/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* Abstract Telemetry library */ #include "AP_RCTelemetry.h" #include #include #include #include #include #ifdef TELEM_DEBUG # define debug(fmt, args...) hal.console->printf("Telem: " fmt "\n", ##args) #else # define debug(fmt, args...) do {} while(0) #endif extern const AP_HAL::HAL& hal; /* setup ready for passthrough telem */ bool AP_RCTelemetry::init(void) { #if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) // make telemetry available to GCS_MAVLINK (used to queue statustext messages from GCS_MAVLINK) // add firmware and frame info to message queue const char* _frame_string = gcs().frame_string(); if (_frame_string == nullptr) { queue_message(MAV_SEVERITY_INFO, AP::fwversion().fw_string); } else { char firmware_buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1]; snprintf(firmware_buf, sizeof(firmware_buf), "%s %s", AP::fwversion().fw_string, _frame_string); queue_message(MAV_SEVERITY_INFO, firmware_buf); } #endif setup_wfq_scheduler(); return true; } void AP_RCTelemetry::update_avg_packet_rate() { uint32_t poll_now = AP_HAL::millis(); _scheduler.avg_packet_counter++; if (poll_now - _scheduler.last_poll_timer > 1000) { //average in last 1000ms // initialize if (_scheduler.avg_packet_rate == 0) _scheduler.avg_packet_rate = _scheduler.avg_packet_counter; // moving average _scheduler.avg_packet_rate = (uint8_t)_scheduler.avg_packet_rate * 0.75f + _scheduler.avg_packet_counter * 0.25f; // reset _scheduler.last_poll_timer = poll_now; _scheduler.avg_packet_counter = 0; debug("avg packet rate %dHz, rates(Hz) %d %d %d %d %d %d %d %d", _scheduler.avg_packet_rate, _scheduler.packet_rate[0], _scheduler.packet_rate[1], _scheduler.packet_rate[2], _scheduler.packet_rate[3], _scheduler.packet_rate[4], _scheduler.packet_rate[5], _scheduler.packet_rate[6], _scheduler.packet_rate[7]); } } /* * WFQ scheduler */ void AP_RCTelemetry::run_wfq_scheduler(void) { update_avg_packet_rate(); uint32_t now = AP_HAL::millis(); uint8_t max_delay_idx = 0; float max_delay = 0; float delay = 0; bool packet_ready = false; // build message queue for sensor_status_flags check_sensor_status_flags(); // build message queue for ekf_status check_ekf_status(); // dynamic priorities bool queue_empty; { WITH_SEMAPHORE(_statustext.sem); queue_empty = !_statustext.available && _statustext.queue.empty(); } adjust_packet_weight(queue_empty); // search the packet with the longest delay after the scheduled time for (int i=0; i<_time_slots; i++) { // normalize packet delay relative to packet weight delay = (now - _scheduler.packet_timer[i])/static_cast(_scheduler.packet_weight[i]); // use >= so with equal delays we choose the packet with lowest priority // this is ensured by the packets being sorted by desc frequency // apply the rate limiter if (delay >= max_delay && ((now - _scheduler.packet_timer[i]) >= _scheduler.packet_min_period[i])) { packet_ready = is_packet_ready(i, queue_empty); if (packet_ready) { max_delay = delay; max_delay_idx = i; } } } now = AP_HAL::millis(); #ifdef TELEM_DEBUG _scheduler.packet_rate[max_delay_idx] = (_scheduler.packet_rate[max_delay_idx] + 1000 / (now - _scheduler.packet_timer[max_delay_idx])) / 2; #endif _scheduler.packet_timer[max_delay_idx] = now; //debug("process_packet(%d): %f", max_delay_idx, max_delay); // send packet process_packet(max_delay_idx); } /* * add message to message cue for transmission through link */ void AP_RCTelemetry::queue_message(MAV_SEVERITY severity, const char *text) { mavlink_statustext_t statustext{}; statustext.severity = severity; strncpy(statustext.text, text, sizeof(statustext.text)); // The force push will ensure comm links do not block other comm links forever if they fail. // If we push to a full buffer then we overwrite the oldest entry, effectively removing the // block but not until the buffer fills up. WITH_SEMAPHORE(_statustext.sem); _statustext.queue.push_force(statustext); } /* * add sensor_status_flags information to message cue, normally passed as sys_status mavlink messages to the GCS, for transmission through FrSky link */ void AP_RCTelemetry::check_sensor_status_flags(void) { uint32_t now = AP_HAL::millis(); const uint32_t _sensor_status_flags = sensor_status_flags(); if ((now - check_sensor_status_timer) >= 5000) { // prevent repeating any system_status messages unless 5 seconds have passed // only one error is reported at a time (in order of preference). Same setup and displayed messages as Mission Planner. if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_GPS) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad GPS Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_GYRO) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad Gyro Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_ACCEL) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad Accel Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_3D_MAG) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad Compass Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad Baro Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_LASER_POSITION) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad LiDAR Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad OptFlow Health"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_TERRAIN) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad or No Terrain Data"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_GEOFENCE) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Geofence Breach"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_AHRS) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad AHRS"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_SENSOR_RC_RECEIVER) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "No RC Receiver"); check_sensor_status_timer = now; } else if ((_sensor_status_flags & MAV_SYS_STATUS_LOGGING) > 0) { queue_message(MAV_SEVERITY_CRITICAL, "Bad Logging"); check_sensor_status_timer = now; } } } /* * add innovation variance information to message cue, normally passed as ekf_status_report mavlink messages to the GCS, for transmission through FrSky link */ void AP_RCTelemetry::check_ekf_status(void) { // get variances bool get_variance; float velVar, posVar, hgtVar, tasVar; Vector3f magVar; Vector2f offset; { AP_AHRS &_ahrs = AP::ahrs(); WITH_SEMAPHORE(_ahrs.get_semaphore()); get_variance = _ahrs.get_variances(velVar, posVar, hgtVar, magVar, tasVar, offset); } if (get_variance) { uint32_t now = AP_HAL::millis(); if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed // multiple errors can be reported at a time. Same setup as Mission Planner. if (velVar >= 1) { queue_message(MAV_SEVERITY_CRITICAL, "Error velocity variance"); check_ekf_status_timer = now; } if (posVar >= 1) { queue_message(MAV_SEVERITY_CRITICAL, "Error pos horiz variance"); check_ekf_status_timer = now; } if (hgtVar >= 1) { queue_message(MAV_SEVERITY_CRITICAL, "Error pos vert variance"); check_ekf_status_timer = now; } if (magVar.length() >= 1) { queue_message(MAV_SEVERITY_CRITICAL, "Error compass variance"); check_ekf_status_timer = now; } if (tasVar >= 1) { queue_message(MAV_SEVERITY_CRITICAL, "Error terrain alt variance"); check_ekf_status_timer = now; } } } } uint32_t AP_RCTelemetry::sensor_status_flags() const { uint32_t present; uint32_t enabled; uint32_t health; gcs().get_sensor_status_flags(present, enabled, health); return ~health & enabled & present; }