Merge pull request #10090 from breadoven/abo_osd_sys_msg_cleanup

OSD system message improvements

src/main/fc/rc_modes.c

@@ -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);

src/main/fc/rc_modes.h

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

src/main/flight/pid.c

@@ -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;
     }
 

src/main/flight/pid_autotune.c

@@ -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);

src/main/flight/servos.c

@@ -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)) {

src/main/io/osd.c

@@ -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))
@@ -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!
+        /* WARNING: messageBuf is shared, use accordingly */
-        // We might have up to 5 messages to show.
+        char messageBuf[MAX(SETTING_MAX_NAME_LENGTH, OSD_MESSAGE_LENGTH + 1)];
-        const char *messages[5];
+
+        /* 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()) {
+                /* ADDS MAXIMUM OF 3 MESSAGES TO TOTAL NORMALLY, 5 MESSAGES DURING FAILSAFE */
-#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);
-                }
                 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
                 }
-#endif
-                }
-
 #if defined(USE_SAFE_HOME)
                 const char *safehomeMessage = divertingToSafehomeMessage();
                 if (safehomeMessage) {
                     messages[messageCount++] = safehomeMessage;
                 }
 #endif
-                if (FLIGHT_MODE(FAILSAFE_MODE)) {
+                if (FLIGHT_MODE(FAILSAFE_MODE)) {   // In FS mode while armed
-                    // In FS mode while being armed too
+                    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 */
+            } else if (STATE(LANDING_DETECTED)) {
-                if (STATE(FIXED_WING_LEGACY) && (navGetCurrentStateFlags() & NAV_CTL_LAUNCH)) {
+                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;
                         }
-                } else {
+                    } else if (FLIGHT_MODE(SOARING_MODE)) {
-                    if (FLIGHT_MODE(NAV_ALTHOLD_MODE) && !navigationRequiresAngleMode()) {
+                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING);
-                        // ALTHOLD might be enabled alongside ANGLE/HORIZON/ANGLEHOLD/ACRO
+                    } else if (isFwAutoModeActive(BOXAUTOTUNE)) {
-                        // 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)");
-                        }
-                        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)) {
                         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)) {
-                    if (isFixedWingLevelTrimActive()) {
+                        messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_AUTOTRIM);
+                    } else 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()) {
@@ -5779,14 +5752,33 @@ 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++) {
@@ -5797,15 +5789,11 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
 
                 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();
-
             }
         } 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