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Rover: Add SERIAL2_PROTOCOL for GCS and FRSky telemtry

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This allows selection of protocol type on telem2. The default is MAVLink, but can be selected as FrSky protocol
This commit is contained in:
Matthias Badaire 2014-07-29 13:38:15 +02:00 committed by Craig Elder
parent 874ef65d74
commit 57253fc2ee
6 changed files with 62 additions and 2 deletions
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11
ArduPlane/ArduPlane.pde
View File

@ -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

2
ArduPlane/Parameters.h
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@ -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;

12
ArduPlane/Parameters.pde
View File

@ -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

15
ArduPlane/config.h
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@ -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
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

6
ArduPlane/defines.h
View File

@ -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

18
ArduPlane/system.pde
View File

@ -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
}