Subversion Repositories Projects

Rev

Rev 902 | Rev 941 | Go to most recent revision | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 902 Rev 932
1
/****************************************************************************
1
/****************************************************************************
2
 *   Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje               *
2
 *   Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje               *
3
 *   admiralcascade@gmail.com                                               *
3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
5
 *                                                                          *
6
 *   This program is free software; you can redistribute it and/or modify   *
6
 *   This program is free software; you can redistribute it and/or modify   *
7
 *   it under the terms of the GNU General Public License as published by   *
7
 *   it under the terms of the GNU General Public License as published by   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
9
 *                                                                          *
10
 *   This program is distributed in the hope that it will be useful,        *
10
 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
13
 *   GNU General Public License for more details.                           *
13
 *   GNU General Public License for more details.                           *
14
 *                                                                          *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 ****************************************************************************/
19
 ****************************************************************************/
20
 
20
 
21
#include "main.h"
21
#include "main.h"
22
#include "max7456_software_spi.h"
22
#include "max7456_software_spi.h"
23
#include "osd_helpers.h"
23
#include "osd_helpers.h"
24
#include "osd_ncmode_default.h"
24
#include "osd_ncmode_default.h"
25
 
25
 
26
#if (!(ALLCHARSDEBUG || (WRITECHARS != -1)) && !FCONLY)
26
#if (!(ALLCHARSDEBUG || (WRITECHARS != -1)) && !FCONLY)
27
 
27
 
28
int osd_ncmode_default() {
28
int osd_ncmode_default() {
29
    uint8_t rc_signal = naviData.RC_RSSI ? naviData.RC_RSSI : naviData.RC_Quality; // if RSSI is present use it, else use Qality
29
    uint8_t rc_signal = naviData.RC_RSSI ? naviData.RC_RSSI : naviData.RC_Quality; // if RSSI is present use it, else use Qality
30
 
30
 
31
    if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
31
    if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
32
        // write icons at init or after menu/mode-switch
32
        // write icons at init or after menu/mode-switch
33
        if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
33
        if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
34
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
34
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
35
                write_char_xy(5, top_line, 0x7D); // mph
35
                write_char_xy(5, top_line, 0x7D); // mph
36
                write_char_xy(27, top_line + 1, 0x7E); // small feet ft home
36
                write_char_xy(27, top_line + 1, 0x7E); // small feet ft home
37
                write_char_xy(27, top_line, 0x7E); // small feet ft height
37
                write_char_xy(27, top_line, 0x7E); // small feet ft height
38
            } else {
38
            } else {
39
                write_char_xy(5, top_line, 0xCB); // km/h
39
                write_char_xy(5, top_line, 0xCB); // km/h
40
                write_char_xy(27, top_line + 1, 0xCC); // small meters m home
40
                write_char_xy(27, top_line + 1, 0xCC); // small meters m home
41
                write_char_xy(27, top_line, 0xCC); // small meters m height
41
                write_char_xy(27, top_line, 0xCC); // small meters m height
42
            }
42
            }
43
 
43
 
44
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
44
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
45
            write_char_xy(16, top_line, 0xD0); // degree symbol
45
            write_char_xy(16, top_line, 0xD0); // degree symbol
46
 
46
 
47
            write_char_xy(20, top_line + 1, 0xB0); // left circle
47
            write_char_xy(20, top_line + 1, 0xB0); // left circle
48
            write_char_xy(22, top_line + 1, 0xB2); // right circle
48
            write_char_xy(22, top_line + 1, 0xB2); // right circle
49
 
49
 
50
 
50
 
51
            write_char_xy(7, bottom_line, 0x9E); // small V
51
            write_char_xy(7, bottom_line, 0x9E); // small V
52
            if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
52
            if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
53
                write_char_xy(7, bottom_line - 1, 0x9F); // small A
53
                write_char_xy(7, bottom_line - 1, 0x9F); // small A
54
                write_char_xy(14, bottom_line - 1, 0xB5); // mah
54
                write_char_xy(14, bottom_line - 1, 0xB5); // mah
55
                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
55
                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
56
                    write_char_xy(21, bottom_line - 1, 0x9E); // small V
56
                    write_char_xy(21, bottom_line - 1, 0x9E); // small V
57
                }
57
                }
58
            }
58
            }
59
            write_char_xy(14, bottom_line, 0xD1); // on clock
59
            write_char_xy(14, bottom_line, 0xD1); // on clock
60
            write_char_xy(21, bottom_line, 0xD2); // fly clock
60
            write_char_xy(21, bottom_line, 0xD2); // fly clock
61
            write_char_xy(26, bottom_line, 0xC8); // sat1
61
            write_char_xy(26, bottom_line, 0xC8); // sat1
62
            write_char_xy(27, bottom_line, 0xC9); // sat2
62
            write_char_xy(27, bottom_line, 0xC9); // sat2
63
            COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
63
            COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
64
        }
64
        }
65
 
65
 
66
        // first line
66
        // first line
67
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
67
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
68
            // experimental cm/s -> mph
68
            // experimental cm/s -> mph
69
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0);
69
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0);
70
        } else {
70
        } else {
71
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
71
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
72
 
72
 
73
            // draw big speed-meter only if configure AND not flying OR stats off and not flying
73
            // draw big speed-meter only if configure AND not flying OR stats off and not flying
74
            if ((COSD_FLAGS_CONFIG & COSD_FLAG_BIGSPEED)
74
            if ((COSD_FLAGS_CONFIG & COSD_FLAG_BIGSPEED)
75
                && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
75
                && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
76
                || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
76
                || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
77
 
77
 
78
                draw_big_variometer(2, 8, (uint16_t)((uint32_t)naviData.GroundSpeed / (uint32_t)125));
78
                draw_big_variometer(2, 8, (uint16_t)((uint32_t)naviData.GroundSpeed / (uint32_t)125));
79
            }
79
            }
80
        }
80
        }
81
 
81
 
82
        write_ndigit_number_u(7, top_line, rc_signal, 3, 0);
82
        write_ndigit_number_u(7, top_line, rc_signal, 3, 0);
83
        if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
83
        if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
84
            for (uint8_t x = 0; x < 4; x++)
84
            for (uint8_t x = 0; x < 4; x++)
85
                write_char_att_xy(7 + x, top_line, BLINK);
85
                write_char_att_xy(7 + x, top_line, BLINK);
86
        } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
86
        } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
87
            for (uint8_t x = 0; x < 4; x++)
87
            for (uint8_t x = 0; x < 4; x++)
88
                write_char_att_xy(7 + x, top_line, 0);
88
                write_char_att_xy(7 + x, top_line, 0);
89
        }
89
        }
90
 
90
 
91
 
91
 
92
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
92
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
93
            write_char_xy(11, top_line, 0); // clear
93
            write_char_xy(11, top_line, 0); // clear
94
        } else {
94
        } else {
95
            write_char_xy(11, top_line, 0xC6); // PC icon
95
            write_char_xy(11, top_line, 0xC6); // PC icon
96
        }
96
        }
97
 
97
 
98
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
98
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
99
 
99
 
100
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
100
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
101
 
101
 
102
        draw_variometer(21, top_line, naviData.Variometer);
102
        draw_variometer(21, top_line, naviData.Variometer);
103
 
103
 
104
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
104
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
105
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
105
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
106
                // feet
106
                // feet
107
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
107
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
108
            } else {
108
            } else {
109
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
109
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
110
                    // above 10m only write full meters
110
                    // above 10m only write full meters
111
                    write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
111
                    write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
112
                } else {
112
                } else {
113
                    // up to 10m write meters.dm
113
                    // up to 10m write meters.dm
114
                    write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
114
                    write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
115
                }
115
                }
116
            }
116
            }
117
        } else {
117
        } else {
118
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
118
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
119
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
119
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
120
            } else {
120
            } else {
121
                //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192)
121
                //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192)
122
                if (naviData.Altimeter > 200 || naviData.Altimeter < -200) {
122
                if (naviData.Altimeter > 200 || naviData.Altimeter < -200) {
123
                    // above 10m only write full meters
123
                    // above 10m only write full meters
124
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
124
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
125
                } else {
125
                } else {
126
                    // up to 10m write meters.dm
126
                    // up to 10m write meters.dm
127
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
127
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
128
                }
128
                }
129
            }
129
            }
130
        }
130
        }
131
 
131
 
132
 
132
 
133
        // seccond line
133
        // seccond line
134
        draw_compass(11, top_line + 1, naviData.CompassHeading);
134
        draw_compass(11, top_line + 1, naviData.CompassHeading);
135
 
135
 
136
        // TODO: verify correctness
136
        // TODO: verify correctness
137
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
137
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
138
        //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
138
        //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
139
        // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
139
        // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
140
        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
140
        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
141
 
141
 
142
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
142
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
143
            // feet
143
            // feet
144
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
144
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
145
        } else {
145
        } else {
146
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
146
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
147
        }
147
        }
148
 
148
 
-
 
149
        // show coords only when configure AND stats are off OR stats are on and motors are off
-
 
150
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS)
-
 
151
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
-
 
152
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
-
 
153
            write_gps_pos(15, bottom_line - 2, naviData.CurrentPosition.Longitude);
-
 
154
            write_gps_pos(15, bottom_line - 1, naviData.CurrentPosition.Latitude);
-
 
155
        }
-
 
156
 
149
        // center
157
        // center
150
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
158
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
151
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
159
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
152
                clear();
160
                clear();
153
                // remember current heigth for offsets
161
                // remember current heigth for offsets
154
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
162
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
155
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
163
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
156
                } else {
164
                } else {
157
                    altimeter_offset = naviData.Altimeter / 20; // BARO
165
                    altimeter_offset = naviData.Altimeter / 20; // BARO
158
                }
166
                }
159
                // set wasted counter to current offset
167
                // set wasted counter to current offset
160
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
168
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
161
                    wasted_ampere_offset = ampere_wasted / 10;
169
                    wasted_ampere_offset = ampere_wasted / 10;
162
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
170
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
163
                    wasted_ampere_offset = naviData.UsedCapacity;
171
                    wasted_ampere_offset = naviData.UsedCapacity;
164
                }
172
                }
165
                // update flags to paint display again if needed
173
                // update flags to paint display again if needed
166
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
174
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
167
            }
175
            }
168
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
176
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
169
                uint8_t horizon_bottom = bottom_line - 1;
177
                uint8_t horizon_bottom = bottom_line - 1;
170
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
178
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
171
                    horizon_bottom--;
179
                    horizon_bottom--;
172
                }
180
                }
-
 
181
                if (COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS) {
-
 
182
                    horizon_bottom--;
-
 
183
                }
-
 
184
 
173
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
185
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
174
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
186
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
175
                } else {
187
                } else {
176
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
188
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
177
                }
189
                }
178
            }
190
            }
179
            // motors are on, assume we were/are flying
191
            // motors are on, assume we were/are flying
180
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
192
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
181
        } else {
193
        } else {
182
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
194
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
183
                clear(); // clear whole screen in case there is horizon stuff left
195
                clear(); // clear whole screen in case there is horizon stuff left
184
                // update flags to paint display again if needed
196
                // update flags to paint display again if needed
185
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
197
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
186
            }
198
            }
187
            // stats
199
            // stats
188
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
200
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
189
                draw_stats();
201
                draw_stats();
190
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
202
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
191
                uint8_t horizon_bottom = bottom_line - 1;
203
                uint8_t horizon_bottom = bottom_line - 1;
192
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
204
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
193
                    horizon_bottom--;
205
                    horizon_bottom--;
194
                }
206
                }
195
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
207
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
196
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
208
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
197
                } else {
209
                } else {
198
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
210
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
199
                }
211
                }
200
            }
212
            }
201
        }
213
        }
202
 
214
 
203
        // show coords only when configure AND stats are off OR stats are on and motors are off
-
 
204
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS)
-
 
205
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
-
 
206
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
-
 
207
            write_gps_pos(15, bottom_line - 2, naviData.CurrentPosition.Longitude);
-
 
208
            write_gps_pos(15, bottom_line - 1, naviData.CurrentPosition.Latitude);
-
 
209
        }
215
 
210
 
216
 
211
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
217
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
212
            draw_big_variometer(27, 8, naviData.Variometer);
218
            draw_big_variometer(27, 8, naviData.Variometer);
213
        }
219
        }
214
 
220
 
215
        // pre-bottom line
221
        // pre-bottom line
216
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
222
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
217
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
223
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
218
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
224
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
219
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
225
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
220
 
226
 
221
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
227
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
222
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
228
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
223
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
229
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
224
        }
230
        }
225
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
231
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
226
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
232
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
227
        }
233
        }
228
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
234
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
229
 
235
 
230
        // bottom line
236
        // bottom line
231
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
237
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
232
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
238
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
233
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
239
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
234
            for (uint8_t x = 2; x < 8; x++)
240
            for (uint8_t x = 2; x < 8; x++)
235
                write_char_att_xy(x, bottom_line, BLINK);
241
                write_char_att_xy(x, bottom_line, BLINK);
236
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
242
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
237
            for (uint8_t x = 2; x < 8; x++)
243
            for (uint8_t x = 2; x < 8; x++)
238
                write_char_att_xy(x, bottom_line, 0);
244
                write_char_att_xy(x, bottom_line, 0);
239
        }
245
        }
240
 
246
 
241
        write_time(8, bottom_line, uptime);
247
        write_time(8, bottom_line, uptime);
242
        write_time(15, bottom_line, naviData.FlyingTime);
248
        write_time(15, bottom_line, naviData.FlyingTime);
243
 
249
 
244
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
250
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
245
        // blink GPS in case no fix... 
251
        // blink GPS in case no fix... 
246
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && ((old_NCFlags & NC_FLAG_GPS_OK) || old_NCFlags == 0)) {
252
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && ((old_NCFlags & NC_FLAG_GPS_OK) || old_NCFlags == 0)) {
247
            for (uint8_t x = 24; x < 28; x++)
253
            for (uint8_t x = 24; x < 28; x++)
248
                write_char_att_xy(x, bottom_line, BLINK);
254
                write_char_att_xy(x, bottom_line, BLINK);
249
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
255
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
250
            for (uint8_t x = 24; x < 28; x++)
256
            for (uint8_t x = 24; x < 28; x++)
251
                write_char_att_xy(x, bottom_line, 0);
257
                write_char_att_xy(x, bottom_line, 0);
252
        }
258
        }
253
 
259
 
254
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
260
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
255
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
261
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
256
        } else {
262
        } else {
257
            write_char_xy(23, bottom_line, 0); // clear
263
            write_char_xy(23, bottom_line, 0); // clear
258
        }
264
        }
259
 
265
 
260
        if (naviData.NCFlags & NC_FLAG_CH) {
266
        if (naviData.NCFlags & NC_FLAG_CH) {
261
            write_char_xy(27, bottom_line, 231); // gps ch
267
            write_char_xy(27, bottom_line, 231); // gps ch
262
        } else if (naviData.NCFlags & NC_FLAG_PH) {
268
        } else if (naviData.NCFlags & NC_FLAG_PH) {
263
            write_char_xy(27, bottom_line, 230); // gps ph
269
            write_char_xy(27, bottom_line, 230); // gps ph
264
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
270
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
265
            write_char_xy(27, bottom_line, 201); // sat2 (free)
271
            write_char_xy(27, bottom_line, 201); // sat2 (free)
266
        }
272
        }
267
 
273
 
268
        // after all, draw scope WHEN configured AND flying OR Stats are off
274
        // after all, draw scope WHEN configured AND flying OR Stats are off
269
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_SCOPE)
275
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_SCOPE)
270
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
276
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
271
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
277
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
272
            draw_scope();
278
            draw_scope();
273
        }
279
        }
274
    }
280
    }
275
 
281
 
276
    //write_number_s(8, 5, RxDataLen);
282
    //write_number_s(8, 5, RxDataLen);
277
    //write_number_s(16, 5, setsReceived++);
283
    //write_number_s(16, 5, setsReceived++);
278
 
284
 
279
    // remember statistics (only when engines running)
285
    // remember statistics (only when engines running)
280
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
286
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
281
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
287
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
282
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
288
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
283
        } else {
289
        } else {
284
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
290
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
285
        }
291
        }
286
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
292
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
287
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
293
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
288
            max_Distance = naviData.HomePositionDeviation.Distance;
294
            max_Distance = naviData.HomePositionDeviation.Distance;
289
        }
295
        }
290
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
296
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
291
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
297
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
292
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
298
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
293
            if (ampere > max_ampere) max_ampere = ampere;
299
            if (ampere > max_ampere) max_ampere = ampere;
294
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
300
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
295
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
301
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
296
        }
302
        }
297
    }
303
    }
298
 
304
 
299
    // remember last values
305
    // remember last values
300
    last_RC_Quality = rc_signal;
306
    last_RC_Quality = rc_signal;
301
    last_UBat = naviData.UBat;
307
    last_UBat = naviData.UBat;
302
    old_MKFlags = naviData.FCFlags;
308
    old_MKFlags = naviData.FCFlags;
303
    old_NCFlags = naviData.NCFlags;
309
    old_NCFlags = naviData.NCFlags;
304
    seconds_since_last_data = 0;
310
    seconds_since_last_data = 0;
305
 
311
 
306
    return 0;
312
    return 0;
307
}
313
}
308
 
314
 
309
#endif
315
#endif
310
 
316