Initial implementation

Percentage implementation

Settings fix, formatting

Add support for different number of motors

Optimize and cut superfluous code

Hard-add mixer.h

Formatting adjustment to fit BF standards, linking error in unittest fix attempt

Add stubs and variables for unittests

Character based indicators

Change output to special characters

Fix spacing

Update test code, add variable

Include changes as per peer review

src/main/interface/settings.c

@@ -933,6 +933,7 @@ const clivalue_t valueTable[] = {
     { "osd_ah_pos",                 VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_ARTIFICIAL_HORIZON]) },
     { "osd_current_pos",            VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_CURRENT_DRAW]) },
     { "osd_mah_drawn_pos",          VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_MAH_DRAWN]) },
+    { "osd_motor_diag_pos",         VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_MOTOR_DIAG]) },
     { "osd_craft_name_pos",         VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_CRAFT_NAME]) },
     { "osd_gps_speed_pos",          VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_SPEED]) },
     { "osd_gps_lon_pos",            VAR_UINT16  | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_LON]) },

src/main/io/osd.c

@@ -67,9 +67,7 @@
 
 #include "flight/position.h"
 #include "flight/imu.h"
-#ifdef USE_ESC_SENSOR
 #include "flight/mixer.h"
-#endif
 #include "flight/pid.h"
 
 #include "io/asyncfatfs/asyncfatfs.h"
@@ -197,7 +195,8 @@ static const uint8_t osdElementDisplayOrder[] = {
     OSD_NUMERICAL_HEADING,
     OSD_NUMERICAL_VARIO,
     OSD_COMPASS_BAR,
-    OSD_ANTI_GRAVITY
+    OSD_ANTI_GRAVITY,
+    OSD_MOTOR_DIAG
 };
 
 PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 3);
@@ -600,6 +599,20 @@ static bool osdDrawSingleElement(uint8_t item)
 
             break;
         }
+		
+    case OSD_MOTOR_DIAG:
+        if(areMotorsRunning()) {
+            int maxIdx = 0;
+            int i = 0;
+            for(; i < getMotorCount(); i++) {
+                if(motor[i] > motor[maxIdx]) {
+                    maxIdx = i;
+                }
+                buff[i] =  0x88 - scaleRange(motor[i], motorOutputLow, motorOutputHigh, 0, 8);
+            }
+            buff[i] = '\0';
+        }
+        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.

src/main/io/osd.h

@@ -95,6 +95,7 @@ typedef enum {
     OSD_ADJUSTMENT_RANGE,
     OSD_CORE_TEMPERATURE,
     OSD_ANTI_GRAVITY,
+    OSD_MOTOR_DIAG,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

src/test/unit/osd_unittest.cc

@@ -51,6 +51,7 @@ extern "C" {
     #include "sensors/battery.h"
 
     #include "rx/rx.h"
+    #include "flight/mixer.h"
 
     void osdRefresh(timeUs_t currentTimeUs);
     void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time);
@@ -67,6 +68,10 @@ extern "C" {
     int16_t GPS_directionToHome;
     int32_t GPS_coord[2];
     gpsSolutionData_t gpsSol;
+    float motor[8];
+    float motorOutputHigh = 2047;
+    float motorOutputLow = 1000;
+
 
     PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
     PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
@@ -1032,4 +1037,6 @@ extern "C" {
     }
 
     float pidItermAccelerator(void) { return 1.0; }
+    uint8_t getMotorCount(void){ return 4; }
+    bool areMotorsRunning(void){ return true; }
 }