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ardupilot/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp

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/*
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/>.
*/
/*
Spektrum Telemetry library, based on AP_Frsky_Telem.cpp
See https://www.spektrumrc.com/ProdInfo/Files/SPM_Telemetry_Developers_Specs.pdf
*/
#include "AP_Spektrum_Telem.h"
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Compass/AP_Compass.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 <AP_GPS/AP_GPS.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_RTC/AP_RTC.h>
#ifdef HAVE_AP_BLHELI_SUPPORT
#include <AP_BLheli/AP_BLHeli.h>
#endif
#include <math.h>
#if HAL_SPEKTRUM_TELEM_ENABLED
#define MICROSEC_PER_MINUTE 60000000
#define MAX_TEXTGEN_LEN 13
//#define SPKT_DEBUG
#ifdef SPKT_DEBUG
# define debug(fmt, args...) hal.console->printf("SPKT:" fmt "\n", ##args)
#else
# define debug(fmt, args...) do {} while(0)
#endif
extern const AP_HAL::HAL& hal;
AP_Spektrum_Telem *AP_Spektrum_Telem::singleton;
AP_Spektrum_Telem::AP_Spektrum_Telem() : AP_RCTelemetry(0)
{
singleton = this;
}
AP_Spektrum_Telem::~AP_Spektrum_Telem(void)
{
singleton = nullptr;
}
bool AP_Spektrum_Telem::init(void)
{
// sanity check that we are using a UART for RC input
if (!AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_RCIN, 0)) {
return false;
}
return AP_RCTelemetry::init();
}
/*
setup ready for passthrough telem
*/
void AP_Spektrum_Telem::setup_wfq_scheduler(void)
{
// initialize packet weights for the WFQ scheduler
// priority[i] = 1/_scheduler.packet_weight[i]
// rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
// Spektrum telemetry rate is 46Hz, so these rates must fit
add_scheduler_entry(50, 100); // qos 10Hz
add_scheduler_entry(50, 100); // rpm 10Hz
add_scheduler_entry(50, 100); // text, 10Hz
add_scheduler_entry(50, 120); // Attitude and compass 8Hz
add_scheduler_entry(550, 280); // GPS 3Hz
add_scheduler_entry(550, 280); // ESC 3Hz
add_scheduler_entry(400, 250); // altitude 4Hz
add_scheduler_entry(400, 250); // airspeed 4Hz
add_scheduler_entry(700, 500); // GPS status 2Hz
add_scheduler_entry(1300, 500); // batt volt 2Hz
add_scheduler_entry(1300, 500); // batt curr 2Hz
add_scheduler_entry(1300, 500); // batt mah 2Hz
add_scheduler_entry(1300, 500); // temp 2Hz
}
void AP_Spektrum_Telem::adjust_packet_weight(bool queue_empty)
{
if (!queue_empty) {
_scheduler.packet_weight[TEXT] = 50; // messages
} else {
_scheduler.packet_weight[TEXT] = 5000; // messages
}
}
// WFQ scheduler
bool AP_Spektrum_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
{
bool packet_ready = false;
switch (idx) {
case TEXT:
packet_ready = !queue_empty;
break;
default:
packet_ready = true;
break;
}
return packet_ready;
}
// WFQ scheduler
void AP_Spektrum_Telem::process_packet(uint8_t idx)
{
// send packet
switch (idx) {
case QOS: // QOS
calc_qos();
break;
case RPM: // RPM
calc_rpm();
break;
case TEXT: // status text
if (repeat_msg_chunk() || get_next_msg_chunk()) {
send_msg_chunk(_msg_chunk);
}
break;
case ATTITUDE: // Attitude and compass
calc_attandmag();
break;
case GPS_LOC: // GPS location
calc_gps_location();
break;
case ESC: // ESC
calc_esc();
break;
case ALTITUDE: // altitude
calc_altitude();
break;
case AIRSPEED: // airspeed
calc_airspeed();
break;
case GPS_STATUS: // GPS status
calc_gps_status();
break;
case VOLTAGE: // Battery volts
calc_batt_volts(0);
break;
case AMPS: // Battery current
calc_batt_amps(0);
break;
case MAH: // Battery current & mah
calc_batt_mah();
break;
case TEMP: // temperature
calc_temperature(0);
break;
default:
break;
}
}
// whether to repeat the last texgen output
bool AP_Spektrum_Telem::repeat_msg_chunk(void)
{
if (_msg_chunk.repeats == 0) {
return false;
}
// repeat each message chunk 3 times to ensure transmission
// on slow links reduce the number of duplicate chunks
uint8_t extra_chunks = 2;
if (_scheduler.avg_packet_rate < 20) {
extra_chunks = 0;
} else if (_scheduler.avg_packet_rate < 30) {
extra_chunks = 1;
}
if (_msg_chunk.repeats++ > extra_chunks) {
_msg_chunk.repeats = 0;
return false;
}
return true;
}
// grabs one "chunk" (13 bytes) of the queued message to be transmitted
bool AP_Spektrum_Telem::get_next_msg_chunk(void)
{
_msg_chunk.repeats++;
if (!_statustext.available) {
WITH_SEMAPHORE(_statustext.sem);
if (!_statustext.queue.pop(_statustext.next)) {
return false;
}
_statustext.available = true;
// We're going to display a new message so first clear the screen
_msg_chunk.linenumber = 0xFF;
_msg_chunk.char_index = 0;
return true;
}
uint8_t character = 0;
memset(_msg_chunk.chunk, 0, MAX_TEXTGEN_LEN);
const uint8_t message_len = sizeof(_statustext.next.text);
// the message fits in an entire line of text
if (message_len < MAX_TEXTGEN_LEN) {
memcpy(_msg_chunk.chunk, _statustext.next.text, message_len);
_msg_chunk.linenumber = 0;
_statustext.available = false;
return true;
}
// a following part of multi-line text
if (_msg_chunk.linenumber == 0xFF) {
_msg_chunk.linenumber = 0;
} else if (_msg_chunk.char_index > 0) {
_msg_chunk.linenumber++;
}
// skip leading whitespace
while (_statustext.next.text[_msg_chunk.char_index] == ' ' && _msg_chunk.char_index < message_len) {
_msg_chunk.char_index++;
}
uint8_t space_idx = 0;
const uint8_t begin_idx = _msg_chunk.char_index;
// can't fit it all on one line so wrap at an appropriate place
for (int i = 0; i < MAX_TEXTGEN_LEN && _msg_chunk.char_index < message_len; i++) {
character = _statustext.next.text[_msg_chunk.char_index++];
// split at the first ':'
if (character == ':') {
_msg_chunk.chunk[i] = 0;
break;
}
// record the last space if we need to go back there
if (character == ' ') {
space_idx = _msg_chunk.char_index;
}
_msg_chunk.chunk[i] = character;
if (!character) {
break;
}
}
// still not done, can we break at a word boundary?
if (character != 0 && _msg_chunk.char_index < message_len && space_idx > 0) {
_msg_chunk.char_index = space_idx;
_msg_chunk.chunk[space_idx - begin_idx - 1] = 0;
}
// we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)
if (character == 0 || _msg_chunk.char_index == message_len) {
_msg_chunk.char_index = 0; // reset index to get ready to process the next message
_statustext.available = false;
}
return true;
}
// prepare qos data - mandatory frame that must be sent periodically
void AP_Spektrum_Telem::calc_qos()
{
_telem.qos.identifier = TELE_DEVICE_QOS;
_telem.qos.sID = 0;
_telem.qos.A = 0xFFFF;
_telem.qos.B = 0xFFFF;
_telem.qos.L = 0xFFFF;
_telem.qos.R = 0xFFFF;
_telem.qos.F = 0xFFFF;
_telem.qos.H = 0xFFFF;
_telem.qos.rxVoltage = 0xFFFF;
_telem_pending = true;
}
// prepare rpm data - B/E mandatory frame that must be sent periodically
void AP_Spektrum_Telem::calc_rpm()
{
const AP_BattMonitor &_battery = AP::battery();
_telem.rpm.identifier = TELE_DEVICE_RPM;
_telem.rpm.sID = 0;
// battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
_telem.rpm.volts = htobe16(((uint16_t)roundf(_battery.voltage(0) * 100.0f)));
_telem.rpm.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(0) * 9.0f / 5.0f)));
const AP_RPM *rpm = AP::rpm();
float rpm_value;
if (!rpm || !rpm->get_rpm(0, rpm_value) || rpm_value < 999.0f) {
rpm_value = 999.0f;
}
_telem.rpm.microseconds = htobe16(uint16_t(roundf(MICROSEC_PER_MINUTE / rpm_value)));
_telem.rpm.dBm_A = 0x7F;
_telem.rpm.dBm_B = 0x7F;
_telem_pending = true;
}
void AP_Spektrum_Telem::send_msg_chunk(const MessageChunk& chunk)
{
memcpy(_telem.textgen.text, chunk.chunk, 13);
_telem.textgen.identifier = TELE_DEVICE_TEXTGEN;
_telem.textgen.lineNumber = chunk.linenumber;
_telem.textgen.sID = 0;
_telem_pending = true;
}
// prepare battery data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_batt_volts(uint8_t instance)
{
const AP_BattMonitor &_battery = AP::battery();
// battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
_telem.hv.volts = htobe16(uint16_t(roundf(_battery.voltage(instance) * 100.0f)));
_telem.hv.identifier = TELE_DEVICE_VOLTAGE;
_telem.hv.sID = 0;
_telem_pending = true;
}
// prepare battery data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_batt_amps(uint8_t instance)
{
const AP_BattMonitor &_battery = AP::battery();
float current;
if (!_battery.current_amps(current, instance)) {
current = 0;
}
// Range: +/- 150A Resolution: 300A / 2048 = 0.196791 A/count
_telem.amps.current = htobe16(int16_t(roundf(current * 2048.0f / 300.0f)));
_telem.amps.identifier = TELE_DEVICE_AMPS;
_telem.amps.sID = 0;
_telem_pending = true;
}
// prepare battery data - L/E
void AP_Spektrum_Telem::calc_batt_mah()
{
const AP_BattMonitor &_battery = AP::battery();
_telem.fpMAH.identifier = TELE_DEVICE_FP_MAH;
_telem.fpMAH.sID = 0;
float current;
if (!_battery.current_amps(current, 0)) {
current = 0;
}
_telem.fpMAH.current_A = int16_t(roundf(current * 10.0f)); // Instantaneous current, 0.1A (0-3276.6A)
float used_mah;
if (!_battery.consumed_mah(used_mah, 0)) {
used_mah = 0;
}
_telem.fpMAH.chargeUsed_A = int16_t(roundf(used_mah)); // Integrated mAh used, 1mAh (0-32.766Ah)
float temp;
if (_battery.get_temperature(temp, 0)) {
_telem.fpMAH.temp_A = uint16_t(roundf(temp * 10.0f)); // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
} else {
_telem.fpMAH.temp_A = 0x7FFF;
}
if (!_battery.current_amps(current, 1)) {
current = 0;
}
_telem.fpMAH.current_B = int16_t(roundf(current * 10.0f)); // Instantaneous current, 0.1A (0-3276.6A)
if (!_battery.consumed_mah(used_mah, 1)) {
used_mah = 0;
}
_telem.fpMAH.chargeUsed_B = int16_t(roundf(used_mah)); // Integrated mAh used, 1mAh (0-32.766Ah)
if (_battery.get_temperature(temp, 1)) {
_telem.fpMAH.temp_B = uint16_t(roundf(temp * 10.0f)); // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
} else {
_telem.fpMAH.temp_B = 0x7FFF;
}
_telem_pending = true;
}
// prepare temperature data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_temperature(uint8_t instance)
{
_telem.temp.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(instance) * 9.0f / 5.0f)));
_telem.temp.identifier = TELE_DEVICE_TEMPERATURE;
_telem.temp.sID = 0;
_telem_pending = true;
}
// prepare altitude data - B/E
void AP_Spektrum_Telem::calc_altitude()
{
_telem.alt.identifier = TELE_DEVICE_ALTITUDE;
_telem.alt.sID = 0;
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
float alt = 0;
ahrs.get_relative_position_D_home(alt);
alt = roundf(-alt * 10.0f);
_telem.alt.altitude = htobe16(uint16_t(alt)); // .1m increments
_max_alt = MAX(alt, _max_alt);
_telem.alt.maxAltitude = htobe16(uint16_t(_max_alt)); // .1m increments
_telem_pending = true;
}
// prepare airspeed data - B/E
void AP_Spektrum_Telem::calc_airspeed()
{
_telem.speed.identifier = TELE_DEVICE_AIRSPEED;
_telem.speed.sID = 0;
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
const AP_Airspeed *airspeed = ahrs.get_airspeed();
float speed = 0.0f;
if (airspeed && airspeed->healthy()) {
speed = roundf(airspeed->get_airspeed() * 3.6);
} else {
speed = roundf(AP::ahrs().groundspeed() * 3.6);
}
_telem.speed.airspeed = htobe16(uint16_t(speed)); // 1 km/h increments
_max_speed = MAX(speed, _max_speed);
_telem.speed.maxAirspeed = htobe16(uint16_t(_max_speed)); // 1 km/h increments
_telem_pending = true;
}
// prepare attitude and compass data - L/E
void AP_Spektrum_Telem::calc_attandmag(void)
{
_telem.attMag.identifier = TELE_DEVICE_ATTMAG;
_telem.attMag.sID = 0;
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
// Attitude, 3 axes. Roll is a rotation about the X Axis of the vehicle using the RHR.
// Units are 0.1 deg - Pitch is a rotation about the Y Axis of the vehicle using the RHR.
// Yaw is a rotation about the Z Axis of the vehicle using the RHR.
_telem.attMag.attRoll = _ahrs.roll_sensor / 10;
_telem.attMag.attPitch = _ahrs.pitch_sensor / 10;
_telem.attMag.attYaw = _ahrs.yaw_sensor / 10;
_telem.attMag.heading = (_ahrs.yaw_sensor / 10) % 3600; // Heading, 0.1deg
const Vector3f& field = AP::compass().get_field();
_telem.attMag.magX = int16_t(roundf(field.x * 10.0f)); // Units are 0.1mG
_telem.attMag.magY = int16_t(roundf(field.y * 10.0f));
_telem.attMag.magZ = int16_t(roundf(field.z * 10.0f));
_telem_pending = true;
}
// prepare gps location - L/E
void AP_Spektrum_Telem::calc_gps_location()
{
const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
const uint32_t u1e8 = 100000000, u1e7 = 10000000, u1e6 = 1000000, u1e5 = 100000, u1e4 = 10000;
_telem.gpsloc.identifier = TELE_DEVICE_GPS_LOC; // Source device = 0x16
_telem.gpsloc.sID = 0; // Secondary ID
uint32_t alt = (abs(loc.alt) / 10) % u1e6;
_telem.gpsloc.altitudeLow = ((alt % u1e4 / 1000) << 12) | ((alt % 1000 / 100) << 8)
| ((alt % 100 / 10) << 4) | (alt % 100); // BCD, meters, format 3.1 (Low order of altitude)
const float lat = fabsf(loc.lat / 1.0e7f); // BCD, format 4.4, Degrees * 100 + minutes, less than 100 degrees
const float lng = fabsf(loc.lng / 1.0e7f); // BCD, format 4.4 , Degrees * 100 + minutes, flag indicates > 99 degrees
const uint32_t ulat = roundf((int32_t(lat) * 100.0f + (lat - int32_t(lat)) * 60.0f) * 10000.0f);
const uint32_t ulng = roundf((int32_t(lng) * 100.0f + (lng - int32_t(lng)) * 60.0f) * 10000.0f);
_telem.gpsloc.latitude = ((ulat % u1e8 / u1e7) << 28) | ((ulat % u1e7 / u1e6) << 24) | ((ulat % u1e6 / u1e5) << 20) | ((ulat % u1e5 / u1e4) << 16)
| ((ulat % u1e4 / 1000) << 12) | ((ulat % 1000 / 100) << 8) | ((ulat % 100 / 10) << 4) | (ulat % 10);
_telem.gpsloc.longitude = ((ulng % u1e8 / u1e7) << 28) | ((ulng % u1e7 / u1e6) << 24) | ((ulng % u1e6 / u1e5) << 20) | ((ulng % u1e5 / u1e4) << 16)
| ((ulng % u1e4 / 1000) << 12) | ((ulng % 1000 / 100) << 8) | ((ulng % 100 / 10) << 4) | (ulng % 10);
uint16_t course = uint16_t(roundf(AP::gps().ground_course() * 10.0f));
_telem.gpsloc.course = ((course % u1e5 / u1e4) << 12) | ((course % u1e4 / 1000) << 8) | ((course % 1000 / 100) << 4) | (course % 100 / 10); // BCD, 3.1
uint16_t hdop = AP::gps().get_hdop(0);
_telem.gpsloc.HDOP = ((hdop % 1000 / 100) << 4) | (hdop % 100 / 10); // BCD, format 1.1
_telem.gpsloc.GPSflags = 0;
if (AP::gps().status(0) >= AP_GPS::GPS_OK_FIX_3D) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_3D_FIX;
}
if (loc.alt < 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_NEGATIVE_ALT;
}
if ((loc.lng / 1e7) > 99) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_LONGITUDE_GREATER_99;
}
if (loc.lat >= 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_IS_NORTH;
}
if (loc.lng >= 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_IS_EAST;
}
if (AP::gps().status(0) > AP_GPS::NO_FIX) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_GPS_FIX_VALID;
}
if (AP::gps().status(0) >= AP_GPS::NO_FIX) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_GPS_DATA_RECEIVED;
}
_telem_pending = true;
}
// prepare gps status - L/E
void AP_Spektrum_Telem::calc_gps_status()
{
const Location &loc = AP::gps().location(0);
_telem.gpsstat.identifier = TELE_DEVICE_GPS_STATS; // Source device = 0x17
_telem.gpsstat.sID = 0; // Secondary ID
uint16_t knots = roundf(AP::gps().ground_speed() * 1.94384f * 10.0f);
_telem.gpsstat.speed = ((knots % 10000 / 1000) << 12) | ((knots % 1000 / 100) << 8) | ((knots % 100 / 10) << 4) | (knots % 10); // BCD, knots, format 3.1
uint16_t ms;
uint8_t h, m, s;
AP::rtc().get_system_clock_utc(h, m, s, ms); // BCD, format HH:MM:SS.S, format 6.1
_telem.gpsstat.UTC = ((((h / 10) << 4) | (h % 10)) << 20) | ((((m / 10) << 4) | (m % 10)) << 12) | ((((s / 10) << 4) | (s % 10)) << 4) | (ms / 100) ;
uint8_t nsats = AP::gps().num_sats();
_telem.gpsstat.numSats = ((nsats / 10) << 4) | (nsats % 10); // BCD, 0-99
uint32_t alt = (abs(loc.alt) / 100000);
_telem.gpsstat.altitudeHigh = ((alt / 10) << 4) | (alt % 10); // BCD, meters, format 2.0 (High order of altitude)
_telem_pending = true;
}
// prepare ESC information - B/E
void AP_Spektrum_Telem::calc_esc()
{
#ifdef HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh == nullptr) {
return;
}
AP_BLHeli::telem_data td;
if (!blh->get_telem_data(0, td)) {
return;
}
_telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20
_telem.esc.sID = 0; // Secondary ID
_telem.esc.RPM = htobe16(uint16_t(roundf(blh->get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.tempBEC = 0xFFFF; // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentBEC = 0xFF; // BEC Current, 100mA (0-25.4A) 0xFF ----> "No data"
_telem.esc.voltsBEC = 0xFF; // BEC Volts, 0.05V (0-12.70V) 0xFF ----> "No data"
_telem.esc.throttle = 0xFF; // 0.5% (0-100%) 0xFF ----> "No data"
_telem.esc.powerOut = 0xFF; // Power Output, 0.5% (0-127%) 0xFF ----> "No data"
_telem_pending = true;
#endif
}
/*
fetch Spektrum data for an external transport, such as SRXL2
*/
bool AP_Spektrum_Telem::_get_telem_data(uint8_t* data)
{
memset(&_telem, 0, 16);
run_wfq_scheduler();
if (!_telem_pending) {
return false;
}
memcpy(data, &_telem, 16);
_telem_pending = false;
return true;
}
/*
fetch data for an external transport, such as SRXL2
*/
bool AP_Spektrum_Telem::get_telem_data(uint8_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_Spektrum_Telem object then try to allocate one
new AP_Spektrum_Telem();
// initialize the passthrough scheduler
if (singleton) {
singleton->init();
}
}
if (!singleton) {
return false;
}
return singleton->_get_telem_data(data);
}
namespace AP {
AP_Spektrum_Telem *spektrum_telem() {
return AP_Spektrum_Telem::get_singleton();
}
};
#endif
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