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AP_Frsky_Telem: removed reliance on home_distance and home_bearing which are only in copter

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floaledm 2016-09-01 12:38:32 -05:00 committed by Andrew Tridgell
parent 33bd359463
commit 4d03be94cf
2 changed files with 13 additions and 14 deletions
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23
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -34,7 +34,7 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
* init - perform required initialisation * init - perform required initialisation
* for Copter * for Copter
*/ */
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing) void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value)
{ {
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports) // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) { if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
@ -50,8 +50,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts _params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh _params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
_ap.value = ap_value; // ap bit-field _ap.value = ap_value; // ap bit-field
_ap.home_distance = home_distance;
_ap.home_bearing = home_bearing;
} }
if (_port != NULL) { if (_port != NULL) {
@ -655,13 +653,18 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
*/ */
uint32_t AP_Frsky_Telem::calc_home(void) uint32_t AP_Frsky_Telem::calc_home(void)
{ {
uint32_t home; uint32_t home = 0;
// distance between vehicle and home location in meters
home = prep_number(roundf(*_ap.home_distance * 0.01f), 3, 2);
// altitude between vehicle and home location in decimeters
Location loc; Location loc;
if (_ahrs.get_position(loc)) { if (_ahrs.get_position(loc)) {
// check home_loc is valid
const Location &home_loc = _ahrs.get_home();
if (home_loc.lat != 0 || home_loc.lng != 0) {
// distance between vehicle and home_loc in meters
home = prep_number(roundf(get_distance(home_loc, loc)), 3, 2);
// angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits)
home |= (((uint8_t)roundf(get_bearing_cd(loc,home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET;
}
// altitude between vehicle and home_loc
_relative_home_altitude = loc.alt; _relative_home_altitude = loc.alt;
if (!loc.flags.relative_alt) { if (!loc.flags.relative_alt) {
// loc.alt has home altitude added, remove it // loc.alt has home altitude added, remove it
@ -671,8 +674,6 @@ uint32_t AP_Frsky_Telem::calc_home(void)
_relative_home_altitude = 0; _relative_home_altitude = 0;
} }
home |= prep_number(roundf(_relative_home_altitude * 0.1f), 3, 2)<<HOME_ALT_OFFSET; home |= prep_number(roundf(_relative_home_altitude * 0.1f), 3, 2)<<HOME_ALT_OFFSET;
// angle between vehicle and home loc (relative to North) in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits)
home |= (((uint8_t)roundf(*_ap.home_bearing * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET;
return home; return home;
} }

4
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
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@ -117,7 +117,7 @@ public:
AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng); AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng);
// init - perform required initialisation // init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, int32_t *home_distance, int32_t *home_bearing); void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value);
void init(const AP_SerialManager &serial_manager); void init(const AP_SerialManager &serial_manager);
// add statustext message to FrSky lib queue. // add statustext message to FrSky lib queue.
@ -163,8 +163,6 @@ private:
uint8_t control_mode; uint8_t control_mode;
uint32_t *value; uint32_t *value;
uint32_t sensor_status_error_flags; uint32_t sensor_status_error_flags;
int32_t *home_distance;
int32_t *home_bearing;
} _ap; } _ap;
float _relative_home_altitude; // altitude in centimeters above home float _relative_home_altitude; // altitude in centimeters above home