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Merge pull request #7043 from TonyBlit/gps_total_distance 

Total distance flown added to OSD and Stats
This commit is contained in:
Michael Keller 2018-11-10 13:32:17 +13:00 committed by GitHub
parent b776bf3a9e 7abe51303f
commit 4367a66778
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 64 additions and 11 deletions
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1
src/main/cms/cms_menu_osd.c
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@ -87,6 +87,7 @@ OSD_Entry menuOsdActiveElemsEntries[] =
{"GPS LON", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_GPS_LON], 0},
{"HOME DIR", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_HOME_DIR], 0},
{"HOME DIST", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_HOME_DIST], 0},
{"TOTAL DIST", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_TOTAL_DIST], 0},
#endif // GPS
{"COMPASS BAR", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_COMPASS_BAR], 0},
{"ALTITUDE", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ALTITUDE], 0},

2
src/main/interface/settings.c
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@ -1042,6 +1042,7 @@ const clivalue_t valueTable[] = {
{ "osd_gps_sats_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_GPS_SATS]) },
{ "osd_home_dir_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_HOME_DIR]) },
{ "osd_home_dist_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_HOME_DIST]) },
{ "osd_total_dist_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_TOTAL_DIST]) },
{ "osd_compass_bar_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_COMPASS_BAR]) },
{ "osd_altitude_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_ALTITUDE]) },
{ "osd_pid_roll_pos", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, OSD_POSCFG_MAX }, PG_OSD_CONFIG, offsetof(osdConfig_t, item_pos[OSD_ROLL_PIDS]) },
@ -1092,6 +1093,7 @@ const clivalue_t valueTable[] = {
{ "osd_stat_max_esc_temp", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_STAT_MAX_ESC_TEMP, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats)},
{ "osd_stat_max_esc_rpm", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_STAT_MAX_ESC_RPM, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats)},
{ "osd_stat_min_link_quality", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_STAT_MIN_LINK_QUALITY,PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats)},
{ "osd_stat_total_dist", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_STAT_TOTAL_DISTANCE, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats)},
#endif

13
src/main/io/gps.c
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@ -77,6 +77,7 @@ static char *gpsPacketLogChar = gpsPacketLog;
int32_t GPS_home[2];
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint32_t GPS_distanceFlownInCm; // distance flown since armed in centimeters
float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
int16_t actual_speed[2] = { 0, 0 };
int16_t nav_takeoff_bearing;
@ -1267,6 +1268,7 @@ void GPS_reset_home_position(void)
GPS_home[LAT] = gpsSol.llh.lat;
GPS_home[LON] = gpsSol.llh.lon;
GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
GPS_distanceFlownInCm = 0;
// Set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
}
@ -1303,9 +1305,9 @@ void GPS_calculateDistanceAndDirectionToHome(void)
}
////////////////////////////////////////////////////////////////////////////////////
// Calculate our current speed vector from gps position data
// Calculate our current speed vector and the distance flown from gps position data
//
static void GPS_calc_velocity(void)
static void GPS_calculateVelocityAndDistanceFlown(void)
{
static int16_t speed_old[2] = { 0, 0 };
static int32_t last_coord[2] = { 0, 0 };
@ -1321,6 +1323,11 @@ static void GPS_calc_velocity(void)
speed_old[GPS_X] = actual_speed[GPS_X];
speed_old[GPS_Y] = actual_speed[GPS_Y];
uint32_t dist;
int32_t dir;
GPS_distance_cm_bearing(&gpsSol.llh.lat, &gpsSol.llh.lon, &last_coord[LAT], &last_coord[LON], &dist, &dir);
GPS_distanceFlownInCm += dist;
}
init = 1;
@ -1379,7 +1386,7 @@ void onGpsNewData(void)
GPS_calculateDistanceAndDirectionToHome();
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
GPS_calculateVelocityAndDistanceFlown();
#ifdef USE_GPS_RESCUE
rescueNewGpsData();

1
src/main/io/gps.h
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@ -125,6 +125,7 @@ extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
extern int32_t GPS_home[2];
extern uint16_t GPS_distanceToHome; // distance to home point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern uint32_t GPS_distanceFlownInCm; // distance flown since armed in centimeters
extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
extern float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
extern float GPS_scaleLonDown; // this is used to offset the shrinking longitude as we go towards the poles

29
src/main/io/osd.c
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@ -605,6 +605,19 @@ static bool osdDrawSingleElement(uint8_t item)
}
break;
case OSD_TOTAL_DIST:
if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
const int32_t distance = osdGetMetersToSelectedUnit(GPS_distanceFlownInCm / 100);
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:
@ -1159,6 +1172,7 @@ static void osdDrawElements(void)
osdDrawSingleElement(OSD_GPS_LON);
osdDrawSingleElement(OSD_HOME_DIST);
osdDrawSingleElement(OSD_HOME_DIR);
osdDrawSingleElement(OSD_TOTAL_DIST);
}
#endif // GPS
@ -1556,15 +1570,17 @@ static void osdShowStats(uint16_t endBatteryVoltage)
osdDisplayStatisticLabel(top++, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2])], buff);
}
if (osdStatGetState(OSD_STAT_MAX_SPEED) && STATE(GPS_FIX)) {
#ifdef USE_GPS
if (osdStatGetState(OSD_STAT_MAX_SPEED) && featureIsEnabled(FEATURE_GPS)) {
itoa(stats.max_speed, buff, 10);
osdDisplayStatisticLabel(top++, "MAX SPEED", buff);
}
if (osdStatGetState(OSD_STAT_MAX_DISTANCE)) {
if (osdStatGetState(OSD_STAT_MAX_DISTANCE) && featureIsEnabled(FEATURE_GPS)) {
tfp_sprintf(buff, "%d%c", osdGetMetersToSelectedUnit(stats.max_distance), osdGetMetersToSelectedUnitSymbol());
osdDisplayStatisticLabel(top++, "MAX DISTANCE", buff);
}
#endif
if (osdStatGetState(OSD_STAT_MIN_BATTERY)) {
tfp_sprintf(buff, "%d.%1d%c", stats.min_voltage / 10, stats.min_voltage % 10, SYM_VOLT);
@ -1642,6 +1658,15 @@ static void osdShowStats(uint16_t endBatteryVoltage)
osdDisplayStatisticLabel(top++, "MIN LINK", buff);
}
#endif
#ifdef USE_GPS
if (osdStatGetState(OSD_STAT_TOTAL_DISTANCE) && featureIsEnabled(FEATURE_GPS)) {
const uint32_t distanceFlown = GPS_distanceFlownInCm / 100;
tfp_sprintf(buff, "%d%c", osdGetMetersToSelectedUnit(distanceFlown), osdGetMetersToSelectedUnitSymbol());
osdDisplayStatisticLabel(top++, "TOTAL DISTANCE", buff);
}
#endif
}
static void osdShowArmed(void)

2
src/main/io/osd.h
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@ -100,6 +100,7 @@ typedef enum {
OSD_LOG_STATUS,
OSD_FLIP_ARROW,
OSD_LINK_QUALITY,
OSD_TOTAL_DIST,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;
@ -131,6 +132,7 @@ typedef enum {
OSD_STAT_MAX_ESC_TEMP,
OSD_STAT_MAX_ESC_RPM,
OSD_STAT_MIN_LINK_QUALITY,
OSD_STAT_TOTAL_DISTANCE,
OSD_STAT_COUNT // MUST BE LAST
} osd_stats_e;

1
src/test/Makefile
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@ -167,6 +167,7 @@ osd_unittest_SRC := \
osd_unittest_DEFINES := \
USE_OSD \
USE_GPS= \
USE_RTC_TIME \
USE_ADC_INTERNAL

22
src/test/unit/osd_unittest.cc
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@ -28,6 +28,8 @@ extern "C" {
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "config/feature.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
@ -69,6 +71,7 @@ extern "C" {
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome;
int16_t GPS_directionToHome;
uint32_t GPS_distanceFlownInCm;
int32_t GPS_coord[2];
gpsSolutionData_t gpsSol;
float motor[8];
@ -95,13 +98,15 @@ extern "C" {
uint16_t simulationCoreTemperature;
}
uint32_t simulationFeatureFlags = FEATURE_GPS;
/* #define DEBUG_OSD */
#include "unittest_macros.h"
#include "unittest_displayport.h"
#include "gtest/gtest.h"
void setDefualtSimulationState()
void setDefaultSimulationState()
{
rssi = 1024;
@ -190,7 +195,7 @@ TEST(OsdTest, TestInit)
// and
// default state values are set
setDefualtSimulationState();
setDefaultSimulationState();
// and
// this battery configuration (used for battery voltage elements)
@ -308,6 +313,7 @@ TEST(OsdTest, TestStatsImperial)
osdStatSetState(OSD_STAT_TIMER_2, true);
osdStatSetState(OSD_STAT_RTC_DATE_TIME, true);
osdStatSetState(OSD_STAT_MAX_DISTANCE, true);
osdStatSetState(OSD_STAT_TOTAL_DISTANCE, true);
osdStatSetState(OSD_STAT_BLACKBOX_NUMBER, false);
osdStatSetState(OSD_STAT_MAX_G_FORCE, false);
osdStatSetState(OSD_STAT_MAX_ESC_TEMP, false);
@ -350,6 +356,7 @@ TEST(OsdTest, TestStatsImperial)
rssi = 1024;
gpsSol.groundSpeed = 500;
GPS_distanceToHome = 20;
GPS_distanceFlownInCm = 2000;
simulationBatteryVoltage = 158;
simulationAltitude = 100;
simulationTime += 1e6;
@ -358,6 +365,7 @@ TEST(OsdTest, TestStatsImperial)
rssi = 512;
gpsSol.groundSpeed = 800;
GPS_distanceToHome = 50;
GPS_distanceFlownInCm = 10000;
simulationBatteryVoltage = 147;
simulationAltitude = 150;
simulationTime += 1e6;
@ -366,6 +374,7 @@ TEST(OsdTest, TestStatsImperial)
rssi = 256;
gpsSol.groundSpeed = 200;
GPS_distanceToHome = 100;
GPS_distanceFlownInCm = 20000;
simulationBatteryVoltage = 152;
simulationAltitude = 200;
simulationTime += 1e6;
@ -387,6 +396,7 @@ TEST(OsdTest, TestStatsImperial)
displayPortTestBufferSubstring(2, row++, "END BATTERY : 15.2%c", SYM_VOLT);
displayPortTestBufferSubstring(2, row++, "MIN RSSI : 25%%");
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 6.5%c", SYM_FT);
displayPortTestBufferSubstring(2, row++, "TOTAL DISTANCE : 656%c", SYM_FT);
}
/*
@ -401,7 +411,7 @@ TEST(OsdTest, TestStatsMetric)
// and
// default state values are set
setDefualtSimulationState();
setDefaultSimulationState();
// when
// the craft is armed
@ -412,6 +422,7 @@ TEST(OsdTest, TestStatsMetric)
rssi = 256;
gpsSol.groundSpeed = 800;
GPS_distanceToHome = 100;
GPS_distanceFlownInCm = 10000;
simulationBatteryVoltage = 147;
simulationAltitude = 200;
simulationTime += 1e6;
@ -438,6 +449,7 @@ TEST(OsdTest, TestStatsMetric)
displayPortTestBufferSubstring(2, row++, "END BATTERY : 15.2%c", SYM_VOLT);
displayPortTestBufferSubstring(2, row++, "MIN RSSI : 25%%");
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 2.0%c", SYM_M);
displayPortTestBufferSubstring(2, row++, "TOTAL DISTANCE : 100%c", SYM_M);
}
/*
@ -447,7 +459,7 @@ TEST(OsdTest, TestAlarms)
{
// given
// default state is set
setDefualtSimulationState();
setDefaultSimulationState();
// and
// the following OSD elements are visible
@ -959,6 +971,8 @@ TEST(OsdTest, TestConvertTemperatureUnits)
// STUBS
extern "C" {
bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
void beeperConfirmationBeeps(uint8_t) {}
bool isModeActivationConditionPresent(boxId_e) {