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AP_MSP: fix DJI FPV temperature and RPM

This commit is contained in:
Michel Pastor 2021-05-26 19:09:21 +02:00 committed by Andrew Tridgell
parent 26c6224b2e
commit 61073de909
5 changed files with 23 additions and 3 deletions
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6
libraries/AP_MSP/AP_MSP.cpp
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@ -42,9 +42,9 @@ const AP_Param::GroupInfo AP_MSP::var_info[] = {
// @Param: _OPTIONS
// @DisplayName: MSP OSD Options
// @Description: A bitmask to set some MSP specific options
// @Bitmask: 0:EnableTelemetryMode
// @Bitmask: 0:EnableTelemetryMode, 1: DJIWorkarounds
// @User: Standard
AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, 0),
AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, OPTION_TELEMETRY_DJI_WORKAROUNDS),
AP_GROUPEND
};
@ -149,7 +149,7 @@ void AP_MSP::init_osd()
_osd_item_settings[OSD_HOME_DIST] = &osd->screen[0].home_dist;
_osd_item_settings[OSD_NUMERICAL_HEADING] = &osd->screen[0].heading;
_osd_item_settings[OSD_NUMERICAL_VARIO] = &osd->screen[0].vspeed;
#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAL_WITH_ESC_TELEM
_osd_item_settings[OSD_ESC_TMP] = &osd->screen[0].blh_temp;
#endif
_osd_item_settings[OSD_RTC_DATETIME] = &osd->screen[0].clk;

1
libraries/AP_MSP/AP_MSP.h
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@ -59,6 +59,7 @@ private:
enum msp_option_e : uint8_t {
OPTION_TELEMETRY_MODE = 1U<<0,
OPTION_TELEMETRY_DJI_WORKAROUNDS = 1U<<1
};
AP_MSP_Telem_Backend *_backends[MSP_MAX_INSTANCES];

17
libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
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@ -104,4 +104,21 @@ MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_esc_sensor_data(sbuf_t *dst)
{
#if HAL_WITH_ESC_TELEM
const auto msp = AP::msp();
if (msp && (msp->_options & AP_MSP::OPTION_TELEMETRY_DJI_WORKAROUNDS)) {
AP_ESC_Telem& telem = AP::esc_telem();
int16_t highest_temperature = 0;
telem.get_highest_motor_temperature(highest_temperature);
sbuf_write_u8(dst, uint8_t(highest_temperature / 100)); // deg, report max temperature
sbuf_write_u16(dst, uint16_t(telem.get_average_motor_rpm() * 0.1f)); // rpm, report average RPM across all motors
} else {
return AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(dst);
}
#endif
return MSP_RESULT_ACK;
}
#endif //HAL_MSP_ENABLED

1
libraries/AP_MSP/AP_MSP_Telem_DJI.h
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@ -57,6 +57,7 @@ public:
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;
enum : uint8_t {
DJI_FLAG_ARM = 0,

1
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -344,6 +344,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(vspeed, "VSPEED", 20, AP_OSD_Screen, AP_OSD_Setting),
#if HAL_WITH_ESC_TELEM
// @Param: BLHTEMP_EN
// @DisplayName: BLHTEMP_EN