Merge pull request #11072 from iNavFlight/MrD_Add-scaling-to-pan-servo-offset

Add scaling to pan servo offset

Author: MrD-RC

docs/Settings.md

@@ -5192,9 +5192,9 @@ Degrees either side of the pan servo centre; where it is assumed camera is wante
 
 ---
 
-### osd_pan_servo_pwm2centideg
+### osd_pan_servo_range_decadegrees
 
-Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction.
+Decadegrees of pan servo rotation. A servo with 180 degrees of rotation typically needs `18` for this setting. Using a negative value will reverse the direction.
 
 | Default | Min | Max |
 | --- | --- | --- |

src/main/fc/settings.yaml

@@ -3774,9 +3774,9 @@ groups:
         min: 0
         max: 16
         default_value: 0
-      - name: osd_pan_servo_pwm2centideg
-        description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction.
-        field: pan_servo_pwm2centideg
+      - name: osd_pan_servo_range_decadegrees
+        description: Decadegrees of pan servo rotation. A servo with 180 degrees of rotation typically needs `18` for this setting. Using a negative value will reverse the direction.
+        field: osd_pan_servo_range_decadegrees
         default_value: 0
         min: -36
         max: 36

src/main/io/osd.c

@@ -1310,7 +1310,9 @@ int16_t osdGetPanServoOffset(void)
         servoMiddle = PWM_RANGE_MIDDLE + gimbalConfig()->panTrim;
     }
 
-    return (int16_t)CENTIDEGREES_TO_DEGREES((servoPosition - servoMiddle) * osdConfig()->pan_servo_pwm2centideg);
+    float servoDegreesScaleFactor = 1000.0f / (servoParams(servoIndex)->max - servoParams(servoIndex)->min);
+
+    return (int16_t)CENTIDEGREES_TO_DEGREES((servoPosition - servoMiddle) * (int16_t)(osdConfig()->osd_pan_servo_range_decadegrees) * servoDegreesScaleFactor);
 }
 
 // Returns a heading angle in degrees normalized to [0, 360).
@@ -2066,7 +2068,7 @@ static bool osdDrawSingleElement(uint8_t item)
                 else
                 {
                     int16_t panHomeDirOffset = 0;
-                    if (!(osdConfig()->pan_servo_pwm2centideg == 0)){
+                    if (!(osdConfig()->osd_pan_servo_range_decadegrees == 0)){
                         panHomeDirOffset = osdGetPanServoOffset();
                     }
                     int homeDirection = GPS_directionToHome - osdGetFlightDirection() + panHomeDirOffset;
@@ -2309,7 +2311,7 @@ static bool osdDrawSingleElement(uint8_t item)
                 //////////////////////////////////////////////////////
                 // ALT diff to ADSB vehicle draw
                 int16_t panServoDirOffset = 0;
-                if (osdConfig()->pan_servo_pwm2centideg != 0) {
+                if (osdConfig()->osd_pan_servo_range_decadegrees != 0){
                     panServoDirOffset = osdGetPanServoOffset();
                 }
 
@@ -2824,7 +2826,7 @@ static bool osdDrawSingleElement(uint8_t item)
                 currentPeer->direction = (int16_t )(calculateBearingToDestination(&poi) / 100); // In °
 
                 int16_t panServoDirOffset = 0;
-                if (osdConfig()->pan_servo_pwm2centideg != 0){
+                if (osdConfig()->osd_pan_servo_range_decadegrees != 0){
                     panServoDirOffset = osdGetPanServoOffset();
                 }
 
@@ -4087,7 +4089,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
             if (navigationPositionEstimateIsHealthy() && isGeozoneActive()) {
                 int16_t panHomeDirOffset = 0;
-                if (!(osdConfig()->pan_servo_pwm2centideg == 0)){
+                if (!(osdConfig()->osd_pan_servo_range_decadegrees == 0)){
                     panHomeDirOffset = osdGetPanServoOffset();
                 }
                 int direction = CENTIDEGREES_TO_DEGREES(geozone.directionToNearestZone) - osdGetFlightDirection() + panHomeDirOffset;
@@ -4334,7 +4336,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .ahi_pitch_interval = SETTING_OSD_AHI_PITCH_INTERVAL_DEFAULT,
     .osd_home_position_arm_screen = SETTING_OSD_HOME_POSITION_ARM_SCREEN_DEFAULT,
     .pan_servo_index = SETTING_OSD_PAN_SERVO_INDEX_DEFAULT,
-    .pan_servo_pwm2centideg = SETTING_OSD_PAN_SERVO_PWM2CENTIDEG_DEFAULT,
+    .osd_pan_servo_range_decadegrees = SETTING_OSD_PAN_SERVO_RANGE_DECADEGREES_DEFAULT,
     .pan_servo_offcentre_warning = SETTING_OSD_PAN_SERVO_OFFCENTRE_WARNING_DEFAULT,
     .pan_servo_indicator_show_degrees = SETTING_OSD_PAN_SERVO_INDICATOR_SHOW_DEGREES_DEFAULT,
     .esc_rpm_precision = SETTING_OSD_ESC_RPM_PRECISION_DEFAULT,

src/main/io/osd.h

@@ -503,7 +503,7 @@ typedef struct osdConfig_s {
     uint8_t         right_sidebar_scroll_step;          // Same as left_sidebar_scroll_step, but for the right sidebar.
     bool            osd_home_position_arm_screen;
     uint8_t         pan_servo_index;                    // Index of the pan servo used for home direction offset
-    int8_t          pan_servo_pwm2centideg;             // Centidegrees of servo rotation per us pwm
+    int8_t          osd_pan_servo_range_decadegrees;    // Decadegrees of servo rotation
     uint8_t         pan_servo_offcentre_warning;        // Degrees around the centre, that is assumed camera is wanted to be facing forwards, but isn't centred
     bool            pan_servo_indicator_show_degrees;   // Show the degrees of offset for the pan servo
     uint8_t         crsf_lq_format;

src/main/io/osd_hud.c

@@ -137,7 +137,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
 
     osdCrosshairPosition(&center_x, &center_y);
 
-    if (!(osdConfig()->pan_servo_pwm2centideg == 0)){
+    if (!(osdConfig()->osd_pan_servo_range_decadegrees == 0)){
         poiDirection = poiDirection + osdGetPanServoOffset();
     }