mirror of https://github.com/ArduPilot/ardupilot
253 lines
7.4 KiB
C++
253 lines
7.4 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_Stats/AP_Stats.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include "AP_MSP.h"
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#include "AP_MSP_Telem_DJI.h"
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#include <stdio.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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return msp && msp->is_option_enabled(AP_MSP::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_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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int16_t highest_temperature = 0;
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AP_ESC_Telem& telem = AP::esc_telem();
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if (!displaying_stats_screen()) {
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telem.get_highest_motor_temperature(highest_temperature);
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} else {
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#if OSD_ENABLED
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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return MSP_RESULT_ERROR;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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highest_temperature = osd->get_stats_info().max_esc_temp;
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#endif
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}
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const struct PACKED {
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uint8_t temp;
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uint16_t rpm;
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} esc_sensor_data {
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temp : uint8_t(highest_temperature * 0.01f), // deg, report max temperature
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rpm : uint16_t(telem.get_average_motor_rpm() * 0.1f) // rpm, report average RPM across all motors
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};
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sbuf_write_data(dst, &esc_sensor_data, sizeof(esc_sensor_data));
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#endif
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return MSP_RESULT_ACK;
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}
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void AP_MSP_Telem_DJI::update_home_pos(home_state_t &home_state)
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{
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AP_MSP_Telem_Backend::update_home_pos(home_state);
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return;
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}
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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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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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// override telemetry with max distance and altitude info
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// alternate max distance with traveled distance every 2 seconds
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if (msp->_msp_status.slow_flashing_on) {
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home_state.home_distance_m = osd->get_stats_info().max_dist_m;
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} else {
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home_state.home_distance_m = osd->get_stats_info().last_distance_m;
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}
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home_state.rel_altitude_cm = osd->get_stats_info().max_alt_m * 100;
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#endif
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}
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void AP_MSP_Telem_DJI::update_battery_state(battery_state_t &_battery_state)
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{
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AP_MSP_Telem_Backend::update_battery_state(_battery_state);
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return;
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}
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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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// override telemetry with max current and voltage info
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_battery_state.batt_current_a = osd->get_stats_info().max_current_a;
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_battery_state.batt_voltage_v = osd->get_stats_info().min_voltage_v;
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#endif
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}
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void AP_MSP_Telem_DJI::update_gps_state(gps_state_t &gps_state)
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{
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AP_MSP_Telem_Backend::update_gps_state(gps_state);
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return;
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}
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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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// override telemetry with max speed info
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gps_state.speed_cms = osd->get_stats_info().max_speed_mps * 100;
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#endif
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}
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void AP_MSP_Telem_DJI::update_airspeed(airspeed_state_t &airspeed_state)
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{
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AP_MSP_Telem_Backend::update_airspeed(airspeed_state);
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return;
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}
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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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// override telemetry with max speed info
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airspeed_state.airspeed_estimate_ms = osd->get_stats_info().max_airspeed_mps;
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#endif
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}
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void AP_MSP_Telem_DJI::update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled)
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{
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AP_MSP_Telem_Backend::update_flight_mode_str(flight_mode_str, size, wind_enabled);
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return;
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}
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AP_Stats *stats = AP::stats();
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if (stats != nullptr) {
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uint32_t t = stats->get_flight_time_s();
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// need to check snprintf return value to prevent format-truncation warning in GCC because of -Werror=format-truncation
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if (snprintf(flight_mode_str, size, "%s %3u:%02u", "STATS", unsigned(t/60), unsigned(t%60)) < 0) {
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snprintf(flight_mode_str, size, "%s", "STATS --:--");
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}
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} else {
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snprintf(flight_mode_str, size, "%s", "STATS");
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}
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#endif
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}
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bool AP_MSP_Telem_DJI::get_rssi(float &rssi) const
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{
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if (!AP_MSP_Telem_Backend::get_rssi(rssi)) {
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return false;
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}
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#if OSD_ENABLED
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if (!displaying_stats_screen()) {
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return true;
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}
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AP_RSSI* ap_rssi = AP::rssi();
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if (ap_rssi == nullptr) {
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return false;
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}
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if (!ap_rssi->enabled()) {
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return false;
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}
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AP_OSD *osd = AP::osd();
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if (osd == nullptr) {
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return false;
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}
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WITH_SEMAPHORE(osd->get_semaphore());
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// override telemetry with min rssi info
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// Note: return false when min_rssi has not been updated yet by AP_OSD::update_stats()
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if (is_equal(osd->get_stats_info().min_rssi, FLT_MAX)) {
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return false;
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}
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rssi = osd->get_stats_info().min_rssi; // range is [0-1]
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#endif
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return true;
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}
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#endif //HAL_MSP_ENABLED
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