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AP_Frsky_Telem: fix frsky serial 10 parameters

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param rotation now is frame_type, battery_1, battery_2 (only if present)
This commit is contained in:
yaapu 2020-07-19 22:47:29 +02:00 committed by Peter Barker
parent 1c772b94cd
commit 683df64d86
2 changed files with 18 additions and 8 deletions
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16
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -583,23 +583,25 @@ uint32_t AP_Frsky_Telem::calc_param(void)
const AP_BattMonitor &_battery = AP::battery();
uint32_t param = 0;
uint8_t last_param = AP::battery().num_instances() > 1 ? BATT_CAPACITY_2 : BATT_CAPACITY_1;
// cycle through paramIDs
if (_paramID >= 5) {
if (_paramID >= last_param) {
_paramID = 0;
}
_paramID++;
switch(_paramID) {
case 1:
case FRAME_TYPE:
param = gcs().frame_type(); // see MAV_TYPE in Mavlink definition file common.h
break;
case 2: // was used to send the battery failsafe voltage
case 3: // was used to send the battery failsafe capacity in mAh
break;
case 4:
case BATT_FS_VOLTAGE: // was used to send the battery failsafe voltage, lend slot to next param
case BATT_FS_CAPACITY: // was used to send the battery failsafe capacity in mAh, lend slot to next param
case BATT_CAPACITY_1:
_paramID = 4;
param = (uint32_t)roundf(_battery.pack_capacity_mah(0)); // battery pack capacity in mAh
break;
case 5:
case BATT_CAPACITY_2:
param = (uint32_t)roundf(_battery.pack_capacity_mah(1)); // battery pack capacity in mAh
break;
}

8
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -155,6 +155,14 @@ private:
PARAM = 10 // 0x5007 parameters
};
enum PassthroughParam : uint8_t {
FRAME_TYPE = 1,
BATT_FS_VOLTAGE = 2,
BATT_FS_CAPACITY = 3,
BATT_CAPACITY_1 = 4,
BATT_CAPACITY_2 = 5
};
struct
{
int32_t vario_vspd;