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136 Commits

Author SHA1 Message Date
yaapu b62c2d9518 AP_Frsky_Telem: added new capabilities param to frame 0x5007 2021-03-19 22:35:16 +11:00
yaapu 592fba7416 AP_Frsky_Telem: frame 0x5007 refactoring 2021-03-19 22:35:16 +11:00
yaapu 45f7cb0c82 AP_Frsky_Telem: added passthrough frame 0x500B for height above terrain 2021-03-18 21:43:48 +11:00
Peter Barker 4d2cf8c95b AP_Frsky_SPort: correct handling of RPM sensor data 
Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
 2021-03-02 15:41:44 +11:00
Peter Barker c059338386 AP_Frsky_Telem: use location from AHRS not GPS 
The AHRS may be able to supply information even in the absense of an
actual GPS unit.
 2021-03-02 15:41:44 +11:00
Patrick José Pereira aa55578008 AP_Frsky_Telem: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
yaapu d5868e3c7d AP_Frsky_Telem: added telemetry support for RPM sensors 1 and 2 for SPort, FPort/FPort2 and passthrough over crossfire 2021-02-03 12:49:38 +11:00
yaapu 24382e25fc AP_Frsky_Telem: added support for sending frsky telemetry data from scripting 2021-01-29 09:55:22 +11:00
yaapu 6b26a64f77 AP_Frsky_Telem: added support for passthrough telemetry over crossfire 2021-01-20 18:06:24 +11:00
yaapu e044cdfde7 AP_Frsky_Telem: fix for conditional compilation of bidir support 2020-12-09 19:19:06 +11:00
Andrew Tridgell 12acc0724e AP_Frsky_Telem: implement BRD_OPTIONS bit for setting of internal parameters 2020-12-08 13:22:17 +11:00
Peter Barker ee43663c7a AP_Frsky_Telem: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker 9aec1e48af AP_Frsky_Telem: tidy mavlite message handling 
Including calling into reboot-vehicle rather than the hal reboot method.
 2020-10-27 10:17:53 +11:00
Peter Barker e0f8e003ec AP_Frsky_Telem: move mavlite message handling to own object 2020-10-27 10:17:53 +11:00
Peter Barker b4e12da2c8 AP_Frsky_Telem: rework SPort-to-MAVlite conversion 
Breaks the single object into three distinct parts objects, and hidesas
much information from the other parts as possible.
 2020-10-27 10:17:53 +11:00
yaapu 988af83fce AP_Frsky_Telem: added support for frsky sport/fport bidirectional telemetry 2020-10-27 10:17:53 +11:00
yaapu a4297bcdd7 AP_Frsky_SPort: reduce acceptable response delay to 6500us 2020-10-27 10:17:53 +11:00
yaapu 33f19eec27 AP_Frsky_Telem: tidy parsers and splitting of statustexts 2020-10-27 10:17:53 +11:00
yaapu 6abf4ec2b5 AP_Frsky_Telem: tidy creation of frsky data 2020-10-27 10:17:53 +11:00
Peter Barker 6cbb553adc AP_Frsky_Telem: reformat new filed using astyle.sh; no history to lose 2020-09-30 23:14:40 +10:00
Peter Barker 9c211d9847 AP_Frsky_Telem: move #defines to be static const members of AP_Frsky_Backend 2020-09-30 23:14:40 +10:00
Peter Barker 0bb7a31850 AP_Frsky_Telem: move all method implementations into correct files 2020-09-30 23:14:40 +10:00
Peter Barker 05d7950261 AP_Frsky_Telem: frontend/backend split 2020-09-30 23:14:40 +10:00
yaapu 683df64d86 AP_Frsky_Telem: fix frsky serial 10 parameters 
param rotation now is frame_type, battery_1, battery_2 (only if present)
 2020-07-20 20:36:34 +10:00
yaapu 13592cef91 AP_Frsky_Telem: removed time constraint to allow SITL regression testing 2020-05-26 10:02:12 +10:00
yaapu 6303c700d4 AP_Frsky_Telem: prevent SPort frame fragmentation by writing whole 8byte frames vs writing single bytes 
general scheduler delays could introduce small delays when writing SPort frames to the uart one byte
at the time potentially leading to rx desyncs on the SPort bus.
This fix replaces single byte writes with full frame writes.

The library has around 10ms to repond to polling so to guarantee frame integrity responses taking
longer than 7500us are discarded
 2020-05-26 10:02:12 +10:00
Andy Piper 44e5171f2b AP_Frsky_Telem: refactor common code into AP_RCTelemetry 
refactor naming
when using external data AP_Frsky_Telem::init() has to call AP_RCTelemetry::init() and exit.
No need to initialize serial ports
 2020-05-05 09:23:15 +10:00
yaapu fed8ecc3b0 AP_Frsky_Telem: fix for protocol=4 GAlt=0 and GSPd=0 
This fixes protocol 4 GPS altitude and speed error, both were reported as constant 0
for cal_gps_position() was never called
 2020-03-31 13:09:35 +11:00
yaapu 0c5618c9e7 AP_Frsky_Telem: add semaphores to ahrs access and fix potential array out of bounds access 
use a semaphore for non atomic ahrs calls and fix a potential array out of bounds
access for faster than sport telemetry links.
 2020-02-21 07:54:59 +11:00
yaapu b606c0df64 AP_Frsky_Telem: added VSpd to telemetry protocol 4 
The Frsky vario "virtual" sensor was reporting altitude but not vertical speed.
This patch adds VSpd as a new sensor when protocol 4 is selected.
GPS frsky sensor is migrated to 2 byte sensor ID and needs rediscovery if using the previous 1 byte version
 2020-02-09 20:52:58 +11:00
yaapu e9e02542f1 AP_Frsky_Telem: fix for missing WFQ scheduler initialization 
this fixes a missing WFQ scheduler initialization and sets a rate limiter on
status text messages to prevent text corruption
 2020-01-11 07:52:09 +11:00
Andrew Tridgell 3556f33051 AP_Frsky_Telem: fixed a race condition with statustext handling 
this fixes an issue that can cause a hardfault. See this bug report:

https://discuss.ardupilot.org/t/hexa-crash-after-watchdog-reset/50917

ObjectArray is not thread safe
 2020-01-10 19:43:36 +11:00
Andrew Tridgell 9579e64a03 AP_Frsky_Telem: make get_telem_data() static 
auto-create the object when it is needed for FPort
 2020-01-02 09:52:57 +11:00
Andrew Tridgell 49f81fbd18 AP_FrSky_Telem: allow for external library to send SPort data 
this provides the API needed for AP_RCProtocol_FPort to send
passthrough data over FPORT
 2020-01-02 09:52:57 +11:00
yaapu dddfaa256f Ap_Frsky_Telem: replaced the passthrough scheduler with a WFQ one. 
This replaces the default scheduler with a WFQ one
 2019-10-29 10:27:17 +11:00
Andrew Tridgell 7afd51d03e AP_Frsky_Telem: move FrSky handling to it's own thread 
we are getting timing issues sharing with the other users of the IO
thread. The FrSky protocols are quite timing sensitive, so this should
help
 2019-09-05 10:50:17 +10:00
Michael du Breuil ea82d6ea4c AP_FrSkyTelem: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Michael du Breuil 67898d7320 AP_FrSky_Telem: Don't statically allocate the statustext_queue 
This saves 280 bytes of RAM
 2019-06-26 11:59:41 +10:00
Michael du Breuil 59e62ca2fc AP_FrSky_Telem: Make init return false if we failed to init 2019-06-26 11:59:41 +10:00
Michael du Breuil 889d9b7348 AP_Frsky: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Pierre Kancir 1abe8c04f2 AP_Frsky_Telem: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil 64c9705679 AP_Frsky_Telem: Improve includes 2019-04-05 20:12:53 +11:00
yaapu efdad1fca7 AP_Frsky_Telem: fix for passthrough telemetry stall while sending message chunks 
This prevents the library from giving message chunks a too high priority leading to
all telemetry packets but 0x5006(attitude) to starve.
 2019-03-26 13:01:59 +11:00
yaapu aca1651488 AP_Frsky_Telem: fix ap_status_timer handling 
method should return only after ap_status_timer has elapsed and vehicle is initialized
otherwise we waste a chance to send a packet
 2019-03-24 09:56:37 +11:00
Luis Vale Gonçalves 70c1414026 FrSky: Adjusted offsets 
Following up on @yaapu comment https://github.com/ArduPilot/ardupilot/pull/10499#issuecomment-474625077
 2019-03-22 09:49:01 +11:00
Peter Barker 1efc08b54e AP_FrSky_Telem: eliminate use of Copter's _ap data 2019-03-19 14:39:14 +11:00
Peter Barker 0194cd69a1 AP_Frsky_Telem: take is_flying from AP_Notify 2019-03-19 14:39:14 +11:00
Peter Barker 680008ba4f AP_Frsky_Telem: use gcs() to get frame string 2019-03-19 14:39:14 +11:00
Peter Barker e5818308b9 AP_Frsky_Telem: move FRsky telemetry up into common GCS telemetry class 2019-03-19 14:39:14 +11:00
Michael du Breuil fcb54c2d68 AP_Frsky_Telem: Enforce the use of 0 when velocity_NED is not available 2019-03-19 11:42:54 +11:00