ardupilot/libraries/AP_Scripting/examples/frsky_battery.lua

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--[[
Simple example that sends battery info down the frsky link
it works with SPort using SERIAL_PROTOCOL=4,10 and with
FPort using SERIAL_PROTOCOL=23.
We'll be using OpenTX genuine data IDs (https://github.com/opentx/opentx/blob/2.3/radio/src/telemetry/frsky.h)
CURR_FIRST_ID 0x0200
VFAS_FIRST_ID 0x0210
and we'll be responding to unused sensor IDs.
This is a list of IDs we can't use:
- serial protocol 4 uses IDs 0,2,3 and 6
- serial protocol 10 uses ID 7,13,20,27
- serial protocol 23, no IDs used
For this test we'll use sensor ID 4 (0xE4),
Note: 4 is the index, 0xE4 is the actual ID
--]]
local loop_time = 500 -- number of ms between runs
local sport_data_frame = 0x10
local sensor_id = 0xE4
-- battery 1->instance 0, battery 2->instance 1, etc
local batt_instance = 0
local curr_id = 0x020E
local vfas_id = 0x021E
local function send_voltage(instance)
local volts = battery:voltage(instance)
gcs:send_text(7,string.format("FRSKY: batt %d, %.01fV", instance, volts))
if volts ~= nil then
frsky_sport:sport_telemetry_push(sensor_id, sport_data_frame, vfas_id, math.floor(volts*100+0.5)) -- centivolts
end
end
local function send_current(instance)
local amps = battery:current_amps(instance)
gcs:send_text(7,string.format("FRSKY: batt %d, %.01fA", instance, amps))
if amps ~= nil then
frsky_sport:sport_telemetry_push(sensor_id, sport_data_frame, curr_id, math.floor(amps*10+0.5)) -- deciamps
end
end
local alternate = 0
function update()
if batt_instance > battery:num_instances() then
error("Battery " .. batt_instance .. " does not exist")
end
if alternate % 2 == 0 then
send_voltage(batt_instance)
else
send_current(batt_instance)
end
alternate = (alternate+1)%2
return update, loop_time
end
return update() -- run immediately before starting to reschedule