ArduPilot开源代码之AP_OSD_Screen

最新推荐文章于 2025-04-29 12:33:55 发布

lida2003

最新推荐文章于 2025-04-29 12:33:55 发布

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分类专栏： ArduPilot 文章标签： git Ardupilot 开源无人机穿越机

本文链接：https://blog.csdn.net/lida2003/article/details/146208324

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1. 源由

在研读《ArduPilot开源代码之AP_OSD》时，重点介绍了各种OSD配置，从DO设备对象的角度入手。

没有重点去阐述关于OSD应用是如何绘制OSD界面图标、信息。在AP_OSD::update_osd函数中，调用了get_screen(current_screen).draw()这个OSD界面绘制例程。

本章将重点描述这部分内容，主要涉及 AP_OSD_Screen 和 AP_OSD_AbstractScreen 。

2. AP_OSD_AbstractScreen类

2.1 定义

class AP_OSD_AbstractScreen
{
    friend class AP_OSD;
public:
    // constructor
    AP_OSD_AbstractScreen() {}
    virtual void draw(void) {}

    void set_backend(AP_OSD_Backend *_backend);

    AP_Int8 enabled;
    AP_Int16 channel_min;
    AP_Int16 channel_max;

protected:
    bool check_option(uint32_t option);
#if HAL_WITH_MSP_DISPLAYPORT
    virtual uint8_t get_txt_resolution() const {
        return 0;
    }
    virtual uint8_t get_font_index() const {
        return 0;
    }
#endif
    enum unit_type {
        ALTITUDE=0,
        SPEED=1,
        VSPEED=2,
        DISTANCE=3,
        DISTANCE_LONG=4,
        TEMPERATURE=5,
        UNIT_TYPE_LAST=6,
    };

    char u_icon(enum unit_type unit);
    float u_scale(enum unit_type unit, float value);

    AP_OSD_Backend *backend;
    AP_OSD *osd;

    static uint8_t symbols_lookup_table[AP_OSD_NUM_SYMBOLS];
};

2.2 关键要点

绘制例程/单位转换/符号表OSD的抽象。

virtual void draw(void)

用于x,y位置绘制符号和字符串组成的OSD

公制/英制/国际标准/航空单位的转换

char u_icon(enum unit_type unit);
float u_scale(enum unit_type unit, float value);

static uint8_t symbols_lookup_table[AP_OSD_NUM_SYMBOLS]

在AP_OSD::init_backend中执行init_symbol_set加载DO对象的ICON符号表

2.3 重要接口

2.3.1 u_icon

获取单位对应的图标符号index编号。

/*
  get the right units icon given a unit
 */
char AP_OSD_AbstractScreen::u_icon(enum unit_type unit)
{
    static const uint8_t icons_metric[UNIT_TYPE_LAST] {
        SYM_ALT_M,    //ALTITUDE
        SYM_KMH,      //SPEED
        SYM_MS,       //VSPEED
        SYM_M,        //DISTANCE
        SYM_KM,       //DISTANCE_LONG
        SYM_DEGREES_C //TEMPERATURE
    };
    static const uint8_t icons_imperial[UNIT_TYPE_LAST] {
        SYM_ALT_FT,   //ALTITUDE
        SYM_MPH,      //SPEED
        SYM_FS,       //VSPEED
        SYM_FT,       //DISTANCE
        SYM_MI,       //DISTANCE_LONG
        SYM_DEGREES_F //TEMPERATURE
    };
    static const uint8_t icons_SI[UNIT_TYPE_LAST] {
        SYM_ALT_M,    //ALTITUDE
        SYM_MS,       //SPEED
        SYM_MS,       //VSPEED
        SYM_M,        //DISTANCE
        SYM_KM,       //DISTANCE_LONG
        SYM_DEGREES_C //TEMPERATURE
    };
    static const uint8_t icons_aviation[UNIT_TYPE_LAST] {
        SYM_ALT_FT,   //ALTITUDE Ft
        SYM_KN,       //SPEED Knots
        SYM_FTMIN,    //VSPEED
        SYM_FT,       //DISTANCE
        SYM_NM,       //DISTANCE_LONG Nm
        SYM_DEGREES_C //TEMPERATURE
    };
    static const uint8_t* icons[AP_OSD::UNITS_LAST] = {
        icons_metric,
        icons_imperial,
        icons_SI,
        icons_aviation,
    };
    return (char)SYMBOL(icons[constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1)][unit]);
}

2.3.2 u_scale

根据系统选择的单位进制进行scale和offset计算

公制 (Metric)
$\text{value}_{\text{metric}} = \text{value}$
英制 (Imperial)
$scale_imperial[unit] + offset_imperial[unit] \text{value}_{\text{imperial}} = \text{value} \times \text{scale\_imperial[unit]} + \text{offset\_imperial[unit]}$
国际单位制 (SI)
$\text{value}_{\text{SI}} = \text{value}$
航空单位 (Aviation)
$scale_aviation[unit] \text{value}_{\text{aviation}} = \text{value} \times \text{scale\_aviation[unit]}$

/*
  scale a value for the user selected units
 */
float AP_OSD_AbstractScreen::u_scale(enum unit_type unit, float value)
{
    static const float scale_metric[UNIT_TYPE_LAST] = {
        1.0,       //ALTITUDE m
        3.6,       //SPEED km/hr
        1.0,       //VSPEED m/s
        1.0,       //DISTANCE m
        1.0/1000,  //DISTANCE_LONG km
        1.0,       //TEMPERATURE C
    };
    static const float scale_imperial[UNIT_TYPE_LAST] = {
        3.28084,     //ALTITUDE ft
        2.23694,     //SPEED mph
        3.28084,     //VSPEED ft/s
        3.28084,     //DISTANCE ft
        1.0/1609.34, //DISTANCE_LONG miles
        1.8,         //TEMPERATURE F
    };
    static const float offset_imperial[UNIT_TYPE_LAST] = {
        0.0,          //ALTITUDE
        0.0,          //SPEED
        0.0,          //VSPEED
        0.0,          //DISTANCE
        0.0,          //DISTANCE_LONG
        32.0,         //TEMPERATURE F
    };
    static const float scale_SI[UNIT_TYPE_LAST] = {
        1.0,       //ALTITUDE m
        1.0,       //SPEED m/s
        1.0,       //VSPEED m/s
        1.0,       //DISTANCE m
        1.0/1000,  //DISTANCE_LONG km
        1.0,       //TEMPERATURE C
    };
    static const float scale_aviation[UNIT_TYPE_LAST] = {
        3.28084,   //ALTITUDE Ft
        1.94384,   //SPEED Knots
        196.85,    //VSPEED ft/min
        3.28084,   //DISTANCE ft
        0.000539957,  //DISTANCE_LONG Nm
        1.0,       //TEMPERATURE C
    };
    static const float *scale[AP_OSD::UNITS_LAST] = {
        scale_metric,
        scale_imperial,
        scale_SI,
        scale_aviation
    };
    static const float *offsets[AP_OSD::UNITS_LAST] = {
        nullptr,
        offset_imperial,
        nullptr,
        nullptr
    };
    uint8_t units = constrain_int16(osd->units, 0, AP_OSD::UNITS_LAST-1);
    return value * scale[units][unit] + (offsets[units]?offsets[units][unit]:0);
}

3. AP_OSD_Screen类

3.1 定义

class AP_OSD_Screen : public AP_OSD_AbstractScreen
{
public:
    // constructor
    AP_OSD_Screen();

    // skip the drawing if we are not using a font based backend. This saves a lot of flash space when
    // using the MSP OSD system on boards that don't have a MAX7456
#if HAL_WITH_OSD_BITMAP || HAL_WITH_MSP_DISPLAYPORT
    void draw(void) override;
#endif

    // User settable parameters
    static const struct AP_Param::GroupInfo var_info[];
    static const struct AP_Param::GroupInfo var_info2[];

#if HAL_WITH_MSP_DISPLAYPORT
    uint8_t get_txt_resolution() const override {
        return txt_resolution;
    }
    uint8_t get_font_index() const override {
        return font_index;
    }
#endif
private:
    friend class AP_MSP;
    friend class AP_MSP_Telem_Backend;
    friend class AP_MSP_Telem_DJI;

    static const uint8_t message_visible_width = 26;
    static const uint8_t message_scroll_time_ms = 200;
    static const uint8_t message_scroll_delay = 5;

    static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
    //typical fpv camera has 80deg vertical field of view, 16 row of chars
    static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);

    enum class VoltageType {
        VOLTAGE,
        RESTING_VOLTAGE,
        AVG_CELL,
        RESTING_CELL,
    };

    AP_OSD_Setting altitude{true, 23, 8};
    AP_OSD_Setting bat_volt{true, 24, 1};
    AP_OSD_Setting rssi{true, 1, 1};
    AP_OSD_Setting link_quality{false,1,1};
    AP_OSD_Setting restvolt{false, 24, 2};
    AP_OSD_Setting avgcellvolt{false, 24, 3};
    AP_OSD_Setting avgcellrestvolt{false, 24, 4};
    AP_OSD_Setting current{true, 25, 2};
    AP_OSD_Setting batused{true, 23, 3};
    AP_OSD_Setting sats{true, 1, 3};
    AP_OSD_Setting fltmode{true, 2, 8};
    AP_OSD_Setting message{true, 2, 6};
    AP_OSD_Setting gspeed{true, 2, 14};
    AP_OSD_Setting horizon{true, 14, 8};
    AP_OSD_Setting home{true, 14, 1};
    AP_OSD_Setting throttle{true, 24, 11};
    AP_OSD_Setting heading{true, 13, 2};
    AP_OSD_Setting compass{true, 15, 3};
    AP_OSD_Setting wind{false, 2, 12};
    AP_OSD_Setting aspeed{false, 2, 13};
    AP_OSD_Setting aspd1;
    AP_OSD_Setting aspd2;
    AP_OSD_Setting vspeed{true, 24, 9};
#if AP_RPM_ENABLED
    AP_OSD_Setting rrpm{false, 2, 2};
#endif
#if HAL_WITH_ESC_TELEM
    AP_OSD_Setting esc_temp {false, 24, 13};
    AP_OSD_Setting esc_rpm{false, 22, 12};
    AP_OSD_Setting esc_amps{false, 24, 14};
#endif
    AP_OSD_Setting gps_latitude{true, 9, 13};
    AP_OSD_Setting gps_longitude{true, 9, 14};
    AP_OSD_Setting roll_angle;
    AP_OSD_Setting pitch_angle;
    AP_OSD_Setting temp;
#if BARO_MAX_INSTANCES > 1
    AP_OSD_Setting btemp;
#endif
    AP_OSD_Setting hdop;
    AP_OSD_Setting waypoint;
    AP_OSD_Setting xtrack_error;
    AP_OSD_Setting dist{false,22,11};
    AP_OSD_Setting stat{false,0,0};
    AP_OSD_Setting flightime{false, 23, 10};
    AP_OSD_Setting climbeff{false,0,0};
    AP_OSD_Setting eff{false, 22, 10};
    AP_OSD_Setting atemp;
    AP_OSD_Setting bat2_vlt;
    AP_OSD_Setting bat2used;
    AP_OSD_Setting current2;
    AP_OSD_Setting clk;
    AP_OSD_Setting callsign;
    AP_OSD_Setting vtx_power;
    AP_OSD_Setting hgt_abvterr{false, 23, 7};
    AP_OSD_Setting fence{false, 14, 9};
    AP_OSD_Setting rngf;
#if HAL_PLUSCODE_ENABLE
    AP_OSD_Setting pluscode;
#endif
    AP_OSD_Setting sidebars{false, 4, 5};

#if AP_OSD_EXTENDED_LNK_STATS
    // Extended link stats data panels
    AP_OSD_Setting rc_tx_power{false, 25, 12};
    AP_OSD_Setting rc_rssi_dbm{false, 6, 2};
    AP_OSD_Setting rc_snr{false, 23, 13};
    AP_OSD_Setting rc_active_antenna{false, 27, 13};
    AP_OSD_Setting rc_lq{false, 18, 2};
#endif

    // MSP OSD only
    AP_OSD_Setting crosshair;
    AP_OSD_Setting home_dist{true, 1, 1};
    AP_OSD_Setting home_dir{true, 1, 1};
    AP_OSD_Setting power{true, 1, 1};
    AP_OSD_Setting cell_volt{true, 1, 1};
    AP_OSD_Setting batt_bar{true, 1, 1};
    AP_OSD_Setting arming{true, 1, 1};

#if HAL_WITH_MSP_DISPLAYPORT
    // Per screen HD resolution options (currently supported only by DisplayPort)
    AP_Int8 txt_resolution;
    AP_Int8 font_index;
#endif
#if HAL_WITH_ESC_TELEM
    AP_Int8 esc_index;
#endif

    void draw_altitude(uint8_t x, uint8_t y);
    void draw_bat_volt(uint8_t instance,VoltageType  type,uint8_t x, uint8_t y);
    void draw_bat_volt(uint8_t x, uint8_t y);
    void draw_avgcellvolt(uint8_t x, uint8_t y);
    void draw_avgcellrestvolt(uint8_t x, uint8_t y);
    void draw_restvolt(uint8_t x, uint8_t y);
    void draw_rssi(uint8_t x, uint8_t y);
    void draw_link_quality(uint8_t x, uint8_t y);
    void draw_current(uint8_t x, uint8_t y);
    void draw_current(uint8_t instance, uint8_t x, uint8_t y);
    void draw_batused(uint8_t x, uint8_t y);
    void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
    void draw_sats(uint8_t x, uint8_t y);
    void draw_fltmode(uint8_t x, uint8_t y);
    void draw_message(uint8_t x, uint8_t y);
    void draw_gspeed(uint8_t x, uint8_t y);
    void draw_horizon(uint8_t x, uint8_t y);
    void draw_home(uint8_t x, uint8_t y);
    void draw_throttle(uint8_t x, uint8_t y);
    void draw_heading(uint8_t x, uint8_t y);
#if AP_RPM_ENABLED
    void draw_rrpm(uint8_t x, uint8_t y);
#endif
#ifdef HAL_OSD_SIDEBAR_ENABLE
    void draw_sidebars(uint8_t x, uint8_t y);
#endif
    void draw_compass(uint8_t x, uint8_t y);
    void draw_wind(uint8_t x, uint8_t y);
    void draw_aspeed(uint8_t x, uint8_t y);
    void draw_aspd1(uint8_t x, uint8_t y);
    void draw_aspd2(uint8_t x, uint8_t y);
    void draw_vspeed(uint8_t x, uint8_t y);
#if HAL_PLUSCODE_ENABLE
    void draw_pluscode(uint8_t x, uint8_t y);
#endif
    //helper functions
    void draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude);
    void draw_distance(uint8_t x, uint8_t y, float distance);
    char get_arrow_font_index (int32_t angle_cd);
#if HAL_WITH_ESC_TELEM
    void draw_esc_temp(uint8_t x, uint8_t y);
    void draw_esc_rpm(uint8_t x, uint8_t y);
    void draw_esc_amps(uint8_t x, uint8_t y);
#endif
    void draw_gps_latitude(uint8_t x, uint8_t y);
    void draw_gps_longitude(uint8_t x, uint8_t y);
    void draw_roll_angle(uint8_t x, uint8_t y);
    void draw_pitch_angle(uint8_t x, uint8_t y);
    void draw_temp(uint8_t x, uint8_t y);
#if BARO_MAX_INSTANCES > 1
    void draw_btemp(uint8_t x, uint8_t y);
#endif
    void draw_hdop(uint8_t x, uint8_t y);
    void draw_waypoint(uint8_t x, uint8_t y);
    void draw_xtrack_error(uint8_t x, uint8_t y);
    void draw_dist(uint8_t x, uint8_t y);
    void draw_stat(uint8_t x, uint8_t y);
    void draw_flightime(uint8_t x, uint8_t y);
    void draw_climbeff(uint8_t x, uint8_t y);
    void draw_eff(uint8_t x, uint8_t y);
    void draw_atemp(uint8_t x, uint8_t y);
    void draw_bat2_vlt(uint8_t x, uint8_t y);
    void draw_bat2used(uint8_t x, uint8_t y);
    void draw_clk(uint8_t x, uint8_t y);
    void draw_callsign(uint8_t x, uint8_t y);
    void draw_current2(uint8_t x, uint8_t y);
    void draw_vtx_power(uint8_t x, uint8_t y);
    void draw_hgt_abvterr(uint8_t x, uint8_t y);
#if AP_FENCE_ENABLED
    void draw_fence(uint8_t x, uint8_t y);
#endif
#if AP_RANGEFINDER_ENABLED
    void draw_rngf(uint8_t x, uint8_t y);
#endif

#if AP_OSD_EXTENDED_LNK_STATS
    // Extended link stats data panels
    bool is_btfl_fonts();    
    void draw_rc_tx_power(uint8_t x, uint8_t y);
    void draw_rc_rssi_dbm(uint8_t x, uint8_t y);
    void draw_rc_snr(uint8_t x, uint8_t y);
    void draw_rc_active_antenna(uint8_t x, uint8_t y);    
    void draw_rc_lq(uint8_t x, uint8_t y);
#endif

    struct {
        bool load_attempted;
        const char *str;
    } callsign_data;
};

3.2 关键要点

绘制例程的实现。

void AP_OSD_Screen::draw(void)
 ├──> <!enabled || !backend>
 │   └──> return;
 ├──> <HAL_OSD_SIDEBAR_ENABLE>
 │   └──> DRAW_SETTING(sidebars);
 │
 ├──> DRAW_SETTING(message);
 ├──> DRAW_SETTING(horizon);
 ├──> DRAW_SETTING(compass);
 ├──> DRAW_SETTING(altitude);
 │
 ├──> <AP_TERRAIN_AVAILABLE>
 │   └──> DRAW_SETTING(hgt_abvterr);
 │
 ├──> <AP_RANGEFINDER_ENABLED>
 │   └──> DRAW_SETTING(rngf);
 │
 ├──> DRAW_SETTING(waypoint);
 ├──> DRAW_SETTING(xtrack_error);
 ├──> DRAW_SETTING(bat_volt);
 ├──> DRAW_SETTING(bat2_vlt);
 ├──> DRAW_SETTING(avgcellvolt);
 ├──> DRAW_SETTING(avgcellrestvolt);
 ├──> DRAW_SETTING(restvolt);
 │
 ├──> <AP_RSSI_ENABLED>
 │   ├──> DRAW_SETTING(rssi);
 │   └──> DRAW_SETTING(link_quality);
 │
 ├──> DRAW_SETTING(current);
 ├──> DRAW_SETTING(batused);
 ├──> DRAW_SETTING(bat2used);
 ├──> DRAW_SETTING(sats);
 ├──> DRAW_SETTING(fltmode);
 ├──> DRAW_SETTING(gspeed);
 ├──> DRAW_SETTING(aspeed);
 ├──> DRAW_SETTING(aspd1);
 ├──> DRAW_SETTING(aspd2);
 ├──> DRAW_SETTING(vspeed);
 ├──> DRAW_SETTING(throttle);
 ├──> DRAW_SETTING(heading);
 ├──> DRAW_SETTING(wind);
 ├──> DRAW_SETTING(home);
 │
 ├──> <AP_RPM_ENABLED>
 │   └──> DRAW_SETTING(rrpm);
 │
 ├──> <AP_FENCE_ENABLED>
 │   └──> DRAW_SETTING(fence);
 │
 ├──> DRAW_SETTING(roll_angle);
 ├──> DRAW_SETTING(pitch_angle);
 ├──> DRAW_SETTING(temp);
 │
 ├──> <BARO_MAX_INSTANCES > 1>
 │   └──> DRAW_SETTING(btemp);
 │
 ├──> DRAW_SETTING(atemp);
 ├──> DRAW_SETTING(hdop);
 ├──> DRAW_SETTING(flightime);
 │
 ├──> <AP_RTC_ENABLED>
 │   └──> DRAW_SETTING(clk);
 │
 ├──> <AP_VIDEOTX_ENABLED>
 │   └──> DRAW_SETTING(vtx_power);
 │
 ├──> <HAL_WITH_ESC_TELEM>
 │   ├──> DRAW_SETTING(esc_temp);
 │   ├──> DRAW_SETTING(esc_rpm);
 │   └──> DRAW_SETTING(esc_amps);
 │
 ├──> DRAW_SETTING(gps_latitude);
 ├──> DRAW_SETTING(gps_longitude);
 │
 ├──> <HAL_PLUSCODE_ENABLE>
 │   └──> DRAW_SETTING(pluscode);
 │
 ├──> DRAW_SETTING(dist);
 ├──> DRAW_SETTING(stat);
 ├──> DRAW_SETTING(climbeff);
 ├──> DRAW_SETTING(eff);
 ├──> DRAW_SETTING(callsign);
 ├──> DRAW_SETTING(current2);
 │
 └──> <AP_OSD_EXTENDED_LNK_STATS>
     ├──> DRAW_SETTING(rc_tx_power);
     ├──> DRAW_SETTING(rc_rssi_dbm);
     ├──> DRAW_SETTING(rc_snr);
     ├──> DRAW_SETTING(rc_active_antenna);
     └──> DRAW_SETTING(rc_lq);

3.3 重要接口

3.3.1 基础接口

void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t instance,VoltageType type,uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y);
void draw_avgcellvolt(uint8_t x, uint8_t y);
void draw_avgcellrestvolt(uint8_t x, uint8_t y);
void draw_restvolt(uint8_t x, uint8_t y);
void draw_rssi(uint8_t x, uint8_t y);
void draw_link_quality(uint8_t x, uint8_t y);
void draw_current(uint8_t x, uint8_t y);
void draw_current(uint8_t instance, uint8_t x, uint8_t y);
void draw_batused(uint8_t x, uint8_t y);
void draw_batused(uint8_t instance, uint8_t x, uint8_t y);
void draw_sats(uint8_t x, uint8_t y);
void draw_fltmode(uint8_t x, uint8_t y);
void draw_message(uint8_t x, uint8_t y);
void draw_gspeed(uint8_t x, uint8_t y);
void draw_horizon(uint8_t x, uint8_t y);
void draw_home(uint8_t x, uint8_t y);
void draw_throttle(uint8_t x, uint8_t y);
void draw_heading(uint8_t x, uint8_t y);
void draw_compass(uint8_t x, uint8_t y);
void draw_wind(uint8_t x, uint8_t y);
void draw_aspeed(uint8_t x, uint8_t y);
void draw_aspd1(uint8_t x, uint8_t y);
void draw_aspd2(uint8_t x, uint8_t y);
void draw_vspeed(uint8_t x, uint8_t y);
void draw_speed(uint8_t x, uint8_t y, float angle_rad, float magnitude);
void draw_distance(uint8_t x, uint8_t y, float distance);
char get_arrow_font_index (int32_t angle_cd);
void draw_gps_latitude(uint8_t x, uint8_t y);
void draw_gps_longitude(uint8_t x, uint8_t y);
void draw_roll_angle(uint8_t x, uint8_t y);
void draw_pitch_angle(uint8_t x, uint8_t y);
void draw_temp(uint8_t x, uint8_t y);
void draw_hdop(uint8_t x, uint8_t y);
void draw_waypoint(uint8_t x, uint8_t y);
void draw_xtrack_error(uint8_t x, uint8_t y);
void draw_dist(uint8_t x, uint8_t y);
void draw_stat(uint8_t x, uint8_t y);
void draw_flightime(uint8_t x, uint8_t y);
void draw_climbeff(uint8_t x, uint8_t y);
void draw_eff(uint8_t x, uint8_t y);
void draw_atemp(uint8_t x, uint8_t y);
void draw_bat2_vlt(uint8_t x, uint8_t y);
void draw_bat2used(uint8_t x, uint8_t y);
void draw_clk(uint8_t x, uint8_t y);
void draw_callsign(uint8_t x, uint8_t y);
void draw_current2(uint8_t x, uint8_t y);
void draw_vtx_power(uint8_t x, uint8_t y);
void draw_hgt_abvterr(uint8_t x, uint8_t y);

展开一个接口，作为示例：

void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
{
    float alt;  // 定义变量 alt，用于存储相对高度值。

    AP_AHRS &ahrs = AP::ahrs();  // 获取 ArduPilot 姿态和航向参考系统 (AHRS) 的引用。

    WITH_SEMAPHORE(ahrs.get_semaphore());  
    // 确保在多线程环境下对 ahrs 数据的安全访问。

    ahrs.get_relative_position_D_home(alt);  
    // 获取当前位置相对于 home (起飞点) 的垂直距离，单位为米，向下为正。

    alt = -alt;  
    // 将下方向的距离取反，转换为向上的高度值。

    backend->write(
        x, y, false,      // 在屏幕 (x, y) 坐标绘制，false 表示不启用特定显示属性。
        "%4d%c",          // 格式化字符串，4 位整数 + 单位符号字符。
        (int)u_scale(ALTITUDE, alt),  // 将高度值按当前单位体系换算（如米或英尺），并转换为整数。
        u_icon(ALTITUDE)              // 获取当前单位体系下的高度单位符号（如 'm' 或 'ft'）。
    );
}