XtremeOSD Firmware Changes

v1.09h 2017-09-08

Current screen view navigation: Main ⟷ Simple ⟷ Camera only ⟷ Debug ⟷ System Setup ⟷ Console Log ⟷ About ⟷ Main..
Current debug pages: (Top) Summary, CPU usage, UART/Serial, Mikrokopter, PWM Capture, Spektrum Receiver, CAN, DJI CAN, BNO055 (Bottom)

Telemetry Modues:

UART/Serial management has been overhauled. Data arriving on serial ports no longer have 33ms processing delay.
Fixes telemetry relay and communication issues with various devices such as flight controllers, ground stations, and GPS modules.
Fixed telemetry re-handshaking issues with MAVLink flight controllers.
Fixed NMEA0183/PMTK baudrate handling is now more reliable to have modules to switch to 115200 baud after module baud discovery.
Also fixed sending all commands to configure GPS modules weren't retried on failed command attempt.
Fixed MultiWii protocol (MSP) using flight controllers handshaking issues, incorrect battery voltage reading, and flight mode not updating.
Updated ArduCopter serial module to use latest respective MAVLink library (Copter-3.5 release) and additional status modes.
- ArduCopter firmware (MAV_TYPE != types listed below)
  Flight modes are as reported in the top-left annunciator panel:
  - STB: Stabilize mode.
  - ACR: Acro mode.
  - HLD: Altitude hold mode.
  - ATO: Auto mode.
  - GDD: Guided mode.
  - LTR: Loiter mode.
  - RTL: Return-to-launch mode.
  - CIR: Circle mode.
  - POS: Position mode.
  - LND: Land mode.
  - OFL: OF_Loiter (loiter using optical flow sensor) mode. Deprecated in v3.3 and removed by v3.4
  - DRF: Drift mode.
  - SPR: Sport mode.
  - FLP: Flip mode.
  - ATN: Autotune mode.
  - PLD: PosHold (Position Hold) mode.
  - BRK: Brake mode.
  - THR: Throw mode.
  - ADS: Avoid_ADSB mode.
  - GNG: Guided_NoGPS (Guided No GPS) mode.
  - FM?: Means unable to determine flight mode due to lack of telemetry or unrecognized status bit flags state.
- ArduPlane firmware (MAV_TYPE == MAV_TYPE_FIXED_WING)
  Flight modes are as reported in the top-left annunciator panel:
  - MAN: Manual control.
  - CIR: Circle mode.
  - STB: Stabilize mode.
  - TRN: Training mode.
  - ACR: Acro mode.
  - WRA: Fly By Wire A mode.
  - WRB: Fly By Wire B mode.
  - CRU: Cruise mode.
  - ATO: Auto mode.
  - ATN: Autotune mode.
  - RTL: Return-to-launch mode.
  - LTR: Loiter mode.
  - ADS: Avoid_ADSB mode.
  - GDD: Guided mode.
  - INT: Initializing state.
  - QST: QStabilize mode.
  - QHV: QHover mode.
  - QLR: QLoiter mode.
  - QLN: QLand mode.
  - QTL: QRTL (Return-to-launch) mode.
  - FM?: Means unable to determine flight mode due to lack of telemetry or unrecognized status bit flags state.
- APMrover2 firmware (MAV_TYPE == MAV_TYPE_GROUND_ROVER)
  Vehicle modes are as reported in the top-left annunciator panel:
  - MAN: Manual control.
  - LRN: Learning mode.
  - STR: Steering mode.
  - HLD: Hold mode.
  - ATO: Auto mode.
  - RTL: Return-to-launch mode.
  - GDD: Guided mode.
  - INT: Initializing state.
  - FM?: Means unable to determine vehicle mode due to lack of telemetry or unrecognized status bit flags state.
- ArduSub firmware (MAV_TYPE == MAV_TYPE_SUBMARINE)
  Vehicle modes are as reported in the top-left annunciator panel:
  - STB: Stabilize mode.
  - ACR: Acro mode.
  - HLD: Altitude hold mode.
  - ATO: Auto mode.
  - GDD: Guided mode.
  - CIR: Circle mode.
  - SRF: Surface mode.
  - PLD: Position hold mode.
  - MAN: Manual control.
  - FM?: Means unable to determine vehicle mode due to lack of telemetry or unrecognized status bit flags state.
Updated AutoQuad serial module to use latest respective MAVLink library (2016-02-09 release).
- Incompatible with AutoQuad firmware v7.0 and earlier when determining DVH flight mode due to developer changing MAVLink enum AQ_NAV_STATUS_DVH value.
- Flight modes are as reported in the top-left annunciator panel:
  - MAN: Manual control.
  - HLD: Altitude hold only.
  - POS: Altitude and position hold.
  - DVH: Dynamic velocity hold.
  - ATO: Autonomous mission.
  - FM?: Means unable to determine flight mode due to lack of telemetry or unrecognized status bit flags state.
MultiWii serial module updates:
- MultiWii (original) firmware v241:
  - No protocol changes so no support changes required.
- Baseflight firmware 2016-01-06:
  - Updated to support cruise mode.
- Cleanflight firmware v2.1.0:
  - Updated to support failsafe and air mode.
- Betaflight firmware v3.2.0-RC3:
  - Cleanflight firmware variant/fork now recognized.
- Flight modes are as reported in the top-left annunciator panel for all recognized MultiWii based flight controllers:
  - ACR: Acro mode.
  - RTL: Return-to-launch mode.
  - LTR: Loiter mode.
  - HAD: HeadAdjust mode.
  - HFR: HeadFree mode.
  - MAG: Mag mode.
  - AHD: Altitude Hold mode (Baro).
  - AGL: Angle mode.
  - HRZ: Horizon mode.
  - CRZ: Cruise mode.
  - FLS: FailSafe.
  - AIR: Air mode.
  - FM?: Means unable to determine flight mode due to lack of telemetry or unrecognized status bit flags state.
On motor Armed altitude is automatically zeroed for Above Ground Level (AGL) readout mode, instead of having the operator to manually press the OSD remote Select/Center button.
Added initial BNO055 Bosch 9-axis Absolute Orientation Sensor support to I2C_1 port. I2C mode only, no UART/serial support.
Sensor calibration is currently just cause the sensor to move around (yaw) a few times to cause magnetometer to be accurate (pointing magnetic north) after powerup. Until support for saving and loading sensor calibration data is implemented in next release.
New external I2C modules support. Currently MPU6050 and BNO055 IMUs support is available.
Previously during power-up MPU6050 handshake attempt was made on I2C_1 port and when not found fellback to using flight controller for pitch and roll.
Now external IMUs have to be explicitly enabled in OSDUserConfig.
Added auxilary compass support, such as from BNO055, to use as compass value instead of primary telemetry source.
In addition to the already supported auxilary pitch and roll from MPU6050 and now BNO055 I2C modules.
Eight RC/PWM channels data from MAVLink (AutoQuad and ArduCopter firmware) are now monitored as internal captured PWM[21-28].
It is now possible for the OSD to perform actions based on these flight controller R/C channels:
- ArduCopter: CH_1 CH_2 CH_3 CH_4 CH_5 CH_6 CH_7 CH_8
- AutoQuad: AUX2 AUX3 AUX4 AUX5 AUX6 AUX7 chan13? chan14?
Added Cleanflight firmware extensions support to MultiWii protocol (MSP) serial module. Tested with AcroFlight32/Naze32 r5 and ReadyToFlyQuads Flip32.
Added NMEA0183/PMTK command to change GPS fix rate, currently requesting 5 Hz. Required on newer MediaTek modules.

Graphics:

Fixed ribbon gauge tick numbers flickering when near top edge.
Text transparency is now enabled. Noticeable in ribbon gauge labels and when bottom gauge readouts were blinking are now flashing.
GPS HDOP (Horizontal Dilution of Precision) readout will be 99.99 when GPS has no position fix for directly attached GPS modules.

Miscellaneous:

Now possible to reasonably exit Flash Storage Options menu under System Setup view.
UART/Serial page in Debug view has been simplified.
Added debug console to screen views at 2nd to left of Main, after About screen.
Added BNO055 page to Debug view (now last page).

v1.04 2015-08-11

Changed RSSI in top-right annunciator panel to a numerical readout instead of a cellular signal strength like bar graph.
Added AbuseMark's Naze32 and ReadyToFlyQuads.com's Flip32 flight controllers support using the MultiWii (MSP) telemetry serial protocol:
- Baseflight firmware v2.3 was tested and protocol extensions are supported while still being backwards compatible with MultiWii firmware.
- Telemetry used: Pitch, Roll, Heading, Altitude, Variometer, Battery Voltage, RSSI, GPS coordinates & other data (lacks HDOP), and Flight modes.
- Flight modes are as reported in the top-left annunciator panel:
  - –––: Not ARMed. Flight controller does not report flight modes when unarmed.
  - ACR: Acro mode.
  - RTL: Return to launch (GPS Home mode).
  - LTR: Loiter (GPS Hold mode).
  - HAD: Head Adjust mode.
  - HFR: Head Free mode.
  - MAG: Magnetometer mode.
  - AHD: Altitude hold (Baro mode).
  - AGL: Angle mode.
  - HRZ: Horizon mode.
  - FM?: Means unable to determine flight mode due to lack of telemetry or unrecognized status bit flags state.
Enabled GPS core support for NMEA0183 GPS modules and some sentence extensions (MediaTek, GlobalTop) on the GPS serial port (UART1):
- Will do auto baud rate detection by trying bauds in the following order; 115200, 57600, 38400, 4800, and 9600. Takes up to 8 seconds to try all baud rates.
- If the GPS module is using a MediaTek chip then the baud rate will automatically be switched to 115200.
- Note: currently no special handling support for u-blox brand GPS modules at this time other than the variants that are using the MediaTek chip and that support the 'PMTK' NMEA text sentences.
- The following MediaTek and GlobalTop specific features are explicitly enabled:
  - SBAS / WAAS
  - Active Interference Cancellation (AIC)
  - EASY mode
- Using a GPS module with the OSD along with a flight controller, for the rest of telemetry data, at the same time is supported.

v1.03 2014-12-30

Added a 4 second delay before iOSD handshaking occurs with DJI WooKong-M and Naza-M flight controllers.
This is a temporary workaround for having to reset the XtremeOSD in order to retrieve iOSD telemetry after power up.
Fixed possible firmware crash when changing telemetry configuration that previously used a CAN bus telemetry module.
Such as switching from DJI to any non-CAN using telemetry flight controller in Flight Controller Information section of OSD Config program and hitting upload.

v1.02 2014-08-01

CAN port was unintentionally left disabled in previous version and has been re-enabled in this release.
Fixed CAN ports unable to swap telemetry modules on-the-fly and was therefore requiring a reboot to take effect.
Added AutoQuad telemetry module that supports the AQ6 using it's telemetry port in MAVLink mode.

v1.01 2014-06-11

Fixed MAVLink telemetry module setting compass heading using two different messages that can cause the VPI home position orientation lock to be incorrect when motors are ARMed in the wrong moment in time.
Fixed home position heading (blue arrow) in compass ribbon gauge not showing up at all (red arrow) or indicating the opposite direction.
Changed VPI (Vehicle and Home indicators) to draw on-top of all other gauges to guarantee their visibility.
Also changed VPI drawing area from a small area around the artificial horizon to use the entire screen area.
Added DJI CAN telemetry module that supports WooKong-M, Naza-M V1, and Naza-M V2 flight controllers over the CAN bus.
Added support for automatically hiding unused gauges. Useful for telemetry modules like DJI CAN where not all gauges have telemetry data available to them.
Added requested feature for option to change the VSI (Vertical Speed Indicator or Variometer) display style, ribbon or readout, and placement, right-aligned to airspeed ribbon gauge or left-aligned to altitude ribbon gauge.
Added requested feature to switch between distance unit formats pending on small or large units.
Basically when distance unit format is set to feet or miles then when value is less than one mile (5280 feet) then it is displayed in feet, else in miles. Same relation between meters and kilometers.
The option is "Dynamically change distance unit format that best fits the value" check box of the Locale Settings dialog in OSD Configuration program.
Added requested feature to display whole numbers for small distance units and then decimal for large distance units. The option is "Display distance in whole number & decimal for small & large values" check box of the Locale Settings dialog in OSD Configuration program.