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fix ADSB cardinal for broken mag direction #11076

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Merged
sensei-hacker merged 1 commit into from
Nov 9, 2025
Merged

fix ADSB cardinal for broken mag direction #11076

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8 changes: 7 additions & 1 deletion docs/ADSB.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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`

Expand Down
34 changes: 31 additions & 3 deletions src/main/io/adsb.c
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Expand Up @@ -98,6 +98,26 @@ adsbVehicle_t *findVehicleClosest(void) {
* @return
*/
adsbVehicle_t *findVehicleClosestLimit(int32_t maxVerticalDistance) {

////////////////////////////////////////////////////////////
//debug vehicle
/*adsbVehicleValues_t* vehicle = getVehicleForFill();
if(vehicle != NULL){
char name[9] = "DUMMY ";
vehicle->icao = 666;
vehicle->gps.lat = 492383514;
vehicle->gps.lon = 165148681;
vehicle->alt = 100000;
vehicle->heading = 66;
vehicle->flags = ADSB_FLAGS_VALID_ALTITUDE | ADSB_FLAGS_VALID_COORDS;
vehicle->altitudeType = 0;
memcpy(&(vehicle->callsign), name, sizeof(vehicle->callsign));
vehicle->emitterType = 6;
vehicle->tslc = 0;
adsbNewVehicle(vehicle);
}*/
////////////////////////////////////////////////////////////

adsbVehicle_t *adsbLocal = NULL;
for (uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++) {
if(adsbVehiclesList[i].ttl > 0 && adsbVehiclesList[i].calculatedVehicleValues.valid){
Expand Down Expand Up @@ -178,7 +198,7 @@ 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();
}
Expand Down Expand Up @@ -264,8 +284,16 @@ 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
Expand Down
2 changes: 1 addition & 1 deletion src/main/io/adsb.h
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Expand Up @@ -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);
62 changes: 35 additions & 27 deletions src/main/io/osd.c
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Expand Up @@ -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
Expand Down Expand Up @@ -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 {
Expand Down Expand Up @@ -2176,16 +2183,17 @@ static bool osdDrawSingleElement(uint8_t item)
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))
){
vehicle != NULL
&& (vehicle->calculatedVehicleValues.dist > 0
&& vehicle->calculatedVehicleValues.dist < METERS_TO_CENTIMETERS(osdConfig()->adsb_distance_warning))
&& isEnvironmentOkForCalculatingADSBDistanceBearing()

) {
adsbLengthForClearFirstLine = 11;

buff[buffIndexFirstLine++] = SYM_ADSB;
Expand Down Expand Up @@ -2219,21 +2227,20 @@ 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 && isImuHeadingValid()) {
//[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));

Expand All @@ -2245,41 +2252,43 @@ 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));
if(isImuHeadingValid())
{
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;
}

Expand Down Expand Up @@ -3996,8 +4005,7 @@ 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()) {
Expand Down