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Add smoothing to glide related OSD elements #11520

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Add smoothing to glide related OSD elements #11520

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2bfa08e
feat: implement velocity averaging for OSD display
y-decimal Apr 27, 2026
ed3ae3a
Merge branch 'maintenance-9.x' into osd-glide-calc-fix
y-decimal Apr 27, 2026
7b72641
refactor: redo velocity averaging implementation with a pt1 filter in…
y-decimal Apr 27, 2026
8c6eeb7
fix: remove duplicate closing brace in osdFilterData function
y-decimal Apr 28, 2026
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51 changes: 47 additions & 4 deletions src/main/io/osd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,47 @@ static timeMs_t layoutOverrideUntil = 0;
static pt1Filter_t GForceFilter, GForceFilterAxis[XYZ_AXIS_COUNT];
static float GForce, GForceAxis[XYZ_AXIS_COUNT];

static float verticalVelocityBuffer[5] = {0};
static float averagedVerticalVelocity = 0.0f;
static float horizontalVelocityBuffer[5] = {0};
static float averagedHorizontalVelocity = 0.0f;
static uint8_t velocityAveragingIndex = 0;

static void osdUpdateVelocityAverages(void)
{
const float verticalVelocity = getEstimatedActualVelocity(Z);
#if defined(USE_GPS)
const float horizontalVelocity = gpsSol.groundSpeed;
#else
const float horizontalVelocity = 0.0f;
#endif

verticalVelocityBuffer[velocityAveragingIndex] = isnormal(verticalVelocity) ? verticalVelocity : 0.0f;
horizontalVelocityBuffer[velocityAveragingIndex] = isnormal(horizontalVelocity) ? horizontalVelocity : 0.0f;

velocityAveragingIndex = (velocityAveragingIndex + 1) % ARRAYLEN(verticalVelocityBuffer);

float verticalVelocitySum = 0.0f;
float horizontalVelocitySum = 0.0f;
for (uint8_t i = 0; i < ARRAYLEN(verticalVelocityBuffer); i++) {
verticalVelocitySum += verticalVelocityBuffer[i];
horizontalVelocitySum += horizontalVelocityBuffer[i];
}

averagedVerticalVelocity = verticalVelocitySum / ARRAYLEN(verticalVelocityBuffer);
averagedHorizontalVelocity = horizontalVelocitySum / ARRAYLEN(horizontalVelocityBuffer);
}

static float getAveragedVerticalVelocity(void)
{
return averagedVerticalVelocity;
}

static float getAveragedHorizontalVelocity(void)
{
return averagedHorizontalVelocity;
}

typedef struct statistic_s {
uint16_t max_speed;
uint16_t max_3D_speed;
Expand Down Expand Up @@ -1272,7 +1313,7 @@ static inline int32_t osdGetAltitudeMsl(void)
}

uint16_t osdGetRemainingGlideTime(void) {
float value = getEstimatedActualVelocity(Z);
float value = getAveragedVerticalVelocity();
static pt1Filter_t glideTimeFilterState;
const timeMs_t curTimeMs = millis();
static timeMs_t glideTimeUpdatedMs;
Expand Down Expand Up @@ -2029,8 +2070,8 @@ static bool osdDrawSingleElement(uint8_t item)

case OSD_GLIDESLOPE:
{
float horizontalSpeed = gpsSol.groundSpeed;
float sinkRate = -getEstimatedActualVelocity(Z);
float horizontalSpeed = getAveragedHorizontalVelocity();
float sinkRate = -getAveragedVerticalVelocity();
static pt1Filter_t gsFilterState;
const timeMs_t currentTimeMs = millis();
static timeMs_t gsUpdatedTimeMs;
Expand Down Expand Up @@ -3148,7 +3189,7 @@ static bool osdDrawSingleElement(uint8_t item)
uint16_t glideSeconds = osdGetRemainingGlideTime();
buff[0] = SYM_GLIDE_DIST;
if (glideSeconds > 0) {
uint32_t glideRangeCM = glideSeconds * gpsSol.groundSpeed;
uint32_t glideRangeCM = glideSeconds * getAveragedHorizontalVelocity();
osdFormatDistanceSymbol(buff + 1, glideRangeCM, 0, 3);
} else {
tfp_sprintf(buff + 1, "%s%c", "---", SYM_BLANK);
Expand Down Expand Up @@ -5793,6 +5834,8 @@ static void osdFilterData(timeUs_t currentTimeUs) {
}
}

osdUpdateVelocityAverages();

lastRefresh = currentTimeUs;
}

Expand Down