Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry

This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol

ArduPlane/ArduPlane.pde

@@ -79,6 +79,7 @@
 
 #include <AP_Arming.h>
 #include <AP_BoardConfig.h>
+#include <AP_Frsky_Telem.h>
 #include <AP_ServoRelayEvents.h>
 
 #include <AP_Rally.h>
@@ -460,6 +461,12 @@ static int32_t altitude_error_cm;
 ////////////////////////////////////////////////////////////////////////////////
 static AP_BattMonitor battery;
 
+////////////////////////////////////////////////////////////////////////////////
+// FrSky telemetry support
+#if FRSKY_TELEM_ENABLED == ENABLED
+static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
+#endif
+
 ////////////////////////////////////////////////////////////////////////////////
 // Airspeed Sensors
 ////////////////////////////////////////////////////////////////////////////////
@@ -766,6 +773,10 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { compass_save,        3000,   2500 },
     { update_logging1,        5,   1700 },
     { update_logging2,        5,   1700 },
+#if FRSKY_TELEM_ENABLED == ENABLED
+    { telemetry_send,        10,    100 },	
+#endif
+
 };
 
 // setup the var_info table

ArduPlane/Parameters.h

@@ -138,6 +138,7 @@ public:
         k_param_serial0_baud_old,   // deprecated
         k_param_gcs2,               // stream rates for uartD
         k_param_serial2_baud_old,   // deprecated
+        k_param_serial2_protocol,
 
         // 120: Fly-by-wire control
         //
@@ -308,6 +309,7 @@ public:
     AP_Int16 serial1_baud;
 #if MAVLINK_COMM_NUM_BUFFERS > 2
     AP_Int16 serial2_baud;
+    AP_Int8  serial2_protocol;
 #endif
     AP_Int8 telem_delay;
 

ArduPlane/Parameters.pde

@@ -59,7 +59,17 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
     // @User: Standard
     GSCALAR(serial2_baud,           "SERIAL2_BAUD",   SERIAL2_BAUD/1000),
-#endif
+
+#if FRSKY_TELEM_ENABLED == ENABLED
+    // @Param: SERIAL2_PROTOCOL
+    // @DisplayName: SERIAL2 protocol selection
+    // @Description: Control what protocol telemetry 2 port should be used for
+    // @Values: 1:GCS Mavlink,2:Frsky D-PORT
+    // @User: Standard
+    GSCALAR(serial2_protocol,        "SERIAL2_PROTOCOL", SERIAL2_MAVLINK),
+#endif // FRSKY_TELEM_ENABLED
+
+#endif // MAVLINK_COMM_NUM_BUFFERS
 
     // @Param: AUTOTUNE_LEVEL
     // @DisplayName: Autotune level

ArduPlane/config.h

@@ -77,6 +77,9 @@
  #ifndef CAMERA
  # define CAMERA DISABLED
  #endif
+ #ifndef FRSKY_TELEM_ENABLED
+ # define FRSKY_TELEM_ENABLED DISABLED
+ #endif
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -123,6 +126,18 @@
  # define SERIAL2_BAUD                    57600
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// FrSky telemetry support
+//
+
+#ifndef FRSKY_TELEM_ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
+ # define FRSKY_TELEM_ENABLED DISABLED
+#else
+ # define FRSKY_TELEM_ENABLED ENABLED
+#endif
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/defines.h

@@ -211,4 +211,10 @@ enum {
     ATT_CONTROL_APMCONTROL = 1
 };
 
+enum Telem2Protocol {
+    SERIAL2_MAVLINK     = 1,
+    SERIAL2_FRSKY_DPORT = 2,
+    SERIAL2_FRSKY_SPORT = 3 // not supported yet
+};
+
 #endif // _DEFINES_H

ArduPlane/system.pde

@@ -119,7 +119,12 @@ static void init_ardupilot()
     gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
-    gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, SERIAL2_BUFSIZE);
+    if (g.serial2_protocol == SERIAL2_FRSKY_DPORT || 
+        g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
+        frsky_telemetry.init(hal.uartD, g.serial2_protocol);
+    } else {
+        gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, SERIAL2_BUFSIZE);
+    }
 #endif
 
     mavlink_system.sysid = g.sysid_this_mav;
@@ -618,3 +623,14 @@ static bool should_log(uint32_t mask)
     }
     return ret;
 }
+
+/*
+  send FrSky telemetry. Should be called at 5Hz by scheduler
+ */
+static void telemetry_send(void)
+{
+#if FRSKY_TELEM_ENABLED == ENABLED
+    frsky_telemetry.send_frames((uint8_t)control_mode, 
+                                (AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
+#endif
+}