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Settings, home arrow tests & other updates
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Sambas
parent
8f45114b1f
commit
4dd91d08c2
@ -337,6 +337,7 @@ static void setHomeLocation(GPSPositionData * gpsData)
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home.Altitude = gpsData->Altitude + gpsData->GeoidSeparation;
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// Compute home ECEF coordinates and the rotation matrix into NED
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#if defined(WORLD_MODEL)
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double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
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double ECEF[3];
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RneFromLLA(LLA, (float (*)[3])home.RNE);
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@ -358,6 +359,10 @@ static void setHomeLocation(GPSPositionData * gpsData)
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home.Set = HOMELOCATION_SET_TRUE;
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HomeLocationSet(&home);
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}
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#else
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home.Set = HOMELOCATION_SET_TRUE;
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HomeLocationSet(&home);
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#endif
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}
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}
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#endif
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@ -407,4 +412,4 @@ static void updateSettings()
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/**
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* @}
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* @}
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*/
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*/
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@ -37,9 +37,11 @@
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#include "homelocation.h"
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#include "gpstime.h"
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#include "gpssatellites.h"
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#include "osdsettings.h"
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#include "fonts.h"
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#include "font12x18.h"
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#include "WMMInternal.h"
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static uint16_t angleA=0;
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static int16_t angleB=90;
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@ -1817,14 +1819,17 @@ void drawBattery(uint16_t x, uint16_t y, uint8_t battery, uint16_t size)
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//right
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drawLine((x)-1+size, (y)-1+2, (x)-1+size, (y)-1+size*3);*/
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write_rectangle_outlined((x)-1, (y)-1+2,size,size*3,0,1);
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write_vline_lm((x)-1+(size/2+size/4)+1,(y)-2,(y)-1+1,0,1);
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write_vline_lm((x)-1+(size/2-size/4)-1,(y)-2,(y)-1+1,0,1);
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write_hline_lm((x)-1+(size/2-size/4),(x)-1 + (size/2+size/4),(y)-2,0,1);
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write_hline_lm((x)-1+(size/2-size/4),(x)-1 + (size/2+size/4),(y)-1,1,1);
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write_hline_lm((x)-1+(size/2-size/4),(x)-1 + (size/2+size/4),(y)-1+1,1,1);
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write_rectangle_outlined((x)-1, (y)-1+2,size,size*3,0,1);
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batteryLines = battery*(size*3-2)/100;
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for(i=0;i<batteryLines;i++)
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{
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drawLine((x)-1, (y)-1+size*3-i, (x)-1 + size, (y)-1+size*3-i);
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write_hline_lm((x)-1,(x)-1 + size,(y)-1+size*3-i,1,1);
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}
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}
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@ -2122,9 +2127,90 @@ void hud_draw_linear_compass(int v, int range, int width, int x, int y, int mint
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write_string(headingstr, x + 1, majtick_start + textoffset+2, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_CENTER, 1, 0);
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}
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void calcHomeArrow(void)
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{
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HomeLocationData home;
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HomeLocationGet (&home);
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GPSPositionData gpsData;
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GPSPositionGet (&gpsData);
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/** http://www.movable-type.co.uk/scripts/latlong.html **/
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float lat1, lat2, lon1, lon2, a, c, d, x, y, brng, u2g;
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float elevation;
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float gcsAlt=home.Altitude; // Home MSL altitude
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float uavAlt=gpsData.Altitude; // UAV MSL altitude
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float dAlt=uavAlt-gcsAlt; // Altitude difference
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// Convert to radians
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lat1 = DEG2RAD(home.Latitude)/10000000.0f; // Home lat
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lon1 = DEG2RAD(home.Longitude)/10000000.0f; // Home lon
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lat2 = DEG2RAD(gpsData.Latitude)/10000000.0f; // UAV lat
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lon2 = DEG2RAD(gpsData.Longitude)/10000000.0f; // UAV lon
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// Bearing
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/**
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var y = Math.sin(dLon) * Math.cos(lat2);
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var x = Math.cos(lat1)*Math.sin(lat2) -
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Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
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var brng = Math.atan2(y, x).toDeg();
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**/
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y = sinf(lon2-lon1) * cosf(lat2);
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x = cosf(lat1) * sinf(lat2) - sinf(lat1) * cosf(lat2) * cosf(lon2-lon1);
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brng = RAD2DEG(atan2f((sinf(lon2-lon1)*cosf(lat2)),(cosf(lat1)*sinf(lat2)-sinf(lat1)*cosf(lat2)*cosf(lon2-lon1))));
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if(brng<0)
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brng+=360;
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// yaw corrected bearing, needs compass
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u2g=brng-180-m_yaw;
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if(u2g<0)
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u2g+=360;
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// Haversine formula for distance
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/**
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var R = 6371; // km
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var dLat = (lat2-lat1).toRad();
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var dLon = (lon2-lon1).toRad();
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var a = Math.sin(dLat/2) * Math.sin(dLat/2) +
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Math.cos(lat1.toRad()) * Math.cos(lat2.toRad()) *
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Math.sin(dLon/2) * Math.sin(dLon/2);
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var c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a));
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var d = R * c;
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**/
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a = sinf((lat2-lat1)/2) * sinf((lat2-lat1)/2) +
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cosf(lat1) * cosf(lat2) *
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sinf((lon2-lon1)/2) * sinf((lon2-lon1)/2);
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c = 2 * atan2f(sqrtf(a), sqrtf(1-a));
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d = 6371 * 1000 * c;
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// Elevation v depends servo direction
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if(d!=0)
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elevation = 90-RAD2DEG(atanf(dAlt/d));
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else
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elevation = 0;
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//! TODO: sanity check
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char temp[50]={0};
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memset(temp, ' ', 40);
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sprintf(temp,"hea:%d",(int)brng);
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write_string(temp, 130, 10, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
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sprintf(temp,"ele:%d",(int)elevation);
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write_string(temp, 130, 10+14, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
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sprintf(temp,"dis:%d",(int)d);
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write_string(temp, 130, 10+14+14, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
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sprintf(temp,"u2g:%d",(int)u2g);
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write_string(temp, 130, 10+14+14+14, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
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sprintf(temp,"%c%c",(int)(u2g/22.5f)*2+0x90,(int)(u2g/22.5f)*2+0x91);
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printText16(200, 10+14+14,temp);
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}
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//main draw function
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void updateGraphics() {
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OsdSettingsData OsdSettings;
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OsdSettingsGet (&OsdSettings);
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/*drawBox(2,2,GRAPHICS_WIDTH_REAL-4,GRAPHICS_HEIGHT_REAL-4);
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write_filled_rectangle(draw_buffer_mask,0,0,GRAPHICS_WIDTH_REAL-2,GRAPHICS_HEIGHT_REAL-2,0);
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write_filled_rectangle(draw_buffer_mask,2,2,GRAPHICS_WIDTH_REAL-4-2,GRAPHICS_HEIGHT_REAL-4-2,2);
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@ -2148,9 +2234,13 @@ void updateGraphics() {
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angleB+=sum;
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angleC+=2;
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/* Draw Attitude Indicator */
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drawAttitude(GRAPHICS_WIDTH_REAL/2,GRAPHICS_HEIGHT_REAL/2,m_pitch,m_roll,96);
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calcHomeArrow();
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/* Draw Attitude Indicator */
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if(OsdSettings.Attitude == OSDSETTINGS_ATTITUDE_ENABLED)
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{
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drawAttitude(OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_X],OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_Y],m_pitch,m_roll,96);
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}
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//write_string("Hello OP-OSD", 60, 12, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
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//printText16( 60, 12,"Hello OP-OSD");
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@ -2165,7 +2255,10 @@ void updateGraphics() {
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/* Print RTC time */
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printTime((GRAPHICS_WIDTH_REAL - 80)/16,GRAPHICS_HEIGHT_REAL-20);
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if(OsdSettings.Time == OSDSETTINGS_TIME_ENABLED)
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{
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printTime(OsdSettings.TimeSetup[OSDSETTINGS_TIMESETUP_X],OsdSettings.TimeSetup[OSDSETTINGS_TIMESETUP_Y]);
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}
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/* Print Number of detected video Lines */
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sprintf(temp,"Lines:%4d",PIOS_Video_GetOSDLines());
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@ -2195,7 +2288,10 @@ void updateGraphics() {
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dir=1;
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m_alt+=m_pitch/2;
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}
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drawBattery(GRAPHICS_WIDTH_REAL-20,GRAPHICS_HEIGHT_REAL-(20*3),m_batt,16);
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if(OsdSettings.Battery == OSDSETTINGS_BATTERY_ENABLED)
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{
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drawBattery(OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_X],OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_Y],m_batt,16);
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}
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//drawAltitude(200,50,m_alt,dir);
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@ -2203,15 +2299,28 @@ void updateGraphics() {
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//drawArrow(96,GRAPHICS_HEIGHT_REAL/2,angleB,32);
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// Draw airspeed (left side.)
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hud_draw_vertical_scale((int)m_gpsSpd, 100, -1, 2, (DISP_HEIGHT / 2) + 10, 100, 10, 20, 7, 12, 15, 1000, HUD_VSCALE_FLAG_NO_NEGATIVE);
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if(OsdSettings.Speed == OSDSETTINGS_SPEED_ENABLED)
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{
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hud_draw_vertical_scale((int)m_gpsSpd, 100, -1, OsdSettings.SpeedSetup[OSDSETTINGS_SPEEDSETUP_X],
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OsdSettings.SpeedSetup[OSDSETTINGS_SPEEDSETUP_Y], 100, 10, 20, 7, 12, 15, 1000, HUD_VSCALE_FLAG_NO_NEGATIVE);
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}
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// Draw altimeter (right side.)
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hud_draw_vertical_scale((int)m_gpsAlt, 200, +1, 2, (DISP_HEIGHT / 2) + 10, 100, 20, 100, 7, 12, 15, 500, 0);
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if(OsdSettings.Altitude == OSDSETTINGS_ALTITUDE_ENABLED)
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{
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hud_draw_vertical_scale((int)m_gpsAlt, 200, +1, OsdSettings.AltitudeSetup[OSDSETTINGS_ALTITUDESETUP_X],
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OsdSettings.AltitudeSetup[OSDSETTINGS_ALTITUDESETUP_Y], 100, 20, 100, 7, 12, 15, 500, 0);
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}
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// Draw compass.
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if(m_yaw<0)
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hud_draw_linear_compass(360+m_yaw, 150, 120, DISP_WIDTH / 2, DISP_HEIGHT - 20, 15, 30, 7, 12, 0);
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else
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hud_draw_linear_compass(m_yaw, 150, 120, DISP_WIDTH / 2, DISP_HEIGHT - 20, 15, 30, 7, 12, 0);
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if(OsdSettings.Heading == OSDSETTINGS_HEADING_ENABLED)
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{
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if(m_yaw<0) {
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hud_draw_linear_compass(360+m_yaw, 150, 120, OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_X],
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OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_Y], 15, 30, 7, 12, 0);
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} else {
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hud_draw_linear_compass(m_yaw, 150, 120, OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_X],
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OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_Y], 15, 30, 7, 12, 0);
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}
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}
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//write_filled_rectangle(draw_buffer_level,20,20,30,30,1);
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//write_filled_rectangle(draw_buffer_mask,30,30,30,30,1);
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@ -2263,6 +2372,8 @@ int32_t osdgenInitialize(void)
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HomeLocationInitialize();
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#endif
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#endif
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OsdSettingsInitialize();
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return 0;
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}
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MODULE_INITCALL(osdgenInitialize, osdgenStart)
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@ -119,6 +119,8 @@ SRC += $(OPSYSTEM)/cm3_fault_handlers.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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## UAVOBJECTS
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#SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
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@ -152,9 +154,11 @@ SRC += $(OPUAVSYNTHDIR)/hwsettings.c
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SRC += $(OPUAVSYNTHDIR)/taskinfo.c
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SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
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#SRC += $(OPUAVSYNTHDIR)/ratedesired.c
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SRC += $(OPUAVSYNTHDIR)/homelocation.c
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SRC += $(OPUAVSYNTHDIR)/gpsposition.c
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SRC += $(OPUAVSYNTHDIR)/gpssatellites.c
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SRC += $(OPUAVSYNTHDIR)/gpstime.c
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SRC += $(OPUAVSYNTHDIR)/osdsettings.c
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## PIOS Hardware (STM32F10x)
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#SRC += $(PIOSSTM32F4XX)/pios_adc.c
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@ -69,7 +69,7 @@ to exclude the API function. */
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/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
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(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
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#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0 << 4 /* equivalent to NVIC priority 3 */
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/* This is the value being used as per the ST library which permits 16
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priority values, 0 to 15. This must correspond to the
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@ -56,7 +56,7 @@
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#define PIOS_INCLUDE_INITCALL /* Include init call structures */
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#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
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#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
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//#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
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#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
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/* Alarm Thresholds */
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#define HEAP_LIMIT_WARNING 4000
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@ -74,7 +74,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
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$$UAVOBJECT_SYNTHETICS/receiveractivity.h \
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$$UAVOBJECT_SYNTHETICS/attitudesettings.h \
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$$UAVOBJECT_SYNTHETICS/cameradesired.h \
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$$UAVOBJECT_SYNTHETICS/faultsettings.h
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$$UAVOBJECT_SYNTHETICS/faultsettings.h \
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$$UAVOBJECT_SYNTHETICS/osdsettings.h
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SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
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$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
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@ -128,4 +129,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
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$$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \
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$$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \
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$$UAVOBJECT_SYNTHETICS/cameradesired.cpp \
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$$UAVOBJECT_SYNTHETICS/faultsettings.cpp
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$$UAVOBJECT_SYNTHETICS/faultsettings.cpp \
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$$UAVOBJECT_SYNTHETICS/osdsettings.cpp
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