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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | /******* STARTUP PANEL *******/ |
| 2 | |||
| 3 | void startPanels(){ |
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| 4 | osd.clear(); |
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| 5 | // Display our logo |
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| 6 | panLogo(10,5); |
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| 7 | } |
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| 8 | |||
| 9 | /******* PANELS - POSITION *******/ |
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| 10 | |||
| 11 | void writePanels(){ |
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| 12 | if(millis() < (lastMAVBeat + 2000)){ |
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| 13 | //osd.clear(); |
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| 14 | //Testing bits from 8 bit register A |
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| 15 | if(ISa(Cen_BIT)) panCenter(panCenter_XY[0], panCenter_XY[1]); //4x2 |
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| 16 | if(ISa(Pit_BIT)) panPitch(panPitch_XY[0], panPitch_XY[1]); //5x1 |
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| 17 | if(ISa(Rol_BIT)) panRoll(panRoll_XY[0], panRoll_XY[1]); //5x1 |
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| 18 | if(ISa(BatA_BIT)) panBatt_A(panBatt_A_XY[0], panBatt_A_XY[1]); //7x1 |
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| 19 | // if(ISa(BatB_BIT)) panBatt_B(panBatt_B_XY[0], panBatt_B_XY[1]); //7x1 |
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| 20 | if(ISa(GPSats_BIT)) panGPSats(panGPSats_XY[0], panGPSats_XY[1]); //5x1 |
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| 21 | if(ISa(GPL_BIT)) panGPL(panGPL_XY[0], panGPL_XY[1]); //2x1 |
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| 22 | if(ISa(GPS_BIT)) panGPS(panGPS_XY[0], panGPS_XY[1]); //12x3 |
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| 23 | |||
| 24 | //Testing bits from 8 bit register B |
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| 25 | if(ISb(Rose_BIT)) panRose(panRose_XY[0], panRose_XY[1]); //13x3 |
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| 26 | if(ISb(Head_BIT)) panHeading(panHeading_XY[0], panHeading_XY[1]); //13x3 |
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| 27 | if(ISb(MavB_BIT)) panMavBeat(panMavBeat_XY[0], panMavBeat_XY[1]); //13x3 |
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| 28 | |||
| 29 | if(osd_got_home == 1){ |
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| 30 | if(ISb(HDis_BIT)) panHomeDis(panHomeDis_XY[0], panHomeDis_XY[1]); //13x3 |
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| 31 | if(ISb(HDir_BIT)) panHomeDir(panHomeDir_XY[0], panHomeDir_XY[1]); //13x3 |
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| 32 | } |
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| 33 | // if(ISb(WDir_BIT)) panWayPDir(panWayPDir_XY[0], panWayPDir_XY[1]); //??x?? |
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| 34 | // if(ISb(WDis_BIT)) panWayPDis(panWayPDis_XY[0], panWayPDis_XY[1]); //??x?? |
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| 35 | // if(ISb(WRSSI_BIT)) panRSSI(panRSSI_XY[0], panRSSI_XY[1]); //??x?? |
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| 36 | |||
| 37 | //Testing bits from 8 bit register C |
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| 38 | //if(osd_got_home == 1){ |
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| 39 | if(ISc(Alt_BIT)) panAlt(panAlt_XY[0], panAlt_XY[1]); // |
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| 40 | if(ISc(Vel_BIT)) panVel(panVel_XY[0], panVel_XY[1]); // |
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| 41 | //} |
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| 42 | if(ISc(Thr_BIT)) panThr(panThr_XY[0], panThr_XY[1]); // |
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| 43 | if(ISc(FMod_BIT)) panFlightMode(panFMod_XY[0], panFMod_XY[1]); // |
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| 44 | if(ISc(Hor_BIT)) panHorizon(panHorizon_XY[0], panHorizon_XY[1]); //14x5 |
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| 45 | } |
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| 46 | else{ |
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| 47 | osd.clear(); |
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| 48 | waitingMAVBeats = 1; |
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| 49 | // Display our logo and wait... |
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| 50 | panWaitMAVBeats(5,10); //Waiting for MAVBeats... |
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| 51 | } |
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| 52 | // OSD debug for development (Shown on top-middle panels) |
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| 53 | #ifdef membug |
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| 54 | osd.setPanel(13,4); |
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| 55 | osd.openPanel(); |
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| 56 | osd.printf("%i",freeMem()); |
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| 57 | osd.closePanel(); |
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| 58 | #endif |
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| 59 | } |
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| 60 | |||
| 61 | /******* PANELS - DEFINITION *******/ |
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| 62 | |||
| 63 | |||
| 64 | /* **************************************************************** */ |
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| 65 | // Panel : panAlt |
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| 66 | // Needs : X, Y locations |
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| 67 | // Output : Alt symbol and altitude value in meters from MAVLink |
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| 68 | // Size : 1 x 7Hea (rows x chars) |
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| 69 | // Staus : done |
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| 70 | |||
| 71 | void panAlt(int first_col, int first_line){ |
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| 72 | osd.setPanel(first_col, first_line); |
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| 73 | osd.openPanel(); |
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| 74 | //osd.printf("%c%5.0f%c",0x85, (double)(osd_alt - osd_home_alt), 0x8D); |
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| 75 | osd.printf("%c%5.0f%c",0x85, (double)(osd_alt), 0x8D); |
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| 76 | osd.closePanel(); |
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| 77 | } |
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| 78 | |||
| 79 | /* **************************************************************** */ |
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| 80 | // Panel : panVel |
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| 81 | // Needs : X, Y locations |
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| 82 | // Output : Velocity value from MAVlink with symbols |
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| 83 | // Size : 1 x 7 (rows x chars) |
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| 84 | // Staus : done |
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| 85 | |||
| 86 | void panVel(int first_col, int first_line){ |
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| 87 | osd.setPanel(first_col, first_line); |
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| 88 | osd.openPanel(); |
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| 89 | osd.printf("%c%3.0f%c",0x86,(double)osd_groundspeed,0x88); |
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| 90 | osd.closePanel(); |
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| 91 | } |
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| 92 | |||
| 93 | /* **************************************************************** */ |
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| 94 | // Panel : panThr |
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| 95 | // Needs : X, Y locations |
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| 96 | // Output : Throttle value from MAVlink with symbols |
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| 97 | // Size : 1 x 7 (rows x chars) |
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| 98 | // Staus : done |
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| 99 | |||
| 100 | void panThr(int first_col, int first_line){ |
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| 101 | osd.setPanel(first_col, first_line); |
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| 102 | osd.openPanel(); |
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| 103 | osd.printf("%c%3.0i%c",0x87,osd_throttle,0x25); |
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| 104 | osd.closePanel(); |
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| 105 | } |
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| 106 | |||
| 107 | /* **************************************************************** */ |
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| 108 | // Panel : panHomeDis |
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| 109 | // Needs : X, Y locations |
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| 110 | // Output : Home Symbol with distance to home in meters |
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| 111 | // Size : 1 x 7 (rows x chars) |
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| 112 | // Staus : done |
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| 113 | |||
| 114 | void panHomeDis(int first_col, int first_line){ |
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| 115 | osd.setPanel(first_col, first_line); |
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| 116 | osd.openPanel(); |
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| 117 | osd.printf("%c%5.0f%c", 0x1F, (double)osd_home_distance, 0x8D); |
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| 118 | osd.closePanel(); |
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| 119 | } |
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| 120 | |||
| 121 | /* **************************************************************** */ |
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| 122 | // Panel : panCenter |
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| 123 | // Needs : X, Y locations |
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| 124 | // Output : 2 row croshair symbol created by 2 x 4 chars |
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| 125 | // Size : 2 x 4 (rows x chars) |
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| 126 | // Staus : done |
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| 127 | |||
| 128 | void panCenter(int first_col, int first_line){ |
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| 129 | osd.setPanel(first_col, first_line); |
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| 130 | osd.openPanel(); |
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| 131 | osd.printf_P(PSTR("\x05\x03\x04\x05|\x15\x13\x14\x15")); |
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| 132 | osd.closePanel(); |
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| 133 | } |
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| 134 | |||
| 135 | /* **************************************************************** */ |
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| 136 | // Panel : panHorizon |
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| 137 | // Needs : X, Y locations |
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| 138 | // Output : 12 x 4 Horizon line surrounded by 2 cols (left/right rules) |
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| 139 | // Size : 14 x 4 (rows x chars) |
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| 140 | // Staus : done |
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| 141 | |||
| 142 | void panHorizon(int first_col, int first_line){ |
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| 143 | osd.setPanel(first_col, first_line); |
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| 144 | osd.openPanel(); |
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| 145 | osd.printf_P(PSTR("\xc8\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\xc9|")); |
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| 146 | osd.printf_P(PSTR("\xc8\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\xc9|")); |
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| 147 | osd.printf_P(PSTR("\xd8\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\xd9|")); |
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| 148 | osd.printf_P(PSTR("\xc8\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\xc9|")); |
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| 149 | osd.printf_P(PSTR("\xc8\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\x20\xc9")); |
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| 150 | osd.closePanel(); |
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| 151 | showHorizon((first_col + 1), first_line); |
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| 152 | } |
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| 153 | |||
| 154 | /* **************************************************************** */ |
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| 155 | // Panel : panPitch |
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| 156 | // Needs : X, Y locations |
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| 157 | // Output : -+ value of current Pitch from vehicle with degree symbols and pitch symbol |
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| 158 | // Size : 1 x 6 (rows x chars) |
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| 159 | // Staus : done |
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| 160 | |||
| 161 | void panPitch(int first_col, int first_line){ |
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| 162 | osd.setPanel(first_col, first_line); |
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| 163 | osd.openPanel(); |
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| 164 | osd.printf("%4i%c%c",osd_pitch,0xb0,0xb1); |
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| 165 | osd.closePanel(); |
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| 166 | } |
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| 167 | |||
| 168 | /* **************************************************************** */ |
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| 169 | // Panel : panRoll |
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| 170 | // Needs : X, Y locations |
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| 171 | // Output : -+ value of current Roll from vehicle with degree symbols and roll symbol |
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| 172 | // Size : 1 x 6 (rows x chars) |
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| 173 | // Staus : done |
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| 174 | |||
| 175 | void panRoll(int first_col, int first_line){ |
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| 176 | osd.setPanel(first_col, first_line); |
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| 177 | osd.openPanel(); |
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| 178 | osd.printf("%4i%c%c",osd_roll,0xb0,0xb2); |
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| 179 | osd.closePanel(); |
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| 180 | } |
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| 181 | |||
| 182 | /* **************************************************************** */ |
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| 183 | // Panel : panBattery A (Voltage 1) |
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| 184 | // Needs : X, Y locations |
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| 185 | // Output : Voltage value as in XX.X and symbol of over all battery status |
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| 186 | // Size : 1 x 8 (rows x chars) |
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| 187 | // Staus : done |
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| 188 | |||
| 189 | void panBatt_A(int first_col, int first_line){ |
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| 190 | osd.setPanel(first_col, first_line); |
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| 191 | osd.openPanel(); |
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| 192 | /*************** This commented code is for the next ArduPlane Version |
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| 193 | #ifdef MAVLINK10 |
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| 194 | if(osd_battery_remaining_A > 100){ |
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| 195 | osd.printf(" %c%5.2f%c", 0xE2, (double)osd_vbat_A, 0x8E); |
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| 196 | } |
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| 197 | #else |
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| 198 | if(osd_battery_remaining_A > 1000){ |
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| 199 | osd.printf(" %c%5.2f%c", 0xE2, (double)osd_vbat_A, 0x8E); |
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| 200 | } |
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| 201 | #endif //MAVLINK10 |
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| 202 | else osd.printf("%c%5.2f%c%c", 0xE2, (double)osd_vbat_A, 0x8E, osd_battery_pic_A); |
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| 203 | */ |
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| 204 | osd.printf(" %c%5.2f%c", 0xE2, (double)osd_vbat_A, 0x8E); |
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| 205 | osd.closePanel(); |
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| 206 | } |
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| 207 | |||
| 208 | //------------------ Panel: Startup ArduCam OSD LOGO ------------------------------- |
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| 209 | |||
| 210 | void panLogo(int first_col, int first_line){ |
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| 211 | osd.setPanel(first_col, first_line); |
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| 212 | osd.openPanel(); |
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| 213 | osd.printf_P(PSTR("\x20\x20\x20\x20\xba\xbb\xbc\xbd\xbe|\x20\x20\x20\x20\xca\xcb\xcc\xcd\xce|ArduCam OSD")); |
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| 214 | osd.closePanel(); |
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| 215 | } |
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| 216 | |||
| 217 | //------------------ Panel: Waiting for MAVLink HeartBeats ------------------------------- |
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| 218 | |||
| 219 | void panWaitMAVBeats(int first_col, int first_line){ |
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| 220 | panLogo(10,5); |
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| 221 | osd.setPanel(first_col, first_line); |
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| 222 | osd.openPanel(); |
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| 223 | osd.printf_P(PSTR("Waiting for|MAVLink heartbeats...")); |
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| 224 | osd.closePanel(); |
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| 225 | } |
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| 226 | |||
| 227 | /* **************************************************************** */ |
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| 228 | // Panel : panGPL |
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| 229 | // Needs : X, Y locations |
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| 230 | // Output : 1 static symbol with changing FIX symbol |
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| 231 | // Size : 1 x 2 (rows x chars) |
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| 232 | // Staus : done |
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| 233 | |||
| 234 | void panGPL(int first_col, int first_line){ |
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| 235 | osd.setPanel(first_col, first_line); |
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| 236 | osd.openPanel(); |
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| 237 | switch(osd_fix_type) { |
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| 238 | case 0: |
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| 239 | osd.printf_P(PSTR("\x10\x20")); |
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| 240 | break; |
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| 241 | case 1: |
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| 242 | osd.printf_P(PSTR("\x10\x20")); |
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| 243 | break; |
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| 244 | case 2: |
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| 245 | osd.printf_P(PSTR("\x11\x20"));//If not APM, x01 would show 2D fix |
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| 246 | break; |
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| 247 | case 3: |
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| 248 | osd.printf_P(PSTR("\x11\x20"));//If not APM, x02 would show 3D fix |
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| 249 | break; |
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| 250 | } |
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| 251 | |||
| 252 | /* if(osd_fix_type <= 1) { |
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| 253 | osd.printf_P(PSTR("\x10")); |
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| 254 | } else { |
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| 255 | osd.printf_P(PSTR("\x11")); |
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| 256 | } */ |
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| 257 | osd.closePanel(); |
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| 258 | } |
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| 259 | |||
| 260 | /* **************************************************************** */ |
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| 261 | // Panel : panGPSats |
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| 262 | // Needs : X, Y locations |
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| 263 | // Output : 1 symbol and number of locked satellites |
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| 264 | // Size : 1 x 5 (rows x chars) |
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| 265 | // Staus : done |
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| 266 | |||
| 267 | void panGPSats(int first_col, int first_line){ |
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| 268 | osd.setPanel(first_col, first_line); |
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| 269 | osd.openPanel(); |
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| 270 | osd.printf("%c%2i", 0x0f,osd_satellites_visible); |
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| 271 | osd.closePanel(); |
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| 272 | } |
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| 273 | |||
| 274 | /* **************************************************************** */ |
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| 275 | // Panel : panGPS |
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| 276 | // Needs : X, Y locations |
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| 277 | // Output : two row numeric value of current GPS location with LAT/LON symbols as on first char |
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| 278 | // Size : 2 x 12 (rows x chars) |
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| 279 | // Staus : done |
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| 280 | |||
| 281 | void panGPS(int first_col, int first_line){ |
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| 282 | osd.setPanel(first_col, first_line); |
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| 283 | osd.openPanel(); |
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| 284 | osd.printf("%c%11.6f|%c%11.6f", 0x83, (double)osd_lat, 0x84, (double)osd_lon); |
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| 285 | osd.closePanel(); |
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| 286 | } |
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| 287 | |||
| 288 | /* **************************************************************** */ |
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| 289 | // Panel : panHeading |
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| 290 | // Needs : X, Y locations |
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| 291 | // Output : Symbols with numeric compass heading value |
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| 292 | // Size : 1 x 5 (rows x chars) |
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| 293 | // Staus : not ready |
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| 294 | |||
| 295 | void panHeading(int first_col, int first_line){ |
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| 296 | osd.setPanel(first_col, first_line); |
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| 297 | osd.openPanel(); |
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| 298 | osd.printf("%4.0f%c", (double)osd_heading, 0xb0); |
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| 299 | osd.closePanel(); |
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| 300 | } |
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| 301 | |||
| 302 | /* **************************************************************** */ |
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| 303 | // Panel : panRose |
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| 304 | // Needs : X, Y locations |
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| 305 | // Output : a dynamic compass rose that changes along the heading information |
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| 306 | // Size : 2 x 13 (rows x chars) |
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| 307 | // Staus : done |
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| 308 | |||
| 309 | void panRose(int first_col, int first_line){ |
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| 310 | osd.setPanel(first_col, first_line); |
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| 311 | osd.openPanel(); |
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| 312 | //osd_heading = osd_yaw; |
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| 313 | //if(osd_yaw < 0) osd_heading = 360 + osd_yaw; |
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| 314 | osd.printf("%s|%c%s%c", "\x20\xc0\xc0\xc0\xc0\xc0\xc7\xc0\xc0\xc0\xc0\xc0\x20", 0xd0, buf_show, 0xd1); |
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| 315 | osd.closePanel(); |
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| 316 | } |
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| 317 | |||
| 318 | |||
| 319 | /* **************************************************************** */ |
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| 320 | // Panel : panBoot |
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| 321 | // Needs : X, Y locations |
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| 322 | // Output : Booting up text and empty bar after that |
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| 323 | // Size : 1 x 21 (rows x chars) |
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| 324 | // Staus : done |
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| 325 | |||
| 326 | void panBoot(int first_col, int first_line){ |
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| 327 | osd.setPanel(first_col, first_line); |
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| 328 | osd.openPanel(); |
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| 329 | osd.printf_P(PSTR("Booting up:\xed\xf2\xf2\xf2\xf2\xf2\xf2\xf2\xf3")); |
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| 330 | osd.closePanel(); |
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| 331 | |||
| 332 | } |
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| 333 | |||
| 334 | /* **************************************************************** */ |
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| 335 | // Panel : panMavBeat |
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| 336 | // Needs : X, Y locations |
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| 337 | // Output : 2 symbols, one static and one that blinks on every 50th received |
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| 338 | // mavlink packet. |
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| 339 | // Size : 1 x 2 (rows x chars) |
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| 340 | // Staus : done |
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| 341 | |||
| 342 | void panMavBeat(int first_col, int first_line){ |
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| 343 | osd.setPanel(first_col, first_line); |
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| 344 | osd.openPanel(); |
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| 345 | if(mavbeat == 1){ |
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| 346 | osd.printf_P(PSTR("\xEA\xEC")); |
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| 347 | mavbeat = 0; |
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| 348 | } |
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| 349 | else{ |
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| 350 | osd.printf_P(PSTR("\xEA\xEB")); |
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| 351 | } |
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| 352 | osd.closePanel(); |
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| 353 | } |
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| 354 | |||
| 355 | |||
| 356 | /* **************************************************************** */ |
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| 357 | // Panel : panWPDir |
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| 358 | // Needs : X, Y locations |
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| 359 | // Output : 2 symbols that are combined as one arrow, shows direction to next waypoint |
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| 360 | // Size : 1 x 2 (rows x chars) |
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| 361 | // Staus : not ready |
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| 362 | |||
| 363 | void panWPDir(int first_col, int first_line){ |
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| 364 | osd.setPanel(first_col, first_line); |
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| 365 | osd.openPanel(); |
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| 366 | showArrow(); |
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| 367 | osd.closePanel(); |
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| 368 | } |
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| 369 | |||
| 370 | /* **************************************************************** */ |
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| 371 | // Panel : panHomeDir |
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| 372 | // Needs : X, Y locations |
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| 373 | // Output : 2 symbols that are combined as one arrow, shows direction to home |
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| 374 | // Size : 1 x 2 (rows x chars) |
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| 375 | // Status : not tested |
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| 376 | |||
| 377 | void panHomeDir(int first_col, int first_line){ |
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| 378 | osd.setPanel(first_col, first_line); |
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| 379 | osd.openPanel(); |
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| 380 | showArrow(); |
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| 381 | osd.closePanel(); |
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| 382 | } |
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| 383 | |||
| 384 | /* **************************************************************** */ |
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| 385 | // Panel : panFlightMode |
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| 386 | // Needs : X, Y locations |
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| 387 | // Output : 2 symbols, one static name symbol and another that changes by flight modes |
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| 388 | // Size : 1 x 2 (rows x chars) |
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| 389 | // Status : done |
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| 390 | |||
| 391 | void panFlightMode(int first_col, int first_line){ |
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| 392 | osd.setPanel(first_col, first_line); |
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| 393 | osd.openPanel(); |
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| 394 | #ifndef MAVLINK10 |
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| 395 | if(apm_mav_type == 2){//ArduCopter MultiRotor or ArduCopter Heli |
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| 396 | if(osd_mode == 100) osd.printf_P(PSTR("\xE0""stab"));//Stabilize |
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| 397 | if(osd_mode == 101) osd.printf_P(PSTR("\xE0""acro"));//Acrobatic |
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| 398 | if(osd_mode == 102) osd.printf_P(PSTR("\xE0""alth"));//Alt Hold |
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| 399 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_WAYPOINT) osd.printf_P(PSTR("\xE0""auto"));//Auto |
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| 400 | if(osd_mode == MAV_MODE_GUIDED && osd_nav_mode == MAV_NAV_WAYPOINT) osd.printf_P(PSTR("\xE0""guid"));//Guided |
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| 401 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_HOLD) osd.printf_P(PSTR("\xE0""loit"));//Loiter |
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| 402 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_RETURNING) osd.printf_P(PSTR("\xE0""retl"));//Return to Launch |
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| 403 | if(osd_mode == 107) osd.printf_P(PSTR("\xE0""circ")); // Circle |
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| 404 | if(osd_mode == 108) osd.printf_P(PSTR("\xE0""posi")); // Position |
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| 405 | if(osd_mode == 109) osd.printf_P(PSTR("\xE0""land")); // Land |
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| 406 | if(osd_mode == 110) osd.printf_P(PSTR("\xE0""oflo")); // OF_Loiter |
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| 407 | } |
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| 408 | else if(apm_mav_type == 1){//ArduPlane |
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| 409 | if(osd_mode == MAV_MODE_TEST1 && osd_nav_mode == MAV_NAV_VECTOR) osd.printf_P(PSTR("\xE0""stab"));//Stabilize |
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| 410 | if(osd_mode == MAV_MODE_MANUAL && osd_nav_mode == MAV_NAV_VECTOR) osd.printf_P(PSTR("\xE0""manu"));//Manual |
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| 411 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_LOITER) osd.printf_P(PSTR("\xE0""loit"));//Loiter |
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| 412 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_RETURNING) osd.printf_P(PSTR("\xE0""retl"));//Return to Launch |
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| 413 | if(osd_mode == MAV_MODE_TEST2 && osd_nav_mode == 1) osd.printf_P(PSTR("\xE0""fbwa"));//FLY_BY_WIRE_A |
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| 414 | if(osd_mode == MAV_MODE_TEST2 && osd_nav_mode == 2) osd.printf_P(PSTR("\xE0""fbwb"));//FLY_BY_WIRE_B |
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| 415 | if(osd_mode == MAV_MODE_GUIDED) osd.printf_P(PSTR("\xE0""guid"));//GUIDED |
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| 416 | if(osd_mode == MAV_MODE_AUTO && osd_nav_mode == MAV_NAV_WAYPOINT) osd.printf_P(PSTR("\xE0""auto"));//AUTO |
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| 417 | if(osd_mode == MAV_MODE_TEST3) osd.printf_P(PSTR("\xE0""circ"));//CIRCLE |
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| 418 | } |
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| 419 | #else |
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| 420 | if(apm_mav_type == 2){//ArduCopter MultiRotor or ArduCopter Heli |
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| 421 | if(osd_mode == 0) osd.printf_P(PSTR("\xE0""stab"));//Stabilize |
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| 422 | if(osd_mode == 1) osd.printf_P(PSTR("\xE0""acro"));//Acrobatic |
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| 423 | if(osd_mode == 2) osd.printf_P(PSTR("\xE0""alth"));//Alt Hold |
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| 424 | if(osd_mode == 3) osd.printf_P(PSTR("\xE0""auto"));//Auto |
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| 425 | if(osd_mode == 4) osd.printf_P(PSTR("\xE0""guid"));//Guided |
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| 426 | if(osd_mode == 5) osd.printf_P(PSTR("\xE0""loit"));//Loiter |
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| 427 | if(osd_mode == 6) osd.printf_P(PSTR("\xE0""retl"));//Return to Launch |
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| 428 | if(osd_mode == 7) osd.printf_P(PSTR("\xE0""circ")); // Circle |
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| 429 | if(osd_mode == 8) osd.printf_P(PSTR("\xE0""posi")); // Position |
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| 430 | if(osd_mode == 9) osd.printf_P(PSTR("\xE0""land")); // Land |
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| 431 | if(osd_mode == 10) osd.printf_P(PSTR("\xE0""oflo")); // OF_Loiter |
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| 432 | } |
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| 433 | else if(apm_mav_type == 1){//ArduPlane |
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| 434 | if(osd_mode == 2 ) osd.printf_P(PSTR("\xE0""stab"));//Stabilize |
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| 435 | if(osd_mode == 0) osd.printf_P(PSTR("\xE0""manu"));//Manual |
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| 436 | if(osd_mode == 12) osd.printf_P(PSTR("\xE0""loit"));//Loiter |
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| 437 | if(osd_mode == 11 ) osd.printf_P(PSTR("\xE0""retl"));//Return to Launch |
||
| 438 | if(osd_mode == 5 ) osd.printf_P(PSTR("\xE0""fbwa"));//FLY_BY_WIRE_A |
||
| 439 | if(osd_mode == 6 ) osd.printf_P(PSTR("\xE0""fbwb"));//FLY_BY_WIRE_B |
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| 440 | if(osd_mode == 15) osd.printf_P(PSTR("\xE0""guid"));//GUIDED |
||
| 441 | if(osd_mode == 10 ) osd.printf_P(PSTR("\xE0""auto"));//AUTO |
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| 442 | if(osd_mode == 1) osd.printf_P(PSTR("\xE0""circ"));//CIRCLE |
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| 443 | } |
||
| 444 | #endif |
||
| 445 | osd.closePanel(); |
||
| 446 | } |
||
| 447 | |||
| 448 | |||
| 449 | // ---------------- EXTRA FUNCTIONS ---------------------- |
||
| 450 | // Show those fancy 2 char arrows |
||
| 451 | void showArrow() { |
||
| 452 | switch(osd_home_direction) { |
||
| 453 | case 0: |
||
| 454 | osd.printf_P(PSTR("\x90\x91")); |
||
| 455 | break; |
||
| 456 | case 1: |
||
| 457 | osd.printf_P(PSTR("\x90\x91")); |
||
| 458 | break; |
||
| 459 | case 2: |
||
| 460 | osd.printf_P(PSTR("\x92\x93")); |
||
| 461 | break; |
||
| 462 | case 3: |
||
| 463 | osd.printf_P(PSTR("\x94\x95")); |
||
| 464 | break; |
||
| 465 | case 4: |
||
| 466 | osd.printf_P(PSTR("\x96\x97")); |
||
| 467 | break; |
||
| 468 | case 5: |
||
| 469 | osd.printf_P(PSTR("\x98\x99")); |
||
| 470 | break; |
||
| 471 | case 6: |
||
| 472 | osd.printf_P(PSTR("\x9A\x9B")); |
||
| 473 | break; |
||
| 474 | case 7: |
||
| 475 | osd.printf_P(PSTR("\x9C\x9D")); |
||
| 476 | break; |
||
| 477 | case 8: |
||
| 478 | osd.printf_P(PSTR("\x9E\x9F")); |
||
| 479 | break; |
||
| 480 | case 9: |
||
| 481 | osd.printf_P(PSTR("\xA0\xA1")); |
||
| 482 | break; |
||
| 483 | case 10: |
||
| 484 | osd.printf_P(PSTR("\xA2\xA3")); |
||
| 485 | break; |
||
| 486 | case 11: |
||
| 487 | osd.printf_P(PSTR("\xA4\xA5")); |
||
| 488 | break; |
||
| 489 | case 12: |
||
| 490 | osd.printf_P(PSTR("\xA6\xA7")); |
||
| 491 | break; |
||
| 492 | case 13: |
||
| 493 | osd.printf_P(PSTR("\xA8\xA9")); |
||
| 494 | break; |
||
| 495 | case 14: |
||
| 496 | osd.printf_P(PSTR("\xAA\xAB")); |
||
| 497 | break; |
||
| 498 | case 15: |
||
| 499 | osd.printf_P(PSTR("\xAC\xAD")); |
||
| 500 | break; |
||
| 501 | case 16: |
||
| 502 | osd.printf_P(PSTR("\xAE\xAF")); |
||
| 503 | break; |
||
| 504 | } |
||
| 505 | } |
||
| 506 | |||
| 507 | // Calculate and shows Artificial Horizon |
||
| 508 | void showHorizon(int start_col, int start_row) { |
||
| 509 | |||
| 510 | int x, nose, row, minval, hit, subval = 0; |
||
| 511 | int cols = 12; |
||
| 512 | int rows = 5; |
||
| 513 | int col_hit[cols]; |
||
| 514 | float pitch, roll; |
||
| 515 | |||
| 516 | (abs(osd_pitch) == 90)?pitch = 89.99 * (90/osd_pitch) * -0.017453293:pitch = osd_pitch * -0.017453293; |
||
| 517 | (abs(osd_roll) == 90)?roll = 89.99 * (90/osd_roll) * 0.017453293:roll = osd_roll * 0.017453293; |
||
| 518 | |||
| 519 | nose = round(tan(pitch) * (rows*9)); |
||
| 520 | for(int col=1;col <= cols;col++){ |
||
| 521 | x = (col * 12) - (cols * 6) - 6;//center X point at middle of each col |
||
| 522 | col_hit[col-1] = (tan(roll) * x) + nose + (rows*9) - 1;//calculating hit point on Y plus offset to eliminate negative values |
||
| 523 | //col_hit[(col-1)] = nose + (rows * 9); |
||
| 524 | } |
||
| 525 | |||
| 526 | for(int col=0;col < cols; col++){ |
||
| 527 | hit = col_hit[col]; |
||
| 528 | if(hit > 0 && hit < (rows * 18)){ |
||
| 529 | row = rows - ((hit-1)/18); |
||
| 530 | minval = rows*18 - row*18 + 1; |
||
| 531 | subval = hit - minval; |
||
| 532 | subval = round((subval*9)/18); |
||
| 533 | if(subval == 0) subval = 1; |
||
| 534 | printHit(start_col + col, start_row + row - 1, subval); |
||
| 535 | } |
||
| 536 | } |
||
| 537 | } |
||
| 538 | |||
| 539 | void printHit(byte col, byte row, byte subval){ |
||
| 540 | osd.openSingle(col, row); |
||
| 541 | switch (subval){ |
||
| 542 | case 1: |
||
| 543 | osd.printf_P(PSTR("\x06")); |
||
| 544 | break; |
||
| 545 | case 2: |
||
| 546 | osd.printf_P(PSTR("\x07")); |
||
| 547 | break; |
||
| 548 | case 3: |
||
| 549 | osd.printf_P(PSTR("\x08")); |
||
| 550 | break; |
||
| 551 | case 4: |
||
| 552 | osd.printf_P(PSTR("\x09")); |
||
| 553 | break; |
||
| 554 | case 5: |
||
| 555 | osd.printf_P(PSTR("\x0a")); |
||
| 556 | break; |
||
| 557 | case 6: |
||
| 558 | osd.printf_P(PSTR("\x0b")); |
||
| 559 | break; |
||
| 560 | case 7: |
||
| 561 | osd.printf_P(PSTR("\x0c")); |
||
| 562 | break; |
||
| 563 | case 8: |
||
| 564 | osd.printf_P(PSTR("\x0d")); |
||
| 565 | break; |
||
| 566 | case 9: |
||
| 567 | osd.printf_P(PSTR("\x0e")); |
||
| 568 | break; |
||
| 569 | } |
||
| 570 | } |