Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Frsky_Telem: factor out vspeed and nav alt

This commit is contained in:
Andy Piper 2024-04-27 14:58:54 +01:00 committed by Andrew Tridgell
parent 9112b14414
commit 1e2621466c
2 changed files with 4 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp
View File

@ -5,6 +5,7 @@
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_RPM/AP_RPM.h> #include <AP_RPM/AP_RPM.h>
#include <AP_RCTelemetry/AP_RCTelemetry.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -44,47 +45,15 @@ void AP_Frsky_Backend::loop(void)
} }
} }
/*
* get vertical speed from ahrs, if not available fall back to baro climbrate, units is m/s
* for FrSky D and SPort protocols
*/
float AP_Frsky_Backend::get_vspeed_ms(void)
{
{
// release semaphore as soon as possible
AP_AHRS &_ahrs = AP::ahrs();
Vector3f v;
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_velocity_NED(v)) {
return -v.z;
}
}
auto &_baro = AP::baro();
WITH_SEMAPHORE(_baro.get_semaphore());
return _baro.get_climb_rate();
}
/* /*
* prepare altitude between vehicle and home location data * prepare altitude between vehicle and home location data
* for FrSky D and SPort protocols * for FrSky D and SPort protocols
*/ */
void AP_Frsky_Backend::calc_nav_alt(void) void AP_Frsky_Backend::calc_nav_alt(void)
{ {
_SPort_data.vario_vspd = (int32_t)(get_vspeed_ms()*100); //convert to cm/s _SPort_data.vario_vspd = (int32_t)(AP_RCTelemetry::get_vspeed_ms()*100); //convert to cm/s
Location loc;
float current_height = 0;
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_location(loc)) {
if (!loc.get_alt_m(Location::AltFrame::ABSOLUTE, current_height)) {
// ignore this error
}
}
float current_height = AP_RCTelemetry::get_nav_alt_m();
_SPort_data.alt_nav_meters = float_to_uint16(current_height); _SPort_data.alt_nav_meters = float_to_uint16(current_height);
_SPort_data.alt_nav_cm = float_to_uint16((current_height - _SPort_data.alt_nav_meters) * 100); _SPort_data.alt_nav_cm = float_to_uint16((current_height - _SPort_data.alt_nav_meters) * 100);
} }

2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -646,7 +646,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_home(void)
*/ */
uint32_t AP_Frsky_SPort_Passthrough::calc_velandyaw(void) uint32_t AP_Frsky_SPort_Passthrough::calc_velandyaw(void)
{ {
float vspd = get_vspeed_ms(); float vspd = AP_RCTelemetry::get_vspeed_ms();
// vertical velocity in dm/s // vertical velocity in dm/s
uint32_t velandyaw = prep_number(roundf(vspd * 10), 2, 1); uint32_t velandyaw = prep_number(roundf(vspd * 10), 2, 1);
float airspeed_m; // m/s float airspeed_m; // m/s