ardupilot/libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp

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2020-09-28 01:31:38 -03:00
#include "AP_Frsky_Backend.h"
#include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_RPM/AP_RPM.h>
2020-09-28 01:31:38 -03:00
extern const AP_HAL::HAL& hal;
bool AP_Frsky_Backend::init()
{
// if SPort Passthrough is using external data then it will
// override this to do nothing:
return init_serial_port();
}
bool AP_Frsky_Backend::init_serial_port()
{
if (!hal.scheduler->thread_create(
FUNCTOR_BIND_MEMBER(&AP_Frsky_Backend::loop, void),
"FrSky",
1024,
AP_HAL::Scheduler::PRIORITY_RCIN,
1)) {
return false;
}
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
return true;
}
/*
thread to loop handling bytes
*/
void AP_Frsky_Backend::loop(void)
{
// initialise uart (this must be called from within tick b/c the UART begin must be called from the same thread as it is used from)
_port->begin(initial_baud(), 0, 0);
while (true) {
hal.scheduler->delay(1);
send();
}
}
/*
* get vertical speed from ahrs, if not available fall back to baro climbrate, units is m/s
* for FrSky D and SPort protocols
*/
float AP_Frsky_Backend::get_vspeed_ms(void)
{
{
// release semaphore as soon as possible
AP_AHRS &_ahrs = AP::ahrs();
Vector3f v;
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_velocity_NED(v)) {
return -v.z;
}
}
auto &_baro = AP::baro();
WITH_SEMAPHORE(_baro.get_semaphore());
return _baro.get_climb_rate();
}
/*
* prepare altitude between vehicle and home location data
* for FrSky D and SPort protocols
*/
void AP_Frsky_Backend::calc_nav_alt(void)
{
_SPort_data.vario_vspd = (int32_t)(get_vspeed_ms()*100); //convert to cm/s
Location loc;
float current_height = 0; // in centimeters above home
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_location(loc)) {
current_height = loc.alt*0.01f;
if (!loc.relative_alt) {
// loc.alt has home altitude added, remove it
current_height -= _ahrs.get_home().alt*0.01f;
}
}
_SPort_data.alt_nav_meters = float_to_uint16(current_height);
_SPort_data.alt_nav_cm = float_to_uint16((current_height - _SPort_data.alt_nav_meters) * 100);
}
/*
* format the decimal latitude/longitude to the required degrees/minutes
* for FrSky D and SPort protocols
*/
float AP_Frsky_Backend::format_gps(float dec)
{
uint8_t dm_deg = (uint8_t) dec;
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
}
/*
* prepare gps data
* for FrSky D and SPort protocols
*/
void AP_Frsky_Backend::calc_gps_position(void)
{
AP_AHRS &_ahrs = AP::ahrs();
Location loc;
if (_ahrs.get_location(loc)) {
float lat = format_gps(fabsf(loc.lat/10000000.0f));
_SPort_data.latdddmm = lat;
_SPort_data.latmmmm = (lat - _SPort_data.latdddmm) * 10000;
_SPort_data.lat_ns = (loc.lat < 0) ? 'S' : 'N';
float lon = format_gps(fabsf(loc.lng/10000000.0f));
_SPort_data.londddmm = lon;
_SPort_data.lonmmmm = (lon - _SPort_data.londddmm) * 10000;
_SPort_data.lon_ew = (loc.lng < 0) ? 'W' : 'E';
float alt = loc.alt * 0.01f;
_SPort_data.alt_gps_meters = float_to_uint16(alt);
_SPort_data.alt_gps_cm = float_to_uint16((alt - _SPort_data.alt_gps_meters) * 100);
const float speed = AP::ahrs().groundspeed();
_SPort_data.speed_in_meter = float_to_int16(speed);
_SPort_data.speed_in_centimeter = float_to_uint16((speed - _SPort_data.speed_in_meter) * 100);
} else {
_SPort_data.latdddmm = 0;
_SPort_data.latmmmm = 0;
_SPort_data.lat_ns = 0;
_SPort_data.londddmm = 0;
_SPort_data.lonmmmm = 0;
_SPort_data.alt_gps_meters = 0;
_SPort_data.alt_gps_cm = 0;
_SPort_data.speed_in_meter = 0;
_SPort_data.speed_in_centimeter = 0;
}
_SPort_data.yaw = (uint16_t)((_ahrs.yaw_sensor / 100) % 360); // heading in degree based on AHRS and not GPS
}
/*
* prepare rpm data
* for FrSky D and SPort protocols
*/
bool AP_Frsky_Backend::calc_rpm(const uint8_t instance, int32_t &value) const
{
const AP_RPM* rpm = AP::rpm();
if (rpm == nullptr) {
return false;
}
float rpm_value;
if (!rpm->get_rpm(instance, rpm_value)) {
return false;
}
value = static_cast<int32_t>(roundf(rpm_value));
return true;
}