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AP_Frsky_Telem: added a parameter to set the default FRSky sensor ID for passthrough telemetry

This commit is contained in:
yaapu 2021-05-05 10:39:05 +02:00 committed by Peter Barker
parent 847ce3b311
commit c615706971
5 changed files with 15 additions and 4 deletions
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1
libraries/AP_Frsky_Telem/AP_Frsky_Backend.h
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@ -138,7 +138,6 @@ protected:
static const uint8_t SENSOR_ID_GPS = 0x83; // Sensor ID 3
static const uint8_t SENSOR_ID_RPM = 0xE4; // Sensor ID 4
static const uint8_t SENSOR_ID_SP2UR = 0xC6; // Sensor ID 6
static const uint8_t SENSOR_ID_27 = 0x1B; // Sensor ID 27
private:

6
libraries/AP_Frsky_Telem/AP_Frsky_Parameters.cpp
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@ -38,6 +38,12 @@ const AP_Param::GroupInfo AP_Frsky_Parameters::var_info[] = {
// @User: Advanced
AP_GROUPINFO("DNLINK2_ID", 3, AP_Frsky_Parameters, _dnlink2_id, 7),
// @Param: DNLINK_ID
// @DisplayName: Default downlink sensor id
// @Description: Change the default downlink sensor id (SPort only)
// @Values: -1:Disable,7:7,8:8,9:9,10:10,11:11,12:12,13:13,14:14,15:15,16:16,17:17,18:18,19:19,20:20,21:21,22:22,23:23,24:24,25:25,26:26,27:27
// @User: Advanced
AP_GROUPINFO("DNLINK_ID", 4, AP_Frsky_Parameters, _dnlink_id, 27),
AP_GROUPEND
};

1
libraries/AP_Frsky_Telem/AP_Frsky_Parameters.h
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@ -34,6 +34,7 @@ public:
private:
// settable parameters
AP_Int8 _uplink_id;
AP_Int8 _dnlink_id;
AP_Int8 _dnlink1_id;
AP_Int8 _dnlink2_id;
};

9
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -121,6 +121,9 @@ void AP_Frsky_SPort_Passthrough::setup_wfq_scheduler(void)
set_scheduler_entry(RPM, 300, 330); // 0x500A rpm sensors 1 and 2
set_scheduler_entry(TERRAIN, 700, 500); // 0x500B terrain data
set_scheduler_entry(UDATA, 5000, 200); // user data
// initialize default sport sensor ID
set_sensor_id(_frsky_parameters->_dnlink_id, downlink_sensor_id);
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
set_scheduler_entry(MAV, 35, 25); // mavlite
// initialize sport sensor IDs
@ -189,8 +192,8 @@ bool AP_Frsky_SPort_Passthrough::is_packet_ready(uint8_t idx, bool queue_empty)
break;
case GPS_LAT:
case GPS_LON:
// force gps coords to use sensor 0x1B, always send when used with external data
packet_ready = _use_external_data || (_passthrough.new_byte == SENSOR_ID_27);
// force gps coords to use default sensor ID, always send when used with external data
packet_ready = _use_external_data || (_passthrough.new_byte == downlink_sensor_id);
break;
case AP_STATUS:
packet_ready = gcs().vehicle_initialised();
@ -502,7 +505,7 @@ bool AP_Frsky_SPort_Passthrough::is_passthrough_byte(const uint8_t byte) const
return true;
}
#endif
return byte == SENSOR_ID_27;
return byte == downlink_sensor_id;
}
/*

2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.h
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@ -124,6 +124,8 @@ private:
uint8_t char_index; // index of which character to get in the message
} _msg_chunk;
// passthrough default sensor id
uint8_t downlink_sensor_id = 0x1B;
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
// bidirectional sport telemetry