mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.5 KiB
C++
80 lines
2.5 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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DJI FPV MSP telemetry library backend
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The DJI Air Unit polls the FC for the following MSP messages at around 4Hz.
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Note: messages are polled in ascending hex id order.
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Hex|Dec|Name
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---------------------------
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03 03 MSP_FC_VERSION
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0a 10 MSP_NAME
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54 84 MSP_OSD_CONFIG
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5c 92 MSP_FILTER_CONFIG
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5e 94 MSP_PID_ADVANCED
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65 101 MSP_STATUS
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69 105 MSP_RC
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6a 106 MSP_RAW_GPS
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6b 107 MSP_COMP_GPS
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6c 108 MSP_ATTITUDE
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6d 109 MSP_ALTITUDE
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6e 110 MSP_ANALOG
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6f 111 MSP_RC_TUNING
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70 112 MSP_PID
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82 130 MSP_BATTERY_STATE
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86 134 MSP_ESC_SENSOR_DATA
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96 150 MSP_STATUS_EX
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f7 247 MSP_RTC
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*/
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#pragma once
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#include "AP_MSP_Telem_Backend.h"
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#if HAL_MSP_ENABLED
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class AP_MSP_Telem_DJI : public AP_MSP_Telem_Backend
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{
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using AP_MSP_Telem_Backend::AP_MSP_Telem_Backend;
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public:
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bool init_uart() override;
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// implementation specific helpers
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bool is_scheduler_enabled() const override;
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AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; };
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uint32_t get_osd_flight_mode_bitmask(void) override;
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void hide_osd_items(void) override;
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bool get_rssi(float &rssi) const override;
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void update_home_pos(home_state_t &home_state) override;
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void update_battery_state(battery_state_t &_battery_state) override;
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void update_gps_state(gps_state_t &gps_state) override;
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void update_airspeed(airspeed_state_t &airspeed_state) override;
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void update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled) override;
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MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
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MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;
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enum : uint8_t {
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DJI_FLAG_ARM = 0,
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DJI_FLAG_STAB,
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DJI_FLAG_HOR,
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DJI_FLAG_HEAD,
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DJI_FLAG_FS,
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DJI_FLAG_RESC,
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};
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};
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#endif //HAL_MSP_ENABLED
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