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164 Commits

Author SHA1 Message Date
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
Dr.-Ing. Amilcar do Carmo Lucas f61523b378 AP_Frsky_Telem: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker 9023e6eb7d AP_Frsky_Telem: use rangefinder singleton 2019-02-12 17:53:23 +00:00
Peter Barker 4776183554 AP_Frsky_Telem: use battery singleton 2019-02-12 17:53:23 +00:00
Peter Barker 53111129f2 AP_Frsky_Telem: use AHRS singleton 2019-02-12 17:53:23 +00:00
Peter Barker db4b1aa7aa AP_Frsky_Telem: use serialmanager singleton 2019-02-12 17:53:23 +00:00
Peter Barker 38a649033f AP_Frsky_Telem: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Peter Barker 902bd7dda6 AP_Frsky_Telem: use mavlink definition to get statustext size 
Also, add one for null-termination
 2018-10-16 10:11:28 +11:00
Jochen Anglett 1c60417d03 AP_Frsky_Telem: add IMU temperature reporting 2018-10-02 12:02:04 +01:00
Peter Barker 4168bd709c AP_Frsky_Telem: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Michael du Breuil 3f581d0479 AP_Frsky_Telem: Remove unneeded battery failsafe parameters 2018-03-27 22:12:21 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 7d8aeefee4 AP_Frsky_Telem: NFC adapt to new AP_Battery method name 2018-03-03 17:18:54 +00:00
night-ghost 739c873991 AP_Frsky_Telem: fixed build warnings 2018-02-10 09:14:41 +11:00
Peter Barker aea460df2c AP_FrSky: use GPS singleton 2017-12-27 00:58:02 +00:00
Andrew Tridgell c618a27ee0 AP_Frsky_Telem: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Florent Martel fee79afb8e AP_Frsky_Telem: add second battery info 2017-10-27 02:00:29 -07:00
Florent Martel 5d9299d72f AP_Frsky_Telem: add second battery capacity parameter 2017-10-27 02:00:29 -07:00
Lucas De Marchi 8b5d799885 AP_Frsky_Telem: add static create method 2017-09-26 03:01:21 +01:00
Florent Martel 949aa4d9ca AP_Frsky_Telem: replace VDOP with extra GPS status bits 
This removes VDOP (not really that useful) and replaces two of those
bits with GPS status info that now allows to differentiate between 3D
fix, DGPS, RTK Float, and RTK Fixed. This is written to maximize
backwards compatibility (by not shifting any other bits of the
gps_status variable)
 2017-04-19 17:43:17 +01:00
Francisco Ferreira c0238be345
AP_FrSky_Telem: fix sending messages 3 times 
Initialize variable
Also some small style changes
 2017-03-22 01:23:26 +00:00
Florent Martel 02c0885cfd AP_Frsky_Telem: fixes #5862 
MAVLink strings of exactly 50 characters are not NULL terminated, so
instead we must check that the 50th character has been reached.
 2017-03-22 01:22:14 +00:00
Randy Mackay 65c8f87b17 AP_Frsky_Telem: only use downward facing rangefinder 2017-02-27 15:18:12 +09:00
Peter Barker 89afa913f1 AP_Frsky_Telem: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Florent Martel abc2cdb61b AP_FrSky_Telem: fixed sign of vertical velocity (+ve up) 2016-12-04 15:05:16 -08:00
floaledm 60c59bea4d AP_Frsky_Telem: make frsky_telemetry available to GCS_MAVLINK 2016-11-08 07:42:39 +11:00
Florent Martel 530955c15f AP_Frsky_Telem: remove arming check for transmitting params 
Otherwise, on Plane, if ARMING REQUIRED is set to 0 (automatically
armed), no parameters are transmitted.
 2016-11-04 23:11:00 -07:00
Florent Martel 5a96db5a44 AP_Frsky_Telem: replaced timer cond > with >= 2016-11-04 12:17:40 -07:00
Florent Martel e43b2a73da AP_Frsky_Telem: increase sending params priority 
If there's a lot of messages in the queue, params would not be
transmitted for a while, until the queue is empty, which can take a bit
of time during init.
 2016-11-04 12:17:40 -07:00
Florent Martel 75905be376 AP_Frsky_Telem: simplified set_is_flying and moved to header file 2016-11-04 12:00:02 -07:00
Florent Martel bc4ab70c1c AP_Frsky_Telem: added const to some declarations 2016-11-04 11:18:28 -07:00
floaledm 68b10979c3 AP_Frsky_Telem: added extra parentheses around pointed to values for readability 
As suggested by tridge
 2016-11-04 11:18:28 -07:00
Florent Martel 328e6d6886 AP_Frsky_Telem: removed sending redundant VSpd, Alt, and VFAS sensor values, which can now be handled by OpenTX 2016-11-04 11:10:09 -07:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
floaledm 5386edb791 AP_Frsky_Telem: fix setting of land_complete flag 
When is_flying is true, land_complete should be set to 0, and
conversely.
 2016-11-02 10:26:50 +11:00
floaledm 1aab5eec38 AP_Frsky_Telem: send ap_status only once initialized 
Same as what is found in GCS_MAVLink.cpp for copter
 2016-11-02 08:31:35 +11:00
floaledm 7045013933 AP_Frsky_Telem: use airspeed value w/o constraints of ground speed and AHRS_WIND_MAX 2016-10-27 11:11:38 -03:00
floaledm 6869dace08 AP_Frsky_Telem: moved msg queueing of fw string 2016-10-26 09:49:30 -07:00
floaledm 56432f04d3 AP_Frsky_Telem: fixed airspeed; now same as VFR_HUD 2016-10-26 09:36:22 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Peter Barker 6ccf36439d AP_Frsky_Telem: actually set _ap.value flags based in is_flying 
Closes #5017
 2016-10-18 22:17:07 -07:00
floaledm 49e47fd679 AP_Frsky_Telem: airspeed scaling factor fix 2016-10-10 15:29:49 -07:00
floaledm 602b81a4d7 AP_Frsky_Telem: add ekf_status check 2016-09-27 09:20:32 -07:00
Tom Pittenger 99d48d8bbd AP_FrSky_Telem: cleanup, non-functional change 2016-09-26 13:12:42 -07:00
floaledm fcfaa98bb6 AP_Frsky_Telem: reworked _statustext_queue.empty() check 2016-09-26 13:07:18 -07:00
Tom Pittenger 8001cc403b AP_Frsky_Telem: fix is_flying assignment 2016-09-26 13:00:33 -07:00
floaledm 5e022bf631 AP_Frsky_Telem: fix *_ap.value issue for Plane 
set_is_flying does operations on a nullptr, plus we loose the ability to
update ap_status accordingly for Plane
 2016-09-26 12:35:47 -05:00
floaledm ff0d0b1aa5 AP_Frsky_Telem: use ringbuffer for Frsky message queueing 2016-09-25 18:11:45 -07:00
Tom Pittenger b3d5375aa0 AP_Frsky_Telem: simplify init by assuming everything is nullptr 
- also always queue the firmware message regardless of protocol type
 2016-09-25 10:42:02 -07:00
Tom Pittenger 6991ca53b3 AP_Frsky_Telem: allow default arguments in init() to set things to nullptr 2016-09-25 10:42:02 -07:00
floaledm 94aa6c4cfb AP_Frsky_Telem: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
Tom Pittenger 8eb7a062c7 AP_Frsky_Telem: tiny text change in statusText 2016-09-21 16:11:04 -07:00
floaledm 9e0cfc81ea AP_Frsky_Telem: updated sensor_status messages according to what is found in Mission Planner 
added "NO RC Receiver" and "Bad Logging"
 2016-09-21 15:51:04 -07:00
floaledm 5125846ac0 AP_Frsky_Telem: Plane support 2016-09-21 12:12:37 -07:00
floaledm b2b6c88edf AP_Frsky_Telem: renamed vars and funcs for consistency/clarity 2016-09-21 11:32:21 -07:00
floaledm 4d03be94cf AP_Frsky_Telem: removed reliance on home_distance and home_bearing which are only in copter 2016-09-06 11:42:32 +10:00
floaledm 33bd359463 AP_Frsky_Telem: LANDCOMPLETE switched to to ISFLYING flag 2016-09-06 11:23:29 +10:00
floaledm 4dc98faa48 AP_Frsky_Telem: transmit airspeed instead of groundspeed, if available 2016-09-06 11:15:11 +10:00
floaledm 8deba69715 AP_Frsky_Telem: added 1 to control_mode passed on Frsky link 2016-09-06 11:14:48 +10:00
floaledm 4f8cea6844 AP_Frsky_Telem: simplified constructor 2016-09-06 11:14:48 +10:00
Andrew Tridgell acbeb29fbe AP_Frsky_Telem: use const references where possible 
save some stack space
 2016-09-02 11:12:18 +10:00
Andrew Tridgell a4ca4dbd9e AP_FrSky_Telem: use a constant string for firmware version 2016-08-25 11:00:17 +10:00
Andrew Tridgell 62388fc991 AP_FrSky_Telem: use constant strings in message queueing 2016-08-25 10:29:57 +10:00
Andrew Tridgell 183283ba07 AP_FrSky_Telem: make _msg non-static 
there are no calls to this from outside the library. If we do add some
then we can change the API as needed
 2016-08-25 10:23:03 +10:00
floaledm 2f54e67996 AP_FrSky_Telem: fixed sending last message chunk 
Was sent only once, now sent 3 times (as planned)
 2016-08-25 10:16:20 +10:00
Andrew Tridgell 185ef73684 AP_Frsky_Telem: fixed usage of sensor error bits 
using these asyncronously via pointers is error prone as the updates
to these masks is not atomic relative to the IO callback in
AP_Frsky_Telem
 2016-08-25 10:16:19 +10:00
Andrew Tridgell f4d59d720a AP_FrSky_Telem: removed use of pointer to control_mode 
it is an enum, and it is invalid to take a pointer to an enum as a
uint8_t*
 2016-08-25 10:16:19 +10:00
Andrew Tridgell ab77fdfa02 AP_FrSky_Telem: removed dependency on inertialnav 
the AP_InertialNav library is deprecated in favor of AP_AHRS. We
should not introduce a new dependency on it
 2016-08-25 10:16:19 +10:00
floaledm b71e0d73b9 AP_FrSky_Telem: added SPort passthrough protocol 2016-08-25 10:16:19 +10:00
floaledm a9b01b470c AP_FrSky_Telem: cosmetic changes 2016-08-25 10:16:17 +10:00
floaledm de2a7013b4 AP_FrSky: simplified lib rework 2016-08-25 10:16:17 +10:00
Ricardo de Almeida Gonzaga 08a022fa6a AP_Frsky_Telem: Fix typos 2016-05-13 19:20:05 -03:00
Randy Mackay ea3c44f9fa AP_Frsky_Telem: remove unnecessary abs 
resolves a compiler warning
 2016-04-23 23:06:22 -07:00
Lucas De Marchi 761ed7ae03 AP_Frsky_Telem: replace header guard with pragma once 2016-03-16 18:40:40 +11:00