aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RCTelemetry: add support for AP_VIDEOTX_ENABLED

Browse Source
This commit is contained in:
Peter Barker 2022-07-21 15:05:03 +10:00 committed by Peter Barker
parent 1096b7de3c
commit e4d827a3d6
1 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -389,7 +389,11 @@ bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
case PARAMETERS:
return _pending_request.frame_type > 0;
case VTX_PARAMETERS:
#if AP_VIDEOTX_ENABLED
return AP::vtx().have_params_changed() ||_vtx_power_change_pending || _vtx_freq_change_pending || _vtx_options_change_pending;
#else
return false;
#endif
case PASSTHROUGH:
return rc().crsf_custom_telemetry();
case STATUS_TEXT:
@ -421,9 +425,11 @@ void AP_CRSF_Telem::process_packet(uint8_t idx)
case ATTITUDE:
calc_attitude();
break;
#if AP_VIDEOTX_ENABLED
case VTX_PARAMETERS: // update various VTX parameters
update_vtx_params();
break;
#endif
case BATTERY: // BATTERY
calc_battery();
break;
@ -482,6 +488,7 @@ bool AP_CRSF_Telem::_process_frame(AP_RCProtocol_CRSF::FrameType frame_type, voi
_enable_telemetry = true;
break;
#if AP_VIDEOTX_ENABLED
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VTX:
process_vtx_frame((VTXFrame*)data);
break;
@ -489,6 +496,7 @@ bool AP_CRSF_Telem::_process_frame(AP_RCProtocol_CRSF::FrameType frame_type, voi
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VTX_TELEM:
process_vtx_telem_frame((VTXTelemetryFrame*)data);
break;
#endif
case AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAM_DEVICE_PING:
process_ping_frame((ParameterPingFrame*)data);
@ -516,6 +524,7 @@ bool AP_CRSF_Telem::_process_frame(AP_RCProtocol_CRSF::FrameType frame_type, voi
return true;
}
#if AP_VIDEOTX_ENABLED
void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
vtx->user_frequency = be16toh(vtx->user_frequency);
@ -600,6 +609,7 @@ void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx)
_vtx_power_change_pending = _vtx_freq_change_pending = _vtx_options_change_pending = false;
}
#endif // AP_VIDEOTX_ENABLED
// request for device info
void AP_CRSF_Telem::process_ping_frame(ParameterPingFrame* ping)
@ -737,6 +747,7 @@ void AP_CRSF_Telem::process_pending_requests()
_pending_request.frame_type = 0;
}
#if AP_VIDEOTX_ENABLED
void AP_CRSF_Telem::update_vtx_params()
{
AP_VideoTX& vtx = AP::vtx();
@ -829,6 +840,7 @@ void AP_CRSF_Telem::update_vtx_params()
_telem_size = len + 1;
}
}
#endif // AP_VIDEOTX_ENABLED
// prepare parameter ping data
void AP_CRSF_Telem::calc_parameter_ping()