Mirrors_Framework/ardupilot
1
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-10-06 19:00:27 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
7f9ca66f2d0e42008bd3deda916bd05be39bd123
ardupilot/libraries/AP_OSD/AP_OSD.cpp
T
Peter Barker 7f9ca66f2d AP_OSD: rename airspeed methods on AHRS to include EAS or TAS 
mixing these up has caused confusion in the past.

"estimate" could also be confused as to mean "synthetic", when it will often come from a sensor.
2025-11-17 18:46:52 -06:00

700 lines
22 KiB
C++
Raw Blame History

/*
* This file 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 3 of the License, or
* (at your option) any later version.
*
* This file 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, see <http://www.gnu.org/licenses/>.
*
* AP_OSD partially based on betaflight and inav osd.c implemention.
* clarity.mcm font is taken from inav configurator.
* Many thanks to their authors.
*/
#include "AP_OSD.h"
#if OSD_ENABLED || OSD_PARAM_ENABLED
#include "AP_OSD_MAX7456.h"
#ifdef WITH_SITL_OSD
#include "AP_OSD_SITL.h"
#endif
#include "AP_OSD_MSP.h"
#include "AP_OSD_MSP_DisplayPort.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <utility>
#include <AP_Notify/AP_Notify.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RSSI/AP_RSSI.h>
#include <GCS_MAVLink/GCS.h>
// macro for easy use of var_info2
#define AP_SUBGROUPINFO2(element, name, idx, thisclazz, elclazz) { name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info2 }, AP_PARAM_FLAG_NESTED_OFFSET, idx, AP_PARAM_GROUP }
const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _TYPE
// @DisplayName: OSD type
// @Description: OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
#if OSD_ENABLED
// @Param: _CHAN
// @DisplayName: Screen switch transmitter channel
// @Description: This sets the channel used to switch different OSD screens.
// @Values: 0:Disable,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0),
// @Group: 1_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen),
// @Group: 2_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen),
// @Group: 3_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen),
// @Group: 4_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen),
// @Param: _SW_METHOD
// @DisplayName: Screen switch method
// @Description: This sets the method used to switch different OSD screens.
// @Values: 0: switch to next screen if channel value was changed, 1: select screen based on pwm ranges specified for each screen, 2: switch to next screen after low to high transition and every 1s while channel value is high
// @User: Standard
AP_GROUPINFO("_SW_METHOD", 7, AP_OSD, sw_method, AP_OSD::TOGGLE),
// @Param: _OPTIONS
// @DisplayName: OSD Options
// @Description: This sets options that change the display
// @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode
// @User: Standard
AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
// @Param: _FONT
// @DisplayName: OSD Font
// @Description: This sets which OSD font to use. It is an integer from 0 to the number of fonts available
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0),
// @Param: _V_OFFSET
// @DisplayName: OSD vertical offset
// @Description: Sets vertical offset of the osd inside image
// @Range: 0 31
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_V_OFFSET", 10, AP_OSD, v_offset, 16),
// @Param: _H_OFFSET
// @DisplayName: OSD horizontal offset
// @Description: Sets horizontal offset of the osd inside image
// @Range: 0 63
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_H_OFFSET", 11, AP_OSD, h_offset, 32),
// @Param: _W_RSSI
// @DisplayName: RSSI warn level (in %)
// @Description: Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.
// @Range: -128 100
// @User: Standard
AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, AP_OSD_WARN_RSSI_DEFAULT),
// @Param: _W_NSAT
// @DisplayName: NSAT warn level
// @Description: Set level at which NSAT item will flash
// @Range: 1 30
// @User: Standard
AP_GROUPINFO("_W_NSAT", 13, AP_OSD, warn_nsat, 9),
// @Param: _W_BATVOLT
// @DisplayName: BAT_VOLT warn level
// @Description: Set level at which BAT_VOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_BATVOLT", 14, AP_OSD, warn_batvolt, 10.0f),
// @Param: _UNITS
// @DisplayName: Display Units
// @Description: Sets the units to use in displaying items
// @Values: 0:Metric,1:Imperial,2:SI,3:Aviation
// @User: Standard
AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0),
// @Param: _MSG_TIME
// @DisplayName: Message display duration in seconds
// @Description: Sets message duration seconds
// @Range: 1 20
// @User: Standard
AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
// @Param: _ARM_SCR
// @DisplayName: Arm screen
// @Description: Screen to be shown on Arm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
// @Param: _DSARM_SCR
// @DisplayName: Disarm screen
// @Description: Screen to be shown on disarm event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0),
// @Param: _FS_SCR
// @DisplayName: Failsafe screen
// @Description: Screen to be shown on failsafe event. Zero to disable the feature.
// @Range: 0 4
// @User: Standard
AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0),
#if OSD_PARAM_ENABLED
// @Param: _BTN_DELAY
// @DisplayName: Button delay
// @Description: Debounce time in ms for stick commanded parameter navigation.
// @Range: 0 3000
// @User: Advanced
AP_GROUPINFO("_BTN_DELAY", 20, AP_OSD, button_delay_ms, 300),
#endif
#if AP_TERRAIN_AVAILABLE
// @Param: _W_TERR
// @DisplayName: Terrain warn level
// @Description: Set level below which TER_HGT item will flash. -1 disables.
// @Range: -1 3000
// @Units: m
// @User: Standard
AP_GROUPINFO("_W_TERR", 23, AP_OSD, warn_terr, -1),
#endif
// @Param: _W_AVGCELLV
// @DisplayName: AVGCELLV warn level
// @Description: Set level at which AVGCELLV item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_AVGCELLV", 24, AP_OSD, warn_avgcellvolt, 3.6f),
// @Param: _CELL_COUNT
// @DisplayName: Battery cell count
// @Description: Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("_CELL_COUNT", 25, AP_OSD, cell_count, -1),
// @Param: _W_RESTVOLT
// @DisplayName: RESTVOLT warn level
// @Description: Set level at which RESTVOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_RESTVOLT", 26, AP_OSD, warn_restvolt, 10.0f),
// @Param: _W_ACRVOLT
// @DisplayName: Avg Cell Resting Volt warn level
// @Description: Set level at which ACRVOLT item will flash
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_ACRVOLT", 31, AP_OSD, warn_avgcellrestvolt, 3.6f),
#if AP_OSD_EXTENDED_LNK_STATS
// @Param: _W_LQ
// @DisplayName: RC link quality warn level (in %)
// @Description: Set level at which RC_LQ item will flash (%)
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("_W_LQ", 33, AP_OSD, warn_lq, 50),
// @Param: _W_SNR
// @DisplayName: RC link SNR warn level (in %)
// @Description: Set level at which RC_SNR item will flash (in db)
// @Range: -20 10
// @User: Standard
AP_GROUPINFO("_W_SNR", 34, AP_OSD, warn_snr, 0),
#endif
#if HAL_OSD_SIDEBAR_ENABLE
// @Param: _SB_H_OFS
// @DisplayName: Sidebar horizontal offset
// @Description: Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.
// @Range: 0 20
// @User: Standard
AP_GROUPINFO("_SB_H_OFS", 35, AP_OSD, sidebar_h_offset, 0),
// @Param: _SB_V_EXT
// @DisplayName: Sidebar vertical extension
// @Description: Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.
// @Range: 0 10
// @User: Standard
AP_GROUPINFO("_SB_V_EXT", 36, AP_OSD, sidebar_v_ext, 0),
#endif // HAL_OSD_SIDEBAR_ENABLE
#endif //osd enabled
#if OSD_PARAM_ENABLED
// @Group: 5_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[0], "5_", 21, AP_OSD, AP_OSD_ParamScreen),
// @Group: 6_
// @Path: AP_OSD_ParamScreen.cpp
AP_SUBGROUPINFO(param_screen[1], "6_", 22, AP_OSD, AP_OSD_ParamScreen),
#endif
#if OSD_ENABLED
// additional tables to go beyond 63 limit
AP_SUBGROUPINFO2(screen[0], "1_", 27, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[1], "2_", 28, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[2], "3_", 29, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[3], "4_", 30, AP_OSD, AP_OSD_Screen),
#endif
// @Param: _TYPE2
// @DisplayName: OSD type 2
// @Description: OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_TYPE2", 32, AP_OSD, osd_type2, 0),
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
// singleton instance
AP_OSD *AP_OSD::_singleton;
AP_OSD::AP_OSD()
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_OSD must be singleton");
}
AP_Param::setup_object_defaults(this, var_info);
#if OSD_ENABLED
// force first screen enabled
screen[0].enabled.set_and_default(1);
previous_pwm_screen = -1;
#endif
#ifdef WITH_SITL_OSD
osd_type.set_default(OSD_SITL);
#endif
#ifdef HAL_OSD_TYPE_DEFAULT
osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
#endif
_singleton = this;
}
void AP_OSD::init()
{
const AP_OSD::osd_types types[OSD_MAX_INSTANCES] = {
osd_types(osd_type.get()),
osd_types(osd_type2.get())
};
for (uint8_t instance = 0; instance < OSD_MAX_INSTANCES; instance++) {
if (init_backend(types[instance], instance)) {
_backend_count++;
}
}
if (_backend_count > 0) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
}
}
bool AP_OSD::init_backend(const AP_OSD::osd_types type, const uint8_t instance)
{
// check if we can run this backend instance in parallel with backend instance 0
if (instance > 0) {
if (_backends[0] && !_backends[0]->is_compatible_with_backend_type(type)) {
return false;
}
}
switch (type) {
case OSD_NONE:
case OSD_TXONLY:
default:
break;
case OSD_MAX7456: {
#ifdef HAL_WITH_SPI_OSD
AP_HAL::OwnPtr<AP_HAL::Device> spi_dev = std::move(hal.spi->get_device("osd"));
if (!spi_dev) {
break;
}
#if HAL_WITH_OSD_BITMAP
_backends[instance] = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
#endif
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MAX7456 OSD\n");
#endif
break;
}
#ifdef WITH_SITL_OSD
case OSD_SITL: {
_backends[instance] = AP_OSD_SITL::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started SITL OSD\n");
break;
}
#endif
case OSD_MSP: {
_backends[instance] = AP_OSD_MSP::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MSP OSD\n");
break;
}
#if HAL_WITH_MSP_DISPLAYPORT
case OSD_MSP_DISPLAYPORT: {
_backends[instance] = AP_OSD_MSP_DisplayPort::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MSP DisplayPort OSD\n");
break;
}
#endif
}
#if OSD_ENABLED
if (_backends[instance] != nullptr) {
// populate the fonts lookup table
_backends[instance]->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
return true;
}
#endif
return false;
}
#if OSD_ENABLED
void AP_OSD::osd_thread()
{
// initialize thread specific code once
for (uint8_t instance = 0; instance < _backend_count; instance++) {
_backends[instance]->osd_thread_run_once();
}
while (true) {
hal.scheduler->delay(100);
if (!_disable) {
update_stats();
update_current_screen();
}
update_osd();
}
}
void AP_OSD::update_osd()
{
for (uint8_t instance = 0; instance < _backend_count; instance++) {
_backends[instance]->clear();
if (!_disable) {
get_screen(current_screen).set_backend(_backends[instance]);
// skip drawing for MSP OSD backends to save some resources
if (_backends[instance]->get_backend_type() != OSD_MSP) {
get_screen(current_screen).draw();
}
}
_backends[instance]->flush();
}
}
//update maximums and totals
void AP_OSD::update_stats()
{
// allow other threads to consume stats info
WITH_SEMAPHORE(_sem);
uint32_t now = AP_HAL::millis();
if (!AP_Notify::flags.armed) {
_stats.last_update_ms = now;
return;
}
// flight distance
uint32_t delta_ms = now - _stats.last_update_ms;
_stats.last_update_ms = now;
Vector2f v;
Location loc {};
Location home_loc;
bool home_is_set;
bool have_airspeed_estimate;
float alt;
float aspd_mps = 0.0f;
{
// minimize semaphore scope
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
v = ahrs.groundspeed_vector();
home_is_set = ahrs.get_location(loc) && ahrs.home_is_set();
if (home_is_set) {
home_loc = ahrs.get_home();
}
ahrs.get_relative_position_D_home(alt);
have_airspeed_estimate = ahrs.airspeed_EAS(aspd_mps);
}
float speed = v.length();
if (speed < 0.178) {
speed = 0.0;
}
float dist_m = (speed * delta_ms)*0.001;
_stats.last_distance_m += dist_m;
// maximum ground speed
_stats.max_speed_mps = fmaxf(_stats.max_speed_mps,speed);
// maximum distance
if (home_is_set) {
float distance = home_loc.get_distance(loc);
_stats.max_dist_m = fmaxf(_stats.max_dist_m, distance);
}
// maximum altitude
alt = -alt;
_stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
#if AP_BATTERY_ENABLED
// maximum current
AP_BattMonitor &battery = AP::battery();
float amps;
if (battery.current_amps(amps)) {
_stats.max_current_a = fmaxf(_stats.max_current_a, amps);
}
// minimum voltage
float voltage = battery.voltage();
if (voltage > 0) {
_stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
}
#endif
#if AP_RSSI_ENABLED
// minimum rssi
AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
if (ap_rssi) {
_stats.min_rssi = fminf(_stats.min_rssi, ap_rssi->read_receiver_rssi());
}
#endif
// max airspeed either true or synthetic
if (have_airspeed_estimate) {
_stats.max_airspeed_mps = fmaxf(_stats.max_airspeed_mps, aspd_mps);
}
#if HAL_WITH_ESC_TELEM
// max esc temp
AP_ESC_Telem& telem = AP::esc_telem();
int16_t highest_temperature = 0;
telem.get_highest_temperature(highest_temperature);
_stats.max_esc_temp = MAX(_stats.max_esc_temp, highest_temperature);
#endif
}
//Thanks to minimosd authors for the multiple osd screen idea
void AP_OSD::update_current_screen()
{
// Switch on ARM/DISARM event
if (AP_Notify::flags.armed) {
if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(arm_scr-1).enabled) {
current_screen = arm_scr-1;
}
was_armed = true;
} else if (was_armed) {
if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(disarm_scr-1).enabled) {
current_screen = disarm_scr-1;
}
was_armed = false;
}
// Switch on failsafe event
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) {
if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_DISPLAY_SCREENS && get_screen(failsafe_scr-1).enabled) {
pre_fs_screen = current_screen;
current_screen = failsafe_scr-1;
}
was_failsafe = true;
} else if (was_failsafe) {
if (get_screen(pre_fs_screen).enabled) {
current_screen = pre_fs_screen;
}
was_failsafe = false;
}
if (rc_channel == 0) {
return;
}
#if AP_RC_CHANNEL_ENABLED
RC_Channel *channel = RC_Channels::rc_channel(rc_channel-1);
if (channel == nullptr) {
return;
}
int16_t channel_value = channel->get_radio_in();
switch (sw_method) {
//switch to next screen if channel value was changed
default:
case TOGGLE:
if (previous_channel_value == 0) {
//do not switch to the next screen just after initialization
previous_channel_value = channel_value;
}
if (abs(channel_value-previous_channel_value) > 200) {
if (switch_debouncer) {
next_screen();
previous_channel_value = channel_value;
} else {
switch_debouncer = true;
return;
}
}
break;
//select screen based on pwm ranges specified
case PWM_RANGE:
for (int i=0; i<AP_OSD_NUM_SCREENS; i++) {
if (get_screen(i).enabled && get_screen(i).channel_min <= channel_value && get_screen(i).channel_max > channel_value) {
if (previous_pwm_screen == i) {
break;
} else {
current_screen = previous_pwm_screen = i;
}
}
}
break;
//switch to next screen after low to high transition and every 1s while channel value is high
case AUTO_SWITCH:
if (channel_value > channel->get_radio_trim()) {
if (switch_debouncer) {
uint32_t now = AP_HAL::millis();
if (now - last_switch_ms > 1000) {
next_screen();
last_switch_ms = now;
}
} else {
switch_debouncer = true;
return;
}
} else {
last_switch_ms = 0;
}
break;
}
switch_debouncer = false;
#endif // AP_RC_CHANNEL_ENABLED
}
//select next avaliable screen, do nothing if all screens disabled
void AP_OSD::next_screen()
{
uint8_t t = current_screen;
do {
t = (t + 1)%AP_OSD_NUM_SCREENS;
} while (t != current_screen && !get_screen(t).enabled);
current_screen = t;
}
// set navigation information for display
void AP_OSD::set_nav_info(NavInfo &navinfo)
{
// do this without a lock for now
nav_info = navinfo;
}
// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
{
#if OSD_PARAM_ENABLED
// currently in the OSD menu, do not allow arming
if (!is_readonly_screen()) {
hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
return false;
}
#endif
//check if second backend was requested by user but not instantiated
if (osd_type.get() != OSD_NONE && _backend_count == 1 && osd_type2.get() != OSD_NONE) {
hal.util->snprintf(failure_msg, failure_msg_len, "OSD_TYPE2 not compatible with first OSD");
return false;
}
// if we got this far everything must be ok
return true;
}
#endif // OSD_ENABLED
// handle OSD parameter configuration
#if HAL_GCS_ENABLED
void AP_OSD::handle_msg(const mavlink_message_t &msg, const GCS_MAVLINK& link)
{
bool found = false;
switch (msg.msgid) {
case MAVLINK_MSG_ID_OSD_PARAM_CONFIG: {
mavlink_osd_param_config_t packet;
mavlink_msg_osd_param_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_write_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN);
}
}
break;
case MAVLINK_MSG_ID_OSD_PARAM_SHOW_CONFIG: {
mavlink_osd_param_show_config_t packet;
mavlink_msg_osd_param_show_config_decode(&msg, &packet);
#if OSD_PARAM_ENABLED
for (uint8_t i = 0; i < AP_OSD_NUM_PARAM_SCREENS; i++) {
if (packet.osd_screen == i + AP_OSD_NUM_DISPLAY_SCREENS + 1) {
param_screen[i].handle_read_msg(packet, link);
found = true;
}
}
#endif
// send back an error
if (!found) {
mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_SCREEN,
nullptr, OSD_PARAM_NONE, 0, 0, 0);
}
}
break;
default:
break;
}
}
#endif
AP_OSD *AP::osd() {
return AP_OSD::get_singleton();
}
#endif // OSD_ENABLED || OSD_PARAM_ENABLED
Reference in New Issue View Git Blame Copy Permalink