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ardupilot/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

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/*
Inspired by work done here
https://github.com/PX4/Firmware/tree/master/src/drivers/frsky_telemetry from Stefan Rado <px4@sradonia.net>
https://github.com/opentx/opentx/tree/2.3/radio/src/telemetry from the OpenTX team
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 <http://www.gnu.org/licenses/>.
*/
/*
FRSKY Telemetry library
*/
#include "AP_Frsky_Telem.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Common/AP_FWVersion.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Common/Location.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <stdio.h>
#include <math.h>
extern const AP_HAL::HAL& hal;
AP_Frsky_Telem *AP_Frsky_Telem::singleton;
AP_Frsky_Telem::AP_Frsky_Telem(bool _external_data) :
use_external_data(_external_data)
{
singleton = this;
}
AP_Frsky_Telem::~AP_Frsky_Telem(void)
{
singleton = nullptr;
}
/*
setup ready for passthrough telem
*/
void AP_Frsky_Telem::setup_passthrough(void)
{
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
// make frsky_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
// initialize packet weights for the WFQ scheduler
// priority[i] = 1/_passthrough.packet_weight[i]
// rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
_passthrough.packet_weight[0] = 35; // 0x5000 status text (dynamic)
_passthrough.packet_weight[1] = 50; // 0x5006 Attitude and range (dynamic)
_passthrough.packet_weight[2] = 550; // 0x800 GPS lat (600 with 1 sensor)
_passthrough.packet_weight[3] = 550; // 0x800 GPS lon (600 with 1 sensor)
_passthrough.packet_weight[4] = 400; // 0x5005 Vel and Yaw
_passthrough.packet_weight[5] = 700; // 0x5001 AP status
_passthrough.packet_weight[6] = 700; // 0x5002 GPS Status
_passthrough.packet_weight[7] = 400; // 0x5004 Home
_passthrough.packet_weight[8] = 1300; // 0x5008 Battery 2 status
_passthrough.packet_weight[9] = 1300; // 0x5003 Battery 1 status
_passthrough.packet_weight[10] = 1700; // 0x5007 parameters
}
/*
* init - perform required initialisation
*/
bool AP_Frsky_Telem::init()
{
const AP_SerialManager &serial_manager = AP::serialmanager();
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
setup_passthrough();
}
if (_port != nullptr) {
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::loop, void),
"FrSky",
1024, AP_HAL::Scheduler::PRIORITY_RCIN, 1)) {
return false;
}
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
return true;
}
return false;
}
void AP_Frsky_Telem::update_avg_packet_rate()
{
uint32_t poll_now = AP_HAL::millis();
_passthrough.avg_packet_counter++;
if (poll_now - _passthrough.last_poll_timer > 1000) { //average in last 1000ms
// initialize
if (_passthrough.avg_packet_rate == 0) _passthrough.avg_packet_rate = _passthrough.avg_packet_counter;
// moving average
_passthrough.avg_packet_rate = (uint8_t)_passthrough.avg_packet_rate * 0.75 + _passthrough.avg_packet_counter * 0.25;
// reset
_passthrough.last_poll_timer = poll_now;
_passthrough.avg_packet_counter = 0;
}
}
/*
* WFQ scheduler
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::passthrough_wfq_adaptive_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();
}
if (!queue_empty) {
_passthrough.packet_weight[0] = 45; // messages
_passthrough.packet_weight[1] = 80; // attitude
} else {
_passthrough.packet_weight[0] = 5000; // messages
_passthrough.packet_weight[1] = 45; // attitude
}
// search the packet with the longest delay after the scheduled time
for (int i=0;i<TIME_SLOT_MAX;i++) {
//normalize packet delay relative to packet weight
delay = (now - _passthrough.packet_timer[i])/static_cast<float>(_passthrough.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 - _passthrough.packet_timer[i]) >= _sport_config.packet_min_period[i])) {
switch (i) {
case 0:
packet_ready = !queue_empty;
break;
case 5:
packet_ready = gcs().vehicle_initialised();
break;
case 8:
packet_ready = AP::battery().num_instances() > 1;
break;
default:
packet_ready = true;
break;
}
if (packet_ready) {
max_delay = delay;
max_delay_idx = i;
}
}
}
_passthrough.packet_timer[max_delay_idx] = AP_HAL::millis();
// send packet
switch (max_delay_idx) {
case 0: // 0x5000 status text
if (get_next_msg_chunk()) {
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID, _msg_chunk.chunk);
}
break;
case 1: // 0x5006 Attitude and range
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+6, calc_attiandrng());
break;
case 2: // 0x800 GPS lat
// sample both lat and lon at the same time
send_uint32(SPORT_DATA_FRAME, GPS_LONG_LATI_FIRST_ID, calc_gps_latlng(&_passthrough.send_latitude)); // gps latitude or longitude
_passthrough.gps_lng_sample = calc_gps_latlng(&_passthrough.send_latitude);
// force the scheduler to select GPS lon as packet that's been waiting the most
// this guarantees that gps coords are sent at max
// _passthrough.avg_polling_period*number_of_downlink_sensors time separation
_passthrough.packet_timer[3] = _passthrough.packet_timer[2] - 10000;
break;
case 3: // 0x800 GPS lon
send_uint32(SPORT_DATA_FRAME, GPS_LONG_LATI_FIRST_ID, _passthrough.gps_lng_sample); // gps longitude
break;
case 4: // 0x5005 Vel and Yaw
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+5, calc_velandyaw());
break;
case 5: // 0x5001 AP status
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+1, calc_ap_status());
break;
case 6: // 0x5002 GPS Status
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+2, calc_gps_status());
break;
case 7: // 0x5004 Home
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+4, calc_home());
break;
case 8: // 0x5008 Battery 2 status
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+8, calc_batt(1));
break;
case 9: // 0x5003 Battery 1 status
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+3, calc_batt(0));
break;
case 10: // 0x5007 parameters
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID+7, calc_param());
break;
}
}
/*
* send telemetry data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::send_SPort_Passthrough(void)
{
int16_t numc;
numc = _port->available();
// check if available is negative
if (numc < 0) {
return;
}
// this is the constant for hub data frame
if (_port->txspace() < 19) {
return;
}
// keep only the last two bytes of the data found in the serial buffer, as we shouldn't respond to old poll requests
uint8_t prev_byte = 0;
for (int16_t i = 0; i < numc; i++) {
prev_byte = _passthrough.new_byte;
_passthrough.new_byte = _port->read();
}
if (prev_byte == START_STOP_SPORT) {
if (_passthrough.new_byte == SENSOR_ID_28) { // byte 0x7E is the header of each poll request
passthrough_wfq_adaptive_scheduler();
}
}
}
/*
* send telemetry data
* for FrSky SPort protocol (X-receivers)
*/
void AP_Frsky_Telem::send_SPort(void)
{
int16_t numc;
numc = _port->available();
// check if available is negative
if (numc < 0) {
return;
}
// this is the constant for hub data frame
if (_port->txspace() < 19) {
return;
}
if (numc == 0) {
// no serial data to process do bg tasks
if (_SPort.vario_refresh) {
calc_nav_alt(); // nav altitude is not recalculated until all of it has been sent
_SPort.vario_refresh = false;
}
if (_SPort.gps_refresh) {
calc_gps_position(); // gps data is not recalculated until all of it has been sent
_SPort.gps_refresh = false;
}
return;
}
for (int16_t i = 0; i < numc; i++) {
int16_t readbyte = _port->read();
if (_SPort.sport_status == false) {
if (readbyte == START_STOP_SPORT) {
_SPort.sport_status = true;
}
} else {
const AP_BattMonitor &_battery = AP::battery();
switch(readbyte) {
case SENSOR_ID_VARIO: // Sensor ID 0
switch (_SPort.vario_call) {
case 0:
send_uint32(SPORT_DATA_FRAME, DATA_ID_BARO_ALT_BP, _SPort_data.alt_nav_meters); // send altitude integer part
break;
case 1:
send_uint32(SPORT_DATA_FRAME, DATA_ID_BARO_ALT_AP, _SPort_data.alt_nav_cm); // send altitude decimal part
break;
case 2:
send_uint32(SPORT_DATA_FRAME, DATA_ID_VARIO, _SPort_data.vario_vspd); // send vspeed m/s
_SPort.vario_refresh = true;
break;
}
if (++_SPort.vario_call > 2) {
_SPort.vario_call = 0;
}
break;
case SENSOR_ID_FAS: // Sensor ID 2
switch (_SPort.fas_call) {
case 0:
send_uint32(SPORT_DATA_FRAME, DATA_ID_FUEL, (uint16_t)roundf(_battery.capacity_remaining_pct())); // send battery remaining
break;
case 1:
send_uint32(SPORT_DATA_FRAME, DATA_ID_VFAS, (uint16_t)roundf(_battery.voltage() * 10.0f)); // send battery voltage
break;
case 2:
{
float current;
if (!_battery.current_amps(current)) {
current = 0;
}
send_uint32(SPORT_DATA_FRAME, DATA_ID_CURRENT, (uint16_t)roundf(current * 10.0f)); // send current consumption
break;
}
break;
}
if (++_SPort.fas_call > 2) {
_SPort.fas_call = 0;
}
break;
case SENSOR_ID_GPS: // Sensor ID 3
switch (_SPort.gps_call) {
case 0:
send_uint32(SPORT_DATA_FRAME, GPS_LONG_LATI_FIRST_ID, calc_gps_latlng(&_passthrough.send_latitude)); // gps latitude or longitude
break;
case 1:
send_uint32(SPORT_DATA_FRAME, GPS_LONG_LATI_FIRST_ID, calc_gps_latlng(&_passthrough.send_latitude)); // gps latitude or longitude
break;
case 2:
send_uint32(SPORT_DATA_FRAME, DATA_ID_GPS_SPEED_BP, _SPort_data.speed_in_meter); // send gps speed integer part
break;
case 3:
send_uint32(SPORT_DATA_FRAME, DATA_ID_GPS_SPEED_AP, _SPort_data.speed_in_centimeter); // send gps speed decimal part
break;
case 4:
send_uint32(SPORT_DATA_FRAME, DATA_ID_GPS_ALT_BP, _SPort_data.alt_gps_meters); // send gps altitude integer part
break;
case 5:
send_uint32(SPORT_DATA_FRAME, DATA_ID_GPS_ALT_AP, _SPort_data.alt_gps_cm); // send gps altitude decimals
break;
case 6:
send_uint32(SPORT_DATA_FRAME, DATA_ID_GPS_COURS_BP, _SPort_data.yaw); // send heading in degree based on AHRS and not GPS
_SPort.gps_refresh = true;
break;
}
if (++_SPort.gps_call > 6) {
_SPort.gps_call = 0;
}
break;
case SENSOR_ID_SP2UR: // Sensor ID 6
switch (_SPort.various_call) {
case 0 :
send_uint32(SPORT_DATA_FRAME, DATA_ID_TEMP2, (uint16_t)(AP::gps().num_sats() * 10 + AP::gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
break;
case 1:
send_uint32(SPORT_DATA_FRAME, DATA_ID_TEMP1, gcs().custom_mode()); // send flight mode
break;
}
if (++_SPort.various_call > 1) {
_SPort.various_call = 0;
}
break;
}
_SPort.sport_status = false;
}
}
}
/*
* send frame1 and frame2 telemetry data
* one frame (frame1) is sent every 200ms with baro alt, nb sats, batt volts and amp, control_mode
* a second frame (frame2) is sent every second (1000ms) with gps position data, and ahrs.yaw_sensor heading (instead of GPS heading)
* for FrSky D protocol (D-receivers)
*/
void AP_Frsky_Telem::send_D(void)
{
const AP_BattMonitor &_battery = AP::battery();
uint32_t now = AP_HAL::millis();
// send frame1 every 200ms
if (now - _D.last_200ms_frame >= 200) {
_D.last_200ms_frame = now;
send_uint16(DATA_ID_TEMP2, (uint16_t)(AP::gps().num_sats() * 10 + AP::gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
send_uint16(DATA_ID_TEMP1, gcs().custom_mode()); // send flight mode
send_uint16(DATA_ID_FUEL, (uint16_t)roundf(_battery.capacity_remaining_pct())); // send battery remaining
send_uint16(DATA_ID_VFAS, (uint16_t)roundf(_battery.voltage() * 10.0f)); // send battery voltage
float current;
if (!_battery.current_amps(current)) {
current = 0;
}
send_uint16(DATA_ID_CURRENT, (uint16_t)roundf(current * 10.0f)); // send current consumption
calc_nav_alt();
send_uint16(DATA_ID_BARO_ALT_BP, _SPort_data.alt_nav_meters); // send nav altitude integer part
send_uint16(DATA_ID_BARO_ALT_AP, _SPort_data.alt_nav_cm); // send nav altitude decimal part
}
// send frame2 every second
if (now - _D.last_1000ms_frame >= 1000) {
_D.last_1000ms_frame = now;
AP_AHRS &_ahrs = AP::ahrs();
send_uint16(DATA_ID_GPS_COURS_BP, (uint16_t)((_ahrs.yaw_sensor / 100) % 360)); // send heading in degree based on AHRS and not GPS
calc_gps_position();
if (AP::gps().status() >= 3) {
send_uint16(DATA_ID_GPS_LAT_BP, _SPort_data.latdddmm); // send gps lattitude degree and minute integer part
send_uint16(DATA_ID_GPS_LAT_AP, _SPort_data.latmmmm); // send gps lattitude minutes decimal part
send_uint16(DATA_ID_GPS_LAT_NS, _SPort_data.lat_ns); // send gps North / South information
send_uint16(DATA_ID_GPS_LONG_BP, _SPort_data.londddmm); // send gps longitude degree and minute integer part
send_uint16(DATA_ID_GPS_LONG_AP, _SPort_data.lonmmmm); // send gps longitude minutes decimal part
send_uint16(DATA_ID_GPS_LONG_EW, _SPort_data.lon_ew); // send gps East / West information
send_uint16(DATA_ID_GPS_SPEED_BP, _SPort_data.speed_in_meter); // send gps speed integer part
send_uint16(DATA_ID_GPS_SPEED_AP, _SPort_data.speed_in_centimeter); // send gps speed decimal part
send_uint16(DATA_ID_GPS_ALT_BP, _SPort_data.alt_gps_meters); // send gps altitude integer part
send_uint16(DATA_ID_GPS_ALT_AP, _SPort_data.alt_gps_cm); // send gps altitude decimal part
}
}
}
/*
thread to loop handling bytes
*/
void AP_Frsky_Telem::loop(void)
{
// initialise uart (this must be called from within tick b/c the UART begin must be called from the same thread as it is used from)
if (_protocol == AP_SerialManager::SerialProtocol_FrSky_D) { // FrSky D protocol (D-receivers)
_port->begin(AP_SERIALMANAGER_FRSKY_D_BAUD, AP_SERIALMANAGER_FRSKY_BUFSIZE_RX, AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
} else { // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
_port->begin(AP_SERIALMANAGER_FRSKY_SPORT_BAUD, AP_SERIALMANAGER_FRSKY_BUFSIZE_RX, AP_SERIALMANAGER_FRSKY_BUFSIZE_TX);
}
_port->set_unbuffered_writes(true);
while (true) {
hal.scheduler->delay(1);
if (_protocol == AP_SerialManager::SerialProtocol_FrSky_D) { // FrSky D protocol (D-receivers)
send_D();
} else if (_protocol == AP_SerialManager::SerialProtocol_FrSky_SPort) { // FrSky SPort protocol (X-receivers)
send_SPort();
} else if (_protocol == AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough) { // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
send_SPort_Passthrough();
}
}
}
/*
* build up the frame's crc
* for FrSky SPort protocol (X-receivers)
*/
void AP_Frsky_Telem::calc_crc(uint8_t byte)
{
_crc += byte; //0-1FF
_crc += _crc >> 8; //0-100
_crc &= 0xFF;
}
/*
* send the frame's crc at the end of the frame
* for FrSky SPort protocol (X-receivers)
*/
void AP_Frsky_Telem::send_crc(void)
{
send_byte(0xFF - _crc);
_crc = 0;
}
/*
send 1 byte and do byte stuffing
*/
void AP_Frsky_Telem::send_byte(uint8_t byte)
{
if (_protocol == AP_SerialManager::SerialProtocol_FrSky_D) { // FrSky D protocol (D-receivers)
if (byte == START_STOP_D) {
_port->write(0x5D);
_port->write(0x3E);
} else if (byte == BYTESTUFF_D) {
_port->write(0x5D);
_port->write(0x3D);
} else {
_port->write(byte);
}
} else { // FrSky SPort protocol (X-receivers)
if (byte == START_STOP_SPORT) {
_port->write(0x7D);
_port->write(0x5E);
} else if (byte == BYTESTUFF_SPORT) {
_port->write(0x7D);
_port->write(0x5D);
} else {
_port->write(byte);
}
calc_crc(byte);
}
}
/*
* send one uint32 frame of FrSky data - for FrSky SPort protocol (X-receivers)
*/
void AP_Frsky_Telem::send_uint32(uint8_t frame, uint16_t id, uint32_t data)
{
if (use_external_data) {
external_data.frame = frame;
external_data.appid = id;
external_data.data = data;
external_data.pending = true;
return;
}
send_byte(frame); // frame type
uint8_t *bytes = (uint8_t*)&id;
send_byte(bytes[0]); // LSB
send_byte(bytes[1]); // MSB
bytes = (uint8_t*)&data;
send_byte(bytes[0]); // LSB
send_byte(bytes[1]);
send_byte(bytes[2]);
send_byte(bytes[3]); // MSB
send_crc();
}
/*
* send one uint16 frame of FrSky data - for FrSky D protocol (D-receivers)
*/
void AP_Frsky_Telem::send_uint16(uint16_t id, uint16_t data)
{
_port->write(START_STOP_D); // send a 0x5E start byte
uint8_t *bytes = (uint8_t*)&id;
send_byte(bytes[0]);
bytes = (uint8_t*)&data;
send_byte(bytes[0]); // LSB
send_byte(bytes[1]); // MSB
}
/*
* grabs one "chunk" (4 bytes) of the queued message to be transmitted
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
bool AP_Frsky_Telem::get_next_msg_chunk(void)
{
if (!_statustext.available) {
WITH_SEMAPHORE(_statustext.sem);
if (!_statustext.queue.pop(_statustext.next)) {
return false;
}
_statustext.available = true;
}
if (_msg_chunk.repeats == 0) { // if it's the first time get_next_msg_chunk is called for a given chunk
uint8_t character = 0;
_msg_chunk.chunk = 0; // clear the 4 bytes of the chunk buffer
for (int i = 3; i > -1 && _msg_chunk.char_index < sizeof(_statustext.next.text); i--) {
character = _statustext.next.text[_msg_chunk.char_index++];
if (!character) {
break;
}
_msg_chunk.chunk |= character << i * 8;
}
if (!character || (_msg_chunk.char_index == sizeof(_statustext.next.text))) { // we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)
_msg_chunk.char_index = 0; // reset index to get ready to process the next message
// add severity which is sent as the MSB of the last three bytes of the last chunk (bits 24, 16, and 8) since a character is on 7 bits
_msg_chunk.chunk |= (_statustext.next.severity & 0x4)<<21;
_msg_chunk.chunk |= (_statustext.next.severity & 0x2)<<14;
_msg_chunk.chunk |= (_statustext.next.severity & 0x1)<<7;
}
}
// repeat each message chunk 3 times to ensure transmission
// on slow links reduce the number of duplicate chunks
uint8_t extra_chunks = 2;
if (_passthrough.avg_packet_rate < 20) {
// with 3 or more extra frsky sensors on the bus
// send messages only once
extra_chunks = 0;
} else if (_passthrough.avg_packet_rate < 30) {
// with 1 or 2 extra frsky sensors on the bus
// send messages twice
extra_chunks = 1;
}
if (_msg_chunk.repeats++ > extra_chunks ) {
_msg_chunk.repeats = 0;
if (_msg_chunk.char_index == 0) {
// we're ready for the next message
_statustext.available = false;
}
}
return true;
}
/*
* add message to message cue for transmission through FrSky link
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::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
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::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
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::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;
}
}
}
}
/*
* prepare parameter data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_param(void)
{
const AP_BattMonitor &_battery = AP::battery();
uint32_t param = 0;
// cycle through paramIDs
if (_paramID >= 5) {
_paramID = 0;
}
_paramID++;
switch(_paramID) {
case 1:
param = gcs().frame_type(); // see MAV_TYPE in Mavlink definition file common.h
break;
case 2: // was used to send the battery failsafe voltage
case 3: // was used to send the battery failsafe capacity in mAh
break;
case 4:
param = (uint32_t)roundf(_battery.pack_capacity_mah(0)); // battery pack capacity in mAh
break;
case 5:
param = (uint32_t)roundf(_battery.pack_capacity_mah(1)); // battery pack capacity in mAh
break;
}
//Reserve first 8 bits for param ID, use other 24 bits to store parameter value
param = (_paramID << PARAM_ID_OFFSET) | (param & PARAM_VALUE_LIMIT);
return param;
}
/*
* prepare gps latitude/longitude data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_gps_latlng(bool *send_latitude)
{
uint32_t latlng;
const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
// alternate between latitude and longitude
if ((*send_latitude) == true) {
if (loc.lat < 0) {
latlng = ((labs(loc.lat)/100)*6) | 0x40000000;
} else {
latlng = ((labs(loc.lat)/100)*6);
}
(*send_latitude) = false;
} else {
if (loc.lng < 0) {
latlng = ((labs(loc.lng)/100)*6) | 0xC0000000;
} else {
latlng = ((labs(loc.lng)/100)*6) | 0x80000000;
}
(*send_latitude) = true;
}
return latlng;
}
/*
* prepare gps status data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_gps_status(void)
{
const AP_GPS &gps = AP::gps();
uint32_t gps_status;
// number of GPS satellites visible (limit to 15 (0xF) since the value is stored on 4 bits)
gps_status = (gps.num_sats() < GPS_SATS_LIMIT) ? gps.num_sats() : GPS_SATS_LIMIT;
// GPS receiver status (limit to 0-3 (0x3) since the value is stored on 2 bits: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3)
gps_status |= ((gps.status() < GPS_STATUS_LIMIT) ? gps.status() : GPS_STATUS_LIMIT)<<GPS_STATUS_OFFSET;
// GPS horizontal dilution of precision in dm
gps_status |= prep_number(roundf(gps.get_hdop() * 0.1f),2,1)<<GPS_HDOP_OFFSET;
// GPS receiver advanced status (0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED)
gps_status |= ((gps.status() > GPS_STATUS_LIMIT) ? gps.status()-GPS_STATUS_LIMIT : 0)<<GPS_ADVSTATUS_OFFSET;
// Altitude MSL in dm
const Location &loc = gps.location();
gps_status |= prep_number(roundf(loc.alt * 0.1f),2,2)<<GPS_ALTMSL_OFFSET;
return gps_status;
}
/*
* prepare battery data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_batt(uint8_t instance)
{
const AP_BattMonitor &_battery = AP::battery();
uint32_t batt;
float current, consumed_mah;
if (!_battery.current_amps(current, instance)) {
current = 0;
}
if (!_battery.consumed_mah(consumed_mah, instance)) {
consumed_mah = 0;
}
// battery voltage in decivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
batt = (((uint16_t)roundf(_battery.voltage(instance) * 10.0f)) & BATT_VOLTAGE_LIMIT);
// battery current draw in deciamps
batt |= prep_number(roundf(current * 10.0f), 2, 1)<<BATT_CURRENT_OFFSET;
// battery current drawn since power on in mAh (limit to 32767 (0x7FFF) since value is stored on 15 bits)
batt |= ((consumed_mah < BATT_TOTALMAH_LIMIT) ? ((uint16_t)roundf(consumed_mah) & BATT_TOTALMAH_LIMIT) : BATT_TOTALMAH_LIMIT)<<BATT_TOTALMAH_OFFSET;
return batt;
}
/*
* prepare various autopilot status data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_ap_status(void)
{
uint32_t ap_status;
// IMU temperature: offset -19, 0 means temp =< 19°, 63 means temp => 82°
uint8_t imu_temp = (uint8_t) roundf(constrain_float(AP::ins().get_temperature(0), AP_IMU_TEMP_MIN, AP_IMU_TEMP_MAX) - AP_IMU_TEMP_MIN);
// control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
ap_status = (uint8_t)((gcs().custom_mode()+1) & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags
ap_status |= (uint8_t)(gcs().simple_input_active())<<AP_SIMPLE_OFFSET;
ap_status |= (uint8_t)(gcs().supersimple_input_active())<<AP_SSIMPLE_OFFSET;
// is_flying flag
ap_status |= (uint8_t)(AP_Notify::flags.flying) << AP_FLYING_OFFSET;
// armed flag
ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET;
// battery failsafe flag
ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery)<<AP_BATT_FS_OFFSET;
// bad ekf flag
ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET;
// IMU temperature
ap_status |= imu_temp << AP_IMU_TEMP_OFFSET;
//hal.console->printf("flying=%d\n",AP_Notify::flags.flying);
//hal.console->printf("ap_status=%08X\n",ap_status);
return ap_status;
}
/*
* prepare home position related data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_home(void)
{
uint32_t home = 0;
Location loc;
Location home_loc;
bool get_position;
float _relative_home_altitude = 0;
{
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
get_position = _ahrs.get_position(loc);
home_loc = _ahrs.get_home();
}
if (get_position) {
// check home_loc is valid
if (home_loc.lat != 0 || home_loc.lng != 0) {
// distance between vehicle and home_loc in meters
home = prep_number(roundf(home_loc.get_distance(loc)), 3, 2);
// angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits)
home |= (((uint8_t)roundf(loc.get_bearing_to(home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET;
}
// altitude between vehicle and home_loc
_relative_home_altitude = loc.alt;
if (!loc.relative_alt) {
// loc.alt has home altitude added, remove it
_relative_home_altitude -= home_loc.alt;
}
}
// altitude above home in decimeters
home |= prep_number(roundf(_relative_home_altitude * 0.1f), 3, 2)<<HOME_ALT_OFFSET;
return home;
}
/*
* prepare velocity and yaw data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_velandyaw(void)
{
float vspd = get_vspeed_ms();
// vertical velocity in dm/s
uint32_t velandyaw = prep_number(roundf(vspd * 10), 2, 1);
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
// horizontal velocity in dm/s (use airspeed if available and enabled - even if not used - otherwise use groundspeed)
const AP_Airspeed *aspeed = _ahrs.get_airspeed();
if (aspeed && aspeed->enabled()) {
velandyaw |= prep_number(roundf(aspeed->get_airspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET;
} else { // otherwise send groundspeed estimate from ahrs
velandyaw |= prep_number(roundf(_ahrs.groundspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET;
}
// yaw from [0;36000] centidegrees to .2 degree increments [0;1800] (just in case, limit to 2047 (0x7FF) since the value is stored on 11 bits)
velandyaw |= ((uint16_t)roundf(_ahrs.yaw_sensor * 0.05f) & VELANDYAW_YAW_LIMIT)<<VELANDYAW_YAW_OFFSET;
return velandyaw;
}
/*
* prepare attitude (roll, pitch) and range data
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint32_t AP_Frsky_Telem::calc_attiandrng(void)
{
const RangeFinder *_rng = RangeFinder::get_singleton();
uint32_t attiandrng;
AP_AHRS &_ahrs = AP::ahrs();
// roll from [-18000;18000] centidegrees to unsigned .2 degree increments [0;1800] (just in case, limit to 2047 (0x7FF) since the value is stored on 11 bits)
attiandrng = ((uint16_t)roundf((_ahrs.roll_sensor + 18000) * 0.05f) & ATTIANDRNG_ROLL_LIMIT);
// pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
attiandrng |= ((uint16_t)roundf((_ahrs.pitch_sensor + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm
attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
return attiandrng;
}
/*
* prepare value for transmission through FrSky link
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
uint16_t AP_Frsky_Telem::prep_number(int32_t number, uint8_t digits, uint8_t power)
{
uint16_t res = 0;
uint32_t abs_number = abs(number);
if ((digits == 2) && (power == 1)) { // number encoded on 8 bits: 7 bits for digits + 1 for 10^power
if (abs_number < 100) {
res = abs_number<<1;
} else if (abs_number < 1270) {
res = ((uint8_t)roundf(abs_number * 0.1f)<<1)|0x1;
} else { // transmit max possible value (0x7F x 10^1 = 1270)
res = 0xFF;
}
if (number < 0) { // if number is negative, add sign bit in front
res |= 0x1<<8;
}
} else if ((digits == 2) && (power == 2)) { // number encoded on 9 bits: 7 bits for digits + 2 for 10^power
if (abs_number < 100) {
res = abs_number<<2;
} else if (abs_number < 1000) {
res = ((uint8_t)roundf(abs_number * 0.1f)<<2)|0x1;
} else if (abs_number < 10000) {
res = ((uint8_t)roundf(abs_number * 0.01f)<<2)|0x2;
} else if (abs_number < 127000) {
res = ((uint8_t)roundf(abs_number * 0.001f)<<2)|0x3;
} else { // transmit max possible value (0x7F x 10^3 = 127000)
res = 0x1FF;
}
if (number < 0) { // if number is negative, add sign bit in front
res |= 0x1<<9;
}
} else if ((digits == 3) && (power == 1)) { // number encoded on 11 bits: 10 bits for digits + 1 for 10^power
if (abs_number < 1000) {
res = abs_number<<1;
} else if (abs_number < 10240) {
res = ((uint16_t)roundf(abs_number * 0.1f)<<1)|0x1;
} else { // transmit max possible value (0x3FF x 10^1 = 10240)
res = 0x7FF;
}
if (number < 0) { // if number is negative, add sign bit in front
res |= 0x1<<11;
}
} else if ((digits == 3) && (power == 2)) { // number encoded on 12 bits: 10 bits for digits + 2 for 10^power
if (abs_number < 1000) {
res = abs_number<<2;
} else if (abs_number < 10000) {
res = ((uint16_t)roundf(abs_number * 0.1f)<<2)|0x1;
} else if (abs_number < 100000) {
res = ((uint16_t)roundf(abs_number * 0.01f)<<2)|0x2;
} else if (abs_number < 1024000) {
res = ((uint16_t)roundf(abs_number * 0.001f)<<2)|0x3;
} else { // transmit max possible value (0x3FF x 10^3 = 127000)
res = 0xFFF;
}
if (number < 0) { // if number is negative, add sign bit in front
res |= 0x1<<12;
}
}
return res;
}
/*
* get vertical speed from ahrs, if not available fall back to baro climbrate, units is m/s
* for FrSky D and SPort protocols
*/
float AP_Frsky_Telem::get_vspeed_ms(void)
{
{// release semaphore as soon as possible
AP_AHRS &_ahrs = AP::ahrs();
Vector3f v;
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_velocity_NED(v)) {
return -v.z;
}
}
auto &_baro = AP::baro();
WITH_SEMAPHORE(_baro.get_semaphore());
return _baro.get_climb_rate();
}
/*
* prepare altitude between vehicle and home location data
* for FrSky D and SPort protocols
*/
void AP_Frsky_Telem::calc_nav_alt(void)
{
_SPort_data.vario_vspd = (int32_t)(get_vspeed_ms()*100); //convert to cm/s
Location loc;
float current_height = 0; // in centimeters above home
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
if (_ahrs.get_position(loc)) {
current_height = loc.alt*0.01f;
if (!loc.relative_alt) {
// loc.alt has home altitude added, remove it
current_height -= _ahrs.get_home().alt*0.01f;
}
}
_SPort_data.alt_nav_meters = (int16_t)current_height;
_SPort_data.alt_nav_cm = (current_height - _SPort_data.alt_nav_meters) * 100;
}
/*
* format the decimal latitude/longitude to the required degrees/minutes
* for FrSky D and SPort protocols
*/
float AP_Frsky_Telem::format_gps(float dec)
{
uint8_t dm_deg = (uint8_t) dec;
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
}
/*
* prepare gps data
* for FrSky D and SPort protocols
*/
void AP_Frsky_Telem::calc_gps_position(void)
{
float lat;
float lon;
float alt;
float speed;
if (AP::gps().status() >= 3) {
const Location &loc = AP::gps().location(); //get gps instance 0
lat = format_gps(fabsf(loc.lat/10000000.0f));
_SPort_data.latdddmm = lat;
_SPort_data.latmmmm = (lat - _SPort_data.latdddmm) * 10000;
_SPort_data.lat_ns = (loc.lat < 0) ? 'S' : 'N';
lon = format_gps(fabsf(loc.lng/10000000.0f));
_SPort_data.londddmm = lon;
_SPort_data.lonmmmm = (lon - _SPort_data.londddmm) * 10000;
_SPort_data.lon_ew = (loc.lng < 0) ? 'W' : 'E';
alt = loc.alt * 0.01f;
_SPort_data.alt_gps_meters = (int16_t)alt;
_SPort_data.alt_gps_cm = (alt - _SPort_data.alt_gps_meters) * 100;
speed = AP::gps().ground_speed();
_SPort_data.speed_in_meter = speed;
_SPort_data.speed_in_centimeter = (speed - _SPort_data.speed_in_meter) * 100;
} else {
_SPort_data.latdddmm = 0;
_SPort_data.latmmmm = 0;
_SPort_data.lat_ns = 0;
_SPort_data.londddmm = 0;
_SPort_data.lonmmmm = 0;
_SPort_data.alt_gps_meters = 0;
_SPort_data.alt_gps_cm = 0;
_SPort_data.speed_in_meter = 0;
_SPort_data.speed_in_centimeter = 0;
}
AP_AHRS &_ahrs = AP::ahrs();
_SPort_data.yaw = (uint16_t)((_ahrs.yaw_sensor / 100) % 360); // heading in degree based on AHRS and not GPS
}
uint32_t AP_Frsky_Telem::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;
}
/*
fetch Sport data for an external transport, such as FPort
*/
bool AP_Frsky_Telem::_get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data)
{
passthrough_wfq_adaptive_scheduler();
if (!external_data.pending) {
return false;
}
frame = external_data.frame;
appid = external_data.appid;
data = external_data.data;
external_data.pending = false;
return true;
}
/*
fetch Sport data for an external transport, such as FPort
*/
bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data)
{
if (!singleton && !hal.util->get_soft_armed()) {
// if telem data is requested when we are disarmed and don't
// yet have a AP_Frsky_Telem object then try to allocate one
new AP_Frsky_Telem(true);
// initialize the passthrough scheduler
if (singleton) {
singleton->setup_passthrough();
}
}
if (!singleton) {
return false;
}
return singleton->_get_telem_data(frame, appid, data);
}
namespace AP {
AP_Frsky_Telem *frsky_telem() {
return AP_Frsky_Telem::get_singleton();
}
};
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