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Rev | Author | Line No. | Line |
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459 | cascade | 1 | /**************************************************************************** |
728 | cascade | 2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
459 | cascade | 3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | ****************************************************************************/ |
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497 | cascade | 20 | |
21 | #include "main.h" |
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22 | #include "max7456_software_spi.h" |
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23 | #include "osd_helpers.h" |
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24 | #include "osd_ncmode_default.h" |
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25 | |||
783 | - | 26 | #if (!(ALLCHARSDEBUG || (WRITECHARS != -1)) && !FCONLY) |
497 | cascade | 27 | |
28 | int osd_ncmode_default() { |
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761 | - | 29 | uint8_t rc_signal = naviData.RC_RSSI ? naviData.RC_RSSI : naviData.RC_Quality; // if RSSI is present use it, else use Qality |
753 | cascade | 30 | |
761 | - | 31 | if (COSD_FLAGS_MODES & COSD_FLAG_HUD) { |
32 | // write icons at init or after menu/mode-switch |
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33 | if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) { |
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34 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
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35 | write_char_xy(5, top_line, 0x7D); // mph |
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36 | write_char_xy(27, top_line + 1, 0x7E); // small feet ft home |
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37 | write_char_xy(27, top_line, 0x7E); // small feet ft height |
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38 | } else { |
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39 | write_char_xy(5, top_line, 0xCB); // km/h |
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40 | write_char_xy(27, top_line + 1, 0xCC); // small meters m home |
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41 | write_char_xy(27, top_line, 0xCC); // small meters m height |
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42 | } |
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757 | cascade | 43 | |
761 | - | 44 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
45 | write_char_xy(16, top_line, 0xD0); // degree symbol |
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757 | cascade | 46 | |
761 | - | 47 | write_char_xy(20, top_line + 1, 0xB0); // left circle |
48 | write_char_xy(22, top_line + 1, 0xB2); // right circle |
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459 | cascade | 49 | |
50 | |||
761 | - | 51 | write_char_xy(7, bottom_line, 0x9E); // small V |
52 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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53 | write_char_xy(7, bottom_line - 1, 0x9F); // small A |
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54 | write_char_xy(14, bottom_line - 1, 0xB5); // mah |
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55 | if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) { |
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56 | write_char_xy(21, bottom_line - 1, 0x9E); // small V |
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57 | } |
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58 | } |
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59 | write_char_xy(14, bottom_line, 0xD1); // on clock |
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60 | write_char_xy(21, bottom_line, 0xD2); // fly clock |
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61 | write_char_xy(26, bottom_line, 0xC8); // sat1 |
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62 | write_char_xy(27, bottom_line, 0xC9); // sat2 |
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63 | COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN; |
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64 | } |
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459 | cascade | 65 | |
761 | - | 66 | // first line |
67 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
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68 | // experimental cm/s -> mph |
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69 | write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0); |
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70 | } else { |
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71 | write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0); |
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72 | } |
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459 | cascade | 73 | |
761 | - | 74 | write_ndigit_number_u(7, top_line, rc_signal, 3, 0); |
75 | if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
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76 | for (uint8_t x = 0; x < 4; x++) |
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77 | write_char_att_xy(7 + x, top_line, BLINK); |
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78 | } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
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79 | for (uint8_t x = 0; x < 4; x++) |
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80 | write_char_att_xy(7 + x, top_line, 0); |
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81 | } |
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459 | cascade | 82 | |
83 | |||
761 | - | 84 | if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) { |
85 | write_char_xy(11, top_line, 0); // clear |
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86 | } else { |
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87 | write_char_xy(11, top_line, 0xC6); // PC icon |
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88 | } |
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459 | cascade | 89 | |
761 | - | 90 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0); |
459 | cascade | 91 | |
761 | - | 92 | write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)])))); |
459 | cascade | 93 | |
761 | - | 94 | draw_variometer(21, top_line, naviData.Variometer); |
459 | cascade | 95 | |
761 | - | 96 | if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) { |
97 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
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98 | // feet |
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99 | write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS |
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100 | } else { |
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101 | if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) { |
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102 | // above 10m only write full meters |
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103 | write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS |
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104 | } else { |
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105 | // up to 10m write meters.dm |
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106 | write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS |
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107 | } |
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108 | } |
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109 | } else { |
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110 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
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766 | - | 111 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO |
761 | - | 112 | } else { |
800 | - | 113 | //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192) |
766 | - | 114 | if (naviData.Altimeter > 200 || naviData.Altimeter < -200) { |
761 | - | 115 | // above 10m only write full meters |
766 | - | 116 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO |
761 | - | 117 | } else { |
118 | // up to 10m write meters.dm |
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766 | - | 119 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO |
761 | - | 120 | } |
121 | } |
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122 | } |
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757 | cascade | 123 | |
459 | cascade | 124 | |
761 | - | 125 | // seccond line |
126 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
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465 | cascade | 127 | |
761 | - | 128 | // TODO: verify correctness |
129 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
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130 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
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131 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
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132 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
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728 | cascade | 133 | |
761 | - | 134 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
135 | // feet |
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136 | write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0); |
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137 | } else { |
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138 | write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0); |
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139 | } |
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459 | cascade | 140 | |
761 | - | 141 | // center |
783 | - | 142 | if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running |
143 | if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle |
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761 | - | 144 | clear(); |
809 | - | 145 | // remember current heigth for offsets |
146 | if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) { |
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147 | altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS |
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148 | } else { |
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149 | altimeter_offset = naviData.Altimeter / 20; // BARO |
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150 | } |
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761 | - | 151 | // set wasted counter to current offset |
152 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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153 | wasted_ampere_offset = ampere_wasted / 10; |
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154 | } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) { |
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155 | wasted_ampere_offset = naviData.UsedCapacity; |
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156 | } |
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157 | // update flags to paint display again if needed |
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158 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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159 | } |
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160 | if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon |
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161 | uint8_t horizon_bottom = bottom_line - 1; |
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162 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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163 | horizon_bottom--; |
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164 | } |
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165 | if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) { |
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166 | draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll); |
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167 | } else { |
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168 | draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll); |
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169 | } |
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170 | } |
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171 | // motors are on, assume we were/are flying |
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172 | COSD_FLAGS_RUNTIME |= COSD_WASFLYING; |
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173 | } else { |
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783 | - | 174 | if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped |
761 | - | 175 | clear(); // clear whole screen in case there is horizon stuff left |
176 | // update flags to paint display again if needed |
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177 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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178 | } |
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179 | // stats |
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180 | if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) { |
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181 | uint8_t line = 3; |
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182 | write_ascii_string_pgm(1, line, (const char *)(pgm_read_word(&(stats_item_pointers[0])))); // max Altitude |
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183 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[1])))); // max Speed |
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184 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[2])))); // max Distance |
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459 | cascade | 185 | |
761 | - | 186 | if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) { |
187 | write_ndigit_number_s(16, line - 2, max_Altimeter * 32 / 10, 4, 0); |
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188 | write_char_xy(20, line - 2, 0x7E); // small feet ft |
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189 | write_ndigit_number_u(17, line - 1, (uint16_t)(((uint32_t)max_GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0); |
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190 | write_char_xy(20, line - 1, 0x7D); // mp/h |
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762 | - | 191 | write_ndigit_number_u(16, line - 0, max_Distance / 10 * 32 / 10, 4, 0); |
761 | - | 192 | write_char_xy(20, line - 0, 0x7E); // small feet ft |
193 | } else { |
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194 | write_ndigit_number_s(16, line - 2, max_Altimeter, 4, 0); |
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195 | write_char_xy(20, line - 2, 204); // small meters m |
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196 | write_ndigit_number_u(17, line - 1, (uint16_t)(((uint32_t)max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0); |
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197 | write_char_xy(20, line - 1, 203); // km/h |
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762 | - | 198 | write_ndigit_number_u(16, line - 0, max_Distance / 10, 4, 0); |
761 | - | 199 | write_char_xy(20, line - 0, 204); // small meters m |
200 | } |
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459 | cascade | 201 | |
761 | - | 202 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[3])))); // min voltage |
203 | write_ndigit_number_u_10th(16, line, min_UBat, 3, 0); |
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204 | write_char_xy(20, line, 0x9E); // small V |
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205 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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206 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[7])))); // ampere |
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207 | write_ndigit_number_u_10th(16, line, max_ampere / 10, 3, 0); |
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208 | write_char_xy(20, line, 0x9F); // small A |
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497 | cascade | 209 | |
761 | - | 210 | // wasted mampere in this flight (will count up after landing) |
211 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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212 | write_ndigit_number_u(21, line, (ampere_wasted / 10) - wasted_ampere_offset, 5, 0); |
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213 | } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) { |
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459 | cascade | 214 | |
761 | - | 215 | write_ndigit_number_u(21, line, naviData.UsedCapacity - wasted_ampere_offset, 5, 0); |
216 | } |
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497 | cascade | 217 | |
761 | - | 218 | write_char_xy(26, line, 0xB5); // mah |
219 | } |
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220 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[4])))); // max time |
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221 | write_time(14, line, max_FlyingTime); |
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222 | write_char_xy(20, line, 210); // fly clock |
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223 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[5])))); // longitude |
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224 | write_gps_pos(14, line, naviData.CurrentPosition.Longitude); |
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225 | write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[6])))); // latitude |
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226 | write_gps_pos(14, line, naviData.CurrentPosition.Latitude); |
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227 | } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
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228 | uint8_t horizon_bottom = bottom_line - 1; |
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229 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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230 | horizon_bottom--; |
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231 | } |
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232 | if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) { |
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233 | draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll); |
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234 | } else { |
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235 | draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll); |
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236 | } |
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237 | } |
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238 | } |
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239 | if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) { |
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240 | draw_big_variometer(27, 8, naviData.Variometer); |
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241 | } |
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459 | cascade | 242 | |
761 | - | 243 | // pre-bottom line |
244 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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245 | //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0); |
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800 | - | 246 | write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0); |
761 | - | 247 | write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0); |
826 | - | 248 | |
761 | - | 249 | } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) { |
800 | - | 250 | write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0); |
761 | - | 251 | write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0); |
252 | } |
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826 | - | 253 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) { |
254 | write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0); |
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255 | } |
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761 | - | 256 | //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0); |
257 | |||
258 | // bottom line |
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259 | draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage); |
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260 | write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0); |
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261 | if (naviData.UBat <= min_voltage && last_UBat > min_voltage) { |
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262 | for (uint8_t x = 2; x < 8; x++) |
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263 | write_char_att_xy(x, bottom_line, BLINK); |
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264 | } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) { |
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265 | for (uint8_t x = 2; x < 8; x++) |
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266 | write_char_att_xy(x, bottom_line, 0); |
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267 | } |
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268 | |||
269 | write_time(8, bottom_line, uptime); |
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270 | write_time(15, bottom_line, naviData.FlyingTime); |
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271 | |||
272 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0); |
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273 | |||
274 | if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) { |
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275 | write_char_xy(23, bottom_line, 0xB3); // rc transmitter |
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276 | } else { |
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277 | write_char_xy(23, bottom_line, 0); // clear |
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278 | } |
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279 | |||
280 | if (naviData.NCFlags & NC_FLAG_CH) { |
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281 | write_char_xy(27, bottom_line, 231); // gps ch |
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282 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
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283 | write_char_xy(27, bottom_line, 230); // gps ph |
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284 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
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285 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
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286 | } |
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287 | } |
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288 | |||
289 | //write_number_s(8, 5, RxDataLen); |
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290 | //write_number_s(16, 5, setsReceived++); |
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291 | |||
292 | // remember statistics (only when engines running) |
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783 | - | 293 | if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { |
761 | - | 294 | if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) { |
295 | if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000; |
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296 | } else { |
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772 | - | 297 | if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20; |
761 | - | 298 | } |
299 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
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300 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
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301 | max_Distance = naviData.HomePositionDeviation.Distance; |
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302 | } |
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303 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
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304 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
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305 | if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) { |
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306 | if (ampere > max_ampere) max_ampere = ampere; |
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307 | } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) { |
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308 | if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10; |
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309 | } |
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310 | } |
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311 | |||
312 | // remember last values |
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313 | last_RC_Quality = rc_signal; |
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314 | last_UBat = naviData.UBat; |
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315 | old_MKFlags = naviData.FCFlags; |
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316 | seconds_since_last_data = 0; |
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317 | |||
318 | return 0; |
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459 | cascade | 319 | } |
320 | |||
497 | cascade | 321 | #endif |