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AP_Frsky_Telem: removed sending redundant VSpd, Alt, and VFAS sensor values, which can now be handled by OpenTX

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This commit is contained in:
Florent Martel 2016-11-04 12:45:13 -05:00 committed by Tom Pittenger
parent 0638ec7dfe
commit 328e6d6886
2 changed files with 5 additions and 30 deletions
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23
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -139,21 +139,6 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
_passthrough.gps_latlng_timer = AP_HAL::millis();
}
return;
} else if ((now - _passthrough.vario_timer) > 500) {
Vector3f velNED;
if (_ahrs.get_velocity_NED(velNED)) {
send_uint32(VARIO_FIRST_ID, (int32_t)roundf(-velNED.z*100)); // vertical velocity in cm/s, +ve up
}
_passthrough.vario_timer = AP_HAL::millis();
return;
} else if ((now - _passthrough.alt_timer) > 1000) {
send_uint32(ALT_FIRST_ID, (int32_t)_relative_home_altitude); // altitude in cm above home position
_passthrough.alt_timer = AP_HAL::millis();
return;
} else if ((now - _passthrough.vfas_timer) > 1000) {
send_uint32(VFAS_FIRST_ID, (uint32_t)roundf(_battery.voltage() * 100.0f)); // battery pack voltage in volts
_passthrough.vfas_timer = AP_HAL::millis();
return;
}
}
// if nothing else needed to be sent, send attitude (roll, pitch) and range data
@ -703,6 +688,7 @@ uint32_t AP_Frsky_Telem::calc_home(void)
{
uint32_t home = 0;
Location loc;
float _relative_home_altitude = 0;
if (_ahrs.get_position(loc)) {
// check home_loc is valid
const Location &home_loc = _ahrs.get_home();
@ -718,9 +704,8 @@ uint32_t AP_Frsky_Telem::calc_home(void)
// loc.alt has home altitude added, remove it
_relative_home_altitude -= _ahrs.get_home().alt;
}
} else {
_relative_home_altitude = 0;
}
// altitude above home in decimeters
home |= prep_number(roundf(_relative_home_altitude * 0.1f), 3, 2)<<HOME_ALT_OFFSET;
return home;
}
@ -839,15 +824,13 @@ uint16_t AP_Frsky_Telem::prep_number(int32_t number, uint8_t digits, uint8_t pow
void AP_Frsky_Telem::calc_nav_alt(void)
{
Location loc;
float current_height; // in centimeters above home
float current_height = 0; // in centimeters above home
if (_ahrs.get_position(loc)) {
current_height = loc.alt*0.01f;
if (!loc.flags.relative_alt) {
// loc.alt has home altitude added, remove it
current_height -= _ahrs.get_home().alt*0.01f;
}
} else {
current_height = 0;
}
_gps.alt_nav_meters = (int16_t)current_height;

12
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -61,9 +61,6 @@ for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
#define SENSOR_ID_28 0x1B // Sensor ID 28
// FrSky data IDs
#define ALT_FIRST_ID 0x0100
#define VARIO_FIRST_ID 0x0110
#define VFAS_FIRST_ID 0x0210
#define GPS_LONG_LATI_FIRST_ID 0x0800
#define DIY_FIRST_ID 0x5000
@ -133,9 +130,8 @@ public:
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
// functioning correctly
void update_sensor_status_flags(uint32_t error_mask) { _ap.sensor_status_flags = error_mask; }
static ObjectArray<mavlink_statustext_t> _statustext_queue;
private:
@ -161,8 +157,7 @@ private:
uint32_t *valuep;
uint32_t sensor_status_flags;
} _ap;
float _relative_home_altitude; // altitude in centimeters above home
uint32_t check_sensor_status_timer;
uint32_t check_ekf_status_timer;
uint8_t _paramID;
@ -194,9 +189,6 @@ private:
uint32_t home_timer;
uint32_t velandyaw_timer;
uint32_t gps_latlng_timer;
uint32_t vario_timer;
uint32_t alt_timer;
uint32_t vfas_timer;
} _passthrough;
struct