ardupilot/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_Common/AP_FWVersion.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_RSSI/AP_RSSI.h>
#include "AP_MSP.h"
#include "AP_MSP_Telem_DJI.h"
#include <stdio.h>
#if HAL_MSP_ENABLED
extern const AP_HAL::HAL& hal;
using namespace MSP;
bool AP_MSP_Telem_DJI::init_uart()
{
if (_msp_port.uart != nullptr) {
_msp_port.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
_msp_port.uart->begin(AP_SERIALMANAGER_MSP_BAUD, AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_TX);
return true;
}
return false;
}
bool AP_MSP_Telem_DJI::is_scheduler_enabled() const
{
const AP_MSP *msp = AP::msp();
return msp && msp->is_option_enabled(AP_MSP::Option::TELEMETRY_MODE);
}
void AP_MSP_Telem_DJI::hide_osd_items(void)
{
const AP_MSP *msp = AP::msp();
if (msp == nullptr) {
return;
}
// apply base class defaults
AP_MSP_Telem_Backend::hide_osd_items();
// apply DJI OSD specific rules
const AP_Notify& notify = AP::notify();
// default is hide the DJI flightmode widget
BIT_SET(osd_hidden_items_bitmask, OSD_FLYMODE);
if (msp->_msp_status.flashing_on) {
// flash flightmode on failsafe
if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad) {
BIT_CLEAR(osd_hidden_items_bitmask, OSD_FLYMODE);
}
}
}
uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void)
{
uint32_t mode_mask = 0;
const AP_Notify& notify = AP::notify();
// set arming status
if (notify.flags.armed) {
BIT_SET(mode_mask, DJI_FLAG_ARM);
}
// check failsafe
if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad ) {
BIT_SET(mode_mask, DJI_FLAG_FS);
}
return mode_mask;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
{
sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_esc_sensor_data(sbuf_t *dst)
{
#if HAL_WITH_ESC_TELEM
int16_t highest_temperature = 0;
AP_ESC_Telem& telem = AP::esc_telem();
if (!displaying_stats_screen()) {
telem.get_highest_motor_temperature(highest_temperature);
} else {
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return MSP_RESULT_ERROR;
}
WITH_SEMAPHORE(osd->get_semaphore());
highest_temperature = osd->get_stats_info().max_esc_temp;
}
const struct PACKED {
uint8_t temp;
uint16_t rpm;
} esc_sensor_data {
temp : uint8_t(highest_temperature * 0.01f), // deg, report max temperature
rpm : uint16_t(telem.get_average_motor_rpm() * 0.1f) // rpm, report average RPM across all motors
};
sbuf_write_data(dst, &esc_sensor_data, sizeof(esc_sensor_data));
#endif
return MSP_RESULT_ACK;
}
void AP_MSP_Telem_DJI::update_home_pos(home_state_t &home_state)
{
AP_MSP_Telem_Backend::update_home_pos(home_state);
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return;
}
AP_MSP *msp = AP::msp();
if (msp == nullptr) {
return;
}
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return;
}
WITH_SEMAPHORE(osd->get_semaphore());
// override telemetry with max distance and altitude info
// alternate max distance with traveled distance every 2 seconds
if (msp->_msp_status.slow_flashing_on) {
home_state.home_distance_m = osd->get_stats_info().max_dist_m;
} else {
home_state.home_distance_m = osd->get_stats_info().last_distance_m;
}
home_state.rel_altitude_cm = osd->get_stats_info().max_alt_m * 100;
#endif
}
void AP_MSP_Telem_DJI::update_battery_state(battery_state_t &_battery_state)
{
AP_MSP_Telem_Backend::update_battery_state(_battery_state);
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return;
}
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return;
}
WITH_SEMAPHORE(osd->get_semaphore());
// override telemetry with max current and voltage info
_battery_state.batt_current_a = osd->get_stats_info().max_current_a;
_battery_state.batt_voltage_v = osd->get_stats_info().min_voltage_v;
#endif
}
void AP_MSP_Telem_DJI::update_gps_state(gps_state_t &gps_state)
{
AP_MSP_Telem_Backend::update_gps_state(gps_state);
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return;
}
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return;
}
WITH_SEMAPHORE(osd->get_semaphore());
// override telemetry with max speed info
gps_state.speed_cms = osd->get_stats_info().max_speed_mps * 100;
#endif
}
void AP_MSP_Telem_DJI::update_airspeed(airspeed_state_t &airspeed_state)
{
AP_MSP_Telem_Backend::update_airspeed(airspeed_state);
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return;
}
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return;
}
WITH_SEMAPHORE(osd->get_semaphore());
// override telemetry with max speed info
airspeed_state.airspeed_estimate_ms = osd->get_stats_info().max_airspeed_mps;
#endif
}
void AP_MSP_Telem_DJI::update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled)
{
AP_MSP_Telem_Backend::update_flight_mode_str(flight_mode_str, size, wind_enabled);
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return;
}
AP_Stats *stats = AP::stats();
if (stats != nullptr) {
uint32_t t = stats->get_flight_time_s();
// need to check snprintf return value to prevent format-truncation warning in GCC because of -Werror=format-truncation
if (snprintf(flight_mode_str, size, "%s %3u:%02u", "STATS", unsigned(t/60), unsigned(t%60)) < 0) {
snprintf(flight_mode_str, size, "%s", "STATS --:--");
}
} else {
snprintf(flight_mode_str, size, "%s", "STATS");
}
#endif
}
bool AP_MSP_Telem_DJI::get_rssi(float &rssi) const
{
if (!AP_MSP_Telem_Backend::get_rssi(rssi)) {
return false;
}
#if OSD_ENABLED
if (!displaying_stats_screen()) {
return true;
}
AP_RSSI* ap_rssi = AP::rssi();
if (ap_rssi == nullptr) {
return false;
}
if (!ap_rssi->enabled()) {
return false;
}
AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return false;
}
WITH_SEMAPHORE(osd->get_semaphore());
// override telemetry with min rssi info
// Note: return false when min_rssi has not been updated yet by AP_OSD::update_stats()
if (is_equal(osd->get_stats_info().min_rssi, FLT_MAX)) {
return false;
}
rssi = osd->get_stats_info().min_rssi; // range is [0-1]
#endif
return true;
}
#endif //HAL_MSP_ENABLED