mirror of https://github.com/ArduPilot/ardupilot
AP_RCTelemetry: IRC Ghost protocol
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
19c6b0b8ae
commit
0da6989c8e
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_RCTelemetry_config.h"
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#if AP_GHST_TELEM_ENABLED
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#include "AP_GHST_Telem.h"
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#include <AP_VideoTX/AP_VideoTX.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_GPS/AP_GPS.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_RCProtocol/AP_RCProtocol_GHST.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Notify/AP_Notify.h>
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#include <math.h>
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#include <stdio.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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//#define GHST_DEBUG
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#ifdef GHST_DEBUG
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# define debug(fmt, args...) hal.console->printf("GHST: " fmt "\n", ##args)
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#else
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# define debug(fmt, args...) do {} while(0)
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#endif
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extern const AP_HAL::HAL& hal;
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AP_GHST_Telem *AP_GHST_Telem::singleton;
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AP_GHST_Telem::AP_GHST_Telem() : AP_RCTelemetry(0)
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{
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singleton = this;
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}
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AP_GHST_Telem::~AP_GHST_Telem(void)
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{
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singleton = nullptr;
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}
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bool AP_GHST_Telem::init(void)
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{
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// sanity check that we are using a UART for RC input
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if (!AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_RCIN, 0)) {
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return false;
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}
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return AP_RCTelemetry::init();
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}
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/*
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setup ready for passthrough telem
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*/
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void AP_GHST_Telem::setup_wfq_scheduler(void)
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{
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// initialize packet weights for the WFQ scheduler
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// priority[i] = 1/_scheduler.packet_weight[i]
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// rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
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// CSRF telemetry rate is 150Hz (4ms) max, so these rates must fit
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add_scheduler_entry(50, 120); // Attitude and compass 8Hz
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add_scheduler_entry(200, 1000); // VTX parameters 1Hz
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add_scheduler_entry(1300, 500); // battery 2Hz
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add_scheduler_entry(550, 280); // GPS 3Hz
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add_scheduler_entry(550, 280); // GPS2 3Hz
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}
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void AP_GHST_Telem::update_custom_telemetry_rates(AP_RCProtocol_GHST::RFMode rf_mode)
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{
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if (is_high_speed_telemetry(rf_mode)) {
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// standard telemetry for high data rates
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set_scheduler_entry(BATTERY, 1000, 1000); // 1Hz
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set_scheduler_entry(ATTITUDE, 1000, 1000); // 1Hz
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// custom telemetry for high data rates
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set_scheduler_entry(GPS, 550, 500); // 2.0Hz
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set_scheduler_entry(GPS2, 550, 500); // 2.0Hz
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} else {
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// standard telemetry for low data rates
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set_scheduler_entry(BATTERY, 1000, 2000); // 0.5Hz
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set_scheduler_entry(ATTITUDE, 1000, 3000); // 0.33Hz
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// GHST custom telemetry for low data rates
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set_scheduler_entry(GPS, 550, 1000); // 1.0Hz
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set_scheduler_entry(GPS2, 550, 1000); // 1.0Hz
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}
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}
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bool AP_GHST_Telem::process_rf_mode_changes()
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{
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const AP_RCProtocol_GHST::RFMode current_rf_mode = get_rf_mode();
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uint32_t now = AP_HAL::millis();
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AP_RCProtocol_GHST* ghost = AP::ghost();
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AP_HAL::UARTDriver* uart = nullptr;
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if (ghost != nullptr) {
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uart = ghost->get_UART();
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}
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if (uart == nullptr) {
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return true;
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}
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// not ready yet
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if (!uart->is_initialized()) {
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return false;
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}
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#if !defined (STM32H7)
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// warn the user if their setup is sub-optimal, H7 does not need DMA on serial port
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if (_telem_bootstrap_msg_pending && !uart->is_dma_enabled()) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s: running on non-DMA serial port", get_protocol_string());
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}
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#endif
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// note if option was set to show LQ in place of RSSI
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bool current_lq_as_rssi_active = rc().option_is_enabled(RC_Channels::Option::USE_CRSF_LQ_AS_RSSI);
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if(_telem_bootstrap_msg_pending || _noted_lq_as_rssi_active != current_lq_as_rssi_active){
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_noted_lq_as_rssi_active = current_lq_as_rssi_active;
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: RSSI now displays %s", get_protocol_string(), current_lq_as_rssi_active ? " as LQ" : "normally");
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}
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_telem_bootstrap_msg_pending = false;
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const bool is_high_speed = is_high_speed_telemetry(current_rf_mode);
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if ((now - _telem_last_report_ms > 5000)) {
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// report an RF mode change or a change in telemetry rate if we haven't done so in the last 5s
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if (!rc().option_is_enabled(RC_Channels::Option::SUPPRESS_CRSF_MESSAGE) && (_rf_mode != current_rf_mode)) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: Link rate %dHz, Telemetry %s",
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get_protocol_string(), ghost->get_link_rate(), _enable_telemetry ? "ON" : "OFF");
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}
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// tune the scheduler based on telemetry speed high/low transitions
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if (_telem_is_high_speed != is_high_speed) {
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update_custom_telemetry_rates(current_rf_mode);
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}
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_telem_is_high_speed = is_high_speed;
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_rf_mode = current_rf_mode;
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_telem_last_avg_rate = _scheduler.avg_packet_rate;
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if (_telem_last_report_ms == 0) { // only want to show bootstrap messages once
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_telem_bootstrap_msg_pending = true;
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}
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_telem_last_report_ms = now;
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}
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return true;
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}
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AP_RCProtocol_GHST::RFMode AP_GHST_Telem::get_rf_mode() const
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{
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AP_RCProtocol_GHST* ghost = AP::ghost();
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if (ghost == nullptr) {
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return AP_RCProtocol_GHST::RFMode::RF_MODE_UNKNOWN;
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}
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return static_cast<AP_RCProtocol_GHST::RFMode>(ghost->get_link_status().rf_mode);
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}
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bool AP_GHST_Telem::is_high_speed_telemetry(const AP_RCProtocol_GHST::RFMode rf_mode) const
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{
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return rf_mode == AP_RCProtocol_GHST::RFMode::GHST_RF_MODE_RACE || rf_mode == AP_RCProtocol_GHST::RFMode::GHST_RF_MODE_RACE250;
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}
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uint16_t AP_GHST_Telem::get_telemetry_rate() const
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{
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return get_avg_packet_rate();
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}
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// WFQ scheduler
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bool AP_GHST_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
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{
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return _enable_telemetry;
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}
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// WFQ scheduler
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void AP_GHST_Telem::process_packet(uint8_t idx)
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{
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// send packet
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switch (idx) {
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case ATTITUDE:
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calc_attitude();
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break;
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case BATTERY: // BATTERY
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calc_battery();
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break;
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case GPS: // GPS
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calc_gps();
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break;
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case GPS2: // GPS secondary info
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calc_gps2();
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break;
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default:
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break;
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}
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}
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// Process a frame from the GHST protocol decoder
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bool AP_GHST_Telem::_process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data) {
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switch (frame_type) {
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// this means we are connected to an RC receiver and can send telemetry
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case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_RSSI: {
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process_rf_mode_changes();
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_enable_telemetry = AP::ghost()->is_telemetry_supported();
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break;
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}
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default:
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break;
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}
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return true;
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}
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// process any changed settings and schedule for transmission
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void AP_GHST_Telem::update()
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{
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}
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void AP_GHST_Telem::process_pending_requests()
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{
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_pending_request.frame_type = 0;
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}
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// prepare battery data
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void AP_GHST_Telem::calc_battery()
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{
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debug("BATTERY");
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const AP_BattMonitor &_battery = AP::battery();
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_telem.battery.voltage = htole16(uint16_t(roundf(_battery.voltage(0) * 100.0f)));
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float current;
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if (!_battery.current_amps(current, 0)) {
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current = 0;
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}
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_telem.battery.current = htole16(uint16_t(roundf(current * 100.0f)));
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float used_mah;
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if (!_battery.consumed_mah(used_mah, 0)) {
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used_mah = 0;
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}
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_telem.battery.consumed = htole16(uint16_t(roundf(used_mah * 100.0f)));;
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_telem.battery.rx_voltage = htole16(uint16_t(roundf(hal.analogin->board_voltage() * 10)));
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_telem_size = sizeof(BatteryFrame);
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_telem_type = AP_RCProtocol_GHST::GHST_DL_PACK_STAT;
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_telem_pending = true;
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}
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// prepare gps data
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void AP_GHST_Telem::calc_gps()
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{
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debug("GPS");
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const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
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_telem.gps.latitude = htole32(loc.lat);
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_telem.gps.longitude = htole32(loc.lng);
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_telem.gps.altitude = htole16(constrain_int16(loc.alt / 100, 0, 5000) + 1000);
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_telem_size = sizeof(AP_GHST_Telem::GPSFrame);
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_telem_type = AP_RCProtocol_GHST::GHST_DL_GPS_PRIMARY;
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_telem_pending = true;
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}
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void AP_GHST_Telem::calc_gps2()
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{
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debug("GPS2");
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_telem.gps2.groundspeed = htole16(roundf(AP::gps().ground_speed() * 100000 / 3600));
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_telem.gps2.gps_heading = htole16(roundf(AP::gps().ground_course() * 100.0f));
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_telem.gps2.satellites = AP::gps().num_sats();
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AP_AHRS &_ahrs = AP::ahrs();
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WITH_SEMAPHORE(_ahrs.get_semaphore());
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Location loc;
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if (_ahrs.get_location(loc) && _ahrs.home_is_set()) {
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const Location &home_loc = _ahrs.get_home();
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_telem.gps2.home_dist = home_loc.get_distance(loc) / 10; // 10m
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_telem.gps2.home_heading = loc.get_bearing_to(home_loc) / 10; // deci-degrees
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} else {
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_telem.gps2.home_dist = 0;
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_telem.gps2.home_heading = 0;
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}
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AP_GPS::GPS_Status status = AP::gps().status();
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_telem.gps2.flags = status >= AP_GPS::GPS_OK_FIX_2D ? 0x1 : 0;
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_telem_size = sizeof(AP_GHST_Telem::GPSSecondaryFrame);
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_telem_type = AP_RCProtocol_GHST::GHST_DL_GPS_SECONDARY;
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_telem_pending = true;
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}
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// prepare attitude data
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void AP_GHST_Telem::calc_attitude()
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{
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debug("MAGBARO");
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AP_AHRS &_ahrs = AP::ahrs();
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WITH_SEMAPHORE(_ahrs.get_semaphore());
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float heading = AP::compass().calculate_heading(_ahrs.get_rotation_body_to_ned());
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_telem.sensor.compass_heading = htole16(degrees(wrap_PI(heading)));
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float alt = AP::baro().get_altitude();
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_telem.sensor.baro_alt = htole16(roundf(alt));
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_telem.sensor.vario = 0;
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_telem.sensor.flags = 3;
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_telem_size = sizeof(AP_GHST_Telem::SensorFrame);
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_telem_type = AP_RCProtocol_GHST::GHST_DL_MAGBARO;
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_telem_pending = true;
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}
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/*
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fetch GHST frame data
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if is_tx_active is true then this will be a request for telemetry after receiving an RC frame
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*/
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bool AP_GHST_Telem::_get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active)
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{
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memset(&_telem, 0, sizeof(TelemetryPayload));
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_is_tx_active = is_tx_active;
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run_wfq_scheduler();
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if (!_telem_pending) {
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return false;
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}
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memcpy(data->payload, &_telem, _telem_size);
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data->device_address = AP_RCProtocol_GHST::GHST_ADDRESS_GHST_RECEIVER;
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data->length = _telem_size + 2;
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data->type = _telem_type;
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_telem_pending = false;
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return true;
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}
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/*
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fetch data for an external transport, such as GHST
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*/
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bool AP_GHST_Telem::process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data)
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{
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if (!get_singleton()) {
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return false;
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}
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return singleton->_process_frame(frame_type, data);
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}
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/*
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fetch data for an external transport, such as GHST
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*/
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bool AP_GHST_Telem::get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active)
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{
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if (!get_singleton()) {
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return false;
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}
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return singleton->_get_telem_data(data, is_tx_active);
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}
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AP_GHST_Telem *AP_GHST_Telem::get_singleton(void) {
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if (!singleton && !hal.util->get_soft_armed()) {
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// if telem data is requested when we are disarmed and don't
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// yet have a AP_GHST_Telem object then try to allocate one
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new AP_GHST_Telem();
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// initialize the passthrough scheduler
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if (singleton) {
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singleton->init();
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}
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}
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return singleton;
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}
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namespace AP {
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AP_GHST_Telem *ghost_telem() {
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return AP_GHST_Telem::get_singleton();
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}
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};
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#endif // AP_GHST_TELEM_ENABLED
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@ -0,0 +1,166 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_RCTelemetry_config.h"
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#if AP_GHST_TELEM_ENABLED
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#include <AP_RCProtocol/AP_RCProtocol_GHST.h>
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#include "AP_RCTelemetry.h"
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#include <AP_HAL/utility/sparse-endian.h>
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class AP_GHST_Telem : public AP_RCTelemetry {
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public:
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AP_GHST_Telem();
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~AP_GHST_Telem() override;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_GHST_Telem);
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// init - perform required initialisation
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virtual bool init() override;
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static AP_GHST_Telem *get_singleton(void);
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// Broadcast frame definitions courtesy of TBS
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struct PACKED GPSFrame {
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uint32_t latitude; // ( degree * 1e7 )
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uint32_t longitude; // (degree * 1e7 )
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int16_t altitude; // ( meter )
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};
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struct PACKED GPSSecondaryFrame {
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uint16_t groundspeed; // ( cm/s )
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uint16_t gps_heading; // ( degree * 10 )
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uint8_t satellites; // in use ( counter )
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uint16_t home_dist; // ( m / 10 )
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uint16_t home_heading; // ( degree * 10 )
|
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uint8_t flags; // GPS_FLAGS_FIX 0x01, GPS_FLAGS_FIX_HOME 0x2
|
||||
};
|
||||
|
||||
struct PACKED BatteryFrame {
|
||||
uint16_t voltage; // ( mV / 10 )
|
||||
uint16_t current; // ( mA / 10 )
|
||||
uint16_t consumed; // ( mAh / 10 )
|
||||
uint8_t rx_voltage; // ( mV / 100 )
|
||||
uint8_t spare[3];
|
||||
};
|
||||
|
||||
struct PACKED VTXFrame {
|
||||
#if __BYTE_ORDER != __LITTLE_ENDIAN
|
||||
#error "Only supported on little-endian architectures"
|
||||
#endif
|
||||
uint8_t flags;
|
||||
uint16_t frequency; // frequency in Mhz
|
||||
uint16_t power; // power in mw, 0 == off
|
||||
uint8_t band : 4; // A, B, E, AirWave, Race
|
||||
uint8_t channel : 4; // 1x-8x
|
||||
uint8_t spare[3];
|
||||
};
|
||||
|
||||
struct PACKED SensorFrame {
|
||||
uint16_t compass_heading; // ( deg * 10 )
|
||||
int16_t baro_alt; // ( m )
|
||||
int16_t vario; // ( m/s * 100 )
|
||||
uint8_t spare[3];
|
||||
uint8_t flags; // MISC_FLAGS_MAGHEAD 0x01, MISC_FLAGS_BAROALT 0x02, MISC_FLAGS_VARIO 0x04
|
||||
};
|
||||
|
||||
union PACKED TelemetryPayload {
|
||||
GPSFrame gps;
|
||||
GPSSecondaryFrame gps2;
|
||||
BatteryFrame battery;
|
||||
VTXFrame vtx;
|
||||
SensorFrame sensor;
|
||||
};
|
||||
|
||||
// get the protocol string
|
||||
const char* get_protocol_string() const { return AP::ghost()->get_protocol_string(); }
|
||||
|
||||
// Process a frame from the CRSF protocol decoder
|
||||
static bool process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data);
|
||||
// process any changed settings and schedule for transmission
|
||||
void update();
|
||||
// get next telemetry data for external consumers of SPort data
|
||||
static bool get_telem_data(AP_RCProtocol_GHST::Frame* frame, bool is_tx_active);
|
||||
|
||||
private:
|
||||
|
||||
enum SensorType {
|
||||
ATTITUDE,
|
||||
VTX_PARAMETERS,
|
||||
BATTERY,
|
||||
GPS,
|
||||
GPS2,
|
||||
NUM_SENSORS
|
||||
};
|
||||
|
||||
// passthrough WFQ scheduler
|
||||
bool is_packet_ready(uint8_t idx, bool queue_empty) override;
|
||||
void process_packet(uint8_t idx) override;
|
||||
void setup_custom_telemetry();
|
||||
void update_custom_telemetry_rates(const AP_RCProtocol_GHST::RFMode rf_mode);
|
||||
|
||||
void calc_battery();
|
||||
void calc_gps();
|
||||
void calc_gps2();
|
||||
void calc_attitude();
|
||||
void process_pending_requests();
|
||||
bool process_rf_mode_changes();
|
||||
AP_RCProtocol_GHST::RFMode get_rf_mode() const;
|
||||
uint16_t get_telemetry_rate() const;
|
||||
bool is_high_speed_telemetry(const AP_RCProtocol_GHST::RFMode rf_mode) const;
|
||||
|
||||
// setup ready for passthrough operation
|
||||
void setup_wfq_scheduler(void) override;
|
||||
|
||||
// get next telemetry data for external consumers
|
||||
bool _get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active);
|
||||
bool _process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data);
|
||||
|
||||
TelemetryPayload _telem;
|
||||
uint8_t _telem_size;
|
||||
uint8_t _telem_type;
|
||||
|
||||
AP_RCProtocol_GHST::RFMode _rf_mode;
|
||||
bool _enable_telemetry;
|
||||
|
||||
// reporting telemetry rate
|
||||
uint32_t _telem_last_report_ms;
|
||||
uint16_t _telem_last_avg_rate;
|
||||
// do we need to report the initial state
|
||||
bool _telem_bootstrap_msg_pending;
|
||||
|
||||
bool _telem_is_high_speed;
|
||||
bool _telem_pending;
|
||||
// used to limit telemetry when in a failsafe condition
|
||||
bool _is_tx_active;
|
||||
|
||||
struct {
|
||||
uint8_t destination = 0;
|
||||
uint8_t frame_type;
|
||||
} _pending_request;
|
||||
|
||||
bool _noted_lq_as_rssi_active;
|
||||
|
||||
static AP_GHST_Telem *singleton;
|
||||
};
|
||||
|
||||
namespace AP {
|
||||
AP_GHST_Telem *ghost_telem();
|
||||
};
|
||||
|
||||
#endif // AP_GHST_TELEM_ENABLED
|
||||
|
|
@ -16,3 +16,7 @@
|
|||
#ifndef HAL_SPEKTRUM_TELEM_ENABLED
|
||||
#define HAL_SPEKTRUM_TELEM_ENABLED 1
|
||||
#endif
|
||||
|
||||
#ifndef AP_GHST_TELEM_ENABLED
|
||||
#define AP_GHST_TELEM_ENABLED AP_RCPROTOCOL_GHST_ENABLED
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue