mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.7 KiB
Lua
57 lines
1.7 KiB
Lua
--[[
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Simple example that sends rpm info down the frsky link
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it works with SPort using SERIAL_PROTOCOL=4,10 and with
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FPort using SERIAL_PROTOCOL=23.
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We'll be using OpenTX genuine RPM data IDs (https://github.com/opentx/opentx/blob/2.3/radio/src/telemetry/frsky.h)
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RPM_FIRST_ID 0x0500
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RPM_LAST_ID 0x050F
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and we'll be responding to unused sensor IDs.
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This is a list of IDs we can't use:
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- serial protocol 4 uses IDs 0,2,3 and 6
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- serial protocol 10 uses ID 7,13,20,27
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- serial protocol 23, no IDs used
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For this test we'll use sensor ID 4 (0xE4),
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Note: 4 is the index, 0xE4 is the actual ID
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--]]
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local loop_time = 250 -- number of ms between runs
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local sport_data_frame = 0x10
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local sensor_id = 0xE4
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--[[
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we use the last 2 data ids so we hopefully don't interfere with pre existing sensors
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this is a suggestion but if we know our RPM sensors are going to be
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the only RPM sensors on the bus we can use 0x0500 and 0x0501
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--]]
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local data_ids = {
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[0] = 0x050E,
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[1] = 0x050F,
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}
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local function rpm_data_sent(instance, rpm)
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gcs:send_text(7, string.format("rpm_data_sent() %d: %s", instance, tostring(rpm)))
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end
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local function send_rpm_data(instance, callback)
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local rpm = RPM:get_rpm(instance)
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gcs:send_text(7,string.format("send_rpm_data() %d, %s", instance, tostring(rpm)))
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if rpm ~= nil then
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if frsky_sport:sport_telemetry_push(sensor_id, sport_data_frame, data_ids[instance], rpm) then
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callback(instance, rpm)
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end
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end
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end
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local rpm_idx = 0
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function update()
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send_rpm_data(rpm_idx, rpm_data_sent)
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rpm_idx = (rpm_idx+1)%2
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return update, loop_time
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end
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return update() -- run immediately before starting to reschedule
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