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