FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
{
if (isFlipOverAfterCrashMode()) {
applyFlipOverAfterCrashModeToMotors();
return;
}
// Find min and max throttle based on conditions. Throttle has to be known before mixing
calculateThrottleAndCurrentMotorEndpoints(currentTimeUs);
// Calculate and Limit the PID sum
const float scaledAxisPidRoll =
constrainf(pidData[FD_ROLL].Sum, -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
const float scaledAxisPidPitch =
constrainf(pidData[FD_PITCH].Sum, -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
uint16_t yawPidSumLimit = currentPidProfile->pidSumLimitYaw;
#ifdef USE_YAW_SPIN_RECOVERY
const bool yawSpinDetected = gyroYawSpinDetected();
if (yawSpinDetected) {
yawPidSumLimit = PIDSUM_LIMIT_MAX; // Set to the maximum limit during yaw spin recovery to prevent limiting motor authority
}
#endif // USE_YAW_SPIN_RECOVERY
float scaledAxisPidYaw =
constrainf(pidData[FD_YAW].Sum, -yawPidSumLimit, yawPidSumLimit) / PID_MIXER_SCALING;
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}
// Calculate voltage compensation
const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
// Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type
if (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF) {
throttle = applyThrottleLimit(throttle);
}
#ifdef USE_YAW_SPIN_RECOVERY
// 50% throttle provides the maximum authority for yaw recovery when airmode is not active.
// When airmode is active the throttle setting doesn't impact recovery authority.
if (yawSpinDetected && !isAirmodeActive()) {
throttle = 0.5f; //
}
#endif // USE_YAW_SPIN_RECOVERY
// Find roll/pitch/yaw desired output
float motorMix[MAX_SUPPORTED_MOTORS];
float motorMixMax = 0, motorMixMin = 0;
for (int i = 0; i < motorCount; i++) {
float mix =
scaledAxisPidRoll * currentMixer[i].roll +
scaledAxisPidPitch * currentMixer[i].pitch +
scaledAxisPidYaw * currentMixer[i].yaw;
mix *= vbatCompensationFactor; // Add voltage compensation
if (mix > motorMixMax) {
motorMixMax = mix;
} else if (mix < motorMixMin) {
motorMixMin = mix;
}
motorMix[i] = mix;
}
pidUpdateAntiGravityThrottleFilter(throttle);
#if defined(USE_THROTTLE_BOOST)
if (throttleBoost > 0.0f) {
const float throttleHpf = throttle - pt1FilterApply(&throttleLpf, throttle);
throttle = constrainf(throttle + throttleBoost * throttleHpf, 0.0f, 1.0f);
}
#endif
#ifdef USE_GPS_RESCUE
// If gps rescue is active then override the throttle. This prevents things
// like throttle boost or throttle limit from negatively affecting the throttle.
if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
throttle = gpsRescueGetThrottle();
}
#endif
motorMixRange = motorMixMax - motorMixMin;
if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) {
motorMix[i] /= motorMixRange;
}
// Get the maximum correction by setting offset to center when airmode enabled
if (isAirmodeActive()) {
throttle = 0.5f;
}
} else {
if (isAirmodeActive() || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
const float throttleLimitOffset = motorMixRange / 2.0f;
throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset);
}
}
// Apply the mix to motor endpoints
applyMixToMotors(motorMix);
}
static bool osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(osdConfig()->item_pos[item]) || BLINK(item)) {
return false;
}
uint8_t elemPosX = OSD_X(osdConfig()->item_pos[item]);
uint8_t elemPosY = OSD_Y(osdConfig()->item_pos[item]);
char buff[OSD_ELEMENT_BUFFER_LENGTH] = "";
switch (item) {
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = getRssi() * 100 / 1024; // change range
if (osdRssi >= 100)
osdRssi = 99;
tfp_sprintf(buff, "%c%2d", SYM_RSSI, osdRssi);
break;
}
case OSD_MAIN_BATT_VOLTAGE:
buff[0] = osdGetBatterySymbol(osdGetBatteryAverageCellVoltage());
tfp_sprintf(buff + 1, "%2d.%1d%c", getBatteryVoltage() / 10, getBatteryVoltage() % 10, SYM_VOLT);
break;
case OSD_CURRENT_DRAW:
{
const int32_t amperage = getAmperage();
tfp_sprintf(buff, "%3d.%02d%c", abs(amperage) / 100, abs(amperage) % 100, SYM_AMP);
break;
}
case OSD_MAH_DRAWN:
tfp_sprintf(buff, "%4d%c", getMAhDrawn(), SYM_MAH);
break;
#ifdef USE_GPS
case OSD_GPS_SATS:
tfp_sprintf(buff, "%c%c%2d", SYM_SAT_L, SYM_SAT_R, gpsSol.numSat);
break;
case OSD_GPS_SPEED:
// FIXME ideally we want to use SYM_KMH symbol but it's not in the font any more, so we use K (M for MPH)
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
tfp_sprintf(buff, "%3dM", CM_S_TO_MPH(gpsSol.groundSpeed));
break;
default:
tfp_sprintf(buff, "%3dK", CM_S_TO_KM_H(gpsSol.groundSpeed));
break;
}
break;
case OSD_GPS_LAT:
// The SYM_LAT symbol in the actual font contains only blank, so we use the SYM_ARROW_NORTH
osdFormatCoordinate(buff, SYM_ARROW_NORTH, gpsSol.llh.lat);
break;
case OSD_GPS_LON:
// The SYM_LON symbol in the actual font contains only blank, so we use the SYM_ARROW_EAST
osdFormatCoordinate(buff, SYM_ARROW_EAST, gpsSol.llh.lon);
break;
case OSD_HOME_DIR:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
if (GPS_distanceToHome > 0) {
const int h = GPS_directionToHome - DECIDEGREES_TO_DEGREES(attitude.values.yaw);
buff[0] = osdGetDirectionSymbolFromHeading(h);
} else {
// We don't have a HOME symbol in the font, by now we use this
buff[0] = SYM_THR1;
}
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
}
buff[1] = 0;
break;
case OSD_HOME_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceToHome);
tfp_sprintf(buff, "%d%c", distance, osdGetMetersToSelectedUnitSymbol());
} else {
// We use this symbol when we don't have a FIX
buff[0] = SYM_COLON;
// overwrite any previous distance with blanks
memset(buff + 1, SYM_BLANK, 6);
buff[7] = '\0';
}
break;
#endif // GPS
case OSD_COMPASS_BAR:
memcpy(buff, compassBar + osdGetHeadingIntoDiscreteDirections(DECIDEGREES_TO_DEGREES(attitude.values.yaw), 16), 9);
buff[9] = 0;
break;
case OSD_ALTITUDE:
osdFormatAltitudeString(buff, getEstimatedAltitude());
break;
case OSD_ITEM_TIMER_1:
case OSD_ITEM_TIMER_2:
osdFormatTimer(buff, true, true, item - OSD_ITEM_TIMER_1);
break;
case OSD_REMAINING_TIME_ESTIMATE:
{
const int mAhDrawn = getMAhDrawn();
const int remaining_time = (int)((osdConfig()->cap_alarm - mAhDrawn) * ((float)flyTime) / mAhDrawn);
if (mAhDrawn < 0.1 * osdConfig()->cap_alarm) {
tfp_sprintf(buff, "--:--");
} else if (mAhDrawn > osdConfig()->cap_alarm) {
tfp_sprintf(buff, "00:00");
} else {
osdFormatTime(buff, OSD_TIMER_PREC_SECOND, remaining_time);
}
break;
}
case OSD_FLYMODE:
{
if (FLIGHT_MODE(FAILSAFE_MODE)) {
strcpy(buff, "!FS!");
} else if (FLIGHT_MODE(ANGLE_MODE)) {
strcpy(buff, "STAB");
} else if (FLIGHT_MODE(HORIZON_MODE)) {
strcpy(buff, "HOR ");
} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
strcpy(buff, "RESC");
} else if (isAirmodeActive()) {
strcpy(buff, "AIR ");
} else {
strcpy(buff, "ACRO");
}
break;
}
case OSD_ANTI_GRAVITY:
{
if (pidItermAccelerator() > 1.0f) {
strcpy(buff, "AG");
}
break;
}
case OSD_CRAFT_NAME:
// This does not strictly support iterative updating if the craft name changes at run time. But since the craft name is not supposed to be changing this should not matter, and blanking the entire length of the craft name string on update will make it impossible to configure elements to be displayed on the right hand side of the craft name.
//TODO: When iterative updating is implemented, change this so the craft name is only printed once whenever the OSD 'flight' screen is entered.
if (strlen(pilotConfig()->name) == 0) {
strcpy(buff, "CRAFT_NAME");
} else {
unsigned i;
for (i = 0; i < MAX_NAME_LENGTH; i++) {
if (pilotConfig()->name[i]) {
buff[i] = toupper((unsigned char)pilotConfig()->name[i]);
} else {
break;
}
}
buff[i] = '\0';
}
break;
case OSD_THROTTLE_POS:
buff[0] = SYM_THR;
buff[1] = SYM_THR1;
tfp_sprintf(buff + 2, "%3d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
break;
#if defined(USE_VTX_COMMON)
case OSD_VTX_CHANNEL:
{
const char vtxBandLetter = vtx58BandLetter[vtxSettingsConfig()->band];
const char *vtxChannelName = vtx58ChannelNames[vtxSettingsConfig()->channel];
uint8_t vtxPower = vtxSettingsConfig()->power;
const vtxDevice_t *vtxDevice = vtxCommonDevice();
if (vtxDevice && vtxSettingsConfig()->lowPowerDisarm) {
vtxCommonGetPowerIndex(vtxDevice, &vtxPower);
}
tfp_sprintf(buff, "%c:%s:%1d", vtxBandLetter, vtxChannelName, vtxPower);
break;
}
#endif
case OSD_CROSSHAIRS:
buff[0] = SYM_AH_CENTER_LINE;
buff[1] = SYM_AH_CENTER;
buff[2] = SYM_AH_CENTER_LINE_RIGHT;
buff[3] = 0;
break;
case OSD_ARTIFICIAL_HORIZON:
{
// Get pitch and roll limits in tenths of degrees
const int maxPitch = osdConfig()->ahMaxPitch * 10;
const int maxRoll = osdConfig()->ahMaxRoll * 10;
const int rollAngle = constrain(attitude.values.roll, -maxRoll, maxRoll);
int pitchAngle = constrain(attitude.values.pitch, -maxPitch, maxPitch);
// Convert pitchAngle to y compensation value
// (maxPitch / 25) divisor matches previous settings of fixed divisor of 8 and fixed max AHI pitch angle of 20.0 degrees
pitchAngle = ((pitchAngle * 25) / maxPitch) - 41; // 41 = 4 * AH_SYMBOL_COUNT + 5
for (int x = -4; x <= 4; x++) {
const int y = ((-rollAngle * x) / 64) - pitchAngle;
if (y >= 0 && y <= 81) {
displayWriteChar(osdDisplayPort, elemPosX + x, elemPosY + (y / AH_SYMBOL_COUNT), (SYM_AH_BAR9_0 + (y % AH_SYMBOL_COUNT)));
}
}
return true;
}
case OSD_HORIZON_SIDEBARS:
{
// Draw AH sides
const int8_t hudwidth = AH_SIDEBAR_WIDTH_POS;
const int8_t hudheight = AH_SIDEBAR_HEIGHT_POS;
for (int y = -hudheight; y <= hudheight; y++) {
displayWriteChar(osdDisplayPort, elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
}
// AH level indicators
displayWriteChar(osdDisplayPort, elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
return true;
}
case OSD_ROLL_PIDS:
osdFormatPID(buff, "ROL", ¤tPidProfile->pid[PID_ROLL]);
break;
case OSD_PITCH_PIDS:
osdFormatPID(buff, "PIT", ¤tPidProfile->pid[PID_PITCH]);
break;
case OSD_YAW_PIDS:
osdFormatPID(buff, "YAW", ¤tPidProfile->pid[PID_YAW]);
break;
case OSD_POWER:
tfp_sprintf(buff, "%4dW", getAmperage() * getBatteryVoltage() / 1000);
break;
case OSD_PIDRATE_PROFILE:
tfp_sprintf(buff, "%d-%d", getCurrentPidProfileIndex() + 1, getCurrentControlRateProfileIndex() + 1);
break;
case OSD_WARNINGS:
{
#define OSD_WARNINGS_MAX_SIZE 11
#define OSD_FORMAT_MESSAGE_BUFFER_SIZE (OSD_WARNINGS_MAX_SIZE + 1)
STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= sizeof(buff), osd_warnings_size_exceeds_buffer_size);
const batteryState_e batteryState = getBatteryState();
if (osdWarnGetState(OSD_WARNING_BATTERY_CRITICAL) && batteryState == BATTERY_CRITICAL) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " LAND NOW");
break;
}
#ifdef USE_ADC_INTERNAL
uint8_t coreTemperature = getCoreTemperatureCelsius();
if (osdWarnGetState(OSD_WARNING_CORE_TEMPERATURE) && coreTemperature >= osdConfig()->core_temp_alarm) {
char coreTemperatureWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
tfp_sprintf(coreTemperatureWarningMsg, "CORE: %3d%c", osdConvertTemperatureToSelectedUnit(getCoreTemperatureCelsius() * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, coreTemperatureWarningMsg);
break;
}
#endif
#ifdef USE_ESC_SENSOR
// Show warning if we lose motor output, the ESC is overheating or excessive current draw
if (feature(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
unsigned pos = 0;
const char *title = "ESC";
// center justify message
while (pos < (OSD_WARNINGS_MAX_SIZE - (strlen(title) + getMotorCount())) / 2) {
escWarningMsg[pos++] = ' ';
}
strcpy(escWarningMsg + pos, title);
pos += strlen(title);
unsigned i = 0;
unsigned escWarningCount = 0;
while (i < getMotorCount() && pos < OSD_FORMAT_MESSAGE_BUFFER_SIZE - 1) {
escSensorData_t *escData = getEscSensorData(i);
const char motorNumber = '1' + i;
// if everything is OK just display motor number else R, T or C
char warnFlag = motorNumber;
if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && calcEscRpm(escData->rpm) <= osdConfig()->esc_rpm_alarm) {
warnFlag = 'R';
}
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escData->temperature >= osdConfig()->esc_temp_alarm) {
warnFlag = 'T';
}
if (ARMING_FLAG(ARMED) && osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF && escData->current >= osdConfig()->esc_current_alarm) {
warnFlag = 'C';
}
escWarningMsg[pos++] = warnFlag;
if (warnFlag != motorNumber) {
escWarningCount++;
}
i++;
}
escWarningMsg[pos] = '\0';
if (escWarningCount > 0) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, escWarningMsg);
}
break;
}
#endif
// Warn when in flip over after crash mode
if (osdWarnGetState(OSD_WARNING_CRASH_FLIP) && isFlipOverAfterCrashMode()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "CRASH FLIP");
break;
}
// Show most severe reason for arming being disabled
if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE) && IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
const armingDisableFlags_e flags = getArmingDisableFlags();
for (int i = 0; i < ARMING_DISABLE_FLAGS_COUNT; i++) {
if (flags & (1 << i)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, armingDisableFlagNames[i]);
break;
}
}
break;
}
if (osdWarnGetState(OSD_WARNING_BATTERY_WARNING) && batteryState == BATTERY_WARNING) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "LOW BATTERY");
break;
}
// Show warning if battery is not fresh
if (osdWarnGetState(OSD_WARNING_BATTERY_NOT_FULL) && !ARMING_FLAG(WAS_EVER_ARMED) && (getBatteryState() == BATTERY_OK)
&& getBatteryAverageCellVoltage() < batteryConfig()->vbatfullcellvoltage) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "BATT < FULL");
break;
}
// Visual beeper
if (osdWarnGetState(OSD_WARNING_VISUAL_BEEPER) && showVisualBeeper) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, " * * * *");
break;
}
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, NULL);
break;
}
case OSD_AVG_CELL_VOLTAGE:
{
const int cellV = osdGetBatteryAverageCellVoltage();
buff[0] = osdGetBatterySymbol(cellV);
tfp_sprintf(buff + 1, "%d.%02d%c", cellV / 100, cellV % 100, SYM_VOLT);
break;
}
case OSD_DEBUG:
tfp_sprintf(buff, "DBG %5d %5d %5d %5d", debug[0], debug[1], debug[2], debug[3]);
break;
case OSD_PITCH_ANGLE:
case OSD_ROLL_ANGLE:
{
const int angle = (item == OSD_PITCH_ANGLE) ? attitude.values.pitch : attitude.values.roll;
tfp_sprintf(buff, "%c%02d.%01d", angle < 0 ? '-' : ' ', abs(angle / 10), abs(angle % 10));
break;
}
case OSD_MAIN_BATT_USAGE:
{
// Set length of indicator bar
#define MAIN_BATT_USAGE_STEPS 11 // Use an odd number so the bar can be centered.
// Calculate constrained value
const float value = constrain(batteryConfig()->batteryCapacity - getMAhDrawn(), 0, batteryConfig()->batteryCapacity);
// Calculate mAh used progress
const uint8_t mAhUsedProgress = ceilf((value / (batteryConfig()->batteryCapacity / MAIN_BATT_USAGE_STEPS)));
// Create empty battery indicator bar
buff[0] = SYM_PB_START;
for (int i = 1; i <= MAIN_BATT_USAGE_STEPS; i++) {
buff[i] = i <= mAhUsedProgress ? SYM_PB_FULL : SYM_PB_EMPTY;
}
buff[MAIN_BATT_USAGE_STEPS + 1] = SYM_PB_CLOSE;
if (mAhUsedProgress > 0 && mAhUsedProgress < MAIN_BATT_USAGE_STEPS) {
buff[1 + mAhUsedProgress] = SYM_PB_END;
}
buff[MAIN_BATT_USAGE_STEPS+2] = '\0';
break;
}
case OSD_DISARMED:
if (!ARMING_FLAG(ARMED)) {
tfp_sprintf(buff, "DISARMED");
} else {
if (!lastArmState) { // previously disarmed - blank out the message one time
tfp_sprintf(buff, " ");
}
}
break;
case OSD_NUMERICAL_HEADING:
{
const int heading = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
tfp_sprintf(buff, "%c%03d", osdGetDirectionSymbolFromHeading(heading), heading);
break;
}
case OSD_NUMERICAL_VARIO:
{
const int verticalSpeed = osdGetMetersToSelectedUnit(getEstimatedVario());
const char directionSymbol = verticalSpeed < 0 ? SYM_ARROW_SOUTH : SYM_ARROW_NORTH;
tfp_sprintf(buff, "%c%01d.%01d", directionSymbol, abs(verticalSpeed / 100), abs((verticalSpeed % 100) / 10));
break;
}
#ifdef USE_ESC_SENSOR
case OSD_ESC_TMP:
if (feature(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(escDataCombined->temperature * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
}
break;
case OSD_ESC_RPM:
if (feature(FEATURE_ESC_SENSOR)) {
tfp_sprintf(buff, "%5d", escDataCombined == NULL ? 0 : calcEscRpm(escDataCombined->rpm));
}
break;
#endif
#ifdef USE_RTC_TIME
case OSD_RTC_DATETIME:
osdFormatRtcDateTime(&buff[0]);
break;
#endif
#ifdef USE_OSD_ADJUSTMENTS
case OSD_ADJUSTMENT_RANGE:
tfp_sprintf(buff, "%s: %3d", adjustmentRangeName, adjustmentRangeValue);
break;
#endif
#ifdef USE_ADC_INTERNAL
case OSD_CORE_TEMPERATURE:
tfp_sprintf(buff, "%3d%c", osdConvertTemperatureToSelectedUnit(getCoreTemperatureCelsius() * 10) / 10, osdGetTemperatureSymbolForSelectedUnit());
break;
#endif
default:
return false;
}
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
return true;
}