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fix(OSD): show Cruise as flight mode if in Position and fixed-wing

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2026-07-23 18:40:36 +02:00
parent e5d19ad35c
commit a21c2dd76d
2 changed files with 21 additions and 1 deletions
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2
src/drivers/osd/msp_osd/uorb_to_msp.cpp
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@@ -89,7 +89,7 @@ msp_name_t construct_display_message(const vehicle_status_s &vehicle_status,
}
// display flight mode
display.set(MessageDisplayType::FLIGHT_MODE, mode_util::nav_state_names[vehicle_status.nav_state]);
display.set(MessageDisplayType::FLIGHT_MODE, mode_util::nav_state_name(vehicle_status.nav_state, vehicle_status.vehicle_type));
}
// display, if updated

20
src/lib/modes/ui.hpp
View File

@@ -103,6 +103,26 @@ const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"External 8",
};
/**
* @return Human-readable name for a nav_state, taking the vehicle type into account.
*
* The position control mode is shown as "Cruise" for fixed-wing vehicles (including VTOLs in
* forward flight, which report VEHICLE_TYPE_FIXED_WING) and as "Position" for all other types.
*/
static inline const char *nav_state_name(uint8_t nav_state, uint8_t vehicle_type)
{
if (nav_state >= vehicle_status_s::NAVIGATION_STATE_MAX) {
return "(unknown)";
}
if (nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL
&& vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return "Cruise";
}
return nav_state_names[nav_state];
}
/**
* @return returns true for advanced modes
*/