Merge pull request #9609 from iNavFlight/MrD_Fix-AHI-when-inverted

Fix ahi pitch when inverted

Author: MrD-RC

src/main/io/osd_canvas.c

@@ -345,7 +345,9 @@ static bool osdCanvasDrawArtificialHorizonWidget(displayPort_t *display, display
         int ahiWidth = osdConfig()->ahi_width;
         int ahiX = (canvas->width - ahiWidth) / 2;
         int ahiHeight = osdConfig()->ahi_height;
-        int ahiY = ((canvas->height - ahiHeight) / 2) + osdConfig()->ahi_vertical_offset;
+        int ahiY = ((canvas->height - ahiHeight) / 2);
+        ahiY += osdConfig()->ahi_vertical_offset;
+
         if (ahiY < 0) {
             ahiY = 0;
         }

src/main/io/osd_common.c

@@ -44,7 +44,6 @@
 #include "navigation/navigation.h"
 #include "sensors/pitotmeter.h"
 
-
 #if defined(USE_OSD) || defined(USE_DJI_HD_OSD)
 
 PG_REGISTER_WITH_RESET_TEMPLATE(osdCommonConfig_t, osdCommonConfig, PG_OSD_COMMON_CONFIG, 0);
@@ -148,11 +147,17 @@ void osdDrawArtificialHorizon(displayPort_t *display, displayCanvas_t *canvas, c
 {
     uint8_t gx;
     uint8_t gy;
+        
 #if defined(USE_CANVAS)
     if (canvas) {
         osdCanvasDrawArtificialHorizon(display, canvas, p, pitchAngle, rollAngle);
     } else {
 #endif
+        // Correct pitch when inverted
+        if (rollAngle < -1.570796f || rollAngle > 1.570796f) {
+            pitchAngle = -pitchAngle;
+        }
+
         osdDrawPointGetGrid(&gx, &gy, display, canvas, p);
         osdGridDrawArtificialHorizon(display, gx, gy, pitchAngle, rollAngle);
 #if defined(USE_CANVAS)