From ea27a0359977ddd534f84f0f627942d7d59b1a62 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 18 Feb 2019 23:21:43 +0100
Subject: [PATCH] atxxxx: various fixes & cleanup
---
src/drivers/osd/atxxxx/atxxxx.cpp | 276 +++++++++++++++++++-----------
src/drivers/osd/atxxxx/atxxxx.h | 22 +--
src/drivers/osd/atxxxx/params.c | 1 +
src/drivers/osd/atxxxx/symbols.h | 119 +++++++++++++
4 files changed, 308 insertions(+), 110 deletions(-)
create mode 100644 src/drivers/osd/atxxxx/symbols.h
diff --git a/src/drivers/osd/atxxxx/atxxxx.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp
index 2d5c7a34c7..97f16d72f6 100644
--- a/src/drivers/osd/atxxxx/atxxxx.cpp
+++ b/src/drivers/osd/atxxxx/atxxxx.cpp
@@ -36,10 +36,15 @@
* @author Daniele Pettenuzzo
* @author Beat Küng <beat-kueng@gmx.net>
*
- * Driver for the ATXXXX chip on the omnibus fcu connected via SPI.
+ * Driver for the ATXXXX chip (e.g. MAX7456) on the omnibus f4 fcu connected via SPI.
*/
#include "atxxxx.h"
+#include "symbols.h"
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_status.h>
struct work_s OSDatxxxx::_work = {};
@@ -111,8 +116,11 @@ OSDatxxxx::init()
return ret;
}
+ // clear the screen
+ int num_rows = _param_atxxxx_cfg.get() == 1 ? OSD_NUM_ROWS_NTSC : OSD_NUM_ROWS_PAL;
+
for (int i = 0; i < OSD_CHARS_PER_ROW; i++) {
- for (int j = 0; j < 17; j++) {
+ for (int j = 0; j < num_rows; j++) {
add_character_to_screen(' ', i, j);
}
}
@@ -165,7 +173,7 @@ OSDatxxxx::probe()
ret |= readRegister(0x00, &data, 1);
if (data != 1 || ret != PX4_OK) {
- printf("probe error\n");
+ PX4_ERR("probe failed (%i %i)", ret, data);
}
return ret;
@@ -186,18 +194,13 @@ OSDatxxxx::init_osd()
enable_screen();
- // writeRegister(0x00, 0x48) != PX4_OK) { //DMM set to 0
- // goto fail;
- // }
-
return ret;
-
}
int
OSDatxxxx::readRegister(unsigned reg, uint8_t *data, unsigned count)
{
- uint8_t cmd[5]; // read up to 4 bytes
+ uint8_t cmd[5]; // read up to 4 bytes
int ret;
cmd[0] = DIR_READ(reg);
@@ -219,7 +222,7 @@ OSDatxxxx::readRegister(unsigned reg, uint8_t *data, unsigned count)
int
OSDatxxxx::writeRegister(unsigned reg, uint8_t data)
{
- uint8_t cmd[2]; // write 1 byte
+ uint8_t cmd[2]; // write 1 byte
int ret;
cmd[0] = DIR_WRITE(reg);
@@ -242,94 +245,115 @@ OSDatxxxx::add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y)
uint16_t position = (OSD_CHARS_PER_ROW * pos_y) + pos_x;
uint8_t position_lsb;
- int ret = PX4_OK;
+ int ret;
if (position > 0xFF) {
position_lsb = static_cast<uint8_t>(position) - 0xFF;
- ret |= writeRegister(0x05, 0x01); //DMAH
+ ret = writeRegister(0x05, 0x01); //DMAH
} else {
position_lsb = static_cast<uint8_t>(position);
- ret |= writeRegister(0x05, 0x00); //DMAH
+ ret = writeRegister(0x05, 0x00); //DMAH
}
- ret |= writeRegister(0x06, position_lsb); //DMAL
- ret |= writeRegister(0x07, c);
+ if (ret != 0) { return ret; }
+
+ ret = writeRegister(0x06, position_lsb); //DMAL
+ if (ret != 0) { return ret; }
+
+ ret = writeRegister(0x07, c);
return ret;
}
-int
-OSDatxxxx::add_battery_symbol(uint8_t pos_x, uint8_t pos_y)
+void OSDatxxxx::add_string_to_screen_centered(const char *str, uint8_t pos_y, int max_length)
{
- return add_character_to_screen(146, pos_x, pos_y);
+ int len = strlen(str);
+
+ if (len > max_length) {
+ len = max_length;
+ }
+
+ int pos = (OSD_CHARS_PER_ROW - max_length) / 2;
+ int before = (max_length - len) / 2;
+
+ for (int i = 0; i < before; ++i) {
+ add_character_to_screen(' ', pos++, pos_y);
+ }
+
+ for (int i = 0; i < len; ++i) {
+ add_character_to_screen(str[i], pos++, pos_y);
+ }
+
+ while (pos < (OSD_CHARS_PER_ROW + max_length) / 2) {
+ add_character_to_screen(' ', pos++, pos_y);
+ }
+}
+
+void OSDatxxxx::clear_line(uint8_t pos_x, uint8_t pos_y, int length)
+{
+ for (int i = 0; i < length; ++i) {
+ add_character_to_screen(' ', pos_x + i, pos_y);
+ }
}
int
OSDatxxxx::add_battery_info(uint8_t pos_x, uint8_t pos_y)
{
- char buf[5];
+ char buf[10];
int ret = PX4_OK;
- sprintf(buf, "%4.2f", (double)_battery_voltage_filtered_v);
+ // TODO: show battery symbol based on battery fill level
+ snprintf(buf, sizeof(buf), "%c%5.2f", OSD_SYMBOL_BATT_3, (double)_battery_voltage_filtered_v);
+ buf[sizeof(buf) - 1] = '\0';
- for (int i = 0; i < 5; i++) {
+ for (int i = 0; buf[i] != '\0'; i++) {
ret |= add_character_to_screen(buf[i], pos_x + i, pos_y);
}
ret |= add_character_to_screen('V', pos_x + 5, pos_y);
pos_y++;
+ pos_x++;
- sprintf(buf, "%4d", (int)_battery_discharge_mah);
+ snprintf(buf, sizeof(buf), "%5d", (int)_battery_discharge_mah);
+ buf[sizeof(buf) - 1] = '\0';
- for (int i = 0; i < 5; i++) {
+ for (int i = 0; buf[i] != '\0'; i++) {
ret |= add_character_to_screen(buf[i], pos_x + i, pos_y);
}
- ret |= add_character_to_screen(7, pos_x + 5, pos_y); // mAh symbol
+ ret |= add_character_to_screen(OSD_SYMBOL_MAH, pos_x + 5, pos_y);
return ret;
}
-int
-OSDatxxxx::add_altitude_symbol(uint8_t pos_x, uint8_t pos_y)
-{
- return add_character_to_screen(154, pos_x, pos_y);
-}
-
int
OSDatxxxx::add_altitude(uint8_t pos_x, uint8_t pos_y)
{
- char buf[5];
+ char buf[16];
int ret = PX4_OK;
- sprintf(buf, "%4.2f", (double)_local_position_z);
+ snprintf(buf, sizeof(buf), "%c%5.2f%c", OSD_SYMBOL_ARROW_NORTH, (double)_local_position_z, OSD_SYMBOL_M);
+ buf[sizeof(buf) - 1] = '\0';
- for (int i = 0; i < 5; i++) {
+ for (int i = 0; buf[i] != '\0'; i++) {
ret |= add_character_to_screen(buf[i], pos_x + i, pos_y);
}
- ret |= add_character_to_screen('m', pos_x + 5, pos_y);
-
return ret;
}
-int
-OSDatxxxx::add_flighttime_symbol(uint8_t pos_x, uint8_t pos_y)
-{
- return add_character_to_screen(112, pos_x, pos_y);
-}
-
int
OSDatxxxx::add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y)
{
- char buf[6];
+ char buf[10];
int ret = PX4_OK;
- sprintf(buf, "%5.1f", (double)flight_time);
+ snprintf(buf, sizeof(buf), "%c%5.1f", OSD_SYMBOL_FLIGHT_TIME, (double)flight_time);
+ buf[sizeof(buf) - 1] = '\0';
- for (int i = 0; i < 6; i++) {
+ for (int i = 0; buf[i] != '\0'; i++) {
ret |= add_character_to_screen(buf[i], pos_x + i, pos_y);
}
@@ -362,18 +386,15 @@ OSDatxxxx::disable_screen()
int
-OSDatxxxx::update_topics()//TODO have an argument to choose what to update and return validity
+OSDatxxxx::update_topics()
{
- struct battery_status_s battery = {};
- // struct vehicle_local_position_s local_position = {};
- struct vehicle_status_s vehicle_status = {};
-
bool updated = false;
/* update battery subscription */
orb_check(_battery_sub, &updated);
if (updated) {
+ battery_status_s battery;
orb_copy(ORB_ID(battery_status), _battery_sub, &battery);
if (battery.connected) {
@@ -387,61 +408,107 @@ OSDatxxxx::update_topics()//TODO have an argument to choose what to update and r
}
/* update vehicle local position subscription */
- // orb_check(_local_position_sub, &updated);
+ orb_check(_local_position_sub, &updated);
- // if (updated) {
- // if (local_position.z_valid) {
- // _local_position_z = -local_position.z;
- // _local_position_valid = true;
+ if (updated) {
+ vehicle_local_position_s local_position;
+ orb_copy(ORB_ID(vehicle_local_position), _local_position_sub, &local_position);
- // } else {
- // _local_position_valid = false;
- // }
- // }
+ if ((_local_position_valid = local_position.z_valid)) {
+ _local_position_z = -local_position.z;
+ }
+ }
/* update vehicle status subscription */
orb_check(_vehicle_status_sub, &updated);
if (updated) {
- if (vehicle_status.arming_state == 2 && _arming_state == 1) {
+ vehicle_status_s vehicle_status;
+ orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &vehicle_status);
+
+ if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED &&
+ _arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
+ // arming
_arming_timestamp = hrt_absolute_time();
- _arming_state = 2;
- } else if (vehicle_status.arming_state == 1 && _arming_state == 2) {
- _arming_state = 1;
+ } else if (vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED &&
+ _arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+ // disarming
}
+ _arming_state = vehicle_status.arming_state;
- if (vehicle_status.nav_state == vehicle_status.NAVIGATION_STATE_ACRO) {
- add_character_to_screen('A', 1, 7);
- add_character_to_screen('C', 2, 7);
- add_character_to_screen('R', 3, 7);
- add_character_to_screen('O', 4, 7);
-
- } else if (vehicle_status.nav_state == vehicle_status.NAVIGATION_STATE_STAB) {
- add_character_to_screen('S', 1, 8);
- add_character_to_screen('T', 2, 8);
- add_character_to_screen('A', 3, 8);
- add_character_to_screen('B', 4, 8);
- add_character_to_screen('I', 5, 8);
- add_character_to_screen('L', 6, 8);
- add_character_to_screen('I', 7, 8);
- add_character_to_screen('Z', 8, 8);
- add_character_to_screen('E', 9, 8);
-
- } else if (vehicle_status.nav_state == vehicle_status.NAVIGATION_STATE_MANUAL) {
- // add_character_to_screen('A', uint8_t pos_x, uint8_t pos_y)
- // add_character_to_screen('C', uint8_t pos_x, uint8_t pos_y)
- // add_character_to_screen('R', uint8_t pos_x, uint8_t pos_y)
- // add_character_to_screen('O', uint8_t pos_x, uint8_t pos_y)
- }
-
- // _arming_state = vehicle_status.arming_state;
+ _nav_state = vehicle_status.nav_state;
}
return PX4_OK;
}
+const char *OSDatxxxx::get_flight_mode(uint8_t nav_state)
+{
+ const char *flight_mode = "UNKNOWN";
+
+ switch (nav_state) {
+ case vehicle_status_s::NAVIGATION_STATE_MANUAL:
+ flight_mode = "MANUAL";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
+ flight_mode = "ALTITUDE";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+ flight_mode = "POSITION";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+ flight_mode = "RETURN";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+ flight_mode = "MISSION";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
+ case vehicle_status_s::NAVIGATION_STATE_DESCEND:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
+ flight_mode = "AUTO";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
+ case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+ flight_mode = "FAILURE";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_ACRO:
+ flight_mode = "ACRO";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
+ flight_mode = "TERMINATE";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+ flight_mode = "OFFBOARD";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_STAB:
+ flight_mode = "STABILIZED";
+ break;
+
+ case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
+ flight_mode = "RATTITUDE";
+ break;
+ }
+
+ return flight_mode;
+}
+
int
OSDatxxxx::update_screen()
@@ -449,22 +516,31 @@ OSDatxxxx::update_screen()
int ret = PX4_OK;
if (_battery_valid) {
- ret |= add_battery_symbol(1, 1);
- ret |= add_battery_info(2, 1);
+ ret |= add_battery_info(1, 1);
+
+ } else {
+ clear_line(1, 1, 10);
+ clear_line(1, 2, 10);
}
if (_local_position_valid) {
- ret |= add_altitude_symbol(1, 3);
- ret |= add_altitude(2, 3);
+ ret |= add_altitude(1, 3);
+
+ } else {
+ clear_line(1, 3, 10);
}
- // if (_arming_state == 2) {
- float flight_time_sec = static_cast<float>((hrt_absolute_time() - _arming_timestamp) / (1.0e6));
- ret |= add_flighttime_symbol(1, 5);
- ret |= add_flighttime(flight_time_sec, 2, 5);
- // }
+ const char *flight_mode = "";
- // enable_screen();
+ if (_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+ float flight_time_sec = static_cast<float>((hrt_absolute_time() - _arming_timestamp) / (1e6f));
+ ret |= add_flighttime(flight_time_sec, 1, 14);
+
+ } else {
+ flight_mode = get_flight_mode(_nav_state);
+ }
+
+ add_string_to_screen_centered(flight_mode, 12, 10);
return ret;
@@ -489,9 +565,7 @@ OSDatxxxx::cycle()
update_topics();
- if (_battery_valid || _local_position_valid || _arming_state > 1) {
- update_screen();
- }
+ update_screen();
/* schedule a fresh cycle call when the measurement is done */
work_queue(LPWORK,
@@ -512,6 +586,8 @@ int OSDatxxxx::print_usage(const char *reason)
R"DESCR_STR(
### Description
OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.
+
+It can be enabled with the OSD_ATXXXX_CFG parameter.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("atxxxx", "driver");
diff --git a/src/drivers/osd/atxxxx/atxxxx.h b/src/drivers/osd/atxxxx/atxxxx.h
index ca15b85f61..55b42fe5cd 100644
--- a/src/drivers/osd/atxxxx/atxxxx.h
+++ b/src/drivers/osd/atxxxx/atxxxx.h
@@ -55,11 +55,6 @@
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_status.h>
-
/* Configuration Constants */
#ifdef PX4_SPI_BUS_OSD
#define OSD_BUS PX4_SPI_BUS_OSD
@@ -80,13 +75,15 @@
#define OSD_DEVICE_PATH "/dev/osd"
-#define OSD_US 1000 /* 1 ms */
#define OSD_UPDATE_RATE 500000 /* 2 Hz */
#define OSD_CHARS_PER_ROW 30
+#define OSD_NUM_ROWS_PAL 16
+#define OSD_NUM_ROWS_NTSC 13
#define OSD_ZERO_BYTE 0x00
#define OSD_PAL_TX_MODE 0x40
/* OSD Registers addresses */
+// TODO
#ifndef CONFIG_SCHED_WORKQUEUE
@@ -141,18 +138,20 @@ private:
int writeRegister(unsigned reg, uint8_t data);
int add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y);
- int add_battery_symbol(uint8_t pos_x, uint8_t pos_y);
+ void add_string_to_screen_centered(const char *str, uint8_t pos_y, int max_length);
+ void clear_line(uint8_t pos_x, uint8_t pos_y, int length);
+
int add_battery_info(uint8_t pos_x, uint8_t pos_y);
- int add_altitude_symbol(uint8_t pos_x, uint8_t pos_y);
int add_altitude(uint8_t pos_x, uint8_t pos_y);
- int add_flighttime_symbol(uint8_t pos_x, uint8_t pos_y);
int add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y);
+ static const char *get_flight_mode(uint8_t nav_state);
+
int enable_screen();
int disable_screen();
int update_topics();
- int update_screen();
+ int update_screen();
static work_s _work;
@@ -173,6 +172,9 @@ private:
uint8_t _arming_state{0};
uint64_t _arming_timestamp{0};
+ // flight mode
+ uint8_t _nav_state{0};
+
DEFINE_PARAMETERS(
(ParamInt<px4::params::OSD_ATXXXX_CFG>) _param_atxxxx_cfg
)
diff --git a/src/drivers/osd/atxxxx/params.c b/src/drivers/osd/atxxxx/params.c
index 9e67a7f58f..1836522c94 100644
--- a/src/drivers/osd/atxxxx/params.c
+++ b/src/drivers/osd/atxxxx/params.c
@@ -42,6 +42,7 @@
* @value 2 PAL
*
* @reboot_required true
+* @group OSD
*
*/
PARAM_DEFINE_INT32(OSD_ATXXXX_CFG, 0);
diff --git a/src/drivers/osd/atxxxx/symbols.h b/src/drivers/osd/atxxxx/symbols.h
new file mode 100644
index 0000000000..52d5289e99
--- /dev/null
+++ b/src/drivers/osd/atxxxx/symbols.h
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* special symbols (the chip comes preflashed with these) */
+
+#define OSD_SYMBOL_RSSI 0x01
+// Throttle Position (%)
+#define OSD_SYMBOL_THR 0x04
+#define OSD_SYMBOL_THR1 0x05
+// Map mode
+#define OSD_SYMBOL_HOME 0x04
+#define OSD_SYMBOL_AIRCRAFT 0x05
+// Unit Icon (Metric)
+#define OSD_SYMBOL_M 0x0C
+// Unit Icon (Imperial)
+#define OSD_SYMBOL_FT 0x0F
+// Heading Graphics
+#define OSD_SYMBOL_HEADING_N 0x18
+#define OSD_SYMBOL_HEADING_S 0x19
+#define OSD_SYMBOL_HEADING_E 0x1A
+#define OSD_SYMBOL_HEADING_W 0x1B
+#define OSD_SYMBOL_HEADING_DIVIDED_LINE 0x1C
+#define OSD_SYMBOL_HEADING_LINE 0x1D
+// Artificial Horizon Center screen Graphics
+#define OSD_SYMBOL_AH_CENTER_LINE 0x26
+#define OSD_SYMBOL_AH_CENTER_LINE_RIGHT 0x27
+#define OSD_SYMBOL_AH_CENTER 0x7E
+#define OSD_SYMBOL_AH_RIGHT 0x02
+#define OSD_SYMBOL_AH_LEFT 0x03
+#define OSD_SYMBOL_AH_DECORATION 0x13
+// Satellite Graphics
+#define OSD_SYMBOL_SAT_L 0x1E
+#define OSD_SYMBOL_SAT_R 0x1F
+// Direction arrows
+#define OSD_SYMBOL_ARROW_SOUTH 0x60
+#define OSD_SYMBOL_ARROW_2 0x61
+#define OSD_SYMBOL_ARROW_3 0x62
+#define OSD_SYMBOL_ARROW_4 0x63
+#define OSD_SYMBOL_ARROW_EAST 0x64
+#define OSD_SYMBOL_ARROW_6 0x65
+#define OSD_SYMBOL_ARROW_7 0x66
+#define OSD_SYMBOL_ARROW_8 0x67
+#define OSD_SYMBOL_ARROW_NORTH 0x68
+#define OSD_SYMBOL_ARROW_10 0x69
+#define OSD_SYMBOL_ARROW_11 0x6A
+#define OSD_SYMBOL_ARROW_12 0x6B
+#define OSD_SYMBOL_ARROW_WEST 0x6C
+#define OSD_SYMBOL_ARROW_14 0x6D
+#define OSD_SYMBOL_ARROW_15 0x6E
+#define OSD_SYMBOL_ARROW_16 0x6F
+// Artifical Horizon Bars
+#define OSD_SYMBOL_AH_BAR9_0 0x80
+#define OSD_SYMBOL_AH_BAR9_1 0x81
+#define OSD_SYMBOL_AH_BAR9_2 0x82
+#define OSD_SYMBOL_AH_BAR9_3 0x83
+#define OSD_SYMBOL_AH_BAR9_4 0x84
+#define OSD_SYMBOL_AH_BAR9_5 0x85
+#define OSD_SYMBOL_AH_BAR9_6 0x86
+#define OSD_SYMBOL_AH_BAR9_7 0x87
+#define OSD_SYMBOL_AH_BAR9_8 0x88
+// Progress bar
+#define OSD_SYMBOL_PB_START 0x8A
+#define OSD_SYMBOL_PB_FULL 0x8B
+#define OSD_SYMBOL_PB_HALF 0x8C
+#define OSD_SYMBOL_PB_EMPTY 0x8D
+#define OSD_SYMBOL_PB_END 0x8E
+#define OSD_SYMBOL_PB_CLOSE 0x8F
+// Batt evolution
+#define OSD_SYMBOL_BATT_FULL 0x90
+#define OSD_SYMBOL_BATT_5 0x91
+#define OSD_SYMBOL_BATT_4 0x92
+#define OSD_SYMBOL_BATT_3 0x93
+#define OSD_SYMBOL_BATT_2 0x94
+#define OSD_SYMBOL_BATT_1 0x95
+#define OSD_SYMBOL_BATT_EMPTY 0x96
+// Batt Icon
+#define OSD_SYMBOL_MAIN_BATT 0x97
+// Voltage and amperage
+#define OSD_SYMBOL_VOLT 0x06
+#define OSD_SYMBOL_AMP 0x9A
+#define OSD_SYMBOL_MAH 0x07
+#define OSD_SYMBOL_WATT 0x57
+// Time
+#define OSD_SYMBOL_ON_M 0x9B
+#define OSD_SYMBOL_FLY_M 0x9C
+#define OSD_SYMBOL_FLIGHT_TIME 0x70
+
--
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