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_RTH_FS              "(RTH)"
  80 #define OSD_MSG_EMERG_LANDING_FS    "(EMERGENCY LANDING)"
  81 #define OSD_MSG_MOVE_EXIT_FS        "!MOVE STICKS TO EXIT FS!"
  82 #define OSD_MSG_STARTING_RTH        "STARTING RTH"
  83 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
  84 #define OSD_MSG_HOLDING_WAYPOINT    "HOLDING WAYPOINT"
  85 #define OSD_MSG_TO_WP               "TO WP"
  86 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
  87 #define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"
  88 #define OSD_MSG_LANDING             "LANDING"
  89 #define OSD_MSG_LOITERING_HOME      "LOITERING AROUND HOME"
  90 #define OSD_MSG_HOVERING            "HOVERING"
  91 #define OSD_MSG_LANDED              "LANDED"
  92 #define OSD_MSG_PREPARING_LAND      "PREPARING TO LAND"
  93 #define OSD_MSG_AUTOLAUNCH          "AUTOLAUNCH"
  94 #define OSD_MSG_ALTITUDE_HOLD       "(ALTITUDE HOLD)"
  95 #define OSD_MSG_AUTOTRIM            "(AUTOTRIM)"
  96 #define OSD_MSG_AUTOTUNE            "(AUTOTUNE)"
  97 #define OSD_MSG_HEADFREE            "(HEADFREE)"
  98 #define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"
  99
 100 typedef enum {
 101     OSD_RSSI_VALUE,
 102     OSD_MAIN_BATT_VOLTAGE,
 103     OSD_CROSSHAIRS,
 104     OSD_ARTIFICIAL_HORIZON,
 105     OSD_HORIZON_SIDEBARS,
 106     OSD_ONTIME,
 107     OSD_FLYTIME,
 108     OSD_FLYMODE,
 109     OSD_CRAFT_NAME,
 110     OSD_THROTTLE_POS,
 111     OSD_VTX_CHANNEL,
 112     OSD_CURRENT_DRAW,
 113     OSD_MAH_DRAWN,
 114     OSD_GPS_SPEED,
 115     OSD_GPS_SATS,
 116     OSD_ALTITUDE,
 117     OSD_ROLL_PIDS,
 118     OSD_PITCH_PIDS,
 119     OSD_YAW_PIDS,
 120     OSD_POWER,
 121     OSD_GPS_LON,
 122     OSD_GPS_LAT,
 123     OSD_HOME_DIR,
 124     OSD_HOME_DIST,
 125     OSD_HEADING,
 126     OSD_VARIO,
 127     OSD_VARIO_NUM,
 128     OSD_AIR_SPEED,
 129     OSD_ONTIME_FLYTIME,
 130     OSD_RTC_TIME,
 131     OSD_MESSAGES,
 132     OSD_GPS_HDOP,
 133     OSD_MAIN_BATT_CELL_VOLTAGE,
 134     OSD_THROTTLE_POS_AUTO_THR,
 135     OSD_HEADING_GRAPH,
 136     OSD_EFFICIENCY_MAH_PER_KM,
 137     OSD_WH_DRAWN,
 138     OSD_BATTERY_REMAINING_CAPACITY,
 139     OSD_BATTERY_REMAINING_PERCENT,
 140     OSD_EFFICIENCY_WH_PER_KM,
 141     OSD_TRIP_DIST,
 142     OSD_ATTITUDE_PITCH,
 143     OSD_ATTITUDE_ROLL,
 144     OSD_MAP_NORTH,
 145     OSD_MAP_TAKEOFF,
 146     OSD_RADAR,
 147     OSD_WIND_SPEED_HORIZONTAL,
 148     OSD_WIND_SPEED_VERTICAL,
 149     OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH,
 150     OSD_REMAINING_DISTANCE_BEFORE_RTH,
 151     OSD_HOME_HEADING_ERROR,
 152     OSD_CRUISE_HEADING_ERROR,
 153     OSD_CRUISE_HEADING_ADJUSTMENT,
 154     OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE,
 155     OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE,
 156     OSD_POWER_SUPPLY_IMPEDANCE,
 157     OSD_LEVEL_PIDS,
 158     OSD_POS_XY_PIDS,
 159     OSD_POS_Z_PIDS,
 160     OSD_VEL_XY_PIDS,
 161     OSD_VEL_Z_PIDS,
 162     OSD_HEADING_P,
 163     OSD_BOARD_ALIGN_ROLL,
 164     OSD_BOARD_ALIGN_PITCH,
 165     OSD_RC_EXPO,
 166     OSD_RC_YAW_EXPO,
 167     OSD_THROTTLE_EXPO,
 168     OSD_PITCH_RATE,
 169     OSD_ROLL_RATE,
 170     OSD_YAW_RATE,
 171     OSD_MANUAL_RC_EXPO,
 172     OSD_MANUAL_RC_YAW_EXPO,
 173     OSD_MANUAL_PITCH_RATE,
 174     OSD_MANUAL_ROLL_RATE,
 175     OSD_MANUAL_YAW_RATE,
 176     OSD_NAV_FW_CRUISE_THR,
 177     OSD_NAV_FW_PITCH2THR,
 178     OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE,
 179     OSD_DEBUG, // Intentionally absent from configurator and CMS. Set it from CLI.
 180     OSD_FW_ALT_PID_OUTPUTS,
 181     OSD_FW_POS_PID_OUTPUTS,
 182     OSD_MC_VEL_X_PID_OUTPUTS,
 183     OSD_MC_VEL_Y_PID_OUTPUTS,
 184     OSD_MC_VEL_Z_PID_OUTPUTS,
 185     OSD_MC_POS_XYZ_P_OUTPUTS,
 186     OSD_3D_SPEED,
 187     OSD_IMU_TEMPERATURE,
 188     OSD_BARO_TEMPERATURE,
 189     OSD_TEMP_SENSOR_0_TEMPERATURE,
 190     OSD_TEMP_SENSOR_1_TEMPERATURE,
 191     OSD_TEMP_SENSOR_2_TEMPERATURE,
 192     OSD_TEMP_SENSOR_3_TEMPERATURE,
 193     OSD_TEMP_SENSOR_4_TEMPERATURE,
 194     OSD_TEMP_SENSOR_5_TEMPERATURE,
 195     OSD_TEMP_SENSOR_6_TEMPERATURE,
 196     OSD_TEMP_SENSOR_7_TEMPERATURE,
 197     OSD_ALTITUDE_MSL,
 198     OSD_PLUS_CODE,
 199     OSD_MAP_SCALE,
 200     OSD_MAP_REFERENCE,
 201     OSD_GFORCE,
 202     OSD_GFORCE_X,
 203     OSD_GFORCE_Y,
 204     OSD_GFORCE_Z,
 205     OSD_RC_SOURCE,
 206     OSD_VTX_POWER,
 207     OSD_ESC_RPM,
 208     OSD_ESC_TEMPERATURE,
 209     OSD_AZIMUTH,
 210     OSD_CRSF_RSSI_DBM,
 211     OSD_CRSF_LQ,
 212     OSD_CRSF_SNR_DB,
 213     OSD_CRSF_TX_POWER,
 214     OSD_GVAR_0,
 215     OSD_GVAR_1,
 216     OSD_GVAR_2,
 217     OSD_GVAR_3,
 218     OSD_TPA,
 219     OSD_ITEM_COUNT // MUST BE LAST
 220 } osd_items_e;
 221
 222 typedef enum {
 223     OSD_UNIT_IMPERIAL,
 224     OSD_UNIT_METRIC,
 225     OSD_UNIT_UK, // Show speed in mp/h, other values in metric
 226
 227     OSD_UNIT_MAX = OSD_UNIT_UK,
 228 } osd_unit_e;
 229
 230 typedef enum {
 231     OSD_STATS_ENERGY_UNIT_MAH,
 232     OSD_STATS_ENERGY_UNIT_WH,
 233 } osd_stats_energy_unit_e;
 234
 235 typedef enum {
 236     OSD_CROSSHAIRS_STYLE_DEFAULT,
 237     OSD_CROSSHAIRS_STYLE_AIRCRAFT,
 238     OSD_CROSSHAIRS_STYLE_TYPE3,
 239     OSD_CROSSHAIRS_STYLE_TYPE4,
 240     OSD_CROSSHAIRS_STYLE_TYPE5,
 241     OSD_CROSSHAIRS_STYLE_TYPE6,
 242     OSD_CROSSHAIRS_STYLE_TYPE7,
 243 } osd_crosshairs_style_e;
 244
 245 typedef enum {
 246     OSD_SIDEBAR_SCROLL_NONE,
 247     OSD_SIDEBAR_SCROLL_ALTITUDE,
 248     OSD_SIDEBAR_SCROLL_GROUND_SPEED,
 249     OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 250
 251     OSD_SIDEBAR_SCROLL_MAX = OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 252 } osd_sidebar_scroll_e;
 253
 254 typedef enum {
 255     OSD_ALIGN_LEFT,
 256     OSD_ALIGN_RIGHT
 257 } osd_alignment_e;
 258
 259 typedef enum {
 260     OSD_AHI_STYLE_DEFAULT,
 261     OSD_AHI_STYLE_LINE,
 262 } osd_ahi_style_e;
 263
 264 typedef enum {
 265     OSD_CRSF_LQ_TYPE1,
 266     OSD_CRSF_LQ_TYPE2,
 267 } osd_crsf_lq_format_e;
 268
 269 typedef struct osdLayoutsConfig_s {
 270     // Layouts
 271     uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
 272 } osdLayoutsConfig_t;
 273
 274 PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);
 275
 276 typedef struct osdConfig_s {
 277     // Alarms
 278     uint8_t rssi_alarm; // rssi %
 279     uint16_t time_alarm; // fly minutes
 280     uint16_t alt_alarm; // positive altitude in m
 281     uint16_t dist_alarm; // home distance in m
 282     uint16_t neg_alt_alarm; // abs(negative altitude) in m
 283     uint8_t current_alarm; // current consumption in A
 284     int16_t imu_temp_alarm_min;
 285     int16_t imu_temp_alarm_max;
 286     int16_t esc_temp_alarm_min;
 287     int16_t esc_temp_alarm_max;
 288     float gforce_alarm;
 289     float gforce_axis_alarm_min;
 290     float gforce_axis_alarm_max;
 291 #ifdef USE_SERIALRX_CRSF
 292     int16_t snr_alarm; //CRSF SNR alarm in dB
 293     int8_t link_quality_alarm;
 294 #endif
 295 #ifdef USE_BARO
 296     int16_t baro_temp_alarm_min;
 297     int16_t baro_temp_alarm_max;
 298 #endif
 299 #ifdef USE_TEMPERATURE_SENSOR
 300     osd_alignment_e temp_label_align;
 301 #endif
 302
 303     videoSystem_e video_system;
 304     uint8_t row_shiftdown;
 305
 306     // Preferences
 307     uint8_t main_voltage_decimals;
 308     uint8_t ahi_reverse_roll;
 309     uint8_t ahi_max_pitch;
 310     uint8_t crosshairs_style; // from osd_crosshairs_style_e
 311     int8_t horizon_offset;
 312     int8_t camera_uptilt;
 313     uint8_t camera_fov_h;
 314     uint8_t camera_fov_v;
 315     uint8_t hud_margin_h;
 316     uint8_t hud_margin_v;
 317     bool hud_homing;
 318     bool hud_homepoint;
 319     uint8_t hud_radar_disp;
 320     uint16_t hud_radar_range_min;
 321     uint16_t hud_radar_range_max;
 322     uint16_t hud_radar_nearest;
 323     uint8_t hud_wp_disp;
 324
 325     uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
 326     uint8_t right_sidebar_scroll; // from osd_sidebar_scroll_e
 327     uint8_t sidebar_scroll_arrows;
 328
 329     uint8_t units; // from osd_unit_e
 330     uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
 331
 332     bool    estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
 333     uint8_t coordinate_digits;
 334
 335     bool osd_failsafe_switch_layout;
 336     uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
 337     uint8_t osd_ahi_style;
 338     uint8_t force_grid;                 // Force a pixel based OSD to use grid mode.
 339     uint8_t ahi_bordered;               // Only used by the AHI widget
 340     uint8_t ahi_width;                  // In pixels, only used by the AHI widget
 341     uint8_t ahi_height;                 // In pixels, only used by the AHI widget
 342     int8_t  ahi_vertical_offset;        // Offset from center in pixels. Positive moves the AHI down. Widget only.
 343     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.
 344     uint8_t left_sidebar_scroll_step;   // How many units each sidebar step represents. 0 means the default value for the scroll type.
 345     uint8_t right_sidebar_scroll_step;  // Same as left_sidebar_scroll_step, but for the right sidebar.
 346
 347     uint8_t crsf_lq_format;
 348
 349 } osdConfig_t;
 350
 351 PG_DECLARE(osdConfig_t, osdConfig);
 352
 353 typedef struct displayPort_s displayPort_t;
 354 typedef struct displayCanvas_s displayCanvas_t;
 355
 356 void osdInit(displayPort_t *osdDisplayPort);
 357 bool osdDisplayIsPAL(void);
 358 void osdUpdate(timeUs_t currentTimeUs);
 359 void osdStartFullRedraw(void);
 360 // Sets a fixed OSD layout ignoring the RC input. Set it
 361 // to -1 to disable the override. If layout is >= 0 and
 362 // duration is > 0, the override is automatically cleared by
 363 // the OSD after the given duration. Otherwise, the caller must
 364 // explicitely remove it.
 365 void osdOverrideLayout(int layout, timeMs_t duration);
 366 // Returns the current current layout as well as wether its
 367 // set by the user configuration (modes, etc..) or by overriding it.
 368 int osdGetActiveLayout(bool *overridden);
 369 bool osdItemIsFixed(osd_items_e item);
 370
 371 displayPort_t *osdGetDisplayPort(void);
 372 displayCanvas_t *osdGetDisplayPortCanvas(void);
 373
 374 int16_t osdGetHeading(void);
 375 int32_t osdGetAltitude(void);
 376
 377 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 378 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
 379 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 380 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D);
 381 // Returns a heading angle in degrees normalized to [0, 360).
 382 int osdGetHeadingAngle(int angle);
 383
 384 /**
 385  * @brief Get the OSD system message
 386  * @param buff pointer to the message buffer
 387  * @param buff_size size of the buffer array
 388  * @param isCenteredText if true, centered text based on buff_size
 389  * @return osd text attributes (Blink, Inverted, Solid)
 390  */
 391 textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenteredText);