ardupilot/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp

141 lines
4.2 KiB
C++

/*
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/>.
*/
#include <AP_Common/AP_FWVersion.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_MSP.h"
#include "AP_MSP_Telem_DJI.h"
#if HAL_MSP_ENABLED
extern const AP_HAL::HAL& hal;
using namespace MSP;
bool AP_MSP_Telem_DJI::init_uart()
{
if (_msp_port.uart != nullptr) {
_msp_port.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
_msp_port.uart->begin(AP_SERIALMANAGER_MSP_BAUD, AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_TX);
return true;
}
return false;
}
bool AP_MSP_Telem_DJI::is_scheduler_enabled() const
{
const AP_MSP *msp = AP::msp();
if (msp == nullptr) {
return false;
}
return msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_MODE);
}
void AP_MSP_Telem_DJI::hide_osd_items(void)
{
const AP_MSP *msp = AP::msp();
if (msp == nullptr) {
return;
}
// apply base class defaults
AP_MSP_Telem_Backend::hide_osd_items();
// apply DJI OSD specific rules
const AP_Notify& notify = AP::notify();
// default is hide the DJI flightmode widget
BIT_SET(osd_hidden_items_bitmask, OSD_FLYMODE);
if (msp->_msp_status.flashing_on) {
// flash flightmode on failsafe
if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad) {
BIT_CLEAR(osd_hidden_items_bitmask, OSD_FLYMODE);
}
}
}
uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void)
{
uint32_t mode_mask = 0;
const AP_Notify& notify = AP::notify();
// set arming status
if (notify.flags.armed) {
BIT_SET(mode_mask, DJI_FLAG_ARM);
}
// check failsafe
if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad ) {
BIT_SET(mode_mask, DJI_FLAG_FS);
}
return mode_mask;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_api_version(sbuf_t *dst)
{
struct {
uint8_t proto;
uint8_t major;
uint8_t minor;
} api_version;
api_version.proto = MSP_PROTOCOL_VERSION;
api_version.major = API_VERSION_MAJOR;
api_version.minor = API_VERSION_MINOR;
sbuf_write_data(dst, &api_version, sizeof(api_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_version(sbuf_t *dst)
{
struct {
uint8_t major;
uint8_t minor;
uint8_t patch;
} fc_version;
fc_version.major = FC_VERSION_MAJOR;
fc_version.minor = FC_VERSION_MINOR;
fc_version.patch = FC_VERSION_PATCH_LEVEL;
sbuf_write_data(dst, &fc_version, sizeof(fc_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
{
sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_esc_sensor_data(sbuf_t *dst)
{
#if HAL_WITH_ESC_TELEM
const auto msp = AP::msp();
if (msp && msp->check_option(AP_MSP::MspOption::OPTION_TELEMETRY_DJI_WORKAROUNDS)) {
AP_ESC_Telem& telem = AP::esc_telem();
int16_t highest_temperature = 0;
telem.get_highest_motor_temperature(highest_temperature);
sbuf_write_u8(dst, uint8_t(highest_temperature / 100)); // deg, report max temperature
sbuf_write_u16(dst, uint16_t(telem.get_average_motor_rpm() * 0.1f)); // rpm, report average RPM across all motors
} else {
return AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(dst);
}
#endif
return MSP_RESULT_ACK;
}
#endif //HAL_MSP_ENABLED