Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-27 10:13:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_vehicle: added support for frsky bidirectional telemetry

Browse Source
This commit is contained in:
yaapu 2020-09-10 14:54:10 +02:00 committed by Andrew Tridgell
parent 988af83fce
commit 0012b83d86
3 changed files with 13 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -3,6 +3,7 @@
#include <AP_BLHeli/AP_BLHeli.h> #include <AP_BLHeli/AP_BLHeli.h>
#include <AP_Common/AP_FWVersion.h> #include <AP_Common/AP_FWVersion.h>
#include <AP_Arming/AP_Arming.h> #include <AP_Arming/AP_Arming.h>
#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros) #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
@ -27,7 +28,6 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
// @Path: ../AP_VisualOdom/AP_VisualOdom.cpp // @Path: ../AP_VisualOdom/AP_VisualOdom.cpp
AP_SUBGROUPINFO(visual_odom, "VISO", 3, AP_Vehicle, AP_VisualOdom), AP_SUBGROUPINFO(visual_odom, "VISO", 3, AP_Vehicle, AP_VisualOdom),
#endif #endif
// @Group: VTX_ // @Group: VTX_
// @Path: ../AP_RCTelemetry/AP_VideoTX.cpp // @Path: ../AP_RCTelemetry/AP_VideoTX.cpp
AP_SUBGROUPINFO(vtx, "VTX_", 4, AP_Vehicle, AP_VideoTX), AP_SUBGROUPINFO(vtx, "VTX_", 4, AP_Vehicle, AP_VideoTX),
@ -38,6 +38,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(msp, "MSP", 5, AP_Vehicle, AP_MSP), AP_SUBGROUPINFO(msp, "MSP", 5, AP_Vehicle, AP_MSP),
#endif #endif
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
// @Group: FRSKY_
// @Path: ../AP_Frsky_Telem/AP_Frsky_Parameters.cpp
AP_SUBGROUPINFO(frsky_parameters, "FRSKY_", 6, AP_Vehicle, AP_Frsky_Parameters),
#endif
AP_GROUPEND AP_GROUPEND
}; };

5
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -43,6 +43,7 @@
#include <AP_VisualOdom/AP_VisualOdom.h> #include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_RCTelemetry/AP_VideoTX.h> #include <AP_RCTelemetry/AP_VideoTX.h>
#include <AP_MSP/AP_MSP.h> #include <AP_MSP/AP_MSP.h>
#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
class AP_Vehicle : public AP_HAL::HAL::Callbacks { class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@ -213,6 +214,10 @@ public:
// and flashing LEDs as appropriate // and flashing LEDs as appropriate
void reboot(bool hold_in_bootloader); void reboot(bool hold_in_bootloader);
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
AP_Frsky_Parameters frsky_parameters;
#endif
protected: protected:
virtual void init_ardupilot() = 0; virtual void init_ardupilot() = 0;

1
libraries/AP_Vehicle/ModeReason.h
View File

@ -59,4 +59,5 @@ enum class ModeReason : uint8_t {
RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL, RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL,
RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND, RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND,
MISSION_CMD, MISSION_CMD,
FRSKY_COMMAND,
}; };