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Fix ahi pitch when inverted #9609

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merged 6 commits into from
Jan 22, 2024
Merged

Fix ahi pitch when inverted #9609

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cbacccc
Correct AHI when inverted
MrD-RC Dec 31, 2023
5ad4f80
Fix ahi pitch when inverted
MrD-RC Dec 31, 2023
92333ed
Lets just do it with Radians
MrD-RC Jan 1, 2024
28712e4
Missed the f
MrD-RC Jan 1, 2024
61951e0
Added options to change offset when inverted
MrD-RC Jan 1, 2024
2c98f3d
Canvas OSD was already correct for AHI
MrD-RC Jan 21, 2024
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13 changes: 9 additions & 4 deletions src/main/io/osd_canvas.c
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Original file line number Diff line number Diff line change
Expand Up @@ -329,7 +329,7 @@ void osdDrawArtificialHorizonLine(displayCanvas_t *canvas, float pitchAngle, flo
displayCanvasContextPop(canvas);
}

static bool osdCanvasDrawArtificialHorizonWidget(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle)
static bool osdCanvasDrawArtificialHorizonWidget(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle, bool isInverted)
{
UNUSED(display);
UNUSED(p);
Expand All @@ -345,7 +345,12 @@ static bool osdCanvasDrawArtificialHorizonWidget(displayPort_t *display, display
int ahiWidth = osdConfig()->ahi_width;
int ahiX = (canvas->width - ahiWidth) / 2;
int ahiHeight = osdConfig()->ahi_height;
int ahiY = ((canvas->height - ahiHeight) / 2) + osdConfig()->ahi_vertical_offset;
int ahiY = ((canvas->height - ahiHeight) / 2);
if (isInverted)
ahiY -= osdConfig()->ahi_vertical_offset;
else
ahiY += osdConfig()->ahi_vertical_offset;

if (ahiY < 0) {
ahiY = 0;
}
Expand Down Expand Up @@ -397,7 +402,7 @@ static bool osdCanvasDrawArtificialHorizonWidget(displayPort_t *display, display
return false;
}

void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle)
void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle, bool isInverted)
{
UNUSED(display);
UNUSED(p);
Expand All @@ -412,7 +417,7 @@ void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *can
float totalError = fabsf(prevPitchAngle - pitchAngle) + fabsf(prevRollAngle - rollAngle);
if ((now > nextDrawMinMs && totalError > 0.05f)|| now > nextDrawMaxMs) {

if (!osdCanvasDrawArtificialHorizonWidget(display, canvas, p, pitchAngle, rollAngle)) {
if (!osdCanvasDrawArtificialHorizonWidget(display, canvas, p, pitchAngle, rollAngle, isInverted)) {
switch ((osd_ahi_style_e)osdConfig()->ahi_style) {
case OSD_AHI_STYLE_DEFAULT:
{
Expand Down
2 changes: 1 addition & 1 deletion src/main/io/osd_canvas.h
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Expand Up @@ -34,6 +34,6 @@ typedef struct osdDrawPoint_s osdDrawPoint_t;

void osdCanvasDrawVario(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float zvel);
void osdCanvasDrawDirArrow(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float degrees);
void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle);
void osdCanvasDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, float pitchAngle, float rollAngle, bool isInverted);
void osdCanvasDrawHeadingGraph(displayPort_t *display, displayCanvas_t *canvas, const osdDrawPoint_t *p, int heading);
bool osdCanvasDrawSidebars(displayPort_t *display, displayCanvas_t *canvas);
13 changes: 10 additions & 3 deletions src/main/io/osd_common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,6 @@
#include "navigation/navigation.h"
#include "sensors/pitotmeter.h"


#if defined(USE_OSD) || defined(USE_DJI_HD_OSD)

PG_REGISTER_WITH_RESET_TEMPLATE(osdCommonConfig_t, osdCommonConfig, PG_OSD_COMMON_CONFIG, 0);
Expand Down Expand Up @@ -148,13 +147,21 @@ void osdDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, c
{
uint8_t gx;
uint8_t gy;
bool isInverted = false;

// Correct pitch when inverted
if (rollAngle < -1.570796f || rollAngle > 1.570796f) {
isInverted = true;
pitchAngle = -pitchAngle;
}

#if defined(USE_CANVAS)
if (canvas) {
osdCanvasDrawArtificialHorizon(display, canvas, p, pitchAngle, rollAngle);
osdCanvasDrawArtificialHorizon(display, canvas, p, pitchAngle, rollAngle, isInverted);
} else {
#endif
osdDrawPointGetGrid(&gx, &gy, display, canvas, p);
osdGridDrawArtificialHorizon(display, gx, gy, pitchAngle, rollAngle);
osdGridDrawArtificialHorizon(display, gx, gy, pitchAngle, rollAngle, isInverted);
#if defined(USE_CANVAS)
}
#endif
Expand Down
3 changes: 2 additions & 1 deletion src/main/io/osd_grid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -109,10 +109,11 @@ static float osdGetAspectRatioCorrection(void)
return osdDisplayIsPAL() ? 12.0f/15.0f : 12.0f/18.46f;
}

void osdGridDrawArtificialHorizon(displayPort_t *display, unsigned gx, unsigned gy, float pitchAngle, float rollAngle)
void osdGridDrawArtificialHorizon(displayPort_t *display, unsigned gx, unsigned gy, float pitchAngle, float rollAngle, bool isInverted)
{
UNUSED(gx);
UNUSED(gy);
UNUSED(isInverted);

uint8_t elemPosX;
uint8_t elemPosY;
Expand Down
2 changes: 1 addition & 1 deletion src/main/io/osd_grid.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,6 @@ typedef struct displayPort_s displayPort_t;

void osdGridDrawVario(displayPort_t *display, unsigned gx, unsigned gy, float zvel);
void osdGridDrawDirArrow(displayPort_t *display, unsigned gx, unsigned gy, float degrees);
void osdGridDrawArtificialHorizon(displayPort_t *display, unsigned gx, unsigned gy, float pitchAngle, float rollAngle);
void osdGridDrawArtificialHorizon(displayPort_t *display, unsigned gx, unsigned gy, float pitchAngle, float rollAngle, bool isInverted);
void osdGridDrawHeadingGraph(displayPort_t *display, unsigned gx, unsigned gy, int heading);
void osdGridDrawSidebars(displayPort_t *display);
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