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AP_Frsky_SPort: correct handling of RPM sensor data

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Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
This commit is contained in:
Peter Barker 2021-02-25 20:04:37 +11:00 committed by Peter Barker
parent 370db00096
commit 4d2cf8c95b
3 changed files with 11 additions and 5 deletions
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4
Tools/autotest/common.py
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@ -9173,7 +9173,7 @@ switch value'''
while len(wants): while len(wants):
self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()])) self.progress("Still wanting (%s)" % ",".join([("0x%02x" % x) for x in wants.keys()]))
wants_copy = copy.copy(wants) wants_copy = copy.copy(wants)
t2 = self.get_sim_time_cached() t2 = self.get_sim_time()
if t2 - tstart > 300: if t2 - tstart > 300:
self.progress("Failed to get frsky passthrough data") self.progress("Failed to get frsky passthrough data")
self.progress("Counts of sensor_id polls sent:") self.progress("Counts of sensor_id polls sent:")
@ -9193,7 +9193,7 @@ switch value'''
def test_frsky_passthrough(self): def test_frsky_passthrough(self):
self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
self.set_parameter("RPM_TYPE", 1) # enable RPM output self.set_parameter("RPM_TYPE", 10) # enable RPM output
self.customise_SITL_commandline([ self.customise_SITL_commandline([
"--uartF=tcp:6735" # serial5 spews to localhost:6735 "--uartF=tcp:6735" # serial5 spews to localhost:6735
]) ])

3
libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
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@ -109,7 +109,8 @@ protected:
static const uint8_t BYTESTUFF_D = 0x5D; static const uint8_t BYTESTUFF_D = 0x5D;
// FrSky data IDs; // FrSky data IDs;
static const uint16_t RPM_LAST_ID = 0x050F; static const uint16_t RPM1_ID = 0x050E;
static const uint16_t RPM2_ID = 0x050F;
static const uint16_t GPS_LONG_LATI_FIRST_ID = 0x0800; static const uint16_t GPS_LONG_LATI_FIRST_ID = 0x0800;
static const uint16_t DIY_FIRST_ID = 0x5000; static const uint16_t DIY_FIRST_ID = 0x5000;

9
libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
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@ -126,9 +126,14 @@ void AP_Frsky_SPort::send(void)
int32_t value; int32_t value;
if (calc_rpm(_SPort.rpm_call, value)) { if (calc_rpm(_SPort.rpm_call, value)) {
// use high numbered frsky sensor ids to leave low numbered free for externally attached physical frsky sensors // use high numbered frsky sensor ids to leave low numbered free for externally attached physical frsky sensors
send_sport_frame(SPORT_DATA_FRAME, 1+RPM_LAST_ID-(rpm->num_sensors()-_SPort.rpm_call), value); uint16_t id = RPM1_ID;
if (_SPort.rpm_call != 0) {
// only two sensors are currently supported
id = RPM2_ID;
}
send_sport_frame(SPORT_DATA_FRAME, id, value);
} }
if (++_SPort.rpm_call > (rpm->num_sensors()-1)) { if (++_SPort.rpm_call > MIN(rpm->num_sensors()-1, 1)) {
_SPort.rpm_call = 0; _SPort.rpm_call = 0;
} }
} }