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/****************************************************************************
1
/****************************************************************************
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 *   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.              *
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 ****************************************************************************/
19
 ****************************************************************************/
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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
-
 
30
 
-
 
31
    if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
29
    if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
32
        // write icons at init or after menu/mode-switch
30
        // write icons at init or after menu/mode-switch
33
        if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
31
        if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
34
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
32
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
35
                write_char_xy(5, top_line, 0x7D); // mph
33
                write_char_xy(5, top_line, 0x7D); // mph
36
                write_char_xy(27, top_line + 1, 0x7E); // small feet ft home
34
                write_char_xy(27, top_line + 1, 0x7E); // small feet ft home
37
                write_char_xy(27, top_line, 0x7E); // small feet ft height
35
                write_char_xy(27, top_line, 0x7E); // small feet ft height
38
            } else {
36
            } else {
39
                write_char_xy(5, top_line, 0xCB); // km/h
37
                write_char_xy(5, top_line, 0xCB); // km/h
40
                write_char_xy(27, top_line + 1, 0xCC); // small meters m home
38
                write_char_xy(27, top_line + 1, 0xCC); // small meters m home
41
                write_char_xy(27, top_line, 0xCC); // small meters m height
39
                write_char_xy(27, top_line, 0xCC); // small meters m height
42
            }
40
            }
43
 
41
 
44
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
-
 
45
            write_char_xy(16, top_line, 0xD0); // degree symbol
42
            write_char_xy(16, top_line, 0xD0); // degree symbol
46
 
43
 
47
            write_char_xy(20, top_line + 1, 0xB0); // left circle
44
            write_char_xy(20, top_line + 1, 0xB0); // left circle
48
            write_char_xy(22, top_line + 1, 0xB2); // right circle
45
            write_char_xy(22, top_line + 1, 0xB2); // right circle
49
 
46
 
50
 
-
 
51
            write_char_xy(7, bottom_line, 0x9E); // small V
47
            write_char_xy(7, bottom_line, 0x9E); // small V
52
            if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
48
            if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
53
                write_char_xy(7, bottom_line - 1, 0x9F); // small A
49
                write_char_xy(7, bottom_line - 1, 0x9F); // small A
54
                write_char_xy(14, bottom_line - 1, 0xB5); // mah
50
                write_char_xy(14, bottom_line - 1, 0xB5); // mah
55
                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
51
                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
56
                    write_char_xy(21, bottom_line - 1, 0x9E); // small V
52
                    write_char_xy(21, bottom_line - 1, 0x9E); // small V
57
                }
53
                }
58
            }
54
            }
59
            write_char_xy(14, bottom_line, 0xD1); // on clock
55
            write_char_xy(14, bottom_line, 0xD1); // on clock
60
            write_char_xy(21, bottom_line, 0xD2); // fly clock
56
            write_char_xy(21, bottom_line, 0xD2); // fly clock
61
            write_char_xy(26, bottom_line, 0xC8); // sat1
57
            write_char_xy(26, bottom_line, 0xC8); // sat1
62
            write_char_xy(27, bottom_line, 0xC9); // sat2
58
            write_char_xy(27, bottom_line, 0xC9); // sat2
63
            COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
59
            COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
64
        }
60
        }
65
 
61
 
66
        // first line
62
        // first line
67
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
63
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
68
            // experimental cm/s -> mph
64
            // 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);
65
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0);
70
        } else {
66
        } else {
71
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
67
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
72
 
68
 
73
            // draw big speed-meter only if configure AND not flying OR stats off and not flying
69
            // draw big speed-meter only if configure AND not flying OR stats off and not flying
74
            if ((COSD_FLAGS_CONFIG & COSD_FLAG_BIGSPEED)
70
            if ((COSD_FLAGS_CONFIG & COSD_FLAG_BIGSPEED)
75
                && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
71
                && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
76
                || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
72
                || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
77
 
73
 
78
                draw_big_variometer(2, 8, (uint16_t)((uint32_t)naviData.GroundSpeed / (uint32_t)125));
74
                draw_big_variometer(2, 8, (uint16_t)((uint32_t)naviData.GroundSpeed / (uint32_t)125));
79
            }
75
            }
80
        }
76
        }
81
 
77
 
82
        write_ndigit_number_u(7, top_line, rc_signal, 3, 0);
78
        write_ndigit_number_u(7, top_line, naviData.RC_Quality, 3, 0);
83
        if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
79
        if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
84
            for (uint8_t x = 0; x < 4; x++)
80
            for (uint8_t x = 0; x < 4; x++)
85
                write_char_att_xy(7 + x, top_line, BLINK);
81
                write_char_att_xy(7 + x, top_line, BLINK);
86
        } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
82
        } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
87
            for (uint8_t x = 0; x < 4; x++)
83
            for (uint8_t x = 0; x < 4; x++)
88
                write_char_att_xy(7 + x, top_line, 0);
84
                write_char_att_xy(7 + x, top_line, 0);
89
        }
85
        }
90
 
86
 
-
 
87
        if (naviData.FCStatusFlags2 & FC_STATUS2_CAREFREE) {
-
 
88
            write_char_xy(10, top_line, 0x8F); // smiling CF transmitter
-
 
89
        } else {
-
 
90
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
-
 
91
        }
-
 
92
 
91
 
93
 
92
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
94
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
93
            write_char_xy(11, top_line, 0); // clear
95
            write_char_xy(11, top_line, 0); // clear
94
        } else {
96
        } else {
95
            write_char_xy(11, top_line, 0xC6); // PC icon
97
            write_char_xy(11, top_line, 0xC6); // PC icon
96
        }
98
        }
97
 
99
 
98
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
100
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
99
 
101
 
100
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
102
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
101
 
103
 
102
        draw_variometer(21, top_line, naviData.Variometer);
104
        draw_variometer(21, top_line, naviData.Variometer);
103
 
105
 
104
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
106
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
105
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
107
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
106
                // feet
108
                // feet
107
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
109
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
108
            } else {
110
            } else {
109
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
111
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
110
                    // above 10m only write full meters
112
                    // 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
113
                    write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
112
                } else {
114
                } else {
113
                    // up to 10m write meters.dm
115
                    // 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
116
                    write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
115
                }
117
                }
116
            }
118
            }
117
        } else {
119
        } else {
118
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
120
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
119
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
121
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
120
            } else {
122
            } else {
121
                //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192)
123
                //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) {
124
                if (naviData.Altimeter > 200 || naviData.Altimeter < -200) {
123
                    // above 10m only write full meters
125
                    // above 10m only write full meters
124
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
126
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
125
                } else {
127
                } else {
126
                    // up to 10m write meters.dm
128
                    // up to 10m write meters.dm
127
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
129
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
128
                }
130
                }
129
            }
131
            }
130
        }
132
        }
131
 
133
 
132
 
134
 
133
        // seccond line
135
        // seccond line
134
        draw_compass(11, top_line + 1, naviData.CompassHeading);
136
        draw_compass(11, top_line + 1, naviData.CompassHeading);
135
 
137
 
136
        // TODO: verify correctness
138
        // TODO: verify correctness
137
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
139
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
138
        //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
140
        //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
141
        // 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));
142
        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
141
 
143
 
142
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
144
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
143
            // feet
145
            // feet
144
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
146
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
145
        } else {
147
        } else {
146
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
148
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
147
        }
149
        }
148
 
150
 
149
        // show coords only when configure AND stats are off OR stats are on and motors are off
151
        // 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)
152
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS)
151
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
153
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
152
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
154
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
153
            write_gps_pos(15, bottom_line - 2, naviData.CurrentPosition.Longitude);
155
            write_gps_pos(15, bottom_line - 2, naviData.CurrentPosition.Longitude);
154
            write_gps_pos(15, bottom_line - 1, naviData.CurrentPosition.Latitude);
156
            write_gps_pos(15, bottom_line - 1, naviData.CurrentPosition.Latitude);
155
        }
157
        }
156
 
158
 
157
        // center
159
        // center
158
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
160
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
159
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
161
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
160
                clear();
162
                clear();
161
                // remember current heigth for offsets
163
                // remember current heigth for offsets
162
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
164
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
163
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
165
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
164
                } else {
166
                } else {
165
                    altimeter_offset = naviData.Altimeter / 20; // BARO
167
                    altimeter_offset = naviData.Altimeter / 20; // BARO
166
                }
168
                }
167
                // set wasted counter to current offset
169
                // set wasted counter to current offset
168
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
170
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
169
                    wasted_ampere_offset = ampere_wasted / 10;
171
                    wasted_ampere_offset = ampere_wasted / 10;
170
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
172
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
171
                    wasted_ampere_offset = naviData.UsedCapacity;
173
                    wasted_ampere_offset = naviData.UsedCapacity;
172
                }
174
                }
173
                // update flags to paint display again if needed
175
                // update flags to paint display again if needed
174
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
176
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
175
            }
177
            }
176
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
178
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
177
                uint8_t horizon_bottom = bottom_line - 1;
179
                uint8_t horizon_bottom = bottom_line - 1;
178
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
180
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
179
                    horizon_bottom--;
181
                    horizon_bottom--;
180
                }
182
                }
181
                if (COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS) {
183
                if (COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS) {
182
                    horizon_bottom--;
184
                    horizon_bottom--;
183
                }
185
                }
184
 
186
 
185
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
187
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
186
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
188
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
187
                } else {
189
                } else {
188
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
190
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
189
                }
191
                }
190
            }
192
            }
191
            // motors are on, assume we were/are flying
193
            // motors are on, assume we were/are flying
192
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
194
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
193
        } else {
195
        } else {
194
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
196
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
195
                clear(); // clear whole screen in case there is horizon stuff left
197
                clear(); // clear whole screen in case there is horizon stuff left
196
                // update flags to paint display again if needed
198
                // update flags to paint display again if needed
197
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
199
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
198
            }
200
            }
199
            // stats
201
            // stats
200
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
202
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
201
                draw_stats();
203
                draw_stats();
202
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
204
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
203
                uint8_t horizon_bottom = bottom_line - 1;
205
                uint8_t horizon_bottom = bottom_line - 1;
204
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
206
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
205
                    horizon_bottom--;
207
                    horizon_bottom--;
206
                }
208
                }
207
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
209
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
208
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
210
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
209
                } else {
211
                } else {
210
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
212
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
211
                }
213
                }
212
            }
214
            }
213
        }
215
        }
214
 
216
 
215
 
217
 
216
 
218
 
217
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
219
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
218
            draw_big_variometer(27, 8, naviData.Variometer);
220
            draw_big_variometer(27, 8, naviData.Variometer);
219
        }
221
        }
220
 
222
 
221
        // pre-bottom line
223
        // pre-bottom line
222
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
224
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
223
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
225
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
224
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
226
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
225
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
227
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
226
 
228
 
227
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
229
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
228
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
230
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
229
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
231
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
230
        }
232
        }
231
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
233
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
232
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
234
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
233
        }
235
        }
234
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
236
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
235
 
237
 
236
        // bottom line
238
        // bottom line
237
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
239
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
238
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
240
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
239
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
241
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
240
            for (uint8_t x = 2; x < 8; x++)
242
            for (uint8_t x = 2; x < 8; x++)
241
                write_char_att_xy(x, bottom_line, BLINK);
243
                write_char_att_xy(x, bottom_line, BLINK);
242
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
244
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
243
            for (uint8_t x = 2; x < 8; x++)
245
            for (uint8_t x = 2; x < 8; x++)
244
                write_char_att_xy(x, bottom_line, 0);
246
                write_char_att_xy(x, bottom_line, 0);
245
        }
247
        }
246
 
248
 
247
        write_time(8, bottom_line, uptime);
249
        write_time(8, bottom_line, uptime);
248
        write_time(15, bottom_line, naviData.FlyingTime);
250
        write_time(15, bottom_line, naviData.FlyingTime);
249
 
251
 
250
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
252
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
251
        // blink GPS in case no fix... 
253
        // blink GPS in case no fix... 
252
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && ((old_NCFlags & NC_FLAG_GPS_OK) || old_NCFlags == 0)) {
254
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && ((old_NCFlags & NC_FLAG_GPS_OK) || old_NCFlags == 0)) {
253
            for (uint8_t x = 24; x < 28; x++)
255
            for (uint8_t x = 24; x < 28; x++)
254
                write_char_att_xy(x, bottom_line, BLINK);
256
                write_char_att_xy(x, bottom_line, BLINK);
255
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
257
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
256
            for (uint8_t x = 24; x < 28; x++)
258
            for (uint8_t x = 24; x < 28; x++)
257
                write_char_att_xy(x, bottom_line, 0);
259
                write_char_att_xy(x, bottom_line, 0);
258
        }
260
        }
259
 
261
 
260
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
262
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
261
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
263
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
262
        } else {
264
        } else {
263
            write_char_xy(23, bottom_line, 0); // clear
265
            write_char_xy(23, bottom_line, 0); // clear
264
        }
266
        }
265
 
267
 
266
        if (naviData.NCFlags & NC_FLAG_CH) {
268
        if (naviData.NCFlags & NC_FLAG_CH) {
267
            write_char_xy(27, bottom_line, 231); // gps ch
269
            write_char_xy(27, bottom_line, 231); // gps ch
268
        } else if (naviData.NCFlags & NC_FLAG_PH) {
270
        } else if (naviData.NCFlags & NC_FLAG_PH) {
269
            write_char_xy(27, bottom_line, 230); // gps ph
271
            write_char_xy(27, bottom_line, 230); // gps ph
270
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
272
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
271
            write_char_xy(27, bottom_line, 201); // sat2 (free)
273
            write_char_xy(27, bottom_line, 201); // sat2 (free)
272
        }
274
        }
273
 
275
 
274
        // after all, draw scope WHEN configured AND flying OR Stats are off
276
        // after all, draw scope WHEN configured AND flying OR Stats are off
275
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_SCOPE)
277
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_SCOPE)
276
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
278
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
277
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
279
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
278
            draw_scope();
280
            draw_scope();
279
        }
281
        }
280
    }
282
    }
281
 
283
 
282
    //write_number_s(8, 5, RxDataLen);
284
    //write_number_s(8, 5, RxDataLen);
283
    //write_number_s(16, 5, setsReceived++);
285
    //write_number_s(16, 5, setsReceived++);
284
 
286
 
285
    // remember statistics (only when engines running)
287
    // remember statistics (only when engines running)
286
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
288
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
287
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
289
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
288
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
290
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
289
        } else {
291
        } else {
290
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
292
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
291
        }
293
        }
292
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
294
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
293
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
295
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
294
            max_Distance = naviData.HomePositionDeviation.Distance;
296
            max_Distance = naviData.HomePositionDeviation.Distance;
295
        }
297
        }
296
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
298
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
297
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
299
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
298
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
300
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
299
            if (ampere > max_ampere) max_ampere = ampere;
301
            if (ampere > max_ampere) max_ampere = ampere;
300
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
302
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
301
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
303
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
302
        }
304
        }
303
    }
305
    }
304
 
306
 
305
    // remember last values
307
    // remember last values
306
    last_RC_Quality = rc_signal;
308
    last_RC_Quality = naviData.RC_Quality;
307
    last_UBat = naviData.UBat;
309
    last_UBat = naviData.UBat;
308
    old_MKFlags = naviData.FCFlags;
310
    old_MKFlags = naviData.FCFlags;
309
    old_NCFlags = naviData.NCFlags;
311
    old_NCFlags = naviData.NCFlags;
310
    seconds_since_last_data = 0;
312
    seconds_since_last_data = 0;
311
 
313
 
312
    return 0;
314
    return 0;
313
}
315
}
314
 
316
 
315
#endif
317
#endif
316
 
318