Add cruise mode heading adjustment and heading error OSD indicators #3380
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shellixyz
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fiam
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Jun 22, 2018
| int16_t heading_adjust = lrintf(CENTIDEGREES_TO_DEGREES((float)getCruiseHeadingAdjustment())); | ||
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| if (ARMING_FLAG(ARMED) && ((!FLIGHT_MODE(NAV_CRUISE_MODE)) || !(isAdjustingPosition() || isAdjustingHeading() || (heading_adjust != 0)))) { | ||
| displayWrite(osdDisplayPort, elemPosX, elemPosY, " "); |
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I don't like this extra call to displayWrite(). In functions as big as this one, I prefer to avoid early returns when possible. Can you make it write to buff the 5-space string? e.g.
if (ARMING_FLAG(ARMED) && ((!FLIGHT_MODE(NAV_CRUISE_MODE)) || !(isAdjustingPosition() || isAdjustingHeading() || (heading_adjust != 0)))) {
strcpy(buff, " ");
} else {
buff[0] = SYM_HEADING;
if (!ARMING_FLAG(ARMED))
buff[1] = buff[2] = buff[3] = buff[4] = '-';
else if (FLIGHT_MODE(NAV_CRUISE_MODE)) {
tfp_sprintf(buff + 1, "%4d", heading_adjust);
}
buff[5] = SYM_DEGREES;
}
buff[6] = '\0';
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Just did a quick test and the early returns save 40 bytes of flash. Given the current state of flash in F3, I guess we're better off taking the flash savings.
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