src/main/io/osd.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/time.h"
  21
  22 #include "config/parameter_group.h"
  23
  24 #include "drivers/osd.h"
  25 #include "drivers/display.h"
  26
  27 #ifndef OSD_ALTERNATE_LAYOUT_COUNT
  28 #define OSD_ALTERNATE_LAYOUT_COUNT 3
  29 #endif
  30 #define OSD_LAYOUT_COUNT (OSD_ALTERNATE_LAYOUT_COUNT + 1)
  31
  32 #define OSD_VISIBLE_FLAG    0x0800
  33 #define OSD_VISIBLE(x)      ((x) & OSD_VISIBLE_FLAG)
  34 #define OSD_POS(x,y)        ((x) | ((y) << 5))
  35 #define OSD_X(x)            ((x) & 0x001F)
  36 #define OSD_Y(x)            (((x) >> 5) & 0x001F)
  37 #define OSD_POS_MAX         0x3FF
  38 #define OSD_POS_MAX_CLI     (OSD_POS_MAX | OSD_VISIBLE_FLAG)
  39
  40 #define OSD_HOMING_LIM_H1 6
  41 #define OSD_HOMING_LIM_H2 16
  42 #define OSD_HOMING_LIM_H3 38
  43 #define OSD_HOMING_LIM_V1 5
  44 #define OSD_HOMING_LIM_V2 10
  45 #define OSD_HOMING_LIM_V3 15
  46
  47 // Message defines to be use in OSD and/or telemetry exports
  48 #define OSD_MSG_RC_RX_LINK_LOST     "!RC RX LINK LOST!"
  49 #define OSD_MSG_TURN_ARM_SW_OFF     "TURN ARM SWITCH OFF"
  50 #define OSD_MSG_DISABLED_BY_FS      "DISABLED BY FAILSAFE"
  51 #define OSD_MSG_AIRCRAFT_UNLEVEL    "AIRCRAFT IS NOT LEVEL"
  52 #define OSD_MSG_SENSORS_CAL         "SENSORS CALIBRATING"
  53 #define OSD_MSG_SYS_OVERLOADED      "SYSTEM OVERLOADED"
  54 #define OSD_MSG_WAITING_GPS_FIX     "WAITING FOR GPS FIX"
  55 #define OSD_MSG_DISABLE_NAV_FIRST   "DISABLE NAVIGATION FIRST"
  56 #define OSD_MSG_1ST_WP_TOO_FAR      "FIRST WAYPOINT IS TOO FAR"
  57 #define OSD_MSG_JUMP_WP_MISCONFIG   "JUMP WAYPOINT MISCONFIGURED"
  58 #define OSD_MSG_MAG_NOT_CAL         "COMPASS NOT CALIBRATED"
  59 #define OSD_MSG_ACC_NOT_CAL         "ACCELEROMETER NOT CALIBRATED"
  60 #define OSD_MSG_DISARM_1ST          "DISABLE ARM SWITCH FIRST"
  61 #define OSD_MSG_GYRO_FAILURE        "GYRO FAILURE"
  62 #define OSD_MSG_ACC_FAIL            "ACCELEROMETER FAILURE"
  63 #define OSD_MSG_MAG_FAIL            "COMPASS FAILURE"
  64 #define OSD_MSG_BARO_FAIL           "BAROMETER FAILURE"
  65 #define OSD_MSG_GPS_FAIL            "GPS FAILURE"
  66 #define OSD_MSG_RANGEFINDER_FAIL    "RANGE FINDER FAILURE"
  67 #define OSD_MSG_PITOT_FAIL          "PITOT METER FAILURE"
  68 #define OSD_MSG_HW_FAIL             "HARDWARE FAILURE"
  69 #define OSD_MSG_FS_EN               "FAILSAFE MODE ENABLED"
  70 #define OSD_MSG_KILL_SW_EN          "KILLSWITCH MODE ENABLED"
  71 #define OSD_MSG_NO_RC_LINK          "NO RC LINK"
  72 #define OSD_MSG_THROTTLE_NOT_LOW    "THROTTLE IS NOT LOW"
  73 #define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"
  74 #define OSD_MSG_AUTOTRIM_ACTIVE     "AUTOTRIM IS ACTIVE"
  75 #define OSD_MSG_NOT_ENOUGH_MEMORY   "NOT ENOUGH MEMORY"
  76 #define OSD_MSG_INVALID_SETTING     "INVALID SETTING"
  77 #define OSD_MSG_CLI_ACTIVE          "CLI IS ACTIVE"
  78 #define OSD_MSG_PWM_INIT_ERROR      "PWM INIT ERROR"
  79 #define OSD_MSG_NO_PREARM           "NO PREARM"
  80 #define OSD_MSG_DSHOT_BEEPER        "MOTOR BEEPER ACTIVE"
  81 #define OSD_MSG_RTH_FS              "(RTH)"
  82 #define OSD_MSG_EMERG_LANDING_FS    "(EMERGENCY LANDING)"
  83 #define OSD_MSG_MOVE_EXIT_FS        "!MOVE STICKS TO EXIT FS!"
  84 #define OSD_MSG_STARTING_RTH        "STARTING RTH"
  85 #define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
  86 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
  87 #define OSD_MSG_HOLDING_WAYPOINT    "HOLDING WAYPOINT"
  88 #define OSD_MSG_TO_WP               "TO WP"
  89 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
  90 #define OSD_MSG_WP_RTH_CANCEL       "CANCEL WP MODE TO EXIT RTH"
  91 #define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"
  92 #define OSD_MSG_LANDING             "LANDING"
  93 #define OSD_MSG_LOITERING_HOME      "LOITERING AROUND HOME"
  94 #define OSD_MSG_HOVERING            "HOVERING"
  95 #define OSD_MSG_LANDED              "LANDED"
  96 #define OSD_MSG_PREPARING_LAND      "PREPARING TO LAND"
  97 #define OSD_MSG_AUTOLAUNCH          "AUTOLAUNCH"
  98 #define OSD_MSG_ALTITUDE_HOLD       "(ALTITUDE HOLD)"
  99 #define OSD_MSG_AUTOTRIM            "(AUTOTRIM)"
 100 #define OSD_MSG_AUTOTUNE            "(AUTOTUNE)"
 101 #define OSD_MSG_HEADFREE            "(HEADFREE)"
 102 #define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"
 103
 104 #if defined(USE_SAFE_HOME)
 105 #define OSD_MSG_DIVERT_SAFEHOME     "DIVERTING TO SAFEHOME"
 106 #define OSD_MSG_LOITERING_SAFEHOME  "LOITERING AROUND SAFEHOME"
 107 #endif
 108
 109 typedef enum {
 110     OSD_RSSI_VALUE,
 111     OSD_MAIN_BATT_VOLTAGE,
 112     OSD_CROSSHAIRS,
 113     OSD_ARTIFICIAL_HORIZON,
 114     OSD_HORIZON_SIDEBARS,
 115     OSD_ONTIME,
 116     OSD_FLYTIME,
 117     OSD_FLYMODE,
 118     OSD_CRAFT_NAME,
 119     OSD_THROTTLE_POS,
 120     OSD_VTX_CHANNEL,
 121     OSD_CURRENT_DRAW,
 122     OSD_MAH_DRAWN,
 123     OSD_GPS_SPEED,
 124     OSD_GPS_SATS,
 125     OSD_ALTITUDE,
 126     OSD_ROLL_PIDS,
 127     OSD_PITCH_PIDS,
 128     OSD_YAW_PIDS,
 129     OSD_POWER,
 130     OSD_GPS_LON,
 131     OSD_GPS_LAT,
 132     OSD_HOME_DIR,
 133     OSD_HOME_DIST,
 134     OSD_HEADING,
 135     OSD_VARIO,
 136     OSD_VARIO_NUM,
 137     OSD_AIR_SPEED,
 138     OSD_ONTIME_FLYTIME,
 139     OSD_RTC_TIME,
 140     OSD_MESSAGES,
 141     OSD_GPS_HDOP,
 142     OSD_MAIN_BATT_CELL_VOLTAGE,
 143     OSD_THROTTLE_POS_AUTO_THR,
 144     OSD_HEADING_GRAPH,
 145     OSD_EFFICIENCY_MAH_PER_KM,
 146     OSD_WH_DRAWN,
 147     OSD_BATTERY_REMAINING_CAPACITY,
 148     OSD_BATTERY_REMAINING_PERCENT,
 149     OSD_EFFICIENCY_WH_PER_KM,
 150     OSD_TRIP_DIST,
 151     OSD_ATTITUDE_PITCH,
 152     OSD_ATTITUDE_ROLL,
 153     OSD_MAP_NORTH,
 154     OSD_MAP_TAKEOFF,
 155     OSD_RADAR,
 156     OSD_WIND_SPEED_HORIZONTAL,
 157     OSD_WIND_SPEED_VERTICAL,
 158     OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH,
 159     OSD_REMAINING_DISTANCE_BEFORE_RTH,
 160     OSD_HOME_HEADING_ERROR,
 161     OSD_COURSE_HOLD_ERROR,
 162     OSD_COURSE_HOLD_ADJUSTMENT,
 163     OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE,
 164     OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE,
 165     OSD_POWER_SUPPLY_IMPEDANCE,
 166     OSD_LEVEL_PIDS,
 167     OSD_POS_XY_PIDS,
 168     OSD_POS_Z_PIDS,
 169     OSD_VEL_XY_PIDS,
 170     OSD_VEL_Z_PIDS,
 171     OSD_HEADING_P,
 172     OSD_BOARD_ALIGN_ROLL,
 173     OSD_BOARD_ALIGN_PITCH,
 174     OSD_RC_EXPO,
 175     OSD_RC_YAW_EXPO,
 176     OSD_THROTTLE_EXPO,
 177     OSD_PITCH_RATE,
 178     OSD_ROLL_RATE,
 179     OSD_YAW_RATE,
 180     OSD_MANUAL_RC_EXPO,
 181     OSD_MANUAL_RC_YAW_EXPO,
 182     OSD_MANUAL_PITCH_RATE,
 183     OSD_MANUAL_ROLL_RATE,
 184     OSD_MANUAL_YAW_RATE,
 185     OSD_NAV_FW_CRUISE_THR,
 186     OSD_NAV_FW_PITCH2THR,
 187     OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE,
 188     OSD_DEBUG, // Intentionally absent from configurator and CMS. Set it from CLI.
 189     OSD_FW_ALT_PID_OUTPUTS,
 190     OSD_FW_POS_PID_OUTPUTS,
 191     OSD_MC_VEL_X_PID_OUTPUTS,
 192     OSD_MC_VEL_Y_PID_OUTPUTS,
 193     OSD_MC_VEL_Z_PID_OUTPUTS,
 194     OSD_MC_POS_XYZ_P_OUTPUTS,
 195     OSD_3D_SPEED,
 196     OSD_IMU_TEMPERATURE,
 197     OSD_BARO_TEMPERATURE,
 198     OSD_TEMP_SENSOR_0_TEMPERATURE,
 199     OSD_TEMP_SENSOR_1_TEMPERATURE,
 200     OSD_TEMP_SENSOR_2_TEMPERATURE,
 201     OSD_TEMP_SENSOR_3_TEMPERATURE,
 202     OSD_TEMP_SENSOR_4_TEMPERATURE,
 203     OSD_TEMP_SENSOR_5_TEMPERATURE,
 204     OSD_TEMP_SENSOR_6_TEMPERATURE,
 205     OSD_TEMP_SENSOR_7_TEMPERATURE,
 206     OSD_ALTITUDE_MSL,
 207     OSD_PLUS_CODE,
 208     OSD_MAP_SCALE,
 209     OSD_MAP_REFERENCE,
 210     OSD_GFORCE,
 211     OSD_GFORCE_X,
 212     OSD_GFORCE_Y,
 213     OSD_GFORCE_Z,
 214     OSD_RC_SOURCE,
 215     OSD_VTX_POWER,
 216     OSD_ESC_RPM,
 217     OSD_ESC_TEMPERATURE,
 218     OSD_AZIMUTH,
 219     OSD_CRSF_RSSI_DBM,
 220     OSD_CRSF_LQ,
 221     OSD_CRSF_SNR_DB,
 222     OSD_CRSF_TX_POWER,
 223     OSD_GVAR_0,
 224     OSD_GVAR_1,
 225     OSD_GVAR_2,
 226     OSD_GVAR_3,
 227     OSD_TPA,
 228     OSD_NAV_FW_CONTROL_SMOOTHNESS,
 229     OSD_VERSION,
 230     OSD_RANGEFINDER,
 231     OSD_PLIMIT_REMAINING_BURST_TIME,
 232     OSD_PLIMIT_ACTIVE_CURRENT_LIMIT,
 233     OSD_PLIMIT_ACTIVE_POWER_LIMIT,
 234     OSD_ITEM_COUNT // MUST BE LAST
 235 } osd_items_e;
 236
 237 typedef enum {
 238     OSD_UNIT_IMPERIAL,
 239     OSD_UNIT_METRIC,
 240     OSD_UNIT_UK, // Show speed in mp/h, other values in metric
 241
 242     OSD_UNIT_MAX = OSD_UNIT_UK,
 243 } osd_unit_e;
 244
 245 typedef enum {
 246     OSD_STATS_ENERGY_UNIT_MAH,
 247     OSD_STATS_ENERGY_UNIT_WH,
 248 } osd_stats_energy_unit_e;
 249
 250 typedef enum {
 251     OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY,
 252     OSD_STATS_MIN_VOLTAGE_UNIT_CELL,
 253 } osd_stats_min_voltage_unit_e;
 254
 255 typedef enum {
 256     OSD_CROSSHAIRS_STYLE_DEFAULT,
 257     OSD_CROSSHAIRS_STYLE_AIRCRAFT,
 258     OSD_CROSSHAIRS_STYLE_TYPE3,
 259     OSD_CROSSHAIRS_STYLE_TYPE4,
 260     OSD_CROSSHAIRS_STYLE_TYPE5,
 261     OSD_CROSSHAIRS_STYLE_TYPE6,
 262     OSD_CROSSHAIRS_STYLE_TYPE7,
 263 } osd_crosshairs_style_e;
 264
 265 typedef enum {
 266     OSD_SIDEBAR_SCROLL_NONE,
 267     OSD_SIDEBAR_SCROLL_ALTITUDE,
 268     OSD_SIDEBAR_SCROLL_SPEED,
 269     OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 270
 271     OSD_SIDEBAR_SCROLL_MAX = OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 272 } osd_sidebar_scroll_e;
 273
 274 typedef enum {
 275     OSD_ALIGN_LEFT,
 276     OSD_ALIGN_RIGHT
 277 } osd_alignment_e;
 278
 279 typedef enum {
 280     OSD_AHI_STYLE_DEFAULT,
 281     OSD_AHI_STYLE_LINE,
 282 } osd_ahi_style_e;
 283
 284 typedef enum {
 285     OSD_CRSF_LQ_TYPE1,
 286     OSD_CRSF_LQ_TYPE2,
 287 } osd_crsf_lq_format_e;
 288
 289 typedef struct osdLayoutsConfig_s {
 290     // Layouts
 291     uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
 292 } osdLayoutsConfig_t;
 293
 294 PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);
 295
 296 typedef struct osdConfig_s {
 297     // Alarms
 298     uint8_t rssi_alarm; // rssi %
 299     uint16_t time_alarm; // fly minutes
 300     uint16_t alt_alarm; // positive altitude in m
 301     uint16_t dist_alarm; // home distance in m
 302     uint16_t neg_alt_alarm; // abs(negative altitude) in m
 303     uint8_t current_alarm; // current consumption in A
 304     int16_t imu_temp_alarm_min;
 305     int16_t imu_temp_alarm_max;
 306     int16_t esc_temp_alarm_min;
 307     int16_t esc_temp_alarm_max;
 308     float gforce_alarm;
 309     float gforce_axis_alarm_min;
 310     float gforce_axis_alarm_max;
 311 #ifdef USE_SERIALRX_CRSF
 312     int8_t snr_alarm; //CRSF SNR alarm in dB
 313     int8_t link_quality_alarm;
 314 #endif
 315 #ifdef USE_BARO
 316     int16_t baro_temp_alarm_min;
 317     int16_t baro_temp_alarm_max;
 318 #endif
 319 #ifdef USE_TEMPERATURE_SENSOR
 320     osd_alignment_e temp_label_align;
 321 #endif
 322
 323     videoSystem_e video_system;
 324     uint8_t row_shiftdown;
 325
 326     // Preferences
 327     uint8_t main_voltage_decimals;
 328     uint8_t ahi_reverse_roll;
 329     uint8_t ahi_max_pitch;
 330     uint8_t crosshairs_style; // from osd_crosshairs_style_e
 331     int8_t horizon_offset;
 332     int8_t camera_uptilt;
 333     uint8_t camera_fov_h;
 334     uint8_t camera_fov_v;
 335     uint8_t hud_margin_h;
 336     uint8_t hud_margin_v;
 337     bool hud_homing;
 338     bool hud_homepoint;
 339     uint8_t hud_radar_disp;
 340     uint16_t hud_radar_range_min;
 341     uint16_t hud_radar_range_max;
 342     uint16_t hud_radar_nearest;
 343     uint8_t hud_wp_disp;
 344
 345     uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
 346     uint8_t right_sidebar_scroll; // from osd_sidebar_scroll_e
 347     uint8_t sidebar_scroll_arrows;
 348
 349     uint8_t units; // from osd_unit_e
 350     uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
 351     uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e
 352
 353 #ifdef USE_WIND_ESTIMATOR
 354     bool    estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
 355 #endif
 356
 357     uint8_t coordinate_digits;
 358
 359     bool osd_failsafe_switch_layout;
 360     uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
 361     uint8_t plus_code_short;
 362     uint8_t ahi_style;
 363     uint8_t force_grid;                 // Force a pixel based OSD to use grid mode.
 364     uint8_t ahi_bordered;               // Only used by the AHI widget
 365     uint8_t ahi_width;                  // In pixels, only used by the AHI widget
 366     uint8_t ahi_height;                 // In pixels, only used by the AHI widget
 367     int8_t  ahi_vertical_offset;        // Offset from center in pixels. Positive moves the AHI down. Widget only.
 368     int8_t sidebar_horizontal_offset;   // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
 369     uint8_t left_sidebar_scroll_step;   // How many units each sidebar step represents. 0 means the default value for the scroll type.
 370     uint8_t right_sidebar_scroll_step;  // Same as left_sidebar_scroll_step, but for the right sidebar.
 371     bool osd_home_position_arm_screen;
 372     uint8_t pan_servo_index;            // Index of the pan servo used for home direction offset
 373     int8_t pan_servo_pwm2centideg;      // Centidegrees of servo rotation per us pwm
 374     uint8_t crsf_lq_format;
 375     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
 376     uint8_t telemetry;                              // use telemetry on displayed pixel line 0
 377
 378 } osdConfig_t;
 379
 380 PG_DECLARE(osdConfig_t, osdConfig);
 381
 382 typedef struct displayPort_s displayPort_t;
 383 typedef struct displayCanvas_s displayCanvas_t;
 384
 385 void osdInit(displayPort_t *osdDisplayPort);
 386 bool osdDisplayIsPAL(void);
 387 void osdUpdate(timeUs_t currentTimeUs);
 388 void osdStartFullRedraw(void);
 389 // Sets a fixed OSD layout ignoring the RC input. Set it
 390 // to -1 to disable the override. If layout is >= 0 and
 391 // duration is > 0, the override is automatically cleared by
 392 // the OSD after the given duration. Otherwise, the caller must
 393 // explicitely remove it.
 394 void osdOverrideLayout(int layout, timeMs_t duration);
 395 // Returns the current current layout as well as wether its
 396 // set by the user configuration (modes, etc..) or by overriding it.
 397 int osdGetActiveLayout(bool *overridden);
 398 bool osdItemIsFixed(osd_items_e item);
 399
 400 displayPort_t *osdGetDisplayPort(void);
 401 displayCanvas_t *osdGetDisplayPortCanvas(void);
 402
 403 int16_t osdGetHeading(void);
 404 int32_t osdGetAltitude(void);
 405
 406 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 407 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 408 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 409 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D);
 410 // Returns a heading angle in degrees normalized to [0, 360).
 411 int osdGetHeadingAngle(int angle);
 412
 413 /**
 414  * @brief Get the OSD system message
 415  * @param buff pointer to the message buffer
 416  * @param buff_size size of the buffer array
 417  * @param isCenteredText if true, centered text based on buff_size
 418  * @return osd text attributes (Blink, Inverted, Solid)
 419  */
 420 textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenteredText);