add setting to disable ahi camera uptilt compensation.

docs/Settings.md

@@ -391,6 +391,7 @@
 | opflow_hardware | NONE |  |  | Selection of OPFLOW hardware. |
 | opflow_scale | 10.5 | 0 | 10000 |  |
 | osd_ahi_bordered | OFF |  |  | Shows a border/corners around the AHI region (pixel OSD only) |
+| osd_ahi_camera_uptilt_comp | ON |  |  | When set to `ON`, the AHI position is adjusted by `osd_camera_uptilt`. For example, with a cammera uptilt of 30 degrees and this setting set to `ON`, the AHI will appear in the middle of the OSD when the aircraft is pitched forward 30 degrees. |
 | osd_ahi_height | 162 |  | 255 | AHI height in pixels (pixel OSD only) |
 | osd_ahi_max_pitch | 20 | 10 | 90 | Max pitch, in degrees, for OSD artificial horizon |
 | osd_ahi_reverse_roll | OFF |  |  |  |
@@ -402,7 +403,7 @@
 | osd_baro_temp_alarm_min | -200 | -550 | 1250 | Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade) |
 | osd_camera_fov_h | 135 | 60 | 150 | Horizontal field of view for the camera in degres |
 | osd_camera_fov_v | 85 | 30 | 120 | Vertical field of view for the camera in degres |
-| osd_camera_uptilt | 0 | -40 | 80 | Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal |
+| osd_camera_uptilt | 0 | -40 | 80 | Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal. Used for correct display of HUD items and AHI (when enabled). |
 | osd_coordinate_digits | 9 | 8 | 11 |  |
 | osd_crosshairs_style | DEFAULT |  |  | To set the visual type for the crosshair |
 | osd_crsf_lq_format | TYPE1 |  |  | To select LQ format |

src/main/fc/settings.yaml

@@ -3177,11 +3177,16 @@ groups:
         min: -2
         max: 2
       - name: osd_camera_uptilt
-        description: "Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal"
+        description: "Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal. Used for correct display of HUD items and AHI (when enabled)."
         default_value: 0
         field: camera_uptilt
         min: -40
         max: 80
+      - name: osd_ahi_camera_uptilt_comp
+        description: "When set to `ON`, the AHI position is adjusted by `osd_camera_uptilt`. For example, with a cammera uptilt of 30 degrees and this setting set to `ON`, the AHI will appear in the middle of the OSD when the aircraft is pitched forward 30 degrees."
+        default_value: ON
+        field: ahi_camera_uptilt_comp
+        type: bool
       - name: osd_camera_fov_h
         description: "Horizontal field of view for the camera in degres"
         default_value: 135

src/main/io/osd.c

@@ -194,7 +194,7 @@ static bool osdDisplayHasCanvas;
 
 #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
 
-PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 4);
 PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 0);
 
 static int digitCount(int32_t value)
@@ -2030,7 +2030,7 @@ static bool osdDrawSingleElement(uint8_t item)
             rollAngle = DECIDEGREES_TO_RADIANS(attitude.values.roll);
             pitchAngle = DECIDEGREES_TO_RADIANS(attitude.values.pitch);
 #endif
-            pitchAngle -= DEGREES_TO_RADIANS(osdConfig()->camera_uptilt);
+            pitchAngle -= osdConfig()->ahi_camera_uptilt_comp ? DEGREES_TO_RADIANS(osdConfig()->camera_uptilt) : 0;
             if (osdConfig()->ahi_reverse_roll) {
                 rollAngle = -rollAngle;
             }
@@ -2897,6 +2897,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .crosshairs_style = SETTING_OSD_CROSSHAIRS_STYLE_DEFAULT,
     .horizon_offset = SETTING_OSD_HORIZON_OFFSET_DEFAULT,
     .camera_uptilt = SETTING_OSD_CAMERA_UPTILT_DEFAULT,
+    .ahi_camera_uptilt_comp = SETTING_OSD_AHI_CAMERA_UPTILT_COMP_DEFAULT,
     .camera_fov_h = SETTING_OSD_CAMERA_FOV_H_DEFAULT,
     .camera_fov_v = SETTING_OSD_CAMERA_FOV_V_DEFAULT,
     .hud_margin_h = SETTING_OSD_HUD_MARGIN_H_DEFAULT,

src/main/io/osd.h

@@ -332,6 +332,7 @@ typedef struct osdConfig_s {
     uint8_t crosshairs_style; // from osd_crosshairs_style_e
     int8_t horizon_offset;
     int8_t camera_uptilt;
+    bool ahi_camera_uptilt_comp;
     uint8_t camera_fov_h;
     uint8_t camera_fov_v;
     uint8_t hud_margin_h;