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Add more flexibility for minimum ground speed #10720

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586ca6a
Initial coding
MrD-RC Feb 23, 2025
5b9d5a7
Update
MrD-RC Feb 24, 2025
2731ed5
Add wind direction to PF
MrD-RC Feb 24, 2025
52961a9
Bug fix
MrD-RC Feb 24, 2025
749083e
Merge branch 'master' into MrD_Make-min-ground-speed-more-accessible
MrD-RC Jun 3, 2025
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1 change: 1 addition & 0 deletions docs/OSD.md
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Expand Up @@ -198,6 +198,7 @@ Here are the OSD Elements provided by INAV.
| 164 | OSD_H_DIST_TO_FENCE | 8.0.0 | |
| 165 | OSD_V_DIST_TO_FENCE | 8.0.0 | |
| 166 | OSD_NAV_FW_ALT_CONTROL_RESPONSE | 8.0.0 | |
| 167 | OSD_NAV_MIN_GROUND_SPEED | 9.0.0 | |

# Pilot Logos

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6 changes: 6 additions & 0 deletions docs/Programming Framework.md
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Expand Up @@ -102,6 +102,7 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 53 | Disable GPS Sensor Fix | Disables the GNSS sensor fix. For testing GNSS failure. |
| 54 | Mag calibration | Trigger a magnetometer calibration. |
| 55 | Set Gimbal Sensitivity | Scales `Operand A` from [`-16` : `15`]
| 56 | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150` |

### Operands

Expand Down Expand Up @@ -164,6 +165,11 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 41 | FW Land Sate | Integer `1` - `5`, indicates the status of the FW landing, 0 Idle, 1 Downwind, 2 Base Leg, 3 Final Approach, 4 Glide, 5 Flare |
| 42 | Current battery profile | The active battery profile. Integer `[1..MAX_PROFILE_COUNT]` |
| 43 | Flown Loiter Radius [m] | The actual loiter radius flown by a fixed wing during hold modes, in `meters` |
| 44 | Downlink Link Quality | |
| 45 | Uplink RSSI [dBm] | |
| 46 | Minimum Ground Speed [m/s] | The current minimum ground speed allowed in navigation flight modes |
| 47 | Horizontal Wind Speed [cm/s] | Estimated wind speed. If the wind estimator is unavailble or the wind estimation is invalid, -1 is returned |
| 48 | Wind Direction [deg] | Estimated wind direction. If the wind estimator is unavailble or the wind estimation is invalid, -1 is returned |

#### FLIGHT_MODE

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64 changes: 33 additions & 31 deletions src/main/common/maths.h
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Expand Up @@ -35,49 +35,51 @@

#define RAD (M_PIf / 180.0f)

#define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
#define CENTIDEGREES_TO_DEGREES(angle) ((angle) * 0.01f)
#define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
#define CENTIDEGREES_TO_DEGREES(angle) ((angle) * 0.01f)

#define CENTIDEGREES_TO_DECIDEGREES(angle) ((angle) / 10.0f)
#define DECIDEGREES_TO_CENTIDEGREES(angle) ((angle) * 10)
#define CENTIDEGREES_TO_DECIDEGREES(angle) ((angle) / 10.0f)
#define DECIDEGREES_TO_CENTIDEGREES(angle) ((angle) * 10)

#define DEGREES_TO_DECIDEGREES(angle) ((angle) * 10)
#define DECIDEGREES_TO_DEGREES(angle) ((angle) / 10.0f)
#define DEGREES_TO_DECIDEGREES(angle) ((angle) * 10)
#define DECIDEGREES_TO_DEGREES(angle) ((angle) / 10.0f)

#define DEGREES_PER_DEKADEGREE 10
#define DEGREES_TO_DEKADEGREES(angle) ((angle) / DEGREES_PER_DEKADEGREE)
#define DEKADEGREES_TO_DEGREES(angle) ((angle) * DEGREES_PER_DEKADEGREE)
#define DEGREES_PER_DEKADEGREE 10
#define DEGREES_TO_DEKADEGREES(angle) ((angle) / DEGREES_PER_DEKADEGREE)
#define DEKADEGREES_TO_DEGREES(angle) ((angle) * DEGREES_PER_DEKADEGREE)

#define DEGREES_TO_RADIANS(angle) ((angle) * RAD)
#define RADIANS_TO_DEGREES(angle) ((angle) / RAD)
#define DECIDEGREES_TO_RADIANS(angle) (((angle) / 10.0f) * RAD)
#define RADIANS_TO_DECIDEGREES(angle) (((angle) * 10.0f) / RAD)
#define DEGREES_TO_RADIANS(angle) ((angle) * RAD)
#define RADIANS_TO_DEGREES(angle) ((angle) / RAD)
#define DECIDEGREES_TO_RADIANS(angle) (((angle) / 10.0f) * RAD)
#define RADIANS_TO_DECIDEGREES(angle) (((angle) * 10.0f) / RAD)

#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) * 0.01f) * RAD)

#define MILLIMETERS_TO_CENTIMETERS(mm) (mm / 10.0f)
#define MILLIMETERS_TO_CENTIMETERS(mm) (mm / 10.0f)

#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
#define CENTIMETERS_TO_METERS(cm) (cm * 0.01f)
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048f)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48f)
#define CENTIMETERS_TO_METERS(cm) (cm * 0.01f)

#define METERS_TO_CENTIMETERS(m) (m * 100)
#define METERS_TO_KILOMETERS(m) (m / 1000.0f)
#define METERS_TO_MILES(m) (m / 1609.344f)
#define METERS_TO_NAUTICALMILES(m) (m / 1852.00f)
#define METERS_TO_CENTIMETERS(m) (m * 100)
#define METERS_TO_KILOMETERS(m) (m / 1000.0f)
#define METERS_TO_MILES(m) (m / 1609.344f)
#define METERS_TO_NAUTICALMILES(m) (m / 1852.00f)

#define MWH_TO_WH(mWh) (mWh / 1000.0f)
#define MWH_TO_WH(mWh) (mWh / 1000.0f)

#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)
#define CMSEC_TO_CENTIMPH(cms) (cms * 2.2369363f)
#define CMSEC_TO_CENTIKPH(cms) (cms * 3.6f)
#define CMSEC_TO_CENTIKNOTS(cms) (cms * 1.943845f)

#define CMSEC_TO_MPH(cms) (CMSEC_TO_CENTIMPH(cms) / 100.0f)
#define CMSEC_TO_KPH(cms) (CMSEC_TO_CENTIKPH(cms) / 100.0f)
#define CMSEC_TO_KNOTS(cms) (CMSEC_TO_CENTIKNOTS(cms) / 100.0f)
#define CMSEC_TO_MPH(cms) (CMSEC_TO_CENTIMPH(cms) / 100.0f)
#define CMSEC_TO_KPH(cms) (CMSEC_TO_CENTIKPH(cms) / 100.0f)
#define CMSEC_TO_KNOTS(cms) (CMSEC_TO_CENTIKNOTS(cms) / 100.0f)

#define C_TO_KELVIN(temp) (temp + 273.15f)
#define KMH_TO_MS(kmh) (kmh / 3.6f)

#define C_TO_KELVIN(temp) (temp + 273.15f)

// Standard Sea Level values
// Ref:https://en.wikipedia.org/wiki/Standard_sea_level
Expand Down
154 changes: 115 additions & 39 deletions src/main/io/osd.c
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Expand Up @@ -391,34 +391,109 @@ static int32_t osdConvertVelocityToUnit(int32_t vel)
* @param _3D is a 3D velocity
* @param _max is a maximum velocity
*/
void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
void osdFormatVelocityStr(char* buff, int32_t vel, osd_SpeedTypes_e speedType, bool _max)
{
switch ((osd_unit_e)osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
if (_max) {
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
} else {
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_MPH : SYM_MPH));
}
break;
case OSD_UNIT_METRIC:
if (_max) {
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
} else {
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KMH : SYM_KMH));
}
break;
case OSD_UNIT_GA:
if (_max) {
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
} else {
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), (_3D ? SYM_3D_KT : SYM_KT));
}
break;
case OSD_UNIT_UK:
FALLTHROUGH;
case OSD_UNIT_METRIC_MPH:
FALLTHROUGH;
case OSD_UNIT_IMPERIAL:
if (_max) {
switch (speedType) {
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_MPH);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%c%3d%c", SYM_MAX, SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_MPH);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_3D_MPH);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
break;
}
} else {
switch (speedType){
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_MPH);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%3d%c", SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_MPH);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_3D_MPH);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_GROUND_COURSE, (int)osdConvertVelocityToUnit(vel), SYM_MPH);
break;
}
}
break;
case OSD_UNIT_METRIC:
if (_max) {
switch (speedType) {
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_KMH);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%c%3d%c", SYM_MAX, SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_KMH);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_3D_KMH);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
break;
}
} else {
switch (speedType) {
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_KMH);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%3d%c", SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_KMH);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_3D_KMH);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_GROUND_COURSE, (int)osdConvertVelocityToUnit(vel), SYM_KMH);
break;
}
}
break;
case OSD_UNIT_GA:
if (_max) {
switch (speedType) {
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_KT);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%c%3d%c", SYM_MAX, SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_KT);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%c%3d%c", SYM_MAX, (int)osdConvertVelocityToUnit(vel), SYM_3D_KT);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
break;
}
} else {
switch (speedType) {
case OSD_SPEED_TYPE_GROUND:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_KT);
break;
case OSD_SPEED_TYPE_AIR:
tfp_sprintf(buff, "%c%3d%c", SYM_AIR, (int)osdConvertVelocityToUnit(vel), SYM_KT);
break;
case OSD_SPEED_TYPE_3D:
tfp_sprintf(buff, "%3d%c", (int)osdConvertVelocityToUnit(vel), SYM_3D_KT);
break;
case OSD_SPEED_TYPE_MIN_GROUND:
tfp_sprintf(buff, "%c%3d%c", SYM_GROUND_COURSE, (int)osdConvertVelocityToUnit(vel), SYM_KT);
break;
}
}
break;
}
}

Expand All @@ -427,7 +502,7 @@ void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max)
*/
static void osdGenerateAverageVelocityStr(char* buff) {
uint32_t cmPerSec = getTotalTravelDistance() / getFlightTime();
osdFormatVelocityStr(buff, cmPerSec, false, false);
osdFormatVelocityStr(buff, cmPerSec, OSD_SPEED_TYPE_GROUND, false);
}

/**
Expand Down Expand Up @@ -1883,19 +1958,23 @@ static bool osdDrawSingleElement(uint8_t item)
break;

case OSD_GPS_SPEED:
osdFormatVelocityStr(buff, gpsSol.groundSpeed, false, false);
osdFormatVelocityStr(buff, gpsSol.groundSpeed, OSD_SPEED_TYPE_GROUND, false);
break;

case OSD_NAV_MIN_GROUND_SPEED:
osdFormatVelocityStr(buff, getMinGroundSpeed(navConfig()->general.min_ground_speed) * 100, OSD_SPEED_TYPE_MIN_GROUND, false);
break;

case OSD_GPS_MAX_SPEED:
osdFormatVelocityStr(buff, stats.max_speed, false, true);
osdFormatVelocityStr(buff, stats.max_speed, OSD_SPEED_TYPE_GROUND, true);
break;

case OSD_3D_SPEED:
osdFormatVelocityStr(buff, osdGet3DSpeed(), true, false);
osdFormatVelocityStr(buff, osdGet3DSpeed(), OSD_SPEED_TYPE_3D, false);
break;

case OSD_3D_MAX_SPEED:
osdFormatVelocityStr(buff, stats.max_3D_speed, true, true);
osdFormatVelocityStr(buff, stats.max_3D_speed, OSD_SPEED_TYPE_3D, true);
break;

case OSD_GLIDESLOPE:
Expand Down Expand Up @@ -3245,19 +3324,18 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_AIR_SPEED:
{
#ifdef USE_PITOT
buff[0] = SYM_AIR;

if (pitotIsHealthy())
{
const float airspeed_estimate = getAirspeedEstimate();
osdFormatVelocityStr(buff + 1, airspeed_estimate, false, false);
osdFormatVelocityStr(buff, airspeed_estimate, OSD_SPEED_TYPE_AIR, false);
if ((osdConfig()->airspeed_alarm_min != 0 && airspeed_estimate < osdConfig()->airspeed_alarm_min) ||
(osdConfig()->airspeed_alarm_max != 0 && airspeed_estimate > osdConfig()->airspeed_alarm_max)) {
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
}
else
{
buff[0] = SYM_AIR;
strcpy(buff + 1, " X!");
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
Expand All @@ -3270,9 +3348,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_AIR_MAX_SPEED:
{
#ifdef USE_PITOT
buff[0] = SYM_MAX;
buff[1] = SYM_AIR;
osdFormatVelocityStr(buff + 2, stats.max_air_speed, false, false);
osdFormatVelocityStr(buff, stats.max_air_speed, OSD_SPEED_TYPE_AIR, true);
#else
return false;
#endif
Expand Down Expand Up @@ -4837,7 +4913,7 @@ uint8_t drawStat_Speed(uint8_t col, uint8_t row, uint8_t statValX)

displayWrite(osdDisplayPort, col, row, "MAX/AVG SPEED");

osdFormatVelocityStr(buff2, stats.max_3D_speed, true, false);
osdFormatVelocityStr(buff2, stats.max_3D_speed, OSD_SPEED_TYPE_3D, false);
tfp_sprintf(buff, ": %s/", osdFormatTrimWhiteSpace(buff2));
multiValueXOffset = strlen(buff);
displayWrite(osdDisplayPort, statValX, row, buff);
Expand Down Expand Up @@ -6138,7 +6214,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
if (posControl.cruise.multicopterSpeed >= 50.0f) {
char buf[6];
osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, false, false);
osdFormatVelocityStr(buf, posControl.cruise.multicopterSpeed, OSD_SPEED_TYPE_GROUND, false);
tfp_sprintf(messageBuf, "(SPD %s)", buf);
} else {
strcpy(messageBuf, "(HOLD)");
Expand Down
10 changes: 9 additions & 1 deletion src/main/io/osd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -313,6 +313,7 @@ typedef enum {
OSD_H_DIST_TO_FENCE,
OSD_V_DIST_TO_FENCE,
OSD_NAV_FW_ALT_CONTROL_RESPONSE,
OSD_NAV_MIN_GROUND_SPEED,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;

Expand Down Expand Up @@ -366,6 +367,13 @@ typedef enum {
OSD_CRSF_LQ_TYPE3
} osd_crsf_lq_format_e;

typedef enum {
OSD_SPEED_TYPE_GROUND,
OSD_SPEED_TYPE_AIR,
OSD_SPEED_TYPE_3D,
OSD_SPEED_TYPE_MIN_GROUND,
} osd_SpeedTypes_e;

typedef struct osdLayoutsConfig_s {
// Layouts
uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
Expand Down Expand Up @@ -537,7 +545,7 @@ void osdShowEEPROMSavedNotification(void);
void osdCrosshairPosition(uint8_t *x, uint8_t *y);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length, bool leadingZeros);
void osdFormatAltitudeSymbol(char *buff, int32_t alt);
void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, bool _max);
void osdFormatVelocityStr(char* buff, int32_t vel, osd_SpeedTypes_e speedType, bool _max);
// Returns a heading angle in degrees normalized to [0, 360).
int osdGetHeadingAngle(int angle);

Expand Down
4 changes: 2 additions & 2 deletions src/main/navigation/navigation_fixedwing.c
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Expand Up @@ -558,10 +558,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
previousTimePositionUpdate = currentTimeUs;

if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
float velThrottleBoost = ((navConfig()->general.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
float velThrottleBoost = ((getMinGroundSpeed(navConfig()->general.min_ground_speed) * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);

// If we are in the deadband of 50cm/s - don't update speed boost
if (fabsf(posControl.actualState.velXY - (navConfig()->general.min_ground_speed * 100.0f)) > 50) {
if (fabsf(posControl.actualState.velXY - (getMinGroundSpeed(navConfig()->general.min_ground_speed) * 100.0f)) > 50) {
throttleSpeedAdjustment += velThrottleBoost;
}

Expand Down
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