void osd_update_values( void )
{
switch (osd_phase)
{
case 0:
{
#if (OSD_LOC_ALTITUDE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_ALTITUDE+1) ;
osd_spi_write_number(IMUlocationz._.W1, 0, 0, NUM_FLAG_SIGNED, 0, 0) ; // Altitude
#endif
#if (OSD_LOC_CPU_LOAD != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_CPU_LOAD+1) ;
osd_spi_write_number(udb_cpu_load(), 3, 0, 0, 0, 0) ; // CPU
#endif
#if (OSD_LOC_VARIO_NUM != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_VARIO_NUM) ;
osd_spi_write_number(IMUvelocityz._.W1, 0, 0, NUM_FLAG_SIGNED, 0, 0) ; // Variometer
#endif
#if (OSD_LOC_VARIO_ARROW != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_VARIO_ARROW) ;
if (IMUvelocityz._.W1 <= -VARIOMETER_HIGH)
osd_spi_write(0x7, 0xD4) ; // Variometer down fast
else if (IMUvelocityz._.W1 <= -VARIOMETER_LOW)
osd_spi_write(0x7, 0xD2) ; // Variometer down slowly
else if (IMUvelocityz._.W1 < VARIOMETER_LOW)
osd_spi_write(0x7, 0x00) ; // Variometer flat (was 0xD0)
else if (IMUvelocityz._.W1 < VARIOMETER_HIGH)
osd_spi_write(0x7, 0xD1) ; // Variometer up slowly
else if (IMUvelocityz._.W1 >= VARIOMETER_HIGH)
osd_spi_write(0x7, 0xD3) ; // Variometer up fast
#endif
#if (OSD_LOC_AP_MODE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_AP_MODE) ;
if (!flags._.pitch_feedback)
osd_spi_write(0x7, 0x97) ; // M : Manual Mode
else if (!flags._.GPS_steering)
osd_spi_write(0x7, 0x9D) ; // S : Stabilized Mode
else if (udb_flags._.radio_on && !flags._.rtl_hold)
osd_spi_write(0x7, 0xA1) ; // W : Waypoint Mode
else if (flags._.rtl_hold && udb_flags._.radio_on)
osd_spi_write(0x7, 0x92) ; // H : RTL Hold, has signal
else
osd_spi_write(0x7, 0x9C) ; // R : RTL Mode, lost signal
#endif
break ;
}
case 1:
{
signed char dir_to_goal ;
int dist_to_goal ;
struct relative2D curHeading ;
curHeading.x = -rmat[1] ;
curHeading.y = rmat[4] ;
signed char earth_yaw = rect_to_polar(&curHeading) ;// 0-255 (0=East, ccw)
if (flags._.GPS_steering)
{
dir_to_goal = desired_dir - earth_yaw ;
dist_to_goal = abs(tofinish_line) ;
}
else
{
struct relative2D toGoal ;
toGoal.x = 0 - IMUlocationx._.W1 ;
toGoal.y = 0 - IMUlocationy._.W1 ;
dir_to_goal = rect_to_polar ( &toGoal ) - earth_yaw ;
dist_to_goal = toGoal.x ;
}
#if (OSD_LOC_DIST_TO_GOAL != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_DIST_TO_GOAL+1) ;
osd_spi_write_number(dist_to_goal, 0, 0, 0, 0, 0) ; // Distance to wp/home
#endif
#if (OSD_LOC_ARROW_TO_GOAL != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_ARROW_TO_GOAL) ;
osd_write_arrow(dir_to_goal) ;
#endif
#if (OSD_LOC_HEADING_NUM != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_HEADING_NUM+1) ;
// earth_yaw // 0-255 (0=East, ccw)
int angle = (earth_yaw * 180 + 64) >> 7 ; // 0-359 (0=East, ccw)
angle = -angle + 90; // 0-359 (0=North, clockwise)
if (angle < 0) angle += 360 ; // 0-359 (0=North, clockwise)
osd_spi_write_number(angle, 3, 0, NUM_FLAG_ZERO_PADDED, 0, 0) ; // heading
#endif
#if (OSD_LOC_HEADING_CARDINAL != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_HEADING_CARDINAL) ;
osd_spi_write_string(heading_strings[((unsigned char)(earth_yaw+8))>>4]) ; // heading
#endif
#if (OSD_LOC_VERTICAL_ANGLE_HOME != OSD_LOC_DISABLED)
// Vertical angle from origin to plane
int verticalAngle = 0 ;
if (dist_to_goal != 0)
{
struct relative2D componentsToPlane ;
componentsToPlane.x = dist_to_goal ;
componentsToPlane.y = IMUlocationz._.W1 ;
verticalAngle = rect_to_polar(&componentsToPlane) ; // binary angle (0 - 256 = 360 degrees)
verticalAngle = (verticalAngle * BYTECIR_TO_DEGREE) >> 16 ; // switch polarity, convert to -180 - 180 degrees
}
osd_spi_write_location(OSD_LOC_VERTICAL_ANGLE_HOME) ;
osd_spi_write_number(verticalAngle, 0, 0, NUM_FLAG_SIGNED, 0, 0x4D); // Footer: Degree symbol
#endif
#if (OSD_LOC_ROLL_RATE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_ROLL_RATE) ;
osd_spi_write_number(abs(omegagyro[1])/DEGPERSEC, 3, 0, 0, 0, 0) ; // roll rate in degrees/sec/sec
#endif
#if (OSD_LOC_PITCH_RATE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_PITCH_RATE) ;
osd_spi_write_number(abs(omegagyro[0])/DEGPERSEC, 3, 0, 0, 0, 0) ; // pitch rate in degrees/sec/sec
#endif
#if (OSD_LOC_YAW_RATE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_YAW_RATE) ;
osd_spi_write_number(abs(omegagyro[2])/DEGPERSEC, 3, 0, 0, 0, 0) ; // yaw rate in degrees/sec/sec
#endif
#if (ANALOG_CURRENT_INPUT_CHANNEL != CHANNEL_UNUSED)
#if (OSD_LOC_BATT_CURRENT != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_BATT_CURRENT) ;
osd_spi_write_number(battery_current._.W1, 3, 1, 0, 0, 0xB4) ; // tenths of Amps being used right now
#endif
#if (OSD_LOC_BATT_USED != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_BATT_USED) ;
osd_spi_write_number(battery_mAh_used._.W1, 4, 0, 0, 0, 0xB7) ; // mAh used so far
#endif
#endif
#if (ANALOG_VOLTAGE_INPUT_CHANNEL != CHANNEL_UNUSED)
#if (OSD_LOC_BATT_VOLTAGE != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_BATT_VOLTAGE) ;
osd_spi_write_number(battery_voltage._.W1, 3, 1, 0, 0, 0xA0) ; // tenths of Volts
#endif
#endif
#if (ANALOG_RSSI_INPUT_CHANNEL != CHANNEL_UNUSED)
#if (OSD_LOC_RSSI != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_RSSI) ;
osd_spi_write_number(rc_signal_strength, 3, 0, 0, 0, 0xB3) ; // RC Receiver signal strength as 0-100%
#endif
#endif
break ;
}
case 2:
{
#if (OSD_SHOW_HORIZON == 1)
osd_update_horizon() ;
#endif
break ;
}
case 3:
{
#if (OSD_LOC_AIR_SPEED_M_S != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_AIR_SPEED_M_S) ;
osd_spi_write_number(air_speed_3DIMU/100, 3, 0, 0, 0, 0) ; // speed in m/s
#endif
#if (OSD_LOC_AIR_SPEED_MI_HR != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_AIR_SPEED_MI_HR) ;
osd_spi_write_number(air_speed_3DIMU/45, 3, 0, 0, 0, 0) ; // speed in mi/hr
#endif
#if (OSD_LOC_AIR_SPEED_KM_HR != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_AIR_SPEED_KM_HR) ;
osd_spi_write_number(air_speed_3DIMU/28, 3, 0, 0, 0, 0) ; // speed in km/hr
#endif
#if (OSD_LOC_GROUND_SPEED_M_S != OSD_LOC_DISABLED || OSD_LOC_GROUND_SPEED_MI_HR != OSD_LOC_DISABLED || OSD_LOC_GROUND_SPEED_KM_HR != OSD_LOC_DISABLED)
unsigned int ground_speed_3DIMU =
vector3_mag ( IMUvelocityx._.W1 ,
IMUvelocityy._.W1 ,
IMUvelocityz._.W1 ) ;
#endif
#if (OSD_LOC_GROUND_SPEED_M_S != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_GROUND_SPEED_M_S) ;
osd_spi_write_number(ground_speed_3DIMU/100, 3, 0, 0, 0, 0) ; // speed in m/s
#endif
#if (OSD_LOC_GROUND_SPEED_MI_HR != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_GROUND_SPEED_MI_HR) ;
osd_spi_write_number(ground_speed_3DIMU/45, 3, 0, 0, 0, 0) ; // speed in mi/hr
#endif
#if (OSD_LOC_GROUND_SPEED_KM_HR != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_GROUND_SPEED_KM_HR) ;
osd_spi_write_number(ground_speed_3DIMU/28, 3, 0, 0, 0, 0) ; // speed in km/hr
#endif
#if (OSD_LOC_VERTICAL_ACCEL != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_VERTICAL_ACCEL) ;
union longww gravity_z ;
gravity_z.WW = __builtin_mulss(GRAVITY, rmat[8]) << 2;
osd_spi_write_number((ZACCEL_VALUE - gravity_z._.W1)/(100*ACCELSCALE), 3, 0, NUM_FLAG_SIGNED, 0, 0) ; // vertical acceleration rate in units of m/sec/sec
#endif
#if (OSD_LOC_VERTICAL_WIND_SPEED != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_VERTICAL_WIND_SPEED) ;
osd_spi_write_number(estimatedWind[2]/10, 4, 1, NUM_FLAG_SIGNED, 0, 0) ; // vertical wind speed in m/s
#endif
#if (OSD_LOC_TOTAL_ENERGY != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_TOTAL_ENERGY) ;
osd_spi_write_number(total_energy, 4, 0, NUM_FLAG_SIGNED, 0, 0) ; // total energy in meters above the origin
#endif
#if (OSD_AUTO_HIDE_GPS == 1)
boolean showGPS = ( IMUlocationz._.W1 < 20 || ground_velocity_magnitudeXY < 150) ;
#else
boolean showGPS = 1 ;
#endif
#if (OSD_LOC_NUM_SATS != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_NUM_SATS) ;
if (showGPS)
{
osd_spi_write_number(svs, 0, 0, 0, 0xEB, 0) ; // Num satelites locked, with SatDish icon header
}
else
{
osd_spi_erase_chars(3) ;
}
#endif
#if (OSD_LOC_GPS_LAT != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_GPS_LAT) ;
if (showGPS)
{
osd_spi_write_number(labs(lat_gps.WW/10), 8, 6, 0, 0, (lat_gps.WW >= 0) ? 0x98 : 0x9D) ; // Footer: N/S
}
else
{
osd_spi_erase_chars(9) ;
}
#endif
#if (OSD_LOC_GPS_LONG != OSD_LOC_DISABLED)
osd_spi_write_location(OSD_LOC_GPS_LONG) ;
if (showGPS)
{
osd_spi_write_number(labs(long_gps.WW/10), 9, 6, 0, 0, (long_gps.WW >= 0) ? 0x8F : 0xA1) ; // Footer: E/W
}
else
{
osd_spi_erase_chars(10) ;
}
#endif
break ;
}
}
return ;
}
void estLocation(void)
{
static int8_t cog_previous = 64;
static int16_t sog_previous = 0;
static int16_t climb_rate_previous = 0;
static uint16_t velocity_previous = 0;
static int16_t location_previous[] = { 0, 0, 0 };
union longbbbb accum;
union longww accum_velocity;
int8_t cog_circular;
int8_t cog_delta;
int16_t sog_delta;
int16_t climb_rate_delta;
#ifdef USE_EXTENDED_NAV
int32_t location[3];
#else
int16_t location[3];
#endif // USE_EXTENDED_NAV
int16_t location_deltaZ;
struct relative2D location_deltaXY;
struct relative2D velocity_thru_air;
int16_t velocity_thru_airz;
location_plane(&location[0]);
// convert GPS course of 360 degrees to a binary model with 256
accum.WW = __builtin_muluu(COURSEDEG_2_BYTECIR, cog_gps.BB) + 0x00008000;
// re-orientate from compass (clockwise) to maths (anti-clockwise) with 0 degrees in East
cog_circular = -accum.__.B2 + 64;
// compensate for GPS reporting latency.
// The dynamic model of the EM406 and uBlox is not well known.
// However, it seems likely much of it is simply reporting latency.
// This section of the code compensates for reporting latency.
// markw: what is the latency? It doesn't appear numerically or as a comment
// in the following code. Since this method is called at the GPS reporting rate
// it must be assumed to be one reporting interval?
if (dcm_flags._.gps_history_valid)
{
cog_delta = cog_circular - cog_previous;
sog_delta = sog_gps.BB - sog_previous;
climb_rate_delta = climb_gps.BB - climb_rate_previous;
location_deltaXY.x = location[0] - location_previous[0];
location_deltaXY.y = location[1] - location_previous[1];
location_deltaZ = location[2] - location_previous[2];
}
else
{
cog_delta = 0;
sog_delta = 0;
climb_rate_delta = 0;
location_deltaXY.x = location_deltaXY.y = location_deltaZ = 0;
}
dcm_flags._.gps_history_valid = 1;
actual_dir = cog_circular + cog_delta;
cog_previous = cog_circular;
// Note that all these velocities are in centimeters / second
ground_velocity_magnitudeXY = sog_gps.BB + sog_delta;
sog_previous = sog_gps.BB;
GPSvelocity.z = climb_gps.BB + climb_rate_delta;
climb_rate_previous = climb_gps.BB;
accum_velocity.WW = (__builtin_mulss(cosine(actual_dir), ground_velocity_magnitudeXY) << 2) + 0x00008000;
GPSvelocity.x = accum_velocity._.W1;
accum_velocity.WW = (__builtin_mulss(sine(actual_dir), ground_velocity_magnitudeXY) << 2) + 0x00008000;
GPSvelocity.y = accum_velocity._.W1;
rotate_2D(&location_deltaXY, cog_delta); // this is a key step to account for rotation effects!!
GPSlocation.x = location[0] + location_deltaXY.x;
GPSlocation.y = location[1] + location_deltaXY.y;
GPSlocation.z = location[2] + location_deltaZ;
location_previous[0] = location[0];
location_previous[1] = location[1];
location_previous[2] = location[2];
velocity_thru_air.y = GPSvelocity.y - estimatedWind[1];
velocity_thru_air.x = GPSvelocity.x - estimatedWind[0];
velocity_thru_airz = GPSvelocity.z - estimatedWind[2];
#if (HILSIM == 1)
air_speed_3DGPS = hilsim_airspeed.BB; // use Xplane as a pitot
#else
air_speed_3DGPS = vector3_mag(velocity_thru_air.x, velocity_thru_air.y, velocity_thru_airz);
#endif
calculated_heading = rect_to_polar(&velocity_thru_air);
// veclocity_thru_air.x becomes XY air speed as a by product of CORDIC routine in rect_to_polar()
air_speed_magnitudeXY = velocity_thru_air.x; // in cm / sec
#if (GPS_RATE == 4)
forward_acceleration = (air_speed_3DGPS - velocity_previous) << 2; // Ublox enters code 4 times per second
#elif (GPS_RATE == 2)
forward_acceleration = (air_speed_3DGPS - velocity_previous) << 1; // Ublox enters code 2 times per second
#else
forward_acceleration = (air_speed_3DGPS - velocity_previous); // EM406 standard GPS enters code once per second
#endif
velocity_previous = air_speed_3DGPS;
}
