amikhalev/uas-ugv
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Show yaw angle on display

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This commit is contained in:
Alex Mikhalev 2019-06-01 17:19:01 -07:00
parent c734a9c32c
commit 1e3adb691e
1 changed files with 5 additions and 3 deletions
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8
main/ugv_display.cc
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@ -40,7 +40,7 @@ void DisplayClass::Run() {
int8_t last_packet_snr; int8_t last_packet_snr;
#endif #endif
TickType_t last_packet_tick; TickType_t last_packet_tick;
messages::UGV_State state; messages::UGV_Status status;
ESP_LOGD(TAG, "Started display thread"); ESP_LOGD(TAG, "Started display thread");
while (true) { while (true) {
@ -52,7 +52,7 @@ void DisplayClass::Run() {
comms_->Lock(); comms_->Lock();
last_packet_tick = comms_->last_packet_tick; last_packet_tick = comms_->last_packet_tick;
state = comms_->status.state(); status.CopyFrom(comms_->status);
#ifdef COMMS_SX127X #ifdef COMMS_SX127X
last_packet_rssi = comms_->last_packet_rssi; last_packet_rssi = comms_->last_packet_rssi;
last_packet_snr = comms_->last_packet_snr; last_packet_snr = comms_->last_packet_snr;
@ -71,7 +71,7 @@ void DisplayClass::Run() {
heap_info.total_free_bytes); heap_info.total_free_bytes);
oled->setCursor(4, 3 * 8); oled->setCursor(4, 3 * 8);
oled->printf("state: %d", (int)state); oled->printf("state: %d", status.state());
if (last_packet_tick > 0) { if (last_packet_tick > 0) {
double time_since_last_packet = double time_since_last_packet =
@ -89,6 +89,8 @@ void DisplayClass::Run() {
oled->setCursor(4, 4 * 8); oled->setCursor(4, 4 * 8);
oled->print("no pkt rx"); oled->print("no pkt rx");
} }
oled->setCursor(4, 5 * 8);
oled->printf("yaw angle: %f", status.yaw_angle());
} while (oled->nextPage()); } while (oled->nextPage());
vTaskDelay(pdMS_TO_TICKS(1000)); vTaskDelay(pdMS_TO_TICKS(1000));
} }