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drivers/osd/msp_osd: cleanup and small fixes/additions (#20399)

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- Fixed clearing arming word if flightmode unknown
 - Added power and cell voltage elements
 - New OSD layout
 - Fixed home direction/distance are now correct

Co-authored-by: Chris Seto <chris1seto@gmail.com>
This commit is contained in:
chris1seto
2022-10-14 10:54:14 -04:00
committed by GitHub
co-authored by Chris Seto
parent 3c290d812d
commit 079dfdf209
3 changed files with 69 additions and 24 deletions
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src/drivers/osd/msp_osd/module.yaml
+2 -2
View File
@@ -37,9 +37,9 @@ parameters:
16: (unused) PITCH_ANGLE
17: (unused) ROLL_ANGLE
18: (unused) CROSSHAIRS
19: (unused) AVG_CELL_VOLTAGE
19: AVG_CELL_VOLTAGE
20: (unused) HORIZON_SIDEBARS
21: (unused) POWER
21: POWER
default: 16383
# OSD Log Level
src/drivers/osd/msp_osd/msp_osd.cpp
+32 -10
View File
@@ -71,25 +71,44 @@
// Currently working elements positions (hardcoded)
/* center col
Speed Power Alt
Rssi cell_voltage mah
craft name
*/
// Left
const uint16_t osd_gps_lat_pos = 2048;
const uint16_t osd_gps_lon_pos = 2080;
const uint16_t osd_gps_sats_pos = 2112;
const uint16_t osd_rssi_value_pos = 2176;
// Center
const uint16_t osd_home_dir_pos = 2093;
const uint16_t osd_craft_name_pos = 2543;
// Top
const uint16_t osd_disarmed_pos = 2125;
const uint16_t osd_home_dir_pos = 2093;
const uint16_t osd_home_dist_pos = 2095;
// Bottom row 1
const uint16_t osd_gps_speed_pos = 2413;
const uint16_t osd_power_pos = 2415;
const uint16_t osd_altitude_pos = 2416;
// Bottom Row 2
const uint16_t osd_rssi_value_pos = 2445;
const uint16_t osd_avg_cell_voltage_pos = 2446;
const uint16_t osd_mah_drawn_pos = 2449;
// Bottom Row 3
const uint16_t osd_craft_name_pos = 2480;
// Right
const uint16_t osd_main_batt_voltage_pos = 2073;
const uint16_t osd_current_draw_pos = 2103;
const uint16_t osd_mah_drawn_pos = 2138;
const uint16_t osd_altitude_pos = 2233;
const uint16_t osd_numerical_vario_pos = 2267;
const uint16_t osd_gps_speed_pos = 2299;
const uint16_t osd_home_dist_pos = 2331;
const uint16_t osd_numerical_vario_pos = LOCATION_HIDDEN;
MspOsd::MspOsd(const char *device) :
ModuleParams(nullptr),
@@ -147,15 +166,18 @@ void MspOsd::SendConfig()
msp_osd_config.osd_numerical_vario_pos = enabled(SymbolIndex::NUMERICAL_VARIO) ? osd_numerical_vario_pos :
LOCATION_HIDDEN;
msp_osd_config.osd_power_pos = enabled(SymbolIndex::POWER) ? osd_power_pos : LOCATION_HIDDEN;
msp_osd_config.osd_avg_cell_voltage_pos = enabled(SymbolIndex::AVG_CELL_VOLTAGE) ? osd_avg_cell_voltage_pos :
LOCATION_HIDDEN;
// possibly available, but not currently used
msp_osd_config.osd_flymode_pos = LOCATION_HIDDEN;
msp_osd_config.osd_esc_tmp_pos = LOCATION_HIDDEN;
msp_osd_config.osd_pitch_angle_pos = LOCATION_HIDDEN;
msp_osd_config.osd_roll_angle_pos = LOCATION_HIDDEN;
msp_osd_config.osd_crosshairs_pos = LOCATION_HIDDEN;
msp_osd_config.osd_avg_cell_voltage_pos = LOCATION_HIDDEN;
msp_osd_config.osd_horizon_sidebars_pos = LOCATION_HIDDEN;
msp_osd_config.osd_power_pos = LOCATION_HIDDEN;
// Not implemented or not available
msp_osd_config.osd_artificial_horizon_pos = LOCATION_HIDDEN;
src/drivers/osd/msp_osd/uorb_to_msp.cpp
+35 -12
View File
@@ -261,7 +261,7 @@ msp_status_BF_t construct_STATUS(const vehicle_status_s &vehicle_status)
break;
default:
status_BF.flight_mode_flags = 0;
status_BF.flight_mode_flags |= 0;
break;
}
}
@@ -277,10 +277,9 @@ msp_analog_t construct_ANALOG(const battery_status_s &battery_status, const inpu
msp_analog_t analog {0};
analog.vbat = battery_status.voltage_v * 10; // bottom right... v * 10
analog.rssi = (uint16_t)((input_rc.rssi * 1023.0f) / 100.0f);
analog.rssi = (uint16_t)((input_rc.link_quality * 1023.0f) / 100.0f);
analog.amperage = battery_status.current_a * 100; // main amperage
analog.mAhDrawn = battery_status.discharged_mah; // unused
return analog;
}
@@ -290,8 +289,8 @@ msp_battery_state_t construct_BATTERY_STATE(const battery_status_s &battery_stat
msp_battery_state_t battery_state = {0};
// MSP_BATTERY_STATE
battery_state.amperage = battery_status.current_a; // not used?
battery_state.batteryVoltage = (uint16_t)(battery_status.voltage_v * 400.0f); // OK
battery_state.amperage = battery_status.current_a * 100.0f; // Used for power element
battery_state.batteryVoltage = (uint16_t)((battery_status.voltage_v / battery_status.cell_count) * 400.0f); // OK
battery_state.mAhDrawn = battery_status.discharged_mah ; // OK
battery_state.batteryCellCount = battery_status.cell_count;
battery_state.batteryCapacity = battery_status.capacity; // not used?
@@ -318,14 +317,24 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
raw_gps.lat = vehicle_gps_position.lat;
raw_gps.lon = vehicle_gps_position.lon;
raw_gps.alt = vehicle_gps_position.alt / 10;
//raw_gps.groundCourse = vehicle_gps_position_struct
float course = math::degrees(vehicle_gps_position.cog_rad);
if (course < 0) {
course += 360.0f;
}
raw_gps.groundCourse = course * 100.0f; // centidegrees
} else {
raw_gps.lat = 0;
raw_gps.lon = 0;
raw_gps.alt = 0;
raw_gps.groundCourse = 0; // centidegrees
}
raw_gps.groundCourse = 0; // centidegrees
if (vehicle_gps_position.fix_type == 0
|| vehicle_gps_position.fix_type == 1) {
raw_gps.fixType = MSP_GPS_NO_FIX;
@@ -367,20 +376,24 @@ msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
if (home_position.valid_hpos
&& home_position.valid_lpos
&& estimator_status.solution_status_flags & (1 << 4)) {
float bearing_to_home = get_bearing_to_next_waypoint(vehicle_global_position.lat,
vehicle_global_position.lon,
home_position.lat, home_position.lon);
float bearing_to_home = math::degrees(get_bearing_to_next_waypoint(vehicle_global_position.lat,
vehicle_global_position.lon,
home_position.lat, home_position.lon));
if (bearing_to_home < 0) {
bearing_to_home += 360.0f;
}
float distance_to_home = get_distance_to_next_waypoint(vehicle_global_position.lat,
vehicle_global_position.lon,
home_position.lat, home_position.lon);
comp_gps.distanceToHome = (int16_t)distance_to_home; // meters
comp_gps.directionToHome = bearing_to_home; // degrees
comp_gps.directionToHome = bearing_to_home;
} else {
comp_gps.distanceToHome = 0; // meters
comp_gps.directionToHome = 0; // degrees
comp_gps.directionToHome = 0;
}
comp_gps.heartbeat = heartbeat;
@@ -396,7 +409,17 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude)
matrix::Eulerf euler_attitude(matrix::Quatf(vehicle_attitude.q));
attitude.pitch = math::degrees(euler_attitude.theta()) * 10;
attitude.roll = math::degrees(euler_attitude.phi()) * 10;
attitude.yaw = math::degrees(euler_attitude.psi()) * 10;
//attitude.yaw = math::degrees(euler_attitude.psi()) * 10;
float yaw_fixed = math::degrees(euler_attitude.psi());
if (yaw_fixed < 0) {
yaw_fixed += 360.0f;
}
attitude.yaw = yaw_fixed;
//attitude.yaw = 360;
return attitude;
}