Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Frsky_Telem: added new capabilities param to frame 0x5007

This commit is contained in:
yaapu 2021-03-13 09:52:50 +01:00 committed by Peter Barker
parent 592fba7416
commit b62c2d9518
2 changed files with 16 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -418,10 +418,19 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_param(void)
break;
case BATT_CAPACITY_1:
param_value = (uint32_t)roundf(AP::battery().pack_capacity_mah(0)); // battery pack capacity in mAh
_paramID = AP::battery().num_instances() > 1 ? BATT_CAPACITY_2 : FRAME_TYPE;
_paramID = AP::battery().num_instances() > 1 ? BATT_CAPACITY_2 : TELEMETRY_FEATURES;
break;
case BATT_CAPACITY_2:
param_value = (uint32_t)roundf(AP::battery().pack_capacity_mah(1)); // battery pack capacity in mAh
_paramID = TELEMETRY_FEATURES;
break;
case TELEMETRY_FEATURES:
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
BIT_SET(param_value,PassthroughFeatures::BIDIR);
#endif
#ifdef ENABLE_SCRIPTING
BIT_SET(param_value,PassthroughFeatures::SCRIPTING);
#endif
_paramID = FRAME_TYPE;
break;
}

6
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.h
View File

@ -91,6 +91,12 @@ private:
BATT_FS_CAPACITY = 3,
BATT_CAPACITY_1 = 4,
BATT_CAPACITY_2 = 5,
TELEMETRY_FEATURES = 6
};
enum PassthroughFeatures : uint8_t {
BIDIR = 0,
SCRIPTING = 1,
};
// methods to convert flight controller data to FrSky SPort Passthrough (OpenTX) format