++;
digits++;
@ -620,7 +620,7 @@ static inline void osdFormatFlyTime(char *buff, textAttributes_t *attr)
}
/**
* Trim whitespace from string.
* Trim whitespace from string.
* Used in Stats screen on lines with multiple values.
*/
char *osdFormatTrimWhiteSpace(char *buff)
@ -631,7 +631,7 @@ char *osdFormatTrimWhiteSpace(char *buff)
while(isspace((unsigned char)*buff)) buff++;
// All spaces?
if(*buff == 0)
if(*buff == 0)
return buff;
// Trim trailing spaces
@ -1098,7 +1098,7 @@ void osdCrosshairPosition(uint8_t *x, uint8_t *y)
* Check if this OSD layout is using scaled or unscaled throttle.
* If both are used, it will default to scaled.
*/
bool osdUsingScaledThrottle(void)
bool osdUsingScaledThrottle(void)
{
bool usingScaledThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_SCALED_THROTTLE_POS]);
bool usingRCThrottle = OSD_VISIBLE(osdLayoutsConfig()->item_pos[currentLayout][OSD_THROTTLE_POS]);
@ -1322,7 +1322,7 @@ static void osdDrawMap(int referenceHeading, uint16_t referenceSym, uint16_t cen
}
}
if (STATE(GPS_FIX)
if (STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
@ -1841,7 +1841,7 @@ static bool osdDrawSingleElement(uint8_t item)
if (STATE(GPS_ESTIMATED_FIX)) {
strcpy(buff + 2, "ES");
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
} else
} else
#endif
if (!STATE(GPS_FIX)) {
hardwareSensorStatus_e sensorStatus = getHwGPSStatus();
@ -1900,10 +1900,10 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_HOME_DIR:
{
if ((STATE(GPS_FIX)
if ((STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
#endif
) && STATE(GPS_FIX_HOME) && isImuHeadingValid()) {
if (GPS_distanceToHome < (navConfig()->general.min_rth_distance / 100) ) {
displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_HOME_NEAR);
@ -2380,8 +2380,9 @@ static bool osdDrawSingleElement(uint8_t item)
p = " WP ";
else if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && navigationRequiresAngleMode()) {
// If navigationRequiresAngleMode() returns false when ALTHOLD is active,
// it means it can be combined with ANGLE, HORIZON, ANGLEHOLD, ACRO, etc...
// it means it can be combined with ANGLE, HORIZON, ACRO, etc...
// and its display is handled by OSD_MESSAGES rather than OSD_FLYMODE.
// (Currently only applies to multirotor).
p = " AH ";
}
else if (FLIGHT_MODE(ANGLE_MODE))
@ -2540,18 +2541,18 @@ static bool osdDrawSingleElement(uint8_t item)
osdCrosshairPosition(&elemPosX, &elemPosY);
osdHudDrawCrosshair(osdGetDisplayPortCanvas(), elemPosX, elemPosY);
if (osdConfig()->hud_homing && (STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
if (osdConfig()->hud_homing && (STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
#endif
) && STATE(GPS_FIX_HOME) && isImuHeadingValid()) {
osdHudDrawHoming(elemPosX, elemPosY);
}
if ((STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
if ((STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
#endif
) && isImuHeadingValid()) {
if (osdConfig()->hud_homepoint || osdConfig()->hud_radar_disp > 0 || osdConfig()->hud_wp_disp > 0) {
@ -3176,10 +3177,10 @@ static bool osdDrawSingleElement(uint8_t item)
digits = 4U;
}
#endif
if ((STATE(GPS_FIX)
if ((STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
#endif
) && gpsSol.groundSpeed > 0) {
if (efficiencyTimeDelta >= EFFICIENCY_UPDATE_INTERVAL) {
value = pt1FilterApply4(&eFilterState, ((float)getAmperage() / gpsSol.groundSpeed) / 0.0036f,
@ -3202,7 +3203,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_MI);
}
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_MI_0; // This will overwrite the "-" at buff[3] if not in DJICOMPAT mode
buff[digits + 1] = SYM_MAH_MI_1;
buff[digits + 2] = '\0';
@ -3216,7 +3217,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_NM);
}
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_NM_0;
buff[digits + 1] = SYM_MAH_NM_1;
buff[digits + 2] = '\0';
@ -3232,7 +3233,7 @@ static bool osdDrawSingleElement(uint8_t item)
tfp_sprintf(buff + strlen(buff), "%c", SYM_AH_KM);
}
if (!efficiencyValid) {
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[0] = buff[1] = buff[2] = buff[3] = '-';
buff[digits] = SYM_MAH_KM_0;
buff[digits + 1] = SYM_MAH_KM_1;
buff[digits + 2] = '\0';
@ -3407,7 +3408,7 @@ static bool osdDrawSingleElement(uint8_t item)
STATIC_ASSERT(GPS_DEGREES_DIVIDER == OLC_DEG_MULTIPLIER, invalid_olc_deg_multiplier);
int digits = osdConfig()->plus_code_digits;
int digitsRemoved = osdConfig()->plus_code_short * 2;
if ((STATE(GPS_FIX)
if ((STATE(GPS_FIX)
#ifdef USE_GPS_FIX_ESTIMATION
|| STATE(GPS_ESTIMATED_FIX)
#endif
@ -4214,7 +4215,7 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool
displayWrite(osdDisplayPort, statNameX, row, "ODOMETER:");
else
displayWrite(osdDisplayPort, statNameX, row, "ODOMETER");
switch (osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
@ -4227,7 +4228,7 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool
tfp_sprintf(string_buffer, ": %d", statTotalDist);
buffLen = 3 + sizeof(statTotalDist);
}
string_buffer[buffLen++] = SYM_MI;
break;
default:
@ -4253,8 +4254,8 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool
uint16_t statTotalDist = (uint16_t)(statsConfig()->stats_total_dist / METERS_PER_KILOMETER);
tfp_sprintf(string_buffer, ": %d", statTotalDist);
buffLen = 3 + sizeof(statTotalDist);
}
}
string_buffer[buffLen++] = SYM_KM;
break;
}
@ -4265,13 +4266,13 @@ uint8_t drawStat_Stats(uint8_t statNameX, uint8_t row, uint8_t statValueX, bool
displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME:");
else
displayWrite(osdDisplayPort, statNameX, ++row, "TOTAL TIME");
uint32_t tot_mins = statsConfig()->stats_total_time / 60;
if (isBootStats)
tfp_sprintf(string_buffer, "%d:%02dH:M%c", (int)(tot_mins / 60), (int)(tot_mins % 60), '\0');
else
tfp_sprintf(string_buffer, ": %d:%02d H:M%c", (int)(tot_mins / 60), (int)(tot_mins % 60), '\0');
displayWrite(osdDisplayPort, statValueX-(isBootStats ? 7 : 0), row, string_buffer);
#ifdef USE_ADC
@ -4496,7 +4497,7 @@ static void osdUpdateStats(void)
if (escTemperatureValid) {
if (stats.min_esc_temp > escSensor->temperature)
stats.min_esc_temp = escSensor->temperature;
if (stats.max_esc_temp < escSensor->temperature)
stats.max_esc_temp = escSensor->temperature;
}
@ -4570,7 +4571,7 @@ uint8_t drawStat_MaxDistanceFromHome(uint8_t col, uint8_t row, uint8_t statValX)
} else {
displayWrite(osdDisplayPort, col, row, "MAX DISTANCE FROM ");
valueXOffset = 18;
}
}
displayWriteChar(osdDisplayPort, col + valueXOffset, row, SYM_HOME);
tfp_sprintf(buff, ": ");
osdFormatDistanceStr(buff + 2, stats.max_distance * 100);
@ -4586,10 +4587,10 @@ uint8_t drawStat_Speed(uint8_t col, uint8_t row, uint8_t statValX)
uint8_t multiValueXOffset = 0;
displayWrite(osdDisplayPort, col, row, "MAX/AVG SPEED");
osdFormatVelocityStr(buff2, stats.max_3D_speed, true, false);
tfp_sprintf(buff, ": %s/", osdFormatTrimWhiteSpace(buff2));
multiValueXOffset = strlen(buff);
multiValueXOffset = strlen(buff);
displayWrite(osdDisplayPort, statValX, row, buff);
osdGenerateAverageVelocityStr(buff2);
@ -4622,8 +4623,8 @@ uint8_t drawStat_BatteryVoltage(uint8_t col, uint8_t row, uint8_t statValX)
tfp_sprintf(buff, ": ");
osdFormatCentiNumber(buff + 2, stats.min_voltage, 0, osdConfig()->main_voltage_decimals, 0, osdConfig()->main_voltage_decimals + 2, false);
strcat(osdFormatTrimWhiteSpace(buff), "/");
multiValueXOffset = strlen(buff);
// AverageCell
multiValueXOffset = strlen(buff);
// AverageCell
osdFormatCentiNumber(buff + multiValueXOffset, stats.min_voltage / getBatteryCellCount(), 0, 2, 0, 3, false);
tfp_sprintf(buff + strlen(buff), "%c", SYM_VOLT);
@ -4655,7 +4656,7 @@ uint8_t drawStat_MaximumPowerAndCurrent(uint8_t col, uint8_t row, uint8_t statVa
uint8_t drawStat_UsedEnergy(uint8_t col, uint8_t row, uint8_t statValX)
{
char buff[12];
if (osdDisplayIsHD())
displayWrite(osdDisplayPort, col, row, "USED ENERGY FLT/TOT");
else
@ -4684,7 +4685,7 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
int32_t totalDistance = getTotalTravelDistance();
bool moreThanAh = false;
bool efficiencyValid = totalDistance >= 10000;
if (osdDisplayIsHD())
displayWrite(osdDisplayPort, col, row, "AVG EFFICIENCY FLT/TOT");
else
@ -4708,18 +4709,18 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn() - stats.flightStartMAh) * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
if (osdDisplayIsHD()) {
if (!moreThanAh)
if (!moreThanAh)
tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1);
else
else
tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_MI);
moreThanAh = false;
}
strcat(outBuff, "/");
moreThanAh = moreThanAh || osdFormatCentiNumber(buff, (int32_t)(getMAhDrawn() * 10000.0f * METERS_PER_MILE / totalDistance), 1000, 0, 2, digits, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
if (!moreThanAh)
tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_MI_0, SYM_MAH_MI_1);
else
@ -4746,11 +4747,11 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn()-stats.flightStartMAh) * 10000.0f * METERS_PER_NAUTICALMILE / totalDistance), 1000, 0, 2, digits, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
if (osdDisplayIsHD()) {
if (!moreThanAh)
if (!moreThanAh)
tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_NM_0, SYM_MAH_NM_1);
else
else
tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_NM);
moreThanAh = false;
}
@ -4791,11 +4792,11 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
moreThanAh = osdFormatCentiNumber(buff, (int32_t)((getMAhDrawn() - stats.flightStartMAh) * 10000000.0f / totalDistance), 1000, 0, 2, digits, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
if (osdDisplayIsHD()) {
if (!moreThanAh)
if (!moreThanAh)
tfp_sprintf(outBuff + strlen(outBuff), "%c%c", SYM_MAH_KM_0, SYM_MAH_KM_1);
else
else
tfp_sprintf(outBuff + strlen(outBuff), "%c", SYM_AH_KM);
moreThanAh = false;
}
@ -4848,7 +4849,7 @@ uint8_t drawStat_RXStats(uint8_t col, uint8_t row, uint8_t statValX)
tfp_sprintf(buff, ": ");
itoa(stats.min_rssi, buff + 2, 10);
strcat(osdFormatTrimWhiteSpace(buff), "%");
if (rxConfig()->serialrx_provider == SERIALRX_CRSF) {
strcat(osdFormatTrimWhiteSpace(buff), "/");
multiValueXOffset = strlen(buff);
@ -4891,9 +4892,9 @@ uint8_t drawStat_ESCTemperature(uint8_t col, uint8_t row, uint8_t statValX)
{
char buff[12];
displayWrite(osdDisplayPort, col, row, "MIN/MAX ESC TEMP");
tfp_sprintf(buff, ": %3d/%3d%c",
((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.min_esc_temp * 9 / 5.0f + 320) : stats.min_esc_temp),
((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.max_esc_temp * 9 / 5.0f + 320) : stats.max_esc_temp),
tfp_sprintf(buff, ": %3d/%3d%c",
((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.min_esc_temp * 9 / 5.0f + 320) : stats.min_esc_temp),
((osdConfig()->units == OSD_UNIT_IMPERIAL) ? (int16_t)(stats.max_esc_temp * 9 / 5.0f + 320) : stats.max_esc_temp),
((osdConfig()->units == OSD_UNIT_IMPERIAL) ? SYM_TEMP_F : SYM_TEMP_C));
displayWrite(osdDisplayPort, statValX, row++, buff);
@ -4914,10 +4915,10 @@ uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX)
displayWrite(osdDisplayPort, col, row, "MAX G-FORCE");
else
displayWrite(osdDisplayPort, col, row, "MAX/MIN Z/MAX Z G-FORCE");
tfp_sprintf(outBuff, ": ");
osdFormatCentiNumber(buff, max_gforce * 100, 0, 2, 0, 3, false);
if (!osdDisplayIsHD()) {
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
displayWrite(osdDisplayPort, statValX, row++, outBuff);
@ -4932,7 +4933,7 @@ uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX)
osdFormatCentiNumber(buff, acc_extremes_min * 100, 0, 2, 0, 4, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
strcat(outBuff, "/");
osdFormatCentiNumber(buff, acc_extremes_max * 100, 0, 2, 0, 3, false);
strcat(outBuff, osdFormatTrimWhiteSpace(buff));
displayWrite(osdDisplayPort, statValX, row++, outBuff);
@ -4959,7 +4960,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
const uint8_t statNameX = (osdDisplayPort->cols - (osdDisplayIsHD() ? 41 : 28)) / 2;
const uint8_t statValuesX = osdDisplayPort->cols - statNameX - (osdDisplayIsHD() ? 15 : 11);
if (page > 1)
page = 0;
@ -5033,9 +5034,9 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
if (feature(FEATURE_BLACKBOX)) {
char buff[12];
displayWrite(osdDisplayPort, statNameX, row, "BLACKBOX FILE");
tfp_sprintf(buff, ": %u/%u", stats.min_sats, stats.max_sats);
int32_t logNumber = blackboxGetLogNumber();
if (logNumber >= 0)
tfp_sprintf(buff, ": %05ld ", logNumber);
@ -5053,7 +5054,7 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
break;
}
}
row = drawStat_DisarmMethod(statNameX, row, statValuesX);
// The following has been commented out as it will be added in #9688
@ -5409,27 +5410,27 @@ static void osdRefresh(timeUs_t currentTimeUs)
// Manual paging stick commands are only applicable to multi-page stats.
// ******************************
// For single-page stats, this effectively disables the ability to cancel the
// For single-page stats, this effectively disables the ability to cancel the
// automatic paging/updates with the stick commands. So unless stats_page_auto_swap_time
// is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then
// "Saved Settings" should display if it is active within the refresh interval.
// is set to 0 or greater than 4 (saved settings display interval is 5 seconds), then
// "Saved Settings" should display if it is active within the refresh interval.
// ******************************
// With multi-page stats, "Saved Settings" could also be missed if the user
// has canceled automatic paging using the stick commands, because that is only
// updated when osdShowStats() is called. So, in that case, they would only see
// the "Saved Settings" message if they happen to manually change pages using the
// stick commands within the interval the message is displayed.
// has canceled automatic paging using the stick commands, because that is only
// updated when osdShowStats() is called. So, in that case, they would only see
// the "Saved Settings" message if they happen to manually change pages using the
// stick commands within the interval the message is displayed.
bool manualPageUpRequested = false;
bool manualPageDownRequested = false;
bool manualPageDownRequested = false;
if (!statsSinglePageCompatible) {
// These methods ensure the paging stick commands are held for a brief period
// Otherwise it can result in a race condition where the stats are
// updated too quickly and can result in partial blanks, etc.
if (osdIsPageUpStickCommandHeld()) {
// Otherwise it can result in a race condition where the stats are
// updated too quickly and can result in partial blanks, etc.
if (osdIsPageUpStickCommandHeld()) {
manualPageUpRequested = true;
statsAutoPagingEnabled = false;
} else if (osdIsPageDownStickCommandHeld()) {
manualPageDownRequested = true;
manualPageDownRequested = true;
statsAutoPagingEnabled = false;
}
}
@ -5472,7 +5473,7 @@ static void osdRefresh(timeUs_t currentTimeUs)
displayHeartbeat(osdDisplayPort);
isThrottleHigh = checkStickPosition(THR_HI);
}
return;
}
@ -5641,24 +5642,20 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
if (buff != NULL) {
const char *message = NULL;
char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH+1)]; //warning: shared buffer. Make sure it is used by single message in code below!
// We might have up to 5 messages to show.
const char *messages[5];
/* WARNING: messageBuf is shared, use accordingly */
char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH + 1)];
/* WARNING: ensure number of messages returned does not exceed messages array size
* Messages array set 1 larger than maximum expected message count of 6 */
const char *messages[7];
unsigned messageCount = 0;
const char *failsafeInfoMessage = NULL;
const char *invertedInfoMessage = NULL;
if (ARMING_FLAG(ARMED)) {
#ifdef USE_FW_AUTOLAND
if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding() || FLIGHT_MODE(NAV_FW_AUTOLAND)) {
if (isWaypointMissionRTHActive() && !posControl.fwLandState.landWp) {
#else
if (FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding()) {
if (isWaypointMissionRTHActive()) {
#endif
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
}
/* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL NORMALLY, 5 MESSAGES DURING FAILSAFE */
if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
messages[messageCount++] = STATE(LANDING_DETECTED) ? OSD_MESSAGE_STR(OSD_MSG_WP_LANDED) : OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
} else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
@ -5680,36 +5677,27 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
messages[messageCount++] = messageBuf;
}
} else if (NAV_Status.state == MW_NAV_STATE_LAND_SETTLE && posControl.landingDelay > 0) {
uint16_t remainingHoldSec = MS2S(posControl.landingDelay - millis());
tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec);
messages[messageCount++] = messageBuf;
}
else {
#ifdef USE_FW_AUTOLAND
if (canFwLandingBeCancelled()) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS);
} else if (!FLIGHT_MODE(NAV_FW_AUTOLAND)) {
#endif
const char *navStateMessage = navigationStateMessage();
if (navStateMessage) {
messages[messageCount++] = navStateMessage;
}
#ifdef USE_FW_AUTOLAND
const char *navStateMessage = navigationStateMessage();
if (navStateMessage) {
messages[messageCount++] = navStateMessage;
}
#endif
}
#if defined(USE_SAFE_HOME)
const char *safehomeMessage = divertingToSafehomeMessage();
if (safehomeMessage) {
messages[messageCount++] = safehomeMessage;
}
#endif
if (FLIGHT_MODE(FAILSAFE_MODE)) {
// In FS mode while being armed too
if (FLIGHT_MODE(FAILSAFE_MODE)) { // In FS mode while armed
if (NAV_Status.state == MW_NAV_STATE_LAND_SETTLE && posControl.landingDelay > 0) {
uint16_t remainingHoldSec = MS2S(posControl.landingDelay - millis());
tfp_sprintf(messageBuf, "LANDING DELAY: %3u SECONDS", remainingHoldSec);
messages[messageCount++] = messageBuf;
}
const char *failsafePhaseMessage = osdFailsafePhaseMessage();
failsafeInfoMessage = osdFailsafeInfoMessage();
@ -5719,56 +5707,41 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
if (failsafeInfoMessage) {
messages[messageCount++] = failsafeInfoMessage;
}
} else if (isWaypointMissionRTHActive()) {
// if RTH activated whilst WP mode selected, remind pilot to cancel WP mode to exit RTH
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
}
} else { /* messages shown only when Failsafe, WP, RTH or Emergency Landing not active */
if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
messages[messageCount++] = navConfig()->fw.launch_manual_throttle ? OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH_MANUAL) :
OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
const char *launchStateMessage = fixedWingLaunchStateMessage();
if (launchStateMessage) {
messages[messageCount++] = launchStateMessage;
}
} else {
if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) {
// ALTHOLD might be enabled alongside ANGLE/HORIZON/ANGLEHOLD/ACRO
// when it doesn't require ANGLE mode (required only in FW
// right now). If it requires ANGLE, its display is handled by OSD_FLYMODE.
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD);
}
if (STATE(MULTIROTOR) && FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (posControl.cruise.multicopterSpeed >= 50.0f) {
char buf[6];
osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false);
tfp_sprintf(messageBuf, "(SPD %s)", buf);
} else {
strcpy(messageBuf, "(HOLD)");
} else if (STATE(LANDING_DETECTED)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_LANDED);
} else {
/* Messages shown only when Failsafe, WP, RTH or Emergency Landing not active and landed state inactive */
/* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL */
if (STATE(AIRPLANE)) { /* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL */
#ifdef USE_FW_AUTOLAND
if (canFwLandingBeCancelled()) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MOVE_STICKS);
} else
#endif
if (navGetCurrentStateFlags() & NAV_CTL_LAUNCH) {
messages[messageCount++] = navConfig()->fw.launch_manual_throttle ? OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH_MANUAL) :
OSD_MESSAGE_STR(OSD_MSG_AUTOLAUNCH);
const char *launchStateMessage = fixedWingLaunchStateMessage();
if (launchStateMessage) {
messages[messageCount++] = launchStateMessage;
}
messages[messageCount++] = messageBuf;
}
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM);
}
if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE)) {
} else if (FLIGHT_MODE(SOARING_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING);
} else if (isFwAutoModeActive(BOXAUTOTUNE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE);
if (FLIGHT_MODE(MANUAL_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTUNE_ACRO);
}
} else if (isFwAutoModeActive(BOXAUTOTRIM) && !feature(FEATURE_FW_AUTOTRIM)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM);
} else if (isFixedWingLevelTrimActive()) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLEVEL);
}
if (isFixedWingLevelTrimActive()) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOLEVEL);
}
if (FLIGHT_MODE(HEADFREE_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE);
}
if (FLIGHT_MODE(SOARING_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING);
}
if (posControl.flags.wpMissionPlannerActive) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER);
}
if (STATE(LANDING_DETECTED)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_LANDED);
}
if (IS_RC_MODE_ACTIVE(BOXANGLEHOLD)) {
int8_t navAngleHoldAxis = navCheckActiveAngleHoldAxis();
if (isAngleHoldLevel()) {
@ -5779,33 +5752,48 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ANGLEHOLD_PITCH);
}
}
} else if (STATE(MULTIROTOR)) { /* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL */
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (posControl.cruise.multicopterSpeed >= 50.0f) {
char buf[6];
osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false);
tfp_sprintf(messageBuf, "(SPD %s)", buf);
} else {
strcpy(messageBuf, "(HOLD)");
}
messages[messageCount++] = messageBuf;
} else if (FLIGHT_MODE(HEADFREE_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_HEADFREE);
}
if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) {
/* If ALTHOLD is separately enabled for multirotor together with ANGL/HORIZON/ACRO modes
* then ANGL/HORIZON/ACRO are indicated by the OSD_FLYMODE field.
* In this case indicate ALTHOLD is active via a system message */
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_ALTITUDE_HOLD);
}
}
}
} else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) {
} else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) { /* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL */
unsigned invalidIndex;
// Check if we're unable to arm for some reason
if (ARMING_FLAG(ARMING_DISABLED_INVALID_SETTING) && !settingsValidate(&invalidIndex)) {
const setting_t *setting = settingGet(invalidIndex);
settingGetName(setting, messageBuf);
for (int ii = 0; messageBuf[ii]; ii++) {
messageBuf[ii] = sl_toupper(messageBuf[ii]);
}
invertedInfoMessage = messageBuf;
messages[messageCount++] = invertedInfoMessage;
const setting_t *setting = settingGet(invalidIndex);
settingGetName(setting, messageBuf);
for (int ii = 0; messageBuf[ii]; ii++) {
messageBuf[ii] = sl_toupper(messageBuf[ii]);
}
invertedInfoMessage = messageBuf;
messages[messageCount++] = invertedInfoMessage;
invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING);
messages[messageCount++] = invertedInfoMessage;
invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_INVALID_SETTING);
messages[messageCount++] = invertedInfoMessage;
} else {
invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM);
messages[messageCount++] = invertedInfoMessage;
// Show the reason for not arming
messages[messageCount++] = osdArmingDisabledReasonMessage();
invertedInfoMessage = OSD_MESSAGE_STR(OSD_MSG_UNABLE_ARM);
messages[messageCount++] = invertedInfoMessage;
// Show the reason for not arming
messages[messageCount++] = osdArmingDisabledReasonMessage();
}
} else if (!ARMING_FLAG(ARMED)) {
if (isWaypointListValid()) {
@ -5814,6 +5802,10 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
/* Messages that are shown regardless of Arming state */
/* ADDS MAXIMUM OF 2 MESSAGES TO TOTAL NORMALLY, 1 MESSAGE DURING FAILSAFE */
if (posControl.flags.wpMissionPlannerActive && !FLIGHT_MODE(FAILSAFE_MODE)) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER);
}
// The following has been commented out as it will be added in #9688
// uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
@ -5844,7 +5836,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
} else if (message == invertedInfoMessage) {
TEXT_ATTRIBUTES_ADD_INVERTED(elemAttr);
}
// We're shoing either failsafePhaseMessage or
// We're showing either failsafePhaseMessage or
// navStateMessage. Don't BLINK here since
// having this text available might be crucial
// during a lost aircraft recovery and blinking