mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.2 KiB
C++
141 lines
4.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Common/AP_FWVersion.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include "AP_MSP.h"
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#include "AP_MSP_Telem_DJI.h"
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#if HAL_MSP_ENABLED
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extern const AP_HAL::HAL& hal;
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using namespace MSP;
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bool AP_MSP_Telem_DJI::init_uart()
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{
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if (_msp_port.uart != nullptr) {
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_msp_port.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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_msp_port.uart->begin(AP_SERIALMANAGER_MSP_BAUD, AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_TX);
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return true;
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}
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return false;
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}
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bool AP_MSP_Telem_DJI::is_scheduler_enabled() const
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{
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const AP_MSP *msp = AP::msp();
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if (msp == nullptr) {
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return false;
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}
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return msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_MODE);
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}
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void AP_MSP_Telem_DJI::hide_osd_items(void)
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{
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const AP_MSP *msp = AP::msp();
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if (msp == nullptr) {
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return;
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}
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// apply base class defaults
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AP_MSP_Telem_Backend::hide_osd_items();
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// apply DJI OSD specific rules
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const AP_Notify& notify = AP::notify();
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// default is hide the DJI flightmode widget
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BIT_SET(osd_hidden_items_bitmask, OSD_FLYMODE);
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if (msp->_msp_status.flashing_on) {
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// flash flightmode on failsafe
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if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad) {
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BIT_CLEAR(osd_hidden_items_bitmask, OSD_FLYMODE);
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}
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}
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}
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uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void)
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{
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uint32_t mode_mask = 0;
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const AP_Notify& notify = AP::notify();
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// set arming status
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if (notify.flags.armed) {
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BIT_SET(mode_mask, DJI_FLAG_ARM);
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}
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// check failsafe
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if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad ) {
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BIT_SET(mode_mask, DJI_FLAG_FS);
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}
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return mode_mask;
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}
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_api_version(sbuf_t *dst)
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{
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struct {
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uint8_t proto;
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uint8_t major;
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uint8_t minor;
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} api_version;
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api_version.proto = MSP_PROTOCOL_VERSION;
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api_version.major = API_VERSION_MAJOR;
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api_version.minor = API_VERSION_MINOR;
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sbuf_write_data(dst, &api_version, sizeof(api_version));
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return MSP_RESULT_ACK;
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}
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_version(sbuf_t *dst)
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{
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struct {
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uint8_t major;
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uint8_t minor;
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uint8_t patch;
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} fc_version;
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fc_version.major = FC_VERSION_MAJOR;
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fc_version.minor = FC_VERSION_MINOR;
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fc_version.patch = FC_VERSION_PATCH_LEVEL;
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sbuf_write_data(dst, &fc_version, sizeof(fc_version));
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return MSP_RESULT_ACK;
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}
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
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{
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sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
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return MSP_RESULT_ACK;
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}
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_esc_sensor_data(sbuf_t *dst)
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{
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#if HAL_WITH_ESC_TELEM
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const auto msp = AP::msp();
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if (msp && msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_DJI_WORKAROUNDS)) {
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AP_ESC_Telem& telem = AP::esc_telem();
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int16_t highest_temperature = 0;
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telem.get_highest_motor_temperature(highest_temperature);
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sbuf_write_u8(dst, uint8_t(highest_temperature / 100)); // deg, report max temperature
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sbuf_write_u16(dst, uint16_t(telem.get_average_motor_rpm() * 0.1f)); // rpm, report average RPM across all motors
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} else {
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return AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(dst);
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}
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#endif
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return MSP_RESULT_ACK;
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}
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#endif //HAL_MSP_ENABLED
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