（24）(24.3) MSP OSD（一）

文章目录

前言

1 特点

2 配置

3 OSD面板项目配置

4 使用SITL测试OSD

5 使用任务规划器配置布局

6 视频

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前言

ArduPilot 支持 MSP OSD 协议，该协议允许在 DJI 护目镜上显示飞行数据，就像许多自动驾驶仪中的外部 MAVLink OSD 或内部集成模拟 OSD 一样。如果配置了 MSP 遥测，它也可以与外部OSD（如 MWOSD）一起使用，就像与 iNav 或 Betaflight 一起使用一样。

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DJI V1 FPV护目镜

DJI护目镜RE

1 特点

• ArduPilot 目前支持许多（但不是全部）OSD 面板项目，如下节所述；
• 目前不支持更改公制和英制以外的显示单位；
• 不支持多个屏幕和这些屏幕的远程切换；
• 目前不支持 RSSI、电压等的警告级别。

2 配置

要启用 MSP OSD，请设置以下参数（以下示例是使用串行端口2作为使用 TX 和 RX 线路连接到DJI Air 单元的端口）：

• OSD_TYPE= 3（仅用于获取统计信息面板）。如果自动驾驶仪集成了模拟 OSD，除了 DJI 护目镜的 MSP OSD 功能外，还可以使用该功能，则可以将其设置为 1；
• SERIAL2_PROTOCOL = 33；
• MSP_OPTIONS= 0（轮询模式）。

！Note

必须启用 DJI OSD：在护目镜的设置->显示->自定义 OSD 菜单中。

MSP OSD 面板项目==================+

OSD Parameter	Notes
OSDn_ALTITUDE	Home relative altitude
OSDn_ARMING	Arming status, hidden when armed otherwise showing DISARMED
OSDn_ASPEED	Please refer to OSDn_GSPEED for more info on enabling airspeed display
OSDn_BAT_VOLT	First battery voltage
OSDn_BATTBAR	First battery remaining percentage rendered as a bar based on declared capacity and consumed mAh
OSDn_BATUSED	First battery consumed mAh
OSDn_CELLVOLT	First battery average cell voltage, if automatic cell detection fails please override with MSP_OSD_NCELLS
OSDn_CLK	Realtime clock (requires GPX fix)
OSDn_CRSSHAIR	Artificial horizon is not supported so crosshair is often kept hidden
OSDn_CURRENT	First battery current
OSDn_ESCTEMP	On DJI V1/V2 Goggles this will report the highest ESC temperature
OSDn_FLTMODE	DJI hardware does not support ArduPilot’s flight modes! This item will generally be blank and only show !FS! while in failsafe!
OSDn_GPSLAT	GPS Latitude in decimal format
OSDn_GPSLONG	GPS Longitude in decimal format
OSDn_GSPEED	This item shows ground speed unless OSDn_ASPEED_EN = 1 in which case it will show true airspeed if an airspeed sensor is present or estimated airspeed otherwise. The position on screen is set by OSDn_GSPEED_X and OSDn_GSPEED_Y regardless of the value of OSDn_ASPEED_EN
OSDn_HEADING	Not supported by DJI V1/V2 Goggles
OSDn_HOMEDIR	Rotating arrow pointing to home
OSDn_HOMEDIST	Distance from home
OSDn_HORIZON	Not supported by DJI V1/V2 Goggles
OSDn_MESSAGE	This will display status text messages as rolling text. Status text messages will be hidden after a couple seconds and the panel will show the current flightmode. If OSDn_WIND_EN is set to 1, this item also displays wind info next to the current flight mode as a rotating arrow and speed.
OSDn_PITCH	Pitch angle
OSDn_POWER	Instant power calculated as voltage * current
OSDn_ROLL	Roll angle
OSDn_RSSI	Rssi as configured in RSSI_TYPE: RSSI Type
OSDn_SATS	On DJI V1/V2 Goggles when there’s no fix it will report 14 sats, this is a known DJI bug
OSDn_SIDEBARS	Not supported by DJI V1/V2 Goggles
OSDn_VSPEED	Vertical speed
OSDn_WIND	Please refer to OSDn_MESSAGE for wind speed and direction rendering

3 OSD面板项目配置

4 使用SITL测试OSD

5 使用任务规划器配置布局

6 视频

篇幅过多，另起一篇介绍：