* fix ADSB cardinal for broken mag direction

error414 · error414 · commit 9d5eb6322eac · 2025-10-19T21:43:31.000+02:00
* apply good suggestion from qodo-merge-pro
diff --git a/docs/ADSB.md b/docs/ADSB.md
@@ -7,7 +7,13 @@ is an air traffic surveillance technology that enables aircraft to be accurately
 
 OSD can be configured to shows the closest aircraft.
 
-## OSD element
+## OSD ADSB Info element
+* "-" no ADSB device detected
+* "H" IMU heading is not valid 
+* "G" no GPS fix or less than 4 stats
+* "[Number]" count of ADSB aircrafts
+
+## OSD ADSB Warning element
 OSD can be configured to simple view (one line) or to extended view (two lines) by \
 `set osd_adsb_warning_style=EXTENDED`
 
diff --git a/src/main/io/adsb.c b/src/main/io/adsb.c
@@ -178,7 +178,7 @@ void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal) {
     }
 
     // non GPS mode, GPS is not fix, just find free space in list or by icao and save vehicle without calculated values
-    if (!enviromentOkForCalculatingDistaceBearing()) {
+    if (!isEnvironmentOkForCalculatingADSBDistanceBearing()) {
         if(vehicle == NULL){
             vehicle = findFreeSpaceInList();
         }
@@ -264,8 +264,16 @@ void adsbTtlClean(timeUs_t currentTimeUs) {
     }
 };
 
-bool enviromentOkForCalculatingDistaceBearing(void){
-    return (STATE(GPS_FIX) && gpsSol.numSat > 4);
+bool isEnvironmentOkForCalculatingADSBDistanceBearing(void){
+    return
+    (gpsSol.numSat > 4 &&
+    (
+        STATE(GPS_FIX)
+        #ifdef USE_GPS_FIX_ESTIMATION
+            || STATE(GPS_ESTIMATED_FIX)
+        #endif
+        )
+    );
 }
 
 #endif
diff --git a/src/main/io/adsb.h b/src/main/io/adsb.h
@@ -64,5 +64,5 @@ uint8_t getActiveVehiclesCount(void);
 void adsbTtlClean(timeUs_t currentTimeUs);
 adsbVehicleStatus_t* getAdsbStatus(void);
 adsbVehicleValues_t* getVehicleForFill(void);
-bool enviromentOkForCalculatingDistaceBearing(void);
+bool isEnvironmentOkForCalculatingADSBDistanceBearing(void);
 void recalculateVehicle(adsbVehicle_t* vehicle);
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -316,6 +316,14 @@ static void osdFormatDistanceSymbol(char *buff, int32_t dist, uint8_t decimals,
     }
 }
 
+/**
+ * return flight direction on degrees
+ */
+static int16_t osdGetFlightDirection(void)
+{
+    return STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading());
+}
+
 /**
  * Converts distance into a string based on the current unit system.
  * @param dist Distance in centimeters
@@ -1979,8 +1987,7 @@ static bool osdDrawSingleElement(uint8_t item)
                     if (!(osdConfig()->pan_servo_pwm2centideg == 0)){
                         panHomeDirOffset = osdGetPanServoOffset();
                     }
-                    int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading());
-                    int homeDirection = GPS_directionToHome - flightDirection + panHomeDirOffset;
+                    int homeDirection = GPS_directionToHome - osdGetFlightDirection() + panHomeDirOffset;
                     osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX, elemPosY), homeDirection);
                 }
             } else {
@@ -2170,22 +2177,25 @@ static bool osdDrawSingleElement(uint8_t item)
 #ifdef USE_ADSB
         case OSD_ADSB_WARNING:
         {
+            if (!isEnvironmentOkForCalculatingADSBDistanceBearing() || !isImuHeadingValid()) {
+               break;
+            }
+
             static uint8_t adsbLengthForClearFirstLine = 0;
             static uint8_t adsbLengthForClearSecondLine = 0;
 
             uint8_t buffIndexFirstLine = 0;
             uint8_t arrowIndexIndex = 0;
             adsbVehicle_t *vehicle = findVehicleClosestLimit(METERS_TO_CENTIMETERS(osdConfig()->adsb_ignore_plane_above_me_limit));
-            if(vehicle != NULL)
-            {
+            if (vehicle != NULL) {
                 recalculateVehicle(vehicle);
             }
 
             if (
                     vehicle != NULL &&
                     (vehicle->calculatedVehicleValues.dist > 0 &&
                     vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_warning))
-            ){
+            ) {
                 adsbLengthForClearFirstLine = 11;
 
                 buff[buffIndexFirstLine++] = SYM_ADSB;
@@ -2219,21 +2229,21 @@ static bool osdDrawSingleElement(uint8_t item)
                 //////////////////////////////////////////////////////
                 // ALT diff to ADSB vehicle draw
                 int16_t panServoDirOffset = 0;
-                if (osdConfig()->pan_servo_pwm2centideg != 0){
+                if (osdConfig()->pan_servo_pwm2centideg != 0) {
                     panServoDirOffset = osdGetPanServoOffset();
                 }
 
-                if(arrowIndexIndex > 0)
-                {
+                if (arrowIndexIndex > 0) {
                     //[direction to vehicle]
-                    int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset - (int)DECIDEGREES_TO_DEGREES(osdGetHeading());
+                    int directionToPeerError = osdGetHeadingAngle(CENTIDEGREES_TO_DEGREES(vehicle->calculatedVehicleValues.dir)) + panServoDirOffset -
+                            osdGetFlightDirection();
                     osdDrawDirCardinal(osdDisplayPort, elemPosX + arrowIndexIndex, elemPosY, directionToPeerError, elemAttr);
                 }
                 //////////////////////////////////////////////////////
 
                 //////////////////////////////////////////////////////
                 // Second line, extra info
-                if(osdConfig()->adsb_warning_style == OSD_ADSB_WARNING_STYLE_EXTENDED){
+                if (osdConfig()->adsb_warning_style == OSD_ADSB_WARNING_STYLE_EXTENDED) {
                     // Vehicle type
                     tfp_sprintf(buff, "%s", getAdsbEmitterTypeString(vehicle->vehicleValues.emitterType));
 
@@ -2245,41 +2255,41 @@ static bool osdDrawSingleElement(uint8_t item)
                     displayWriteWithAttr(osdDisplayPort, elemPosX, elemPosY + 1, buff, elemAttr);
 
                     // Vehicle direction
-                    int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading());
-                    osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX + 6, elemPosY + 1), (float)(CENTIDEGREES_TO_DEGREES(vehicle->vehicleValues.heading) - flightDirection + panServoDirOffset));
+                    osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX + 6, elemPosY + 1), (float)(CENTIDEGREES_TO_DEGREES(vehicle->vehicleValues.heading) -
+                            osdGetFlightDirection() + panServoDirOffset));
 
                     adsbLengthForClearSecondLine += 7;
                 }
                 ///////////////////////////////////////////////////
-            }
-            else
-            {
+            } else {
                 //clear first line
-                if(adsbLengthForClearFirstLine > 0){
+                if(adsbLengthForClearFirstLine > 0) {
                     memset(buff, SYM_BLANK, constrain(adsbLengthForClearFirstLine, 0, 20));
                     displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
                     adsbLengthForClearFirstLine = 0;
                 }
 
                 //clear second line
-                if(adsbLengthForClearSecondLine > 0){
+                if(adsbLengthForClearSecondLine > 0) {
                     memset(buff, SYM_BLANK, constrain(adsbLengthForClearSecondLine, 0, 20));
                     displayWrite(osdDisplayPort, elemPosX, elemPosY + 1, buff);
                     adsbLengthForClearSecondLine = 0;
                 }
             }
-
             return true;
         }
         case OSD_ADSB_INFO:
         {
             buff[0] = SYM_ADSB;
-            if(getAdsbStatus()->vehiclesMessagesTotal > 0 || getAdsbStatus()->heartbeatMessagesTotal > 0){
-                tfp_sprintf(buff + 1, "%1d", getActiveVehiclesCount());
-            }else{
+            if (getAdsbStatus()->vehiclesMessagesTotal == 0 && getAdsbStatus()->heartbeatMessagesTotal == 0) {
                 buff[1] = '-';
+            } else if (!isEnvironmentOkForCalculatingADSBDistanceBearing()) {
+                buff[1] = 'G';
+            } else if (!isImuHeadingValid()) {
+                buff[1] = 'H';
+            } else {
+                tfp_sprintf(buff + 1, "%1d", getActiveVehiclesCount());
             }
-
             break;
         }
 
@@ -3996,8 +4006,7 @@ static bool osdDrawSingleElement(uint8_t item)
                 if (!(osdConfig()->pan_servo_pwm2centideg == 0)){
                     panHomeDirOffset = osdGetPanServoOffset();
                 }
-                int16_t flightDirection = STATE(AIRPLANE) ? CENTIDEGREES_TO_DEGREES(posControl.actualState.cog) : DECIDEGREES_TO_DEGREES(osdGetHeading());
-                int direction = CENTIDEGREES_TO_DEGREES(geozone.directionToNearestZone) - flightDirection + panHomeDirOffset;
+                int direction = CENTIDEGREES_TO_DEGREES(geozone.directionToNearestZone) - osdGetFlightDirection() + panHomeDirOffset;
                 osdDrawDirArrow(osdDisplayPort, osdGetDisplayPortCanvas(), OSD_DRAW_POINT_GRID(elemPosX, elemPosY), direction);
             } else {
                 if (isGeozoneActive()) {

Original file line number	Diff line number	Diff line change
`@@ -178,7 +178,7 @@ void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal) {`
`178`	`178`	`}`
`179`	`179`
`180`	`180`	`// non GPS mode, GPS is not fix, just find free space in list or by icao and save vehicle without calculated values`
`181`		`- if (!enviromentOkForCalculatingDistaceBearing()) {`
	`181`	`+ if (!isEnvironmentOkForCalculatingADSBDistanceBearing()) {`
`182`	`182`	`if(vehicle == NULL){`
`183`	`183`	`vehicle = findFreeSpaceInList();`
`184`	`184`	`}`
`@@ -264,8 +264,16 @@ void adsbTtlClean(timeUs_t currentTimeUs) {`
`264`	`264`	`}`
`265`	`265`	`};`
`266`	`266`
`267`		`-bool enviromentOkForCalculatingDistaceBearing(void){`
`268`		`- return (STATE(GPS_FIX) && gpsSol.numSat > 4);`
	`267`	`+bool isEnvironmentOkForCalculatingADSBDistanceBearing(void){`
	`268`	`+ return`
	`269`	`+ (gpsSol.numSat > 4 &&`
	`270`	`+ (`
	`271`	`+ STATE(GPS_FIX)`
	`272`	`+ #ifdef USE_GPS_FIX_ESTIMATION`
	`273`	`+ \|\| STATE(GPS_ESTIMATED_FIX)`
	`274`	`+ #endif`
	`275`	`+ )`
	`276`	`+ );`
`269`	`277`	`}`
`270`	`278`
`271`	`279`	`#endif`