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AP_Frsky_Telem: added fence status data to frame 0x5001

This commit is contained in:
yaapu 2021-05-05 12:21:44 +02:00 committed by Andrew Tridgell
parent 1700ab814e
commit e1f97becab
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -9,6 +9,7 @@
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RPM/AP_RPM.h> #include <AP_RPM/AP_RPM.h>
#include <AP_Terrain/AP_Terrain.h> #include <AP_Terrain/AP_Terrain.h>
#include <AC_Fence/AC_Fence.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
@ -43,6 +44,8 @@ for FrSky SPort Passthrough
#define AP_ARMED_OFFSET 8 #define AP_ARMED_OFFSET 8
#define AP_BATT_FS_OFFSET 9 #define AP_BATT_FS_OFFSET 9
#define AP_EKF_FS_OFFSET 10 #define AP_EKF_FS_OFFSET 10
#define AP_FENCE_PRESENT_OFFSET 13
#define AP_FENCE_BREACH_OFFSET 14
#define AP_IMU_TEMP_MIN 19.0f #define AP_IMU_TEMP_MIN 19.0f
#define AP_IMU_TEMP_MAX 82.0f #define AP_IMU_TEMP_MAX 82.0f
#define AP_IMU_TEMP_OFFSET 26 #define AP_IMU_TEMP_OFFSET 26
@ -521,6 +524,12 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_ap_status(void)
ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery)<<AP_BATT_FS_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery)<<AP_BATT_FS_OFFSET;
// bad ekf flag // bad ekf flag
ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET;
// fence status
AC_Fence *fence = AP::fence();
if (fence != nullptr) {
ap_status |= (uint8_t)(fence->enabled() && fence->present()) << AP_FENCE_PRESENT_OFFSET;
ap_status |= (uint8_t)(fence->get_breaches()>0) << AP_FENCE_BREACH_OFFSET;
}
// IMU temperature // IMU temperature
ap_status |= imu_temp << AP_IMU_TEMP_OFFSET; ap_status |= imu_temp << AP_IMU_TEMP_OFFSET;
return ap_status; return ap_status;