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 // 00vb yyyy yyxx xxxx
  33 // (visible)(blink)(yCoord)(xCoord)
  34
  35 #define OSD_VISIBLE_FLAG    0x2000
  36 #define OSD_VISIBLE(x)      ((x) & OSD_VISIBLE_FLAG)
  37
  38 #define OSD_POS(x,y)        (((x) & 0x3F) | (((y) & 0x3F) << 6))
  39 #define OSD_X(x)            ((x) & 0x3F)
  40 #define OSD_Y(x)            (((x) >> 6) & 0x3F)
  41 #define OSD_POS_MAX         0xFFF
  42
  43 // For DJI compatibility
  44 #define OSD_VISIBLE_FLAG_SD 0x0800
  45 #define OSD_POS_SD(x,y)     (((x) & 0x1F) | (((y) & 0x1F) << 5))
  46
  47 #define OSD_POS_MAX_CLI     (OSD_POS_MAX | OSD_VISIBLE_FLAG)
  48
  49 #define OSD_HOMING_LIM_H1 6
  50 #define OSD_HOMING_LIM_H2 16
  51 #define OSD_HOMING_LIM_H3 38
  52 #define OSD_HOMING_LIM_V1 5
  53 #define OSD_HOMING_LIM_V2 10
  54 #define OSD_HOMING_LIM_V3 15
  55
  56 // Message defines to be use in OSD and/or telemetry exports
  57 #define OSD_MSG_RC_RX_LINK_LOST     "!RC RX LINK LOST!"
  58 #define OSD_MSG_TURN_ARM_SW_OFF     "TURN ARM SWITCH OFF"
  59 #define OSD_MSG_DISABLED_BY_FS      "DISABLED BY FAILSAFE"
  60 #define OSD_MSG_AIRCRAFT_UNLEVEL    "AIRCRAFT IS NOT LEVEL"
  61 #define OSD_MSG_SENSORS_CAL         "SENSORS CALIBRATING"
  62 #define OSD_MSG_SYS_OVERLOADED      "SYSTEM OVERLOADED"
  63 #define OSD_MSG_WAITING_GPS_FIX     "WAITING FOR GPS FIX"
  64 #define OSD_MSG_DISABLE_NAV_FIRST   "DISABLE NAVIGATION FIRST"
  65 #define OSD_MSG_JUMP_WP_MISCONFIG   "JUMP WAYPOINT MISCONFIGURED"
  66 #define OSD_MSG_MAG_NOT_CAL         "COMPASS NOT CALIBRATED"
  67 #define OSD_MSG_ACC_NOT_CAL         "ACCELEROMETER NOT CALIBRATED"
  68 #define OSD_MSG_DISARM_1ST          "DISABLE ARM SWITCH FIRST"
  69 #define OSD_MSG_GYRO_FAILURE        "GYRO FAILURE"
  70 #define OSD_MSG_ACC_FAIL            "ACCELEROMETER FAILURE"
  71 #define OSD_MSG_MAG_FAIL            "COMPASS FAILURE"
  72 #define OSD_MSG_BARO_FAIL           "BAROMETER FAILURE"
  73 #define OSD_MSG_GPS_FAIL            "GPS FAILURE"
  74 #define OSD_MSG_RANGEFINDER_FAIL    "RANGE FINDER FAILURE"
  75 #define OSD_MSG_PITOT_FAIL          "PITOT METER FAILURE"
  76 #define OSD_MSG_HW_FAIL             "HARDWARE FAILURE"
  77 #define OSD_MSG_FS_EN               "FAILSAFE MODE ENABLED"
  78 #define OSD_MSG_NO_RC_LINK          "NO RC LINK"
  79 #define OSD_MSG_THROTTLE_NOT_LOW    "THROTTLE IS NOT LOW"
  80 #define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"
  81 #define OSD_MSG_AUTOTRIM_ACTIVE     "AUTOTRIM IS ACTIVE"
  82 #define OSD_MSG_NOT_ENOUGH_MEMORY   "NOT ENOUGH MEMORY"
  83 #define OSD_MSG_INVALID_SETTING     "INVALID SETTING"
  84 #define OSD_MSG_CLI_ACTIVE          "CLI IS ACTIVE"
  85 #define OSD_MSG_PWM_INIT_ERROR      "PWM INIT ERROR"
  86 #define OSD_MSG_NO_PREARM           "NO PREARM"
  87 #define OSD_MSG_DSHOT_BEEPER        "MOTOR BEEPER ACTIVE"
  88 #define OSD_MSG_RTH_FS              "(RTH)"
  89 #define OSD_MSG_EMERG_LANDING_FS    "(EMERGENCY LANDING)"
  90 #define OSD_MSG_MOVE_EXIT_FS        "!MOVE STICKS TO EXIT FS!"
  91 #define OSD_MSG_STARTING_RTH        "STARTING RTH"
  92 #define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
  93 #define OSD_MSG_RTH_TRACKBACK       "RTH BACK TRACKING"
  94 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
  95 #define OSD_MSG_RTH_LINEAR_DESCENT  "BEGIN LINEAR DESCENT"
  96 #define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
  97 #define OSD_MSG_WP_LANDED           "WP END>LANDED"
  98 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
  99 #define OSD_MSG_ADJUSTING_WP_ALT    "ADJUSTING WP ALTITUDE"
 100 #define OSD_MSG_MISSION_PLANNER     "(WP MISSION PLANNER)"
 101 #define OSD_MSG_WP_RTH_CANCEL       "CANCEL WP TO EXIT RTH"
 102 #define OSD_MSG_WP_MISSION_LOADED   "* MISSION LOADED *"
 103 #define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"
 104 #define OSD_MSG_LANDING             "LANDING"
 105 #define OSD_MSG_LOITERING_HOME      "LOITERING AROUND HOME"
 106 #define OSD_MSG_HOVERING            "HOVERING"
 107 #define OSD_MSG_LANDED              "LANDED"
 108 #define OSD_MSG_PREPARING_LAND      "PREPARING TO LAND"
 109 #define OSD_MSG_AUTOLAUNCH          "AUTOLAUNCH"
 110 #define OSD_MSG_AUTOLAUNCH_MANUAL   "AUTOLAUNCH (MANUAL)"
 111 #define OSD_MSG_ALTITUDE_HOLD       "(ALTITUDE HOLD)"
 112 #define OSD_MSG_AUTOTRIM            "(AUTOTRIM)"
 113 #define OSD_MSG_AUTOTUNE            "(AUTOTUNE)"
 114 #define OSD_MSG_AUTOTUNE_ACRO       "SWITCH TO ACRO"
 115 #define OSD_MSG_AUTOLEVEL           "(AUTO LEVEL TRIM)"
 116 #define OSD_MSG_HEADFREE            "(HEADFREE)"
 117 #define OSD_MSG_NAV_SOARING         "(SOARING)"
 118 #define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"
 119 #define OSD_MSG_SAVING_SETTNGS      "** SAVING SETTINGS **"
 120 #define OSD_MSG_SETTINGS_SAVED      "** SETTINGS SAVED **"
 121 #define OSD_MSG_ANGLEHOLD_ROLL      "(ANGLEHOLD ROLL)"
 122 #define OSD_MSG_ANGLEHOLD_PITCH     "(ANGLEHOLD PITCH)"
 123 #define OSD_MSG_ANGLEHOLD_LEVEL     "(ANGLEHOLD LEVEL)"
 124 #define OSD_MSG_MOVE_STICKS         "MOVE STICKS TO ABORT"
 125
 126 #ifdef USE_DEV_TOOLS
 127 #define OSD_MSG_GRD_TEST_MODE       "GRD TEST > MOTORS DISABLED"
 128 #endif
 129
 130 #if defined(USE_SAFE_HOME)
 131 #define OSD_MSG_DIVERT_SAFEHOME     "DIVERTING TO SAFEHOME"
 132 #define OSD_MSG_LOITERING_SAFEHOME  "LOITERING AROUND SAFEHOME"
 133 #endif
 134
 135 typedef enum {
 136     OSD_RSSI_VALUE,
 137     OSD_MAIN_BATT_VOLTAGE,
 138     OSD_CROSSHAIRS,
 139     OSD_ARTIFICIAL_HORIZON,
 140     OSD_HORIZON_SIDEBARS,
 141     OSD_ONTIME,
 142     OSD_FLYTIME,
 143     OSD_FLYMODE,
 144     OSD_CRAFT_NAME,
 145     OSD_THROTTLE_POS,
 146     OSD_VTX_CHANNEL,
 147     OSD_CURRENT_DRAW,
 148     OSD_MAH_DRAWN,
 149     OSD_GPS_SPEED,
 150     OSD_GPS_SATS,
 151     OSD_ALTITUDE,
 152     OSD_ROLL_PIDS,
 153     OSD_PITCH_PIDS,
 154     OSD_YAW_PIDS,
 155     OSD_POWER,
 156     OSD_GPS_LON,
 157     OSD_GPS_LAT,
 158     OSD_HOME_DIR,
 159     OSD_HOME_DIST,
 160     OSD_HEADING,
 161     OSD_VARIO,
 162     OSD_VARIO_NUM,
 163     OSD_AIR_SPEED,
 164     OSD_ONTIME_FLYTIME,
 165     OSD_RTC_TIME,
 166     OSD_MESSAGES,
 167     OSD_GPS_HDOP,
 168     OSD_MAIN_BATT_CELL_VOLTAGE,
 169     OSD_SCALED_THROTTLE_POS,
 170     OSD_HEADING_GRAPH,
 171     OSD_EFFICIENCY_MAH_PER_KM,
 172     OSD_WH_DRAWN,
 173     OSD_BATTERY_REMAINING_CAPACITY,
 174     OSD_BATTERY_REMAINING_PERCENT,
 175     OSD_EFFICIENCY_WH_PER_KM,
 176     OSD_TRIP_DIST,
 177     OSD_ATTITUDE_PITCH,
 178     OSD_ATTITUDE_ROLL,
 179     OSD_MAP_NORTH,
 180     OSD_MAP_TAKEOFF,
 181     OSD_RADAR,
 182     OSD_WIND_SPEED_HORIZONTAL,
 183     OSD_WIND_SPEED_VERTICAL,
 184     OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH,
 185     OSD_REMAINING_DISTANCE_BEFORE_RTH,
 186     OSD_HOME_HEADING_ERROR,
 187     OSD_COURSE_HOLD_ERROR,
 188     OSD_COURSE_HOLD_ADJUSTMENT,
 189     OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE,
 190     OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE,
 191     OSD_POWER_SUPPLY_IMPEDANCE,
 192     OSD_LEVEL_PIDS,
 193     OSD_POS_XY_PIDS,
 194     OSD_POS_Z_PIDS,
 195     OSD_VEL_XY_PIDS,
 196     OSD_VEL_Z_PIDS,
 197     OSD_HEADING_P,
 198     OSD_BOARD_ALIGN_ROLL,
 199     OSD_BOARD_ALIGN_PITCH,
 200     OSD_RC_EXPO,
 201     OSD_RC_YAW_EXPO,
 202     OSD_THROTTLE_EXPO,
 203     OSD_PITCH_RATE,
 204     OSD_ROLL_RATE,
 205     OSD_YAW_RATE,
 206     OSD_MANUAL_RC_EXPO,
 207     OSD_MANUAL_RC_YAW_EXPO,
 208     OSD_MANUAL_PITCH_RATE,
 209     OSD_MANUAL_ROLL_RATE,
 210     OSD_MANUAL_YAW_RATE,
 211     OSD_NAV_FW_CRUISE_THR,
 212     OSD_NAV_FW_PITCH2THR,
 213     OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE,
 214     OSD_DEBUG, // Intentionally absent from configurator and CMS. Set it from CLI.
 215     OSD_FW_ALT_PID_OUTPUTS,
 216     OSD_FW_POS_PID_OUTPUTS,
 217     OSD_MC_VEL_X_PID_OUTPUTS,
 218     OSD_MC_VEL_Y_PID_OUTPUTS,
 219     OSD_MC_VEL_Z_PID_OUTPUTS,
 220     OSD_MC_POS_XYZ_P_OUTPUTS,
 221     OSD_3D_SPEED,
 222     OSD_IMU_TEMPERATURE,
 223     OSD_BARO_TEMPERATURE,
 224     OSD_TEMP_SENSOR_0_TEMPERATURE,
 225     OSD_TEMP_SENSOR_1_TEMPERATURE,
 226     OSD_TEMP_SENSOR_2_TEMPERATURE,
 227     OSD_TEMP_SENSOR_3_TEMPERATURE,
 228     OSD_TEMP_SENSOR_4_TEMPERATURE,
 229     OSD_TEMP_SENSOR_5_TEMPERATURE,
 230     OSD_TEMP_SENSOR_6_TEMPERATURE,
 231     OSD_TEMP_SENSOR_7_TEMPERATURE,
 232     OSD_ALTITUDE_MSL,
 233     OSD_PLUS_CODE,
 234     OSD_MAP_SCALE,
 235     OSD_MAP_REFERENCE,
 236     OSD_GFORCE,
 237     OSD_GFORCE_X,
 238     OSD_GFORCE_Y,
 239     OSD_GFORCE_Z,
 240     OSD_RC_SOURCE,
 241     OSD_VTX_POWER,
 242     OSD_ESC_RPM,
 243     OSD_ESC_TEMPERATURE,
 244     OSD_AZIMUTH,
 245     OSD_CRSF_RSSI_DBM,
 246     OSD_CRSF_LQ,
 247     OSD_CRSF_SNR_DB,
 248     OSD_CRSF_TX_POWER,
 249     OSD_GVAR_0,
 250     OSD_GVAR_1,
 251     OSD_GVAR_2,
 252     OSD_GVAR_3,
 253     OSD_TPA,
 254     OSD_NAV_FW_CONTROL_SMOOTHNESS,
 255     OSD_VERSION,
 256     OSD_RANGEFINDER,
 257     OSD_PLIMIT_REMAINING_BURST_TIME,
 258     OSD_PLIMIT_ACTIVE_CURRENT_LIMIT,
 259     OSD_PLIMIT_ACTIVE_POWER_LIMIT,
 260     OSD_GLIDESLOPE,
 261     OSD_GPS_MAX_SPEED,
 262     OSD_3D_MAX_SPEED,
 263     OSD_AIR_MAX_SPEED,
 264     OSD_ACTIVE_PROFILE,
 265     OSD_MISSION,
 266     OSD_SWITCH_INDICATOR_0,
 267     OSD_SWITCH_INDICATOR_1,
 268     OSD_SWITCH_INDICATOR_2,
 269     OSD_SWITCH_INDICATOR_3,
 270     OSD_TPA_TIME_CONSTANT,
 271     OSD_FW_LEVEL_TRIM,
 272     OSD_GLIDE_TIME_REMAINING,
 273     OSD_GLIDE_RANGE,
 274     OSD_CLIMB_EFFICIENCY,
 275     OSD_NAV_WP_MULTI_MISSION_INDEX,
 276     OSD_GROUND_COURSE,      // 140
 277     OSD_CROSS_TRACK_ERROR,
 278     OSD_PILOT_NAME,
 279     OSD_PAN_SERVO_CENTRED,
 280     OSD_MULTI_FUNCTION,
 281     OSD_ODOMETER,
 282     OSD_PILOT_LOGO,
 283     OSD_CUSTOM_ELEMENT_1,
 284     OSD_CUSTOM_ELEMENT_2,
 285     OSD_CUSTOM_ELEMENT_3,
 286     OSD_ADSB_WARNING, //150
 287     OSD_ADSB_INFO,
 288     OSD_BLACKBOX,
 289     OSD_FORMATION_FLIGHT, //153
 290     OSD_ITEM_COUNT // MUST BE LAST
 291 } osd_items_e;
 292
 293 typedef enum {
 294     OSD_UNIT_IMPERIAL,
 295     OSD_UNIT_METRIC,
 296     OSD_UNIT_METRIC_MPH,    // Old UK units, all metric except speed in mph
 297     OSD_UNIT_UK,            // Show everything in imperial, temperature in C
 298     OSD_UNIT_GA,            // General Aviation: Knots, Nautical Miles, Feet, Degrees C
 299
 300     OSD_UNIT_MAX = OSD_UNIT_GA,
 301 } osd_unit_e;
 302
 303 typedef enum {
 304     OSD_STATS_ENERGY_UNIT_MAH,
 305     OSD_STATS_ENERGY_UNIT_WH,
 306 } osd_stats_energy_unit_e;
 307
 308 typedef enum {
 309     OSD_CROSSHAIRS_STYLE_DEFAULT,
 310     OSD_CROSSHAIRS_STYLE_AIRCRAFT,
 311     OSD_CROSSHAIRS_STYLE_TYPE3,
 312     OSD_CROSSHAIRS_STYLE_TYPE4,
 313     OSD_CROSSHAIRS_STYLE_TYPE5,
 314     OSD_CROSSHAIRS_STYLE_TYPE6,
 315     OSD_CROSSHAIRS_STYLE_TYPE7,
 316 } osd_crosshairs_style_e;
 317
 318 typedef enum {
 319     OSD_SIDEBAR_SCROLL_NONE,
 320     OSD_SIDEBAR_SCROLL_ALTITUDE,
 321     OSD_SIDEBAR_SCROLL_SPEED,
 322     OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 323
 324     OSD_SIDEBAR_SCROLL_MAX = OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
 325 } osd_sidebar_scroll_e;
 326
 327 typedef enum {
 328     OSD_ALIGN_LEFT,
 329     OSD_ALIGN_RIGHT
 330 } osd_alignment_e;
 331
 332 typedef enum {
 333     OSD_AHI_STYLE_DEFAULT,
 334     OSD_AHI_STYLE_LINE,
 335 } osd_ahi_style_e;
 336
 337 typedef enum {
 338     OSD_CRSF_LQ_TYPE1,
 339     OSD_CRSF_LQ_TYPE2,
 340     OSD_CRSF_LQ_TYPE3
 341 } osd_crsf_lq_format_e;
 342
 343 typedef struct osdLayoutsConfig_s {
 344     // Layouts
 345     uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
 346 } osdLayoutsConfig_t;
 347
 348 PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);
 349
 350 #define OSD_SWITCH_INDICATOR_NAME_LENGTH 4
 351
 352 typedef struct osdConfig_s {
 353     // Alarms
 354     uint8_t         rssi_alarm;                         // rssi %
 355     uint16_t        time_alarm;                         // fly minutes
 356     uint16_t        alt_alarm;                          // positive altitude in m
 357     uint16_t        dist_alarm;                         // home distance in m
 358     uint16_t        neg_alt_alarm;                      // abs(negative altitude) in m
 359     uint8_t         current_alarm;                      // current consumption in A
 360     int16_t         imu_temp_alarm_min;
 361     int16_t         imu_temp_alarm_max;
 362     int16_t         esc_temp_alarm_min;
 363     int16_t         esc_temp_alarm_max;
 364     float           gforce_alarm;
 365     float           gforce_axis_alarm_min;
 366     float           gforce_axis_alarm_max;
 367 #ifdef USE_SERIALRX_CRSF
 368     int8_t          snr_alarm;                          //CRSF SNR alarm in dB
 369     int8_t          link_quality_alarm;
 370     int16_t         rssi_dbm_alarm;                     // in dBm
 371     int16_t         rssi_dbm_max;                       // Perfect RSSI. Set to High end of curve. RSSI at 100%
 372     int16_t         rssi_dbm_min;                       // Worst RSSI. Set to low end of curve or RX sensitivity level. RSSI at 0%
 373 #endif
 374 #ifdef USE_BARO
 375     int16_t         baro_temp_alarm_min;
 376     int16_t         baro_temp_alarm_max;
 377 #endif
 378 #ifdef USE_TEMPERATURE_SENSOR
 379     osd_alignment_e temp_label_align;
 380 #endif
 381 #ifdef USE_PITOT
 382     float           airspeed_alarm_min;
 383     float           airspeed_alarm_max;
 384 #endif
 385
 386     videoSystem_e   video_system;
 387     uint8_t         row_shiftdown;
 388     int16_t         msp_displayport_fullframe_interval;
 389
 390     // Preferences
 391     uint8_t         main_voltage_decimals;
 392     uint8_t         ahi_reverse_roll;
 393     uint8_t         ahi_max_pitch;
 394     uint8_t         crosshairs_style;                   // from osd_crosshairs_style_e
 395     int8_t          horizon_offset;
 396     int8_t          camera_uptilt;
 397     bool            ahi_camera_uptilt_comp;
 398     uint8_t         camera_fov_h;
 399     uint8_t         camera_fov_v;
 400     uint8_t         hud_margin_h;
 401     uint8_t         hud_margin_v;
 402     bool            hud_homing;
 403     bool            hud_homepoint;
 404     uint8_t         hud_radar_disp;
 405     uint16_t        hud_radar_range_min;
 406     uint16_t        hud_radar_range_max;
 407     uint8_t         hud_radar_alt_difference_display_time;
 408     uint8_t         hud_radar_distance_display_time;
 409     uint8_t         hud_wp_disp;
 410
 411     uint8_t         left_sidebar_scroll;                // from osd_sidebar_scroll_e
 412     uint8_t         right_sidebar_scroll;               // from osd_sidebar_scroll_e
 413     uint8_t         sidebar_scroll_arrows;
 414
 415     uint8_t         units;                              // from osd_unit_e
 416     uint8_t         stats_energy_unit;                  // from osd_stats_energy_unit_e
 417     uint8_t         stats_page_auto_swap_time;          // stats page auto swap interval time (seconds)
 418     bool            stats_show_metric_efficiency;       // If true, show metric efficiency as well as for the selected units
 419
 420 #ifdef USE_WIND_ESTIMATOR
 421     bool            estimations_wind_compensation;      // use wind compensation for estimated remaining flight/distance
 422     bool            estimations_wind_mps;               // wind speed estimation in m/s
 423 #endif
 424     uint8_t         coordinate_digits;
 425     bool            osd_failsafe_switch_layout;
 426     uint8_t         plus_code_digits;                   // Number of digits to use in OSD_PLUS_CODE
 427     uint8_t         plus_code_short;
 428     uint8_t         ahi_style;
 429     uint8_t         force_grid;                         // Force a pixel based OSD to use grid mode.
 430     uint8_t         ahi_bordered;                       // Only used by the AHI widget
 431     uint8_t         ahi_width;                          // In pixels, only used by the AHI widget
 432     uint8_t         ahi_height;                         // In pixels, only used by the AHI widget
 433     int8_t          ahi_vertical_offset;                // Offset from center in pixels. Positive moves the AHI down. Widget only.
 434     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.
 435     uint8_t         left_sidebar_scroll_step;           // How many units each sidebar step represents. 0 means the default value for the scroll type.
 436     uint8_t         right_sidebar_scroll_step;          // Same as left_sidebar_scroll_step, but for the right sidebar.
 437     bool            osd_home_position_arm_screen;
 438     uint8_t         pan_servo_index;                    // Index of the pan servo used for home direction offset
 439     int8_t          pan_servo_pwm2centideg;             // Centidegrees of servo rotation per us pwm
 440     uint8_t         pan_servo_offcentre_warning;        // Degrees around the centre, that is assumed camera is wanted to be facing forwards, but isn't centred
 441     bool            pan_servo_indicator_show_degrees;   // Show the degrees of offset for the pan servo
 442     uint8_t         crsf_lq_format;
 443     uint8_t         sidebar_height;                     // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
 444     uint8_t         telemetry;                          // use telemetry on displayed pixel line 0
 445     uint8_t         esc_rpm_precision;                  // Number of characters used for the RPM numbers.
 446     uint16_t        system_msg_display_time;            // system message display time for multiple messages (ms)
 447     uint8_t         mAh_precision;                 // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
 448     uint8_t         ahi_pitch_interval;                 // redraws AHI at set pitch interval (Not pixel OSD)
 449     char            osd_switch_indicator0_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 0.
 450     uint8_t         osd_switch_indicator0_channel;      // RC Channel to use for switch indicator 0.
 451     char            osd_switch_indicator1_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 1.
 452     uint8_t         osd_switch_indicator1_channel;      // RC Channel to use for switch indicator 1.
 453     char            osd_switch_indicator2_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 2.
 454     uint8_t         osd_switch_indicator2_channel;      // RC Channel to use for switch indicator 2.
 455     char            osd_switch_indicator3_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 3.
 456     uint8_t         osd_switch_indicator3_channel;      // RC Channel to use for switch indicator 3.
 457     bool            osd_switch_indicators_align_left;   // Align switch indicator name to left of the switch.
 458     bool            use_pilot_logo;                     // If enabled, the pilot logo (last 40 characters of page 2 font) will be used with the INAV logo.
 459     uint8_t         inav_to_pilot_logo_spacing;         // The space between the INAV and pilot logos, if pilot logo is used. This number may be adjusted so that it fits the odd/even col width.
 460     uint16_t        arm_screen_display_time;            // Length of time the arm screen is displayed
 461 #ifndef DISABLE_MSP_DJI_COMPAT
 462     bool            highlight_djis_missing_characters;  // If enabled, show question marks where there is no character in DJI's font to represent an OSD element symbol
 463 #endif
 464  #ifdef USE_ADSB
 465     uint16_t adsb_distance_warning;                     // in metres
 466     uint16_t adsb_distance_alert;                       // in metres
 467     uint16_t adsb_ignore_plane_above_me_limit;          // in metres
 468  #endif
 469     uint8_t  radar_peers_display_time;                  // in seconds
 470 } osdConfig_t;
 471
 472 PG_DECLARE(osdConfig_t, osdConfig);
 473
 474 typedef struct displayPort_s displayPort_t;
 475 typedef struct displayCanvas_s displayCanvas_t;
 476
 477 void osdInit(displayPort_t *osdDisplayPort);
 478 bool osdDisplayIsPAL(void);
 479 void osdUpdate(timeUs_t currentTimeUs);
 480 void osdStartFullRedraw(void);
 481 // Sets a fixed OSD layout ignoring the RC input. Set it
 482 // to -1 to disable the override. If layout is >= 0 and
 483 // duration is > 0, the override is automatically cleared by
 484 // the OSD after the given duration. Otherwise, the caller must
 485 // explicitely remove it.
 486 void osdOverrideLayout(int layout, timeMs_t duration);
 487 // Returns the current current layout as well as wether its
 488 // set by the user configuration (modes, etc..) or by overriding it.
 489 int osdGetActiveLayout(bool *overridden);
 490 bool osdItemIsFixed(osd_items_e item);
 491 uint8_t osdIncElementIndex(uint8_t elementIndex);
 492
 493 displayPort_t *osdGetDisplayPort(void);
 494 displayCanvas_t *osdGetDisplayPortCanvas(void);
 495
 496 int16_t osdGetHeading(void);
 497 int32_t osdGetAltitude(void);
 498
 499 bool osdUsingScaledThrottle(void);
 500
 501 void osdStartedSaveProcess(void);
 502 void osdShowEEPROMSavedNotification(void);
 503
 504 void osdCrosshairPosition(uint8_t *x, uint8_t *y);
 505 bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
 506 void osdFormatAltitudeSymbol(char *buff, int32_t alt);
 507 void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
 508 // Returns a heading angle in degrees normalized to [0, 360).
 509 int osdGetHeadingAngle(int angle);
 510
 511 void osdResetWarningFlags(void);
 512
 513 int16_t osdGetPanServoOffset(void);
 514
 515 /**
 516  * @brief Get the OSD system message
 517  * @param buff pointer to the message buffer
 518  * @param buff_size size of the buffer array
 519  * @param isCenteredText if true, centered text based on buff_size
 520  * @return osd text attributes (Blink, Inverted, Solid)
 521  */
 522 textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenteredText);