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AP_Frsky_Telem: upgraded SERIAL_PROTOCOL 4 telemetry to 2 bytes data IDs

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This upgrades standard SPort telemetry from older 1byte IDs to newer 2bytes IDs.

Older 1 byte data IDs are not supported by the FRSky ETHOS ecosystem so this
migration is required to allow ArduPilot to seamlessly work with ETHOS.
This migration requires users to do a new sensor discovery in OpenTX.
This commit is contained in:
yaapu 2021-05-31 09:32:14 +02:00 committed by Andrew Tridgell
parent a5e1a45e7a
commit 870c280946
2 changed files with 26 additions and 23 deletions
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16
libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
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@ -102,16 +102,28 @@ protected:
static const uint8_t DATA_ID_GPS_LONG_EW = 0x22;
static const uint8_t DATA_ID_GPS_LAT_NS = 0x23;
static const uint8_t DATA_ID_CURRENT = 0x28;
static const uint8_t DATA_ID_VARIO = 0x30;
static const uint8_t DATA_ID_VFAS = 0x39;
static const uint8_t START_STOP_D = 0x5E;
static const uint8_t BYTESTUFF_D = 0x5D;
// FrSky data IDs;
/*
for FrSky X protocol (X-receivers)
*/
// FrSky 2 bytes DATA IDs;
static const uint16_t ALT_ID = 0x010F;
static const uint16_t VARIO_ID = 0x011F;
static const uint16_t CURR_ID = 0x020F;
static const uint16_t VFAS_ID = 0x021F;
static const uint16_t TEMP1_ID = 0x040F;
static const uint16_t TEMP2_ID = 0x041F;
static const uint16_t RPM1_ID = 0x050E;
static const uint16_t RPM2_ID = 0x050F;
static const uint16_t FUEL_ID = 0x060F;
static const uint16_t GPS_LONG_LATI_FIRST_ID = 0x0800;
static const uint16_t GPS_ALT_ID = 0x082F;
static const uint16_t GPS_SPEED_ID = 0x083F;
static const uint16_t GPS_COURS_ID = 0x084F;
static const uint16_t DIY_FIRST_ID = 0x5000;
static const uint8_t FRAME_HEAD = 0x7E;

33
libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
View File

@ -52,34 +52,31 @@ void AP_Frsky_SPort::send(void)
case SENSOR_ID_VARIO: // Sensor ID 0
switch (_SPort.vario_call) {
case 0:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_BARO_ALT_BP, _SPort_data.alt_nav_meters); // send altitude integer part
send_sport_frame(SPORT_DATA_FRAME, ALT_ID, _SPort_data.alt_nav_meters*100 + _SPort_data.alt_nav_cm); // send altitude in cm
break;
case 1:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_BARO_ALT_AP, _SPort_data.alt_nav_cm); // send altitude decimal part
break;
case 2:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_VARIO, _SPort_data.vario_vspd); // send vspeed m/s
send_sport_frame(SPORT_DATA_FRAME, VARIO_ID, _SPort_data.vario_vspd); // send vspeed cm/s
_SPort.vario_refresh = true;
break;
}
if (++_SPort.vario_call > 2) {
if (++_SPort.vario_call > 1) {
_SPort.vario_call = 0;
}
break;
case SENSOR_ID_FAS: // Sensor ID 2
switch (_SPort.fas_call) {
case 0:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_FUEL, (uint16_t)roundf(_battery.capacity_remaining_pct())); // send battery remaining
send_sport_frame(SPORT_DATA_FRAME, FUEL_ID, (uint16_t)roundf(_battery.capacity_remaining_pct())); // send battery remaining as %
break;
case 1:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_VFAS, (uint16_t)roundf(_battery.voltage() * 10.0f)); // send battery voltage
send_sport_frame(SPORT_DATA_FRAME, VFAS_ID, (uint16_t)roundf(_battery.voltage() * 100.0f)); // send battery voltage in cV
break;
case 2: {
float current;
if (!_battery.current_amps(current)) {
current = 0;
}
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_CURRENT, (uint16_t)roundf(current * 10.0f)); // send current consumption
send_sport_frame(SPORT_DATA_FRAME, CURR_ID, (uint16_t)roundf(current * 10.0f)); // send current consumption in dA
break;
}
break;
@ -97,23 +94,17 @@ void AP_Frsky_SPort::send(void)
send_sport_frame(SPORT_DATA_FRAME, GPS_LONG_LATI_FIRST_ID, calc_gps_latlng(_passthrough.send_latitude)); // gps latitude or longitude
break;
case 2:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_GPS_SPEED_BP, _SPort_data.speed_in_meter); // send gps speed integer part
send_sport_frame(SPORT_DATA_FRAME, GPS_SPEED_ID, _SPort_data.speed_in_meter*1000 + _SPort_data.speed_in_centimeter*10); // send gps speed in mm/sec
break;
case 3:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_GPS_SPEED_AP, _SPort_data.speed_in_centimeter); // send gps speed decimal part
send_sport_frame(SPORT_DATA_FRAME, GPS_ALT_ID, _SPort_data.alt_gps_meters*100+_SPort_data.alt_gps_cm); // send gps altitude in cm
break;
case 4:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_GPS_ALT_BP, _SPort_data.alt_gps_meters); // send gps altitude integer part
break;
case 5:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_GPS_ALT_AP, _SPort_data.alt_gps_cm); // send gps altitude decimals
break;
case 6:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_GPS_COURS_BP, _SPort_data.yaw); // send heading in degree based on AHRS and not GPS
send_sport_frame(SPORT_DATA_FRAME, GPS_COURS_ID, _SPort_data.yaw*100); // send heading in cd based on AHRS and not GPS
_SPort.gps_refresh = true;
break;
}
if (++_SPort.gps_call > 6) {
if (++_SPort.gps_call > 4) {
_SPort.gps_call = 0;
}
break;
@ -141,10 +132,10 @@ void AP_Frsky_SPort::send(void)
case SENSOR_ID_SP2UR: // Sensor ID 6
switch (_SPort.various_call) {
case 0 :
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_TEMP2, (uint16_t)(AP::gps().num_sats() * 10 + AP::gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
send_sport_frame(SPORT_DATA_FRAME, TEMP2_ID, (uint16_t)(AP::gps().num_sats() * 10 + AP::gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
break;
case 1:
send_sport_frame(SPORT_DATA_FRAME, DATA_ID_TEMP1, gcs().custom_mode()); // send flight mode
send_sport_frame(SPORT_DATA_FRAME, TEMP1_ID, gcs().custom_mode()); // send flight mode
break;
}
if (++_SPort.various_call > 1) {