WebSVN - Projects - Diff - Rev 520 and 523 - /C-OSD/trunk/osd_ncmode


/****************************************************************************
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
 *   admiralcascade@gmail.com                                               *
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
 *                                                                          *
 *   This program is free software; you can redistribute it and/or modify   *
 *   it under the terms of the GNU General Public License as published by   *
 *   the Free Software Foundation; either version 2 of the License.         *
 *                                                                          *
 *   This program is distributed in the hope that it will be useful,        *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with this program; if not, write to the                          *
 *   Free Software Foundation, Inc.,                                        *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
 ****************************************************************************/
 
#include "main.h"
#include "max7456_software_spi.h"
#include "osd_helpers.h"
#include "osd_ncmode_default.h"
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
int osd_ncmode_default() {
        if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
                // write icons at init or after menu/mode-switch
                if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
                    write_char_xy(5, top_line, 0xCB); // km/h
                    write_char_xy(10, top_line, 0xCA); // RC-transmitter
                    write_char_xy(16, top_line, 0xD0); // degree symbol
                    write_char_xy(27, top_line, 0xCC); // small meters m height
                    write_char_xy(20, top_line + 1, 0xB0); // left circle
                    write_char_xy(22, top_line + 1, 0xB2); // right circle
                    write_char_xy(27, top_line + 1, 0xCC); // small meters m home
                    write_char_xy(7, bottom_line, 0x9E); // small V
                        if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
                                write_char_xy(7, bottom_line - 1, 0x9F); // small A
                                write_char_xy(14, bottom_line - 1, 0xB5); // mah
                                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
                                        write_char_xy(21, bottom_line - 1, 0x9E); // small V
                                }
                        }
                    write_char_xy(14, bottom_line, 0xD1); // on clock
                    write_char_xy(21, bottom_line, 0xD2); // fly clock
                    write_char_xy(26, bottom_line, 0xC8); // sat1
                    write_char_xy(27, bottom_line, 0xC9); // sat2
                        COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
                }
 
                // first line
                write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
 
                write_ndigit_number_u(7, top_line, naviData.RC_Quality, 3, 0);
                if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
                    for (uint8_t x = 0; x < 4; x++)
                        write_char_att_xy(7 + x, top_line, BLINK);
                } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
                    for (uint8_t x = 0; x < 4; x++)
                        write_char_att_xy(7 + x, top_line, 0);
                }
       
 
                if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
                    write_char_xy(11, top_line, 0); // clear
                } else {
                    write_char_xy(11, top_line, 0xC6); // PC icon
                }
 
                write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
 
                write_ascii_string_pgm(17, top_line, (const char *) (pgm_read_word ( &(directions[heading_conv(naviData.CompassHeading)]))));
 
                draw_variometer(21, top_line, naviData.Variometer);
 
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
                        if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
                                // above 10m only write full meters
                                write_ndigit_number_s(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
                        } else {
                                // up to 10m write meters.dm
                            write_ndigit_number_s_10th(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
                        }
                } else {
                        //note:lephisto:according to several sources it's /30
                        if (naviData.Altimeter > 300 || naviData.Altimeter < -300) {
                                // above 10m only write full meters
                                write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 4, 0); // BARO
                        } else {
                                // up to 10m write meters.dm
                            write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 3, 0); // BARO
                        }
                }
 
 
                // seccond line
                draw_compass(11, top_line + 1, naviData.CompassHeading);
 
                // TODO: verify correctness
                uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
                //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
                // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
                write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
 
                write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 3, 0);
 
                // center
                if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
                    if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
                        clear();
                                // remember current heigth for gps offset
                                altimeter_offset = naviData.CurrentPosition.Altitude / 1000;
                        // update flags to paint display again if needed
                        COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
                    }
                    if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) {
                                if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
                                draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);
                                } else {
                                draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                                }
                    }
                    // motors are on, assume we were/are flying
                    COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
                } else {
                    // stats
                    if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
                                uint8_t line = 3;
                        write_ascii_string_pgm(2, line, (const char *) (pgm_read_word(&(stats_item_pointers[0])))); // max Altitude
                        write_ndigit_number_s(18, line, max_Altimeter, 4, 0);
                        write_char_xy(22, line, 204); // small meters m
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[1])))); // max Speed
                        write_ndigit_number_u(19, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
                        write_char_xy(22, line, 203); // km/h
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[2])))); // max Distance
                        write_ndigit_number_u(19, line, max_Distance / 10, 3, 0);
                        write_char_xy(22, line, 204); // small meters m
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[3])))); // min voltage
                        write_ndigit_number_u_10th(18, line, min_UBat, 3, 0);
                        write_char_xy(22, line, 0x9E); // small V
                                if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
                                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[7])))); // ampere
                                        write_ndigit_number_u_10th(18, line, max_ampere / 10, 3, 0);
                                        write_char_xy(22, line, 0x9F); // small A
                                }
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[4])))); // max time
                        write_time(16, line, max_FlyingTime);
                        write_char_xy(22, line, 210); // fly clock
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[5])))); // longitude
                        write_gps_pos(15, line, naviData.CurrentPosition.Longitude);
                        write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[6])))); // latitude
                        write_gps_pos(15, line, naviData.CurrentPosition.Latitude);
                    } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
                                if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
                                draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);
                                } else {
                                draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                                }
                    }
                }
                if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
                    draw_big_variometer(27, 8, naviData.Variometer);
                }
 
                // pre-bottom line
                if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
                        //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
                        write_ndigit_number_u_10th(3, bottom_line - 1, ampere / 10, 3, 0);
                        write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
                        if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
                                write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
                        }
                }
 
                // bottom line
                draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
                write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
                if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
                    for (uint8_t x = 2; x < 8; x++)
                        write_char_att_xy(x, bottom_line, BLINK);
                } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
                    for (uint8_t x = 2; x < 8; x++)
                        write_char_att_xy(x, bottom_line, 0);
                }
 
                write_time(8, bottom_line, uptime);
                write_time(15, bottom_line, naviData.FlyingTime);
 
                write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
 
                if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
                    write_char_xy(23, bottom_line, 0xB3); // rc transmitter
                } else {
                    write_char_xy(23, bottom_line, 0); // clear
                }
 
                if (naviData.NCFlags & NC_FLAG_CH) {
                    write_char_xy(27, bottom_line, 231); // gps ch
                } else if (naviData.NCFlags & NC_FLAG_PH) {
                    write_char_xy(27, bottom_line, 230); // gps ph
                } else { // (naviData.NCFlags & NC_FLAG_FREE)
                    write_char_xy(27, bottom_line, 201); // sat2 (free)
                }
        }
 
        //write_number_s(8, 5, RxDataLen);
        //write_number_s(16, 5, setsReceived++);
 
        // remember statistics (only when engines running)
        if (naviData.MKFlags & FLAG_MOTOR_RUN) {
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
                        if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
                } else {
                if (naviData.Altimeter / 30 > max_Altimeter) max_Altimeter = naviData.Altimeter / 30;
                }
            if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
            if (naviData.HomePositionDeviation.Distance > max_Distance) {
                max_Distance = naviData.HomePositionDeviation.Distance;
            }
            if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
            if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
                if (ampere > max_ampere) max_ampere = ampere;
        }
 
        // remember last values
        last_RC_Quality = naviData.RC_Quality;
        last_UBat = naviData.UBat;
        old_MKFlags = naviData.MKFlags;
        seconds_since_last_data = 0;
 
        return 0;
}
 
#endif
 

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(root)/C-OSD/trunk/osd_ncmode_default.c - Rev 520 → 523

Rev 520		Rev 523
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009 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))	26	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
27		27
28	int osd_ncmode_default() {	28	int osd_ncmode_default() {
29	if (COSD_FLAGS & COSD_FLAG_HUD) {	29	if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
30	// write icons at init or after menu/mode-switch	30	// write icons at init or after menu/mode-switch
31	if (!(COSD_FLAGS2 & COSD_ICONS_WRITTEN)) {	31	if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
32	write_char_xy(5, top_line, 0xCB); // km/h	32	write_char_xy(5, top_line, 0xCB); // km/h
33	write_char_xy(10, top_line, 0xCA); // RC-transmitter	33	write_char_xy(10, top_line, 0xCA); // RC-transmitter
34	write_char_xy(16, top_line, 0xD0); // degree symbol	34	write_char_xy(16, top_line, 0xD0); // degree symbol
35	write_char_xy(27, top_line, 0xCC); // small meters m height	35	write_char_xy(27, top_line, 0xCC); // small meters m height
36	write_char_xy(20, top_line + 1, 0xB0); // left circle	36	write_char_xy(20, top_line + 1, 0xB0); // left circle
37	write_char_xy(22, top_line + 1, 0xB2); // right circle	37	write_char_xy(22, top_line + 1, 0xB2); // right circle
38	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
39	write_char_xy(7, bottom_line, 0x9E); // small V	39	write_char_xy(7, bottom_line, 0x9E); // small V
40	if (COSD_FLAGS2 & COSD_FLAG_STROMREC) {	40	if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
41	write_char_xy(7, bottom_line - 1, 0x9F); // small A	41	write_char_xy(7, bottom_line - 1, 0x9F); // small A
42	write_char_xy(14, bottom_line - 1, 0xB5); // mah	42	write_char_xy(14, bottom_line - 1, 0xB5); // mah
43	if (COSD_FLAGS & COSD_FLAG_STROMVOLT) {	43	if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
44	write_char_xy(21, bottom_line - 1, 0x9E); // small V	44	write_char_xy(21, bottom_line - 1, 0x9E); // small V
45	}	45	}
46	}	46	}
47	write_char_xy(14, bottom_line, 0xD1); // on clock	47	write_char_xy(14, bottom_line, 0xD1); // on clock
48	write_char_xy(21, bottom_line, 0xD2); // fly clock	48	write_char_xy(21, bottom_line, 0xD2); // fly clock
49	write_char_xy(26, bottom_line, 0xC8); // sat1	49	write_char_xy(26, bottom_line, 0xC8); // sat1
50	write_char_xy(27, bottom_line, 0xC9); // sat2	50	write_char_xy(27, bottom_line, 0xC9); // sat2
51	COSD_FLAGS2 \|= COSD_ICONS_WRITTEN;	51	COSD_FLAGS_RUNTIME \|= COSD_ICONS_WRITTEN;
52	}	52	}
53		53
54	// first line	54	// first line
55	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);	55	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
56		56
57	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 3, 0);	57	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 3, 0);
58	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {	58	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
59	for (uint8_t x = 0; x < 4; x++)	59	for (uint8_t x = 0; x < 4; x++)
60	write_char_att_xy(7 + x, top_line, BLINK);	60	write_char_att_xy(7 + x, top_line, BLINK);
61	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {	61	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
62	for (uint8_t x = 0; x < 4; x++)	62	for (uint8_t x = 0; x < 4; x++)
63	write_char_att_xy(7 + x, top_line, 0);	63	write_char_att_xy(7 + x, top_line, 0);
64	}	64	}
65		65
66		66
67	if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {	67	if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
68	write_char_xy(11, top_line, 0); // clear	68	write_char_xy(11, top_line, 0); // clear
69	} else {	69	} else {
70	write_char_xy(11, top_line, 0xC6); // PC icon	70	write_char_xy(11, top_line, 0xC6); // PC icon
71	}	71	}
72		72
73	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);	73	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
74		74
75	write_ascii_string_pgm(17, top_line, (const char *) (pgm_read_word ( &(directions[heading_conv(naviData.CompassHeading)]))));	75	write_ascii_string_pgm(17, top_line, (const char *) (pgm_read_word ( &(directions[heading_conv(naviData.CompassHeading)]))));
76		76
77	draw_variometer(21, top_line, naviData.Variometer);	77	draw_variometer(21, top_line, naviData.Variometer);
78		78
79	//note:lephisto:according to several sources it's /30	79	if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
80	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {	80	if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 \|\| naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
81	// above 10m only write full meters	81	// above 10m only write full meters
-		82	write_ndigit_number_s(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
-		83	} else {
82	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 4, 0); // BARO	84	// up to 10m write meters.dm
-		85	write_ndigit_number_s_10th(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
83	//write_ndigit_number_s(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 1000), 4, 0); // GPS	86	}
-		87	} else {
-		88	//note:lephisto:according to several sources it's /30
84	} else {	89	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
85	// up to 10m write meters.dm	90	// above 10m only write full meters
-		91	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 4, 0); // BARO
-		92	} else {
86	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 3, 0); // BARO	93	// up to 10m write meters.dm
-		94	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 3, 0); // BARO
87	//write_ndigit_number_s_10th(23, top_line, (int16_t) (naviData.CurrentPosition.Altitude / 1000), 3, 0); // GPS	95	}
-		96	}
88	}	97
89		98
90	// seccond line	99	// seccond line
91	draw_compass(11, top_line + 1, naviData.CompassHeading);	100	draw_compass(11, top_line + 1, naviData.CompassHeading);
92		101
93	// TODO: verify correctness	102	// TODO: verify correctness
94	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;	103	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
95	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);	104	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
96	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16	105	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
97	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));	106	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
98		107
99	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 3, 0);	108	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 3, 0);
100		109
101	// center	110	// center
102	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running	111	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
103	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle	112	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
-		113	clear();
-		114	// remember current heigth for gps offset
104	clear();	115	altimeter_offset = naviData.CurrentPosition.Altitude / 1000;
105	// update flags to paint display again if needed	116	// update flags to paint display again if needed
106	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;	117	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
107	}	118	}
108	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {	119	if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) {
109	if (COSD_FLAGS2 & COSD_FLAG_STROMREC) {	120	if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
110	draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);	121	draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);
111	} else {	122	} else {
112	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);	123	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
113	}	124	}
114	}	125	}
115	// motors are on, assume we were/are flying	126	// motors are on, assume we were/are flying
116	COSD_FLAGS2 \|= COSD_WASFLYING;	127	COSD_FLAGS_RUNTIME \|= COSD_WASFLYING;
117	} else {	128	} else {
118	// stats	129	// stats
119	if ((COSD_FLAGS2 & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {	130	if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
120	uint8_t line = 3;	131	uint8_t line = 3;
121	write_ascii_string_pgm(2, line, (const char *) (pgm_read_word(&(stats_item_pointers[0])))); // max Altitude	132	write_ascii_string_pgm(2, line, (const char *) (pgm_read_word(&(stats_item_pointers[0])))); // max Altitude
122	write_ndigit_number_s(18, line, max_Altimeter / 30, 4, 0);	133	write_ndigit_number_s(18, line, max_Altimeter, 4, 0);
123	write_char_xy(22, line, 204); // small meters m	134	write_char_xy(22, line, 204); // small meters m
124	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[1])))); // max Speed	135	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[1])))); // max Speed
125	write_ndigit_number_u(19, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);	136	write_ndigit_number_u(19, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
126	write_char_xy(22, line, 203); // km/h	137	write_char_xy(22, line, 203); // km/h
127	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[2])))); // max Distance	138	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[2])))); // max Distance
128	write_ndigit_number_u(19, line, max_Distance / 10, 3, 0);	139	write_ndigit_number_u(19, line, max_Distance / 10, 3, 0);
129	write_char_xy(22, line, 204); // small meters m	140	write_char_xy(22, line, 204); // small meters m
130	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[3])))); // min voltage	141	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[3])))); // min voltage
131	write_ndigit_number_u_10th(18, line, min_UBat, 3, 0);	142	write_ndigit_number_u_10th(18, line, min_UBat, 3, 0);
132	write_char_xy(22, line, 0x9E); // small V	143	write_char_xy(22, line, 0x9E); // small V
133	if (COSD_FLAGS2 & COSD_FLAG_STROMREC) {	144	if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
134	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[7])))); // ampere	145	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[7])))); // ampere
135	write_ndigit_number_u_10th(18, line, max_ampere / 10, 3, 0);	146	write_ndigit_number_u_10th(18, line, max_ampere / 10, 3, 0);
136	write_char_xy(22, line, 0x9F); // small A	147	write_char_xy(22, line, 0x9F); // small A
137	}	148	}
138	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[4])))); // max time	149	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[4])))); // max time
139	write_time(16, line, max_FlyingTime);	150	write_time(16, line, max_FlyingTime);
140	write_char_xy(22, line, 210); // fly clock	151	write_char_xy(22, line, 210); // fly clock
141	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[5])))); // longitude	152	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[5])))); // longitude
142	write_gps_pos(15, line, naviData.CurrentPosition.Longitude);	153	write_gps_pos(15, line, naviData.CurrentPosition.Longitude);
143	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[6])))); // latitude	154	write_ascii_string_pgm(2, ++line, (const char *) (pgm_read_word(&(stats_item_pointers[6])))); // latitude
144	write_gps_pos(15, line, naviData.CurrentPosition.Latitude);	155	write_gps_pos(15, line, naviData.CurrentPosition.Latitude);
145	} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon	156	} else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
146	if (COSD_FLAGS2 & COSD_FLAG_STROMREC) {	157	if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
147	draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);	158	draw_artificial_horizon(top_line + 2, bottom_line - 2, naviData.AngleNick, naviData.AngleRoll);
148	} else {	159	} else {
149	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);	160	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
150	}	161	}
151	}	162	}
152	}	163	}
153	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {	164	if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
154	draw_big_variometer(27, 8, naviData.Variometer);	165	draw_big_variometer(27, 8, naviData.Variometer);
155	}	166	}
156		167
157	// pre-bottom line	168	// pre-bottom line
158	if (COSD_FLAGS2 & COSD_FLAG_STROMREC) {	169	if (COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) {
159	//write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);	170	//write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
160	write_ndigit_number_u_10th(3, bottom_line - 1, ampere / 10, 3, 0);	171	write_ndigit_number_u_10th(3, bottom_line - 1, ampere / 10, 3, 0);
161	write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);	172	write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
162	if (COSD_FLAGS & COSD_FLAG_STROMVOLT) {	173	if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
163	write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);	174	write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
164	}	175	}
165	}	176	}
166		177
167	// bottom line	178	// bottom line
168	draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);	179	draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
169	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);	180	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
170	if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {	181	if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
171	for (uint8_t x = 2; x < 8; x++)	182	for (uint8_t x = 2; x < 8; x++)
172	write_char_att_xy(x, bottom_line, BLINK);	183	write_char_att_xy(x, bottom_line, BLINK);
173	} else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {	184	} else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
174	for (uint8_t x = 2; x < 8; x++)	185	for (uint8_t x = 2; x < 8; x++)
175	write_char_att_xy(x, bottom_line, 0);	186	write_char_att_xy(x, bottom_line, 0);
176	}	187	}
177		188
178	write_time(8, bottom_line, uptime);	189	write_time(8, bottom_line, uptime);
179	write_time(15, bottom_line, naviData.FlyingTime);	190	write_time(15, bottom_line, naviData.FlyingTime);
180		191
181	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);	192	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
182		193
183	if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {	194	if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
184	write_char_xy(23, bottom_line, 0xB3); // rc transmitter	195	write_char_xy(23, bottom_line, 0xB3); // rc transmitter
185	} else {	196	} else {
186	write_char_xy(23, bottom_line, 0); // clear	197	write_char_xy(23, bottom_line, 0); // clear
187	}	198	}
188		199
189	if (naviData.NCFlags & NC_FLAG_CH) {	200	if (naviData.NCFlags & NC_FLAG_CH) {
190	write_char_xy(27, bottom_line, 231); // gps ch	201	write_char_xy(27, bottom_line, 231); // gps ch
191	} else if (naviData.NCFlags & NC_FLAG_PH) {	202	} else if (naviData.NCFlags & NC_FLAG_PH) {
192	write_char_xy(27, bottom_line, 230); // gps ph	203	write_char_xy(27, bottom_line, 230); // gps ph
193	} else { // (naviData.NCFlags & NC_FLAG_FREE)	204	} else { // (naviData.NCFlags & NC_FLAG_FREE)
194	write_char_xy(27, bottom_line, 201); // sat2 (free)	205	write_char_xy(27, bottom_line, 201); // sat2 (free)
195	}	206	}
196	}	207	}
197		208
198	//write_number_s(8, 5, RxDataLen);	209	//write_number_s(8, 5, RxDataLen);
199	//write_number_s(16, 5, setsReceived++);	210	//write_number_s(16, 5, setsReceived++);
200		211
201	// remember statistics (only when engines running)	212	// remember statistics (only when engines running)
-		213	if (naviData.MKFlags & FLAG_MOTOR_RUN) {
-		214	if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
-		215	if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
202	if (naviData.MKFlags & FLAG_MOTOR_RUN) {	216	} else {
-		217	if (naviData.Altimeter / 30 > max_Altimeter) max_Altimeter = naviData.Altimeter / 30;
203	if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;	218	}
204	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;	219	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
205	if (naviData.HomePositionDeviation.Distance > max_Distance) {	220	if (naviData.HomePositionDeviation.Distance > max_Distance) {
206	max_Distance = naviData.HomePositionDeviation.Distance;	221	max_Distance = naviData.HomePositionDeviation.Distance;
207	}	222	}
208	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;	223	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
209	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;	224	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
210	if (ampere > max_ampere) max_ampere = ampere;	225	if (ampere > max_ampere) max_ampere = ampere;
211	}	226	}
212		227
213	// remember last values	228	// remember last values
214	last_RC_Quality = naviData.RC_Quality;	229	last_RC_Quality = naviData.RC_Quality;
215	last_UBat = naviData.UBat;	230	last_UBat = naviData.UBat;
216	old_MKFlags = naviData.MKFlags;	231	old_MKFlags = naviData.MKFlags;
217	seconds_since_last_data = 0;	232	seconds_since_last_data = 0;
218		233
219	return 0;	234	return 0;
220	}	235	}
221		236
222	#endif	237	#endif
223		238