Merge pull request #9769 from iNavFlight/MrD_Show-OSD-message-for-inflight-rearm-possible

Show a timeout for in flight rearming

src/main/fc/fc_core.c

@@ -507,6 +507,18 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
     return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
 }
 
+uint16_t emergencyInFlightRearmTimeMS(void)
+{
+    uint16_t rearmMS = 0;
+
+    if (STATE(IN_FLIGHT_EMERG_REARM)) {
+        timeMs_t currentTimeMs = millis();
+        rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
+    }
+
+    return rearmMS;
+}
+
 bool emergInflightRearmEnabled(void)
 {
     /* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
@@ -880,7 +892,6 @@ static void applyThrottleTiltCompensation(void)
 
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -899,7 +910,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         }
     }
 
-    if (armTime > 1 * USECS_PER_SEC) {     // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
+    if (armTime > 1 * USECS_PER_SEC) {  
+        // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
         DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
     }
 

src/main/fc/fc_core.h

@@ -42,7 +42,9 @@ timeUs_t getLastDisarmTimeUs(void);
 void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
+uint16_t emergencyInFlightRearmTimeMS(void);
 bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
+bool emergInflightRearmEnabled(void);
 
 bool areSensorsCalibrating(void);
 float getFlightTime(void);

src/main/io/osd.c

@@ -28,6 +28,7 @@
 #include <string.h>
 #include <ctype.h>
 #include <math.h>
+#include <inttypes.h>
 
 #include "platform.h"
 
@@ -4560,8 +4561,16 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
         displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
     }
 
+    uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
+
     if (savingSettings == true) {
         displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
+    } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
+        char emReArmMsg[23];
+        tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
+        tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
+        strcat(emReArmMsg, " **\0");
+        displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));
     } else if (notify_settings_saved > 0) {
         if (millis() > notify_settings_saved) {
             notify_settings_saved = 0;
@@ -4861,9 +4870,10 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
-    static uint8_t statsCurrentPage = 0;
+    static uint8_t  statsCurrentPage = 0;
-    static bool statsDisplayed = false;
+    static timeMs_t statsRefreshTime = 0;
-    static bool statsAutoPagingEnabled = true;
+    static bool     statsDisplayed = false;
+    static bool     statsAutoPagingEnabled = true;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -4931,25 +4941,24 @@ static void osdRefresh(timeUs_t currentTimeUs)
                 // Alternate screens for multi-page stats.
                 // Also, refreshes screen at swap interval for single-page stats.
                 if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
-                    if (statsCurrentPage == 0) {
+                    if (statsCurrentPage == 0)
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
                         statsCurrentPage = 1;
-                    }
                 } else {
-                    if (statsCurrentPage == 1) {
+                    if (statsCurrentPage == 1)
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
                         statsCurrentPage = 0;
-                    }
                 }
             } else {
                 // Process manual page change events for multi-page stats.
-                if (manualPageUpRequested) {
+                if (manualPageUpRequested)
-                    osdShowStats(statsSinglePageCompatible, 1);
                     statsCurrentPage = 1;
-                } else if (manualPageDownRequested) {
+                else if (manualPageDownRequested)
-                    osdShowStats(statsSinglePageCompatible, 0);
                     statsCurrentPage = 0;
-                }
+            }
+
+            // Only refresh the stats every 1/4 of a second.
+            if (statsRefreshTime <= millis()) {
+                statsRefreshTime =  millis() + 250;
+                osdShowStats(statsSinglePageCompatible, statsCurrentPage);
             }
         }
 
@@ -5306,9 +5315,16 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
         }
 
         /* Messages that are shown regardless of Arming state */
+        uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
 
         if (savingSettings == true) {
            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
+        } else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
+            char emReArmMsg[23];
+            tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
+            tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
+            strcat(emReArmMsg, " **\0");
+            messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);
         } else if (notify_settings_saved > 0) {
             if (millis() > notify_settings_saved) {
                 notify_settings_saved = 0;
@@ -5317,6 +5333,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
             }
         }
 
+
         if (messageCount > 0) {
             message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
             if (message == failsafeInfoMessage) {