From cfb98e44c9fba1a0060f066779877810a406a303 Mon Sep 17 00:00:00 2001 From: chris1seto Date: Fri, 16 Sep 2022 08:46:08 -0700 Subject: [PATCH] MSP telemetry and OSD support (#19515) Co-authored-by: Chris Seto --- boards/px4/fmu-v5/default.px4board | 2 +- src/drivers/osd/Kconfig | 15 +- src/drivers/osd/msp_osd/CMakeLists.txt | 45 ++ src/drivers/osd/msp_osd/Kconfig | 12 + src/drivers/osd/msp_osd/MspV1.cpp | 127 ++++ src/drivers/osd/msp_osd/MspV1.hpp | 46 ++ src/drivers/osd/msp_osd/msp_defines.h | 853 +++++++++++++++++++++++++ src/drivers/osd/msp_osd/msp_osd.cpp | 520 +++++++++++++++ src/drivers/osd/msp_osd/msp_osd.hpp | 127 ++++ 9 files changed, 1741 insertions(+), 6 deletions(-) create mode 100644 src/drivers/osd/msp_osd/CMakeLists.txt create mode 100644 src/drivers/osd/msp_osd/Kconfig create mode 100644 src/drivers/osd/msp_osd/MspV1.cpp create mode 100644 src/drivers/osd/msp_osd/MspV1.hpp create mode 100644 src/drivers/osd/msp_osd/msp_defines.h create mode 100644 src/drivers/osd/msp_osd/msp_osd.cpp create mode 100644 src/drivers/osd/msp_osd/msp_osd.hpp diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index 50701d9f89..38340cf7ed 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -27,7 +27,7 @@ CONFIG_COMMON_LIGHT=y CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y -CONFIG_DRIVERS_OSD=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y diff --git a/src/drivers/osd/Kconfig b/src/drivers/osd/Kconfig index ebaf4de51e..f6e6ac0e8a 100644 --- a/src/drivers/osd/Kconfig +++ b/src/drivers/osd/Kconfig @@ -1,5 +1,10 @@ -menuconfig DRIVERS_OSD - bool "osd" - default n - ---help--- - Enable support for osd \ No newline at end of file +menu "OSD" + menuconfig COMMON_OSD + bool "Common OSD drivers" + default n + select DRIVERS_OSD_ATXXXX + select DRIVERS_OSD_MSP_OSD + ---help--- + Enable default set of OSD drivers + rsource "*/Kconfig" +endmenu diff --git a/src/drivers/osd/msp_osd/CMakeLists.txt b/src/drivers/osd/msp_osd/CMakeLists.txt new file mode 100644 index 0000000000..ee5976994f --- /dev/null +++ b/src/drivers/osd/msp_osd/CMakeLists.txt @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (c) 2022 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_module( + MODULE drivers__osd__msp_osd + MAIN msp_osd + SRCS + msp_defines.h + msp_osd.cpp + msp_osd.hpp + MspV1.cpp + MspV1.hpp + DEPENDS + px4_work_queue + ) diff --git a/src/drivers/osd/msp_osd/Kconfig b/src/drivers/osd/msp_osd/Kconfig new file mode 100644 index 0000000000..ed6afbff67 --- /dev/null +++ b/src/drivers/osd/msp_osd/Kconfig @@ -0,0 +1,12 @@ +menuconfig DRIVERS_OSD_MSP_OSD + bool "msp_osd" + default n + ---help--- + Enable support for msp_osd + +menuconfig USER_MSP_OSD + bool "msp_osd running as userspace module" + default y + depends on BOARD_PROTECTED && DRIVERS_OSD_MSP_OSD + ---help--- + Put msp_osd in userspace memory diff --git a/src/drivers/osd/msp_osd/MspV1.cpp b/src/drivers/osd/msp_osd/MspV1.cpp new file mode 100644 index 0000000000..8a1b142e6b --- /dev/null +++ b/src/drivers/osd/msp_osd/MspV1.cpp @@ -0,0 +1,127 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "msp_defines.h" +#include "MspV1.hpp" + +MspV1::MspV1(int fd) : + _fd(fd) +{ +} + +int MspV1::GetMessageSize(int message_type) +{ + return 0; +} + +struct msp_message_descriptor_t { + uint8_t message_id; + bool fixed_size; + uint8_t message_size; +}; + +#define MSP_DESCRIPTOR_COUNT 12 +const msp_message_descriptor_t msp_message_descriptors[MSP_DESCRIPTOR_COUNT] = { + {MSP_OSD_CONFIG, true, sizeof(msp_osd_config_t)}, + {MSP_NAME, true, sizeof(msp_name_t)}, + {MSP_ANALOG, true, sizeof(msp_analog_t)}, + {MSP_STATUS, true, sizeof(msp_status_BF_t)}, + {MSP_BATTERY_STATE, true, sizeof(msp_battery_state_t)}, + {MSP_RAW_GPS, true, sizeof(msp_raw_gps_t)}, + {MSP_ATTITUDE, true, sizeof(msp_attitude_t)}, + {MSP_ALTITUDE, true, sizeof(msp_altitude_t)}, + {MSP_COMP_GPS, true, sizeof(msp_comp_gps_t)}, + {MSP_ESC_SENSOR_DATA, true, sizeof(msp_esc_sensor_data_dji_t)}, + {MSP_MOTOR_TELEMETRY, true, sizeof(msp_motor_telemetry_t)}, + {MSP_FC_VARIANT, true, sizeof(msp_fc_variant_t)}, +}; + +#define MSP_FRAME_START_SIZE 5 +#define MSP_CRC_SIZE 1 +bool MspV1::Send(const uint8_t message_id, const void *payload) +{ + uint32_t payload_size = 0; + + msp_message_descriptor_t *desc = NULL; + + for (int i = 0; i < MSP_DESCRIPTOR_COUNT; i++) { + if (message_id == msp_message_descriptors[i].message_id) { + desc = (msp_message_descriptor_t *)&msp_message_descriptors[i]; + break; + } + } + + if (!desc) { + return false; + } + + if (!desc->fixed_size) { + return false; + } + + payload_size = desc->message_size; + + uint8_t packet[MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE]; + uint8_t crc; + + packet[0] = '$'; + packet[1] = 'M'; + packet[2] = '<'; + packet[3] = payload_size; + packet[4] = message_id; + + crc = payload_size ^ message_id; + + memcpy(packet + MSP_FRAME_START_SIZE, payload, payload_size); + + for (uint32_t i = 0; i < payload_size; i ++) { + crc ^= packet[MSP_FRAME_START_SIZE + i]; + } + + packet[MSP_FRAME_START_SIZE + payload_size] = crc; + + int packet_size = MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE; + return write(_fd, packet, packet_size) == packet_size; +} diff --git a/src/drivers/osd/msp_osd/MspV1.hpp b/src/drivers/osd/msp_osd/MspV1.hpp new file mode 100644 index 0000000000..1f211ed1c1 --- /dev/null +++ b/src/drivers/osd/msp_osd/MspV1.hpp @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +class MspV1 +{ +public: + MspV1(int fd); + int GetMessageSize(int message_type); + bool Send(const uint8_t message_id, const void *payload); + +private: + int _fd; +}; + diff --git a/src/drivers/osd/msp_osd/msp_defines.h b/src/drivers/osd/msp_osd/msp_defines.h new file mode 100644 index 0000000000..4c21b978d6 --- /dev/null +++ b/src/drivers/osd/msp_osd/msp_defines.h @@ -0,0 +1,853 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4 + +// requests & replies +#define MSP_API_VERSION 1 +#define MSP_FC_VARIANT 2 +#define MSP_FC_VERSION 3 +#define MSP_BOARD_INFO 4 +#define MSP_BUILD_INFO 5 +#define MSP_CALIBRATION_DATA 14 +#define MSP_FEATURE 36 +#define MSP_BOARD_ALIGNMENT 38 +#define MSP_CURRENT_METER_CONFIG 40 +#define MSP_RX_CONFIG 44 +#define MSP_SONAR_ALTITUDE 58 +#define MSP_ARMING_CONFIG 61 +#define MSP_RX_MAP 64 // get channel map (also returns number of channels total) +#define MSP_LOOP_TIME 73 // FC cycle time i.e looptime parameter +#define MSP_STATUS 101 +#define MSP_RAW_IMU 102 +#define MSP_SERVO 103 +#define MSP_MOTOR 104 +#define MSP_RC 105 +#define MSP_RAW_GPS 106 +#define MSP_COMP_GPS 107 // distance home, direction home +#define MSP_ATTITUDE 108 +#define MSP_ALTITUDE 109 +#define MSP_ANALOG 110 +#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID +#define MSP_PID 112 // P I D coeff +#define MSP_MISC 114 +#define MSP_SERVO_CONFIGURATIONS 120 +#define MSP_NAV_STATUS 121 // navigation status +#define MSP_SENSOR_ALIGNMENT 126 // orientation of acc,gyro,mag +#define MSP_ESC_SENSOR_DATA 134 +#define MSP_MOTOR_TELEMETRY 139 +#define MSP_STATUS_EX 150 +#define MSP_SENSOR_STATUS 151 +#define MSP_BOXIDS 119 +#define MSP_UID 160 // Unique device ID +#define MSP_GPSSVINFO 164 // get Signal Strength (only U-Blox) +#define MSP_GPSSTATISTICS 166 // get GPS debugging data +#define MSP_SET_PID 202 // set P I D coeff + +// commands +#define MSP_SET_HEAD 211 // define a new heading hold direction +#define MSP_SET_RAW_RC 200 // 8 rc chan +#define MSP_SET_RAW_GPS 201 // fix, numsat, lat, lon, alt, speed +#define MSP_SET_WP 209 // sets a given WP (WP#, lat, lon, alt, flags) + +// bits of getActiveModes() return value +#define MSP_MODE_ARM 0 +#define MSP_MODE_ANGLE 1 +#define MSP_MODE_HORIZON 2 +#define MSP_MODE_NAVALTHOLD 3 /* cleanflight BARO */ +#define MSP_MODE_MAG 4 +#define MSP_MODE_HEADFREE 5 +#define MSP_MODE_HEADADJ 6 +#define MSP_MODE_CAMSTAB 7 +#define MSP_MODE_NAVRTH 8 /* cleanflight GPSHOME */ +#define MSP_MODE_NAVPOSHOLD 9 /* cleanflight GPSHOLD */ +#define MSP_MODE_PASSTHRU 10 +#define MSP_MODE_BEEPERON 11 +#define MSP_MODE_LEDLOW 12 +#define MSP_MODE_LLIGHTS 13 +#define MSP_MODE_OSD 14 +#define MSP_MODE_TELEMETRY 15 +#define MSP_MODE_GTUNE 16 +#define MSP_MODE_SONAR 17 +#define MSP_MODE_BLACKBOX 18 +#define MSP_MODE_FAILSAFE 19 +#define MSP_MODE_NAVWP 20 /* cleanflight AIRMODE */ +#define MSP_MODE_AIRMODE 21 /* cleanflight DISABLE3DSWITCH */ +#define MSP_MODE_HOMERESET 22 /* cleanflight FPVANGLEMIX */ +#define MSP_MODE_GCSNAV 23 /* cleanflight BLACKBOXERASE */ +#define MSP_MODE_HEADINGLOCK 24 +#define MSP_MODE_SURFACE 25 +#define MSP_MODE_FLAPERON 26 +#define MSP_MODE_TURNASSIST 27 +#define MSP_MODE_NAVLAUNCH 28 +#define MSP_MODE_AUTOTRIM 29 + +struct msp_esc_sensor_data_t { + uint8_t motor_count; + uint8_t temperature; + uint16_t rpm; +} __attribute__((packed)); + +struct msp_esc_sensor_data_dji_t { + uint8_t temperature; + uint16_t rpm; +} __attribute__((packed)); + +struct msp_motor_telemetry_t { + uint8_t motor_count; + uint32_t rpm; + uint16_t invalid_percent; + uint8_t temperature; + uint16_t voltage; + uint16_t current; + uint16_t consumption; +} __attribute__((packed)); + +// MSP_API_VERSION reply +struct msp_api_version_t { + uint8_t protocolVersion; + uint8_t APIMajor; + uint8_t APIMinor; +} __attribute__((packed)); + + +// MSP_FC_VARIANT reply +struct msp_fc_variant_t { + char flightControlIdentifier[4]; +} __attribute__((packed)); + + +// MSP_FC_VERSION reply +struct msp_fc_version_t { + uint8_t versionMajor; + uint8_t versionMinor; + uint8_t versionPatchLevel; +} __attribute__((packed)); + + +// MSP_BOARD_INFO reply +struct msp_board_info_t { + char boardIdentifier[4]; + uint16_t hardwareRevision; +} __attribute__((packed)); + + +// MSP_BUILD_INFO reply +struct msp_build_info_t { + char buildDate[11]; + char buildTime[8]; + char shortGitRevision[7]; +} __attribute__((packed)); + + +// MSP_RAW_IMU reply +struct msp_raw_imu_t { + int16_t acc[3]; // x, y, z + int16_t gyro[3]; // x, y, z + int16_t mag[3]; // x, y, z +} __attribute__((packed)); + + +// flags for msp_status_ex_t.sensor and msp_status_t.sensor +#define MSP_STATUS_SENSOR_ACC 1 +#define MSP_STATUS_SENSOR_BARO 2 +#define MSP_STATUS_SENSOR_MAG 4 +#define MSP_STATUS_SENSOR_GPS 8 +#define MSP_STATUS_SENSOR_SONAR 16 + + +// MSP_STATUS_EX reply +//HHH I B HH BB I B +struct msp_status_ex_t { + uint16_t cycleTime; + uint16_t i2cErrorCounter; + uint16_t sensor; // MSP_STATUS_SENSOR_... + uint32_t flightModeFlags; // see getActiveModes() + uint8_t nop_1; + uint16_t system_load; // 0...100 + uint16_t gyro_time; + uint8_t nop_2; + uint32_t nop_3; + uint8_t extra; +} __attribute__((packed)); + + +// MSP_STATUS +struct msp_status_t { + uint16_t cycleTime; + uint16_t i2cErrorCounter; + uint16_t sensor; // MSP_STATUS_SENSOR_... + uint32_t flightModeFlags; // see getActiveModes() + uint8_t configProfileIndex; + uint16_t gyroCycleTime; +} __attribute__((packed)); + + +// MSP_SENSOR_STATUS reply +struct msp_sensor_status_t { + uint8_t isHardwareHealthy; // 0...1 + uint8_t hwGyroStatus; + uint8_t hwAccelerometerStatus; + uint8_t hwCompassStatus; + uint8_t hwBarometerStatus; + uint8_t hwGPSStatus; + uint8_t hwRangefinderStatus; + uint8_t hwPitotmeterStatus; + uint8_t hwOpticalFlowStatus; +} __attribute__((packed)); + + +#define MSP_MAX_SUPPORTED_SERVOS 8 + +// MSP_SERVO reply +struct msp_servo_t { + uint16_t servo[MSP_MAX_SUPPORTED_SERVOS]; +} __attribute__((packed)); + + +// MSP_SERVO_CONFIGURATIONS reply +struct msp_servo_configurations_t { + __attribute__((packed)) struct { + uint16_t min; + uint16_t max; + uint16_t middle; + uint8_t rate; + uint8_t angleAtMin; + uint8_t angleAtMax; + uint8_t forwardFromChannel; + uint32_t reversedSources; + } conf[MSP_MAX_SUPPORTED_SERVOS]; +} __attribute__((packed)); + + +/*#define MSP_MAX_SERVO_RULES (2 * MSP_MAX_SUPPORTED_SERVOS) + +// MSP_SERVO_MIX_RULES reply +struct msp_servo_mix_rules_t { + __attribute__ ((packed)) struct { + uint8_t targetChannel; + uint8_t inputSource; + uint8_t rate; + uint8_t speed; + uint8_t min; + uint8_t max; + } mixRule[MSP_MAX_SERVO_RULES]; +} __attribute__ ((packed));*/ + + +#define MSP_MAX_SUPPORTED_MOTORS 8 + +// MSP_MOTOR reply +struct msp_motor_t { + uint16_t motor[MSP_MAX_SUPPORTED_MOTORS]; +} __attribute__((packed)); + + +#define MSP_MAX_SUPPORTED_CHANNELS 16 + +// MSP_RC reply +struct msp_rc_t { + uint16_t channelValue[MSP_MAX_SUPPORTED_CHANNELS]; +} __attribute__((packed)); + + +// MSP_ATTITUDE reply +struct msp_attitude_t { + int16_t roll; + int16_t pitch; + int16_t yaw; +} __attribute__((packed)); + + +// MSP_ALTITUDE reply +struct msp_altitude_t { + int32_t estimatedActualPosition; // cm + int16_t estimatedActualVelocity; // cm/s + int32_t baroLatestAltitude; +} __attribute__((packed)); + + +// MSP_SONAR_ALTITUDE reply +struct msp_sonar_altitude_t { + int32_t altitude; +} __attribute__((packed)); + + +// MSP_ANALOG reply +struct msp_analog_t { + uint8_t vbat; // 0...255 + uint16_t mAhDrawn; // milliamp hours drawn from battery + uint16_t rssi; // 0..1023 + int16_t amperage; // send amperage in 0.01 A steps, range is -320A to 320A +} __attribute__((packed)); + + +// MSP_ARMING_CONFIG reply +struct msp_arming_config_t { + uint8_t auto_disarm_delay; + uint8_t disarm_kill_switch; +} __attribute__((packed)); + + +// MSP_LOOP_TIME reply +struct msp_loop_time_t { + uint16_t looptime; +} __attribute__((packed)); + + +// MSP_RC_TUNING reply +struct msp_rc_tuning_t { + uint8_t rcRate8; // no longer used + uint8_t rcExpo8; + uint8_t rates[3]; // R,P,Y + uint8_t dynThrPID; + uint8_t thrMid8; + uint8_t thrExpo8; + uint16_t tpa_breakpoint; + uint8_t rcYawExpo8; +} __attribute__((packed)); + + +// MSP_PID reply +struct msp_pid_t { + uint8_t roll[3]; // 0=P, 1=I, 2=D + uint8_t pitch[3]; // 0=P, 1=I, 2=D + uint8_t yaw[3]; // 0=P, 1=I, 2=D + uint8_t pos_z[3]; // 0=P, 1=I, 2=D + uint8_t pos_xy[3]; // 0=P, 1=I, 2=D + uint8_t vel_xy[3]; // 0=P, 1=I, 2=D + uint8_t surface[3]; // 0=P, 1=I, 2=D + uint8_t level[3]; // 0=P, 1=I, 2=D + uint8_t heading[3]; // 0=P, 1=I, 2=D + uint8_t vel_z[3]; // 0=P, 1=I, 2=D +} __attribute__((packed)); + + +// MSP_MISC reply +struct msp_misc_t { + uint16_t midrc; + uint16_t minthrottle; + uint16_t maxthrottle; + uint16_t mincommand; + uint16_t failsafe_throttle; + uint8_t gps_provider; + uint8_t gps_baudrate; + uint8_t gps_ubx_sbas; + uint8_t multiwiiCurrentMeterOutput; + uint8_t rssi_channel; + uint8_t dummy; + uint16_t mag_declination; + uint8_t vbatscale; + uint8_t vbatmincellvoltage; + uint8_t vbatmaxcellvoltage; + uint8_t vbatwarningcellvoltage; +} __attribute__((packed)); + + +// values for msp_raw_gps_t.fixType +#define MSP_GPS_NO_FIX 0 +#define MSP_GPS_FIX_2D 1 +#define MSP_GPS_FIX_3D 2 + + +// MSP_RAW_GPS reply +struct msp_raw_gps_t { + uint8_t fixType; // MSP_GPS_NO_FIX, MSP_GPS_FIX_2D, MSP_GPS_FIX_3D + uint8_t numSat; + int32_t lat; // 1 / 10000000 deg + int32_t lon; // 1 / 10000000 deg + int16_t alt; // meters + int16_t groundSpeed; // cm/s + int16_t groundCourse; // unit: degree x 10 + uint16_t hdop; +} __attribute__((packed)); + + +// MSP_COMP_GPS reply +struct msp_comp_gps_t { + int16_t distanceToHome; // distance to home in meters + int16_t directionToHome; // direction to home in degrees + uint8_t heartbeat; // toggles 0 and 1 for each change +} __attribute__((packed)); + + +// values for msp_nav_status_t.mode +#define MSP_NAV_STATUS_MODE_NONE 0 +#define MSP_NAV_STATUS_MODE_HOLD 1 +#define MSP_NAV_STATUS_MODE_RTH 2 +#define MSP_NAV_STATUS_MODE_NAV 3 +#define MSP_NAV_STATUS_MODE_EMERG 15 + +// values for msp_nav_status_t.state +#define MSP_NAV_STATUS_STATE_NONE 0 // None +#define MSP_NAV_STATUS_STATE_RTH_START 1 // RTH Start +#define MSP_NAV_STATUS_STATE_RTH_ENROUTE 2 // RTH Enroute +#define MSP_NAV_STATUS_STATE_HOLD_INFINIT 3 // PosHold infinit +#define MSP_NAV_STATUS_STATE_HOLD_TIMED 4 // PosHold timed +#define MSP_NAV_STATUS_STATE_WP_ENROUTE 5 // WP Enroute +#define MSP_NAV_STATUS_STATE_PROCESS_NEXT 6 // Process next +#define MSP_NAV_STATUS_STATE_DO_JUMP 7 // Jump +#define MSP_NAV_STATUS_STATE_LAND_START 8 // Start Land +#define MSP_NAV_STATUS_STATE_LAND_IN_PROGRESS 9 // Land in Progress +#define MSP_NAV_STATUS_STATE_LANDED 10 // Landed +#define MSP_NAV_STATUS_STATE_LAND_SETTLE 11 // Settling before land +#define MSP_NAV_STATUS_STATE_LAND_START_DESCENT 12 // Start descent + +// values for msp_nav_status_t.activeWpAction, msp_set_wp_t.action +#define MSP_NAV_STATUS_WAYPOINT_ACTION_WAYPOINT 0x01 +#define MSP_NAV_STATUS_WAYPOINT_ACTION_RTH 0x04 + +// values for msp_nav_status_t.error +#define MSP_NAV_STATUS_ERROR_NONE 0 // All systems clear +#define MSP_NAV_STATUS_ERROR_TOOFAR 1 // Next waypoint distance is more than safety distance +#define MSP_NAV_STATUS_ERROR_SPOILED_GPS 2 // GPS reception is compromised - Nav paused - copter is adrift ! +#define MSP_NAV_STATUS_ERROR_WP_CRC 3 // CRC error reading WP data from EEPROM - Nav stopped +#define MSP_NAV_STATUS_ERROR_FINISH 4 // End flag detected, navigation finished +#define MSP_NAV_STATUS_ERROR_TIMEWAIT 5 // Waiting for poshold timer +#define MSP_NAV_STATUS_ERROR_INVALID_JUMP 6 // Invalid jump target detected, aborting +#define MSP_NAV_STATUS_ERROR_INVALID_DATA 7 // Invalid mission step action code, aborting, copter is adrift +#define MSP_NAV_STATUS_ERROR_WAIT_FOR_RTH_ALT 8 // Waiting to reach RTH Altitude +#define MSP_NAV_STATUS_ERROR_GPS_FIX_LOST 9 // Gps fix lost, aborting mission +#define MSP_NAV_STATUS_ERROR_DISARMED 10 // NAV engine disabled due disarm +#define MSP_NAV_STATUS_ERROR_LANDING 11 // Landing + + +// MSP_NAV_STATUS reply +struct msp_nav_status_t { + uint8_t mode; // one of MSP_NAV_STATUS_MODE_XXX + uint8_t state; // one of MSP_NAV_STATUS_STATE_XXX + uint8_t activeWpAction; // combination of MSP_NAV_STATUS_WAYPOINT_ACTION_XXX + uint8_t activeWpNumber; + uint8_t error; // one of MSP_NAV_STATUS_ERROR_XXX + int16_t magHoldHeading; +} __attribute__((packed)); + + +// MSP_GPSSVINFO reply +struct msp_gpssvinfo_t { + uint8_t dummy1; + uint8_t dummy2; + uint8_t dummy3; + uint8_t dummy4; + uint8_t HDOP; +} __attribute__((packed)); + + +// MSP_GPSSTATISTICS reply +struct msp_gpsstatistics_t { + uint16_t lastMessageDt; + uint32_t errors; + uint32_t timeouts; + uint32_t packetCount; + uint16_t hdop; + uint16_t eph; + uint16_t epv; +} __attribute__((packed)); + + +// MSP_UID reply +struct msp_uid_t { + uint32_t uid0; + uint32_t uid1; + uint32_t uid2; +} __attribute__((packed)); + + +// MSP_FEATURE mask +#define MSP_FEATURE_RX_PPM (1 << 0) +#define MSP_FEATURE_VBAT (1 << 1) +#define MSP_FEATURE_UNUSED_1 (1 << 2) +#define MSP_FEATURE_RX_SERIAL (1 << 3) +#define MSP_FEATURE_MOTOR_STOP (1 << 4) +#define MSP_FEATURE_SERVO_TILT (1 << 5) +#define MSP_FEATURE_SOFTSERIAL (1 << 6) +#define MSP_FEATURE_GPS (1 << 7) +#define MSP_FEATURE_UNUSED_3 (1 << 8) // was FEATURE_FAILSAFE +#define MSP_FEATURE_UNUSED_4 (1 << 9) // was FEATURE_SONAR +#define MSP_FEATURE_TELEMETRY (1 << 10) +#define MSP_FEATURE_CURRENT_METER (1 << 11) +#define MSP_FEATURE_3D (1 << 12) +#define MSP_FEATURE_RX_PARALLEL_PWM (1 << 13) +#define MSP_FEATURE_RX_MSP (1 << 14) +#define MSP_FEATURE_RSSI_ADC (1 << 15) +#define MSP_FEATURE_LED_STRIP (1 << 16) +#define MSP_FEATURE_DASHBOARD (1 << 17) +#define MSP_FEATURE_UNUSED_2 (1 << 18) +#define MSP_FEATURE_BLACKBOX (1 << 19) +#define MSP_FEATURE_CHANNEL_FORWARDING (1 << 20) +#define MSP_FEATURE_TRANSPONDER (1 << 21) +#define MSP_FEATURE_AIRMODE (1 << 22) +#define MSP_FEATURE_SUPEREXPO_RATES (1 << 23) +#define MSP_FEATURE_VTX (1 << 24) +#define MSP_FEATURE_RX_SPI (1 << 25) +#define MSP_FEATURE_SOFTSPI (1 << 26) +#define MSP_FEATURE_PWM_SERVO_DRIVER (1 << 27) +#define MSP_FEATURE_PWM_OUTPUT_ENABLE (1 << 28) +#define MSP_FEATURE_OSD (1 << 29) + + +// MSP_FEATURE reply +struct msp_feature_t { + uint32_t featureMask; // combination of MSP_FEATURE_XXX +} __attribute__((packed)); + + +// MSP_BOARD_ALIGNMENT reply +struct msp_board_alignment_t { + int16_t rollDeciDegrees; + int16_t pitchDeciDegrees; + int16_t yawDeciDegrees; +} __attribute__((packed)); + + +// values for msp_current_meter_config_t.currentMeterType +#define MSP_CURRENT_SENSOR_NONE 0 +#define MSP_CURRENT_SENSOR_ADC 1 +#define MSP_CURRENT_SENSOR_VIRTUAL 2 +#define MSP_CURRENT_SENSOR_MAX CURRENT_SENSOR_VIRTUAL + + +// MSP_CURRENT_METER_CONFIG reply +struct msp_current_meter_config_t { + int16_t currentMeterScale; + int16_t currentMeterOffset; + uint8_t currentMeterType; // MSP_CURRENT_SENSOR_XXX + uint16_t batteryCapacity; +} __attribute__((packed)); + + +// msp_rx_config_t.serialrx_provider +#define MSP_SERIALRX_SPEKTRUM1024 0 +#define MSP_SERIALRX_SPEKTRUM2048 1 +#define MSP_SERIALRX_SBUS 2 +#define MSP_SERIALRX_SUMD 3 +#define MSP_SERIALRX_SUMH 4 +#define MSP_SERIALRX_XBUS_MODE_B 5 +#define MSP_SERIALRX_XBUS_MODE_B_RJ01 6 +#define MSP_SERIALRX_IBUS 7 +#define MSP_SERIALRX_JETIEXBUS 8 +#define MSP_SERIALRX_CRSF 9 + + +// msp_rx_config_t.rx_spi_protocol values +#define MSP_SPI_PROT_NRF24RX_V202_250K 0 +#define MSP_SPI_PROT_NRF24RX_V202_1M 1 +#define MSP_SPI_PROT_NRF24RX_SYMA_X 2 +#define MSP_SPI_PROT_NRF24RX_SYMA_X5C 3 +#define MSP_SPI_PROT_NRF24RX_CX10 4 +#define MSP_SPI_PROT_NRF24RX_CX10A 5 +#define MSP_SPI_PROT_NRF24RX_H8_3D 6 +#define MSP_SPI_PROT_NRF24RX_INAV 7 + + +// MSP_RX_CONFIG reply +struct msp_rx_config_t { + uint8_t serialrx_provider; // one of MSP_SERIALRX_XXX values + uint16_t maxcheck; + uint16_t midrc; + uint16_t mincheck; + uint8_t spektrum_sat_bind; + uint16_t rx_min_usec; + uint16_t rx_max_usec; + uint8_t dummy1; + uint8_t dummy2; + uint16_t dummy3; + uint8_t rx_spi_protocol; // one of MSP_SPI_PROT_XXX values + uint32_t rx_spi_id; + uint8_t rx_spi_rf_channel_count; +} __attribute__((packed)); + + +#define MSP_MAX_MAPPABLE_RX_INPUTS 8 + +// MSP_RX_MAP reply +struct msp_rx_map_t { + uint8_t rxmap[MSP_MAX_MAPPABLE_RX_INPUTS]; // [0]=roll channel, [1]=pitch channel, [2]=yaw channel, [3]=throttle channel, [3+n]=aux n channel, etc... +} __attribute__((packed)); + +// values for msp_sensor_alignment_t.gyro_align, acc_align, mag_align +#define MSP_SENSOR_ALIGN_CW0_DEG 1 +#define MSP_SENSOR_ALIGN_CW90_DEG 2 +#define MSP_SENSOR_ALIGN_CW180_DEG 3 +#define MSP_SENSOR_ALIGN_CW270_DEG 4 +#define MSP_SENSOR_ALIGN_CW0_DEG_FLIP 5 +#define MSP_SENSOR_ALIGN_CW90_DEG_FLIP 6 +#define MSP_SENSOR_ALIGN_CW180_DEG_FLIP 7 +#define MSP_SENSOR_ALIGN_CW270_DEG_FLIP 8 + +// MSP_SENSOR_ALIGNMENT reply +struct msp_sensor_alignment_t { + uint8_t gyro_align; // one of MSP_SENSOR_ALIGN_XXX + uint8_t acc_align; // one of MSP_SENSOR_ALIGN_XXX + uint8_t mag_align; // one of MSP_SENSOR_ALIGN_XXX +} __attribute__((packed)); + + +// MSP_CALIBRATION_DATA reply +struct msp_calibration_data_t { + int16_t accZeroX; + int16_t accZeroY; + int16_t accZeroZ; + int16_t accGainX; + int16_t accGainY; + int16_t accGainZ; + int16_t magZeroX; + int16_t magZeroY; + int16_t magZeroZ; +} __attribute__((packed)); + + +// MSP_SET_HEAD command +struct msp_set_head_t { + int16_t magHoldHeading; // degrees +} __attribute__((packed)); + + +// MSP_SET_RAW_RC command +struct msp_set_raw_rc_t { + uint16_t channel[MSP_MAX_SUPPORTED_CHANNELS]; +} __attribute__((packed)); + + +// MSP_SET_PID command +typedef msp_pid_t msp_set_pid_t; + + +// MSP_SET_RAW_GPS command +struct msp_set_raw_gps_t { + uint8_t fixType; // MSP_GPS_NO_FIX, MSP_GPS_FIX_2D, MSP_GPS_FIX_3D + uint8_t numSat; + int32_t lat; // 1 / 10000000 deg + int32_t lon; // 1 / 10000000 deg + int16_t alt; // meters + int16_t groundSpeed; // cm/s +} __attribute__((packed)); + + +// MSP_SET_WP command +// Special waypoints are 0 and 255. 0 is the RTH position, 255 is the POSHOLD position (lat, lon, alt). +struct msp_set_wp_t { + uint8_t waypointNumber; + uint8_t action; // one of MSP_NAV_STATUS_WAYPOINT_ACTION_XXX + int32_t lat; // decimal degrees latitude * 10000000 + int32_t lon; // decimal degrees longitude * 10000000 + int32_t alt; // altitude (cm) + int16_t p1; // speed (cm/s) when action is MSP_NAV_STATUS_WAYPOINT_ACTION_WAYPOINT, or "land" (value 1) when action is MSP_NAV_STATUS_WAYPOINT_ACTION_RTH + int16_t p2; // not used + int16_t p3; // not used + uint8_t flag; // 0xa5 = last, otherwise set to 0 +} __attribute__((packed)); + +#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight +#define MSP_NAME 10 +#define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used + +struct msp_osd_config_t { + uint8_t osdflags; + uint8_t video_system; + uint8_t units; + uint8_t rssi_alarm; + uint16_t cap_alarm; + uint8_t old_timer_alarm; + uint8_t osd_item_count; //56 + uint16_t alt_alarm; + uint16_t osd_rssi_value_pos; + uint16_t osd_main_batt_voltage_pos; + uint16_t osd_crosshairs_pos; + uint16_t osd_artificial_horizon_pos; + uint16_t osd_horizon_sidebars_pos; + uint16_t osd_item_timer_1_pos; + uint16_t osd_item_timer_2_pos; + uint16_t osd_flymode_pos; + uint16_t osd_craft_name_pos; + uint16_t osd_throttle_pos_pos; + uint16_t osd_vtx_channel_pos; + uint16_t osd_current_draw_pos; + uint16_t osd_mah_drawn_pos; + uint16_t osd_gps_speed_pos; + uint16_t osd_gps_sats_pos; + uint16_t osd_altitude_pos; + uint16_t osd_roll_pids_pos; + uint16_t osd_pitch_pids_pos; + uint16_t osd_yaw_pids_pos; + uint16_t osd_power_pos; + uint16_t osd_pidrate_profile_pos; + uint16_t osd_warnings_pos; + uint16_t osd_avg_cell_voltage_pos; + uint16_t osd_gps_lon_pos; + uint16_t osd_gps_lat_pos; + uint16_t osd_debug_pos; + uint16_t osd_pitch_angle_pos; + uint16_t osd_roll_angle_pos; + uint16_t osd_main_batt_usage_pos; + uint16_t osd_disarmed_pos; + uint16_t osd_home_dir_pos; + uint16_t osd_home_dist_pos; + uint16_t osd_numerical_heading_pos; + uint16_t osd_numerical_vario_pos; + uint16_t osd_compass_bar_pos; + uint16_t osd_esc_tmp_pos; + uint16_t osd_esc_rpm_pos; + uint16_t osd_remaining_time_estimate_pos; + uint16_t osd_rtc_datetime_pos; + uint16_t osd_adjustment_range_pos; + uint16_t osd_core_temperature_pos; + uint16_t osd_anti_gravity_pos; + uint16_t osd_g_force_pos; + uint16_t osd_motor_diag_pos; + uint16_t osd_log_status_pos; + uint16_t osd_flip_arrow_pos; + uint16_t osd_link_quality_pos; + uint16_t osd_flight_dist_pos; + uint16_t osd_stick_overlay_left_pos; + uint16_t osd_stick_overlay_right_pos; + uint16_t osd_display_name_pos; + uint16_t osd_esc_rpm_freq_pos; + uint16_t osd_rate_profile_name_pos; + uint16_t osd_pid_profile_name_pos; + uint16_t osd_profile_name_pos; + uint16_t osd_rssi_dbm_value_pos; + uint16_t osd_rc_channels_pos; + uint8_t osd_stat_count; //24 + uint8_t osd_stat_rtc_date_time; + uint8_t osd_stat_timer_1; + uint8_t osd_stat_timer_2; + uint8_t osd_stat_max_speed; + uint8_t osd_stat_max_distance; + uint8_t osd_stat_min_battery; + uint8_t osd_stat_end_battery; + uint8_t osd_stat_battery; + uint8_t osd_stat_min_rssi; + uint8_t osd_stat_max_current; + uint8_t osd_stat_used_mah; + uint8_t osd_stat_max_altitude; + uint8_t osd_stat_blackbox; + uint8_t osd_stat_blackbox_number; + uint8_t osd_stat_max_g_force; + uint8_t osd_stat_max_esc_temp; + uint8_t osd_stat_max_esc_rpm; + uint8_t osd_stat_min_link_quality; + uint8_t osd_stat_flight_distance; + uint8_t osd_stat_max_fft; + uint8_t osd_stat_total_flights; + uint8_t osd_stat_total_time; + uint8_t osd_stat_total_dist; + uint8_t osd_stat_min_rssi_dbm; + uint16_t osd_timer_count; + uint16_t osd_timer_1; + uint16_t osd_timer_2; + uint16_t enabledwarnings; + uint8_t osd_warning_count; // 16 + uint32_t enabledwarnings_1_41_plus; + uint8_t osd_profile_count; // 1 + uint8_t osdprofileindex; // 1 + uint8_t overlay_radio_mode; // 0 +} __attribute__((packed)); + +struct msp_name_t { + char craft_name[15]; //15 characters max possible displayed in the goggles +} __attribute__((packed)); + +struct msp_battery_state_t { + uint8_t batteryCellCount; + uint16_t batteryCapacity; + uint8_t legacyBatteryVoltage; + uint16_t mAhDrawn; + uint16_t amperage; + uint8_t batteryState; + uint16_t batteryVoltage; +} __attribute__((packed)); + +// MSP_STATUS reply customized for BF/DJI +struct msp_status_BF_t { + uint16_t task_delta_time; + uint16_t i2c_error_count; + uint16_t sensor_status; + uint32_t flight_mode_flags; + uint8_t pid_profile; + uint16_t system_load; + uint16_t gyro_cycle_time; + uint8_t box_mode_flags; + uint8_t arming_disable_flags_count; + uint32_t arming_disable_flags; + uint8_t extra_flags; +} __attribute__((packed)); + +////ArduPlane +enum arduPlaneModes_e { + MANUAL = 0, + CIRCLE = 1, + STABILIZE = 2, + TRAINING = 3, + ACRO = 4, + FLY_BY_WIRE_A = 5, + FLY_BY_WIRE_B = 6, + CRUISE = 7, + AUTOTUNE = 8, + AUTO = 10, + RTL = 11, + LOITER = 12, + TAKEOFF = 13, + AVOID_ADSB = 14, + GUIDED = 15, + INITIALISING = 16, + QSTABILIZE = 17, + QHOVER = 18, + QLOITER = 19, + QLAND = 20, + QRTL = 21, + QAUTOTUNE = 22, + QACRO = 23, +}; + +enum betaflightDJIModesMask_e { + ARM_ACRO_BF = (1 << 0), + STAB_BF = (1 << 1), + HOR_BF = (1 << 2), + HEAD_BF = (1 << 3), + FS_BF = (1 << 4), + RESC_BF = (1 << 5) +}; + +//DJI supported flightModeFlags +// 0b00000001 acro/arm +// 0b00000010 stab +// 0b00000100 hor +// 0b00001000 head +// 0b00010000 !fs! +// 0b00100000 resc +// 0b01000000 acro +// 0b10000000 acro + diff --git a/src/drivers/osd/msp_osd/msp_osd.cpp b/src/drivers/osd/msp_osd/msp_osd.cpp new file mode 100644 index 0000000000..ad107ec509 --- /dev/null +++ b/src/drivers/osd/msp_osd/msp_osd.cpp @@ -0,0 +1,520 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "msp_osd.hpp" + +#include "msp_defines.h" + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "MspV1.hpp" + +//OSD elements positions +//in betaflight configurator set OSD elements to your desired positions and in CLI type "set osd" to retreieve the numbers. +//234 -> not visible. Horizontally 2048-2074(spacing 1), vertically 2048-2528(spacing 32). 26 characters X 15 lines + +// Currently working elements + +// Left +const uint16_t osd_gps_lat_pos = 2048; +const uint16_t osd_gps_lon_pos = 2080; +uint16_t osd_gps_sats_pos = 2112; +const uint16_t osd_rssi_value_pos = 2176; +const uint16_t osd_flymode_pos = 234; +const uint16_t osd_esc_tmp_pos = 234; + +// Center +const uint16_t osd_home_dir_pos = 2093; +const uint16_t osd_craft_name_pos = 2543; +const uint16_t osd_horizon_sidebars_pos = 234; +const uint16_t osd_disarmed_pos = 2125; + +// Right +const uint16_t osd_main_batt_voltage_pos = 2073; +const uint16_t osd_current_draw_pos = 2103; +const uint16_t osd_mah_drawn_pos = 2138; +const uint16_t osd_altitude_pos = 2233; +const uint16_t osd_numerical_vario_pos = 2267; +const uint16_t osd_gps_speed_pos = 2299; +const uint16_t osd_home_dist_pos = 2331; +const uint16_t osd_power_pos = 234; + +// Disabled +const uint16_t osd_pitch_angle_pos = 234; +const uint16_t osd_roll_angle_pos = 234; +const uint16_t osd_crosshairs_pos = 234; +const uint16_t osd_avg_cell_voltage_pos = 234; + +// Not implemented or not available +const uint16_t osd_throttle_pos_pos = 234; +const uint16_t osd_vtx_channel_pos = 234; +const uint16_t osd_roll_pids_pos = 234; +const uint16_t osd_pitch_pids_pos = 234; +const uint16_t osd_yaw_pids_pos = 234; +const uint16_t osd_pidrate_profile_pos = 234; +const uint16_t osd_warnings_pos = 234; +const uint16_t osd_debug_pos = 234; +const uint16_t osd_artificial_horizon_pos = 234; +const uint16_t osd_item_timer_1_pos = 234; +const uint16_t osd_item_timer_2_pos = 234; +const uint16_t osd_main_batt_usage_pos = 234; +const uint16_t osd_numerical_heading_pos = 234; +const uint16_t osd_compass_bar_pos = 234; +const uint16_t osd_esc_rpm_pos = 234; +const uint16_t osd_remaining_time_estimate_pos = 234; +const uint16_t osd_rtc_datetime_pos = 234; +const uint16_t osd_adjustment_range_pos = 234; +const uint16_t osd_core_temperature_pos = 234; +const uint16_t osd_anti_gravity_pos = 234; +const uint16_t osd_g_force_pos = 234; +const uint16_t osd_motor_diag_pos = 234; +const uint16_t osd_log_status_pos = 234; +const uint16_t osd_flip_arrow_pos = 234; +const uint16_t osd_link_quality_pos = 234; +const uint16_t osd_flight_dist_pos = 234; +const uint16_t osd_stick_overlay_left_pos = 234; +const uint16_t osd_stick_overlay_right_pos = 234; +const uint16_t osd_display_name_pos = 234; +const uint16_t osd_esc_rpm_freq_pos = 234; +const uint16_t osd_rate_profile_name_pos = 234; +const uint16_t osd_pid_profile_name_pos = 234; +const uint16_t osd_profile_name_pos = 234; +const uint16_t osd_rssi_dbm_value_pos = 234; +const uint16_t osd_rc_channels_pos = 234; + +MspOsd::MspOsd() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1), + _msp(NULL) +{ +} + +MspOsd::~MspOsd() +{ +} + +bool MspOsd::init() +{ + ScheduleOnInterval(100_ms); + + return true; +} + +void MspOsd::SendConfig() +{ + msp_osd_config_t msp_osd_config; + + msp_osd_config.units = 0; + + msp_osd_config.osd_item_count = 56; + msp_osd_config.osd_stat_count = 24; + msp_osd_config.osd_timer_count = 2; + msp_osd_config.osd_warning_count = 16; // 16 + msp_osd_config.osd_profile_count = 1; // 1 + msp_osd_config.osdprofileindex = 1; // 1 + msp_osd_config.overlay_radio_mode = 0; // 0 + + msp_osd_config.osd_rssi_value_pos = osd_rssi_value_pos; + msp_osd_config.osd_main_batt_voltage_pos = osd_main_batt_voltage_pos; + msp_osd_config.osd_crosshairs_pos = osd_crosshairs_pos; + msp_osd_config.osd_artificial_horizon_pos = osd_artificial_horizon_pos; + msp_osd_config.osd_horizon_sidebars_pos = osd_horizon_sidebars_pos; + msp_osd_config.osd_item_timer_1_pos = osd_item_timer_1_pos; + msp_osd_config.osd_item_timer_2_pos = osd_item_timer_2_pos; + msp_osd_config.osd_flymode_pos = osd_flymode_pos; + msp_osd_config.osd_craft_name_pos = osd_craft_name_pos; + msp_osd_config.osd_throttle_pos_pos = osd_throttle_pos_pos; + msp_osd_config.osd_vtx_channel_pos = osd_vtx_channel_pos; + msp_osd_config.osd_current_draw_pos = osd_current_draw_pos; + msp_osd_config.osd_mah_drawn_pos = osd_mah_drawn_pos; + msp_osd_config.osd_gps_speed_pos = osd_gps_speed_pos; + msp_osd_config.osd_gps_sats_pos = osd_gps_sats_pos; + msp_osd_config.osd_altitude_pos = osd_altitude_pos; + msp_osd_config.osd_roll_pids_pos = osd_roll_pids_pos; + msp_osd_config.osd_pitch_pids_pos = osd_pitch_pids_pos; + msp_osd_config.osd_yaw_pids_pos = osd_yaw_pids_pos; + msp_osd_config.osd_power_pos = osd_power_pos; + msp_osd_config.osd_pidrate_profile_pos = osd_pidrate_profile_pos; + msp_osd_config.osd_warnings_pos = osd_warnings_pos; + msp_osd_config.osd_avg_cell_voltage_pos = osd_avg_cell_voltage_pos; + msp_osd_config.osd_gps_lon_pos = osd_gps_lon_pos; + msp_osd_config.osd_gps_lat_pos = osd_gps_lat_pos; + msp_osd_config.osd_debug_pos = osd_debug_pos; + msp_osd_config.osd_pitch_angle_pos = osd_pitch_angle_pos; + msp_osd_config.osd_roll_angle_pos = osd_roll_angle_pos; + msp_osd_config.osd_main_batt_usage_pos = osd_main_batt_usage_pos; + msp_osd_config.osd_disarmed_pos = osd_disarmed_pos; + msp_osd_config.osd_home_dir_pos = osd_home_dir_pos; + msp_osd_config.osd_home_dist_pos = osd_home_dist_pos; + msp_osd_config.osd_numerical_heading_pos = osd_numerical_heading_pos; + msp_osd_config.osd_numerical_vario_pos = osd_numerical_vario_pos; + msp_osd_config.osd_compass_bar_pos = osd_compass_bar_pos; + msp_osd_config.osd_esc_tmp_pos = osd_esc_tmp_pos; + msp_osd_config.osd_esc_rpm_pos = osd_esc_rpm_pos; + msp_osd_config.osd_remaining_time_estimate_pos = osd_remaining_time_estimate_pos; + msp_osd_config.osd_rtc_datetime_pos = osd_rtc_datetime_pos; + msp_osd_config.osd_adjustment_range_pos = osd_adjustment_range_pos; + msp_osd_config.osd_core_temperature_pos = osd_core_temperature_pos; + msp_osd_config.osd_anti_gravity_pos = osd_anti_gravity_pos; + msp_osd_config.osd_g_force_pos = osd_g_force_pos; + msp_osd_config.osd_motor_diag_pos = osd_motor_diag_pos; + msp_osd_config.osd_log_status_pos = osd_log_status_pos; + msp_osd_config.osd_flip_arrow_pos = osd_flip_arrow_pos; + msp_osd_config.osd_link_quality_pos = osd_link_quality_pos; + msp_osd_config.osd_flight_dist_pos = osd_flight_dist_pos; + msp_osd_config.osd_stick_overlay_left_pos = osd_stick_overlay_left_pos; + msp_osd_config.osd_stick_overlay_right_pos = osd_stick_overlay_right_pos; + msp_osd_config.osd_display_name_pos = osd_display_name_pos; + msp_osd_config.osd_esc_rpm_freq_pos = osd_esc_rpm_freq_pos; + msp_osd_config.osd_rate_profile_name_pos = osd_rate_profile_name_pos; + msp_osd_config.osd_pid_profile_name_pos = osd_pid_profile_name_pos; + msp_osd_config.osd_profile_name_pos = osd_profile_name_pos; + msp_osd_config.osd_rssi_dbm_value_pos = osd_rssi_dbm_value_pos; + msp_osd_config.osd_rc_channels_pos = osd_rc_channels_pos; + + _msp.Send(MSP_OSD_CONFIG, &msp_osd_config); +} + +void MspOsd::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + updateParams(); // update module parameters (in DEFINE_PARAMETERS) + } + + if (!_is_initialized) { + _is_initialized = true; + + struct termios t; + + _msp_fd = open("/dev/ttyS3", O_RDWR | O_NONBLOCK); + + if (_msp_fd < 0) { + return; + } + + tcgetattr(_msp_fd, &t); + cfsetspeed(&t, B115200); + t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + t.c_oflag = 0; + tcsetattr(_msp_fd, TCSANOW, &t); + + _msp = MspV1(_msp_fd); + + PX4_WARN("Startup"); + } + + msp_battery_state_t battery_state = {0}; + msp_name_t name = {0}; + msp_status_BF_t status_BF = {0}; + msp_analog_t analog = {0}; + msp_raw_gps_t raw_gps = {0}; + msp_comp_gps_t comp_gps = {0}; + msp_attitude_t attitude = {0}; + msp_altitude_t altitude = {0}; + msp_esc_sensor_data_dji_t esc_sensor_data = {0}; + //msp_motor_telemetry_t motor_telemetry = {0}; + msp_fc_variant_t variant = {0}; + + //power_monitor_sub.update(&power_monitor_struct); + _battery_status_sub.update(&_battery_status_struct); + _vehicle_status_sub.update(&_vehicle_status_struct); + _vehicle_gps_position_sub.update(&_vehicle_gps_position_struct); + _airspeed_validated_sub.update(&_airspeed_validated_struct); + _vehicle_air_data_sub.update(&_vehicle_air_data_struct); + _home_position_sub.update(&_home_position_struct); + _vehicle_global_position_sub.update(&_vehicle_global_position_struct); + _vehicle_local_position_sub.update(&_vehicle_local_position_struct); + _vehicle_attitude_sub.update(&_vehicle_attitude_struct); + _estimator_status_sub.update(&_estimator_status_struct); + _input_rc_sub.update(&_input_rc_struct); + + matrix::Eulerf euler_attitude(matrix::Quatf(_vehicle_attitude_struct.q)); + + memcpy(variant.flightControlIdentifier, "BTFL", sizeof(variant.flightControlIdentifier)); + _msp.Send(MSP_FC_VARIANT, &variant); + + // MSP_NAME + snprintf(name.craft_name, sizeof(name.craft_name), "> %i", _x); + name.craft_name[14] = '\0'; + _msp.Send(MSP_NAME, &name); + + // MSP_STATUS + if (_vehicle_status_struct.arming_state == _vehicle_status_struct.ARMING_STATE_ARMED) { + status_BF.flight_mode_flags |= ARM_ACRO_BF; + + switch (_vehicle_status_struct.nav_state) { + case _vehicle_status_struct.NAVIGATION_STATE_MANUAL: + status_BF.flight_mode_flags |= 0; + break; + + case _vehicle_status_struct.NAVIGATION_STATE_ACRO: + status_BF.flight_mode_flags |= 0; + break; + + case _vehicle_status_struct.NAVIGATION_STATE_STAB: + status_BF.flight_mode_flags |= STAB_BF; + break; + + case _vehicle_status_struct.NAVIGATION_STATE_AUTO_RTL: + status_BF.flight_mode_flags |= RESC_BF; + break; + + case _vehicle_status_struct.NAVIGATION_STATE_TERMINATION: + status_BF.flight_mode_flags |= FS_BF; + break; + + default: + status_BF.flight_mode_flags = 0; + break; + } + } + + status_BF.arming_disable_flags_count = 1; + status_BF.arming_disable_flags = !(_vehicle_status_struct.arming_state == _vehicle_status_struct.ARMING_STATE_ARMED); + _msp.Send(MSP_STATUS, &status_BF); + + // MSP_ANALOG + analog.vbat = _battery_status_struct.voltage_v * 10; // bottom right... v * 10 + analog.rssi = (uint16_t)((_input_rc_struct.rssi * 1023.0f) / 100.0f); + analog.amperage = _battery_status_struct.current_a * 100; // main amperage + analog.mAhDrawn = _battery_status_struct.discharged_mah; // unused + _msp.Send(MSP_ANALOG, &analog); + + // MSP_BATTERY_STATE + battery_state.amperage = _battery_status_struct.current_a; // not used? + battery_state.batteryVoltage = (uint16_t)(_battery_status_struct.voltage_v * 400.0f); // OK + battery_state.mAhDrawn = _battery_status_struct.discharged_mah ; // OK + battery_state.batteryCellCount = _battery_status_struct.cell_count; + battery_state.batteryCapacity = _battery_status_struct.capacity; // not used? + + // Voltage color 0==white, 1==red + if (_battery_status_struct.voltage_v < 14.4f) { + battery_state.batteryState = 1; + + } else { + battery_state.batteryState = 0; + } + + battery_state.legacyBatteryVoltage = _battery_status_struct.voltage_v * 10; + _msp.Send(MSP_BATTERY_STATE, &battery_state); + + // MSP_RAW_GPS + if (_vehicle_gps_position_struct.fix_type >= 2) { + raw_gps.lat = _vehicle_gps_position_struct.lat; + raw_gps.lon = _vehicle_gps_position_struct.lon; + raw_gps.alt = _vehicle_gps_position_struct.alt / 10; + //raw_gps.groundCourse = vehicle_gps_position_struct + altitude.estimatedActualPosition = _vehicle_gps_position_struct.alt / 10; + + } else { + raw_gps.lat = 0; + raw_gps.lon = 0; + raw_gps.alt = 0; + altitude.estimatedActualPosition = 0; + } + + if (_vehicle_gps_position_struct.fix_type == 0 + || _vehicle_gps_position_struct.fix_type == 1) { + raw_gps.fixType = MSP_GPS_NO_FIX; + + } else if (_vehicle_gps_position_struct.fix_type == 2) { + raw_gps.fixType = MSP_GPS_FIX_2D; + + } else if (_vehicle_gps_position_struct.fix_type >= 3 && _vehicle_gps_position_struct.fix_type <= 5) { + raw_gps.fixType = MSP_GPS_FIX_3D; + + } else { + raw_gps.fixType = MSP_GPS_NO_FIX; + } + + //raw_gps.hdop = vehicle_gps_position_struct.hdop + raw_gps.numSat = _vehicle_gps_position_struct.satellites_used; + + if (_airspeed_validated_struct.airspeed_sensor_measurement_valid + && _airspeed_validated_struct.indicated_airspeed_m_s != NAN + && _airspeed_validated_struct.indicated_airspeed_m_s > 0) { + raw_gps.groundSpeed = _airspeed_validated_struct.indicated_airspeed_m_s * 100; + + } else { + raw_gps.groundSpeed = 0; + } + + //PX4_WARN("%f\r\n", (double)_battery_status_struct.current_a); + _msp.Send(MSP_RAW_GPS, &raw_gps); + + // Calculate distance and direction to home + if (_home_position_struct.valid_hpos + && _home_position_struct.valid_lpos + && _estimator_status_struct.solution_status_flags & (1 << 4)) { + float bearing_to_home = get_bearing_to_next_waypoint(_vehicle_global_position_struct.lat, + _vehicle_global_position_struct.lon, + _home_position_struct.lat, _home_position_struct.lon); + + float distance_to_home = get_distance_to_next_waypoint(_vehicle_global_position_struct.lat, + _vehicle_global_position_struct.lon, + _home_position_struct.lat, _home_position_struct.lon); + + comp_gps.distanceToHome = (int16_t)distance_to_home; // meters + comp_gps.directionToHome = bearing_to_home; // degrees + + } else { + comp_gps.distanceToHome = 0; // meters + comp_gps.directionToHome = 0; // degrees + } + + // MSP_COMP_GPS + comp_gps.heartbeat = _heartbeat; + _heartbeat = !_heartbeat; + _msp.Send(MSP_COMP_GPS, &comp_gps); + + // MSP_ATTITUDE + attitude.pitch = math::degrees(euler_attitude.theta()) * 10; + attitude.roll = math::degrees(euler_attitude.phi()) * 10; + attitude.yaw = math::degrees(euler_attitude.psi()) * 10; + _msp.Send(MSP_ATTITUDE, &attitude); + + // MSP_ALTITUDE + if (_estimator_status_struct.solution_status_flags & (1 << 5)) { + altitude.estimatedActualVelocity = -_vehicle_local_position_struct.vz * 10; //m/s to cm/s + + } else { + altitude.estimatedActualVelocity = 0; + } + + _msp.Send(MSP_ALTITUDE, &altitude); + + // MSP_MOTOR_TELEMETRY + esc_sensor_data.rpm = 0; + esc_sensor_data.temperature = 50; + _msp.Send(MSP_ESC_SENSOR_DATA, &esc_sensor_data); + + SendConfig(); +} + +int MspOsd::task_spawn(int argc, char *argv[]) +{ + MspOsd *instance = new MspOsd(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int MspOsd::print_status() +{ + PX4_INFO("Running"); + + return 0; +} + +int MspOsd::custom_command(int argc, char *argv[]) +{ + return 0; +} + +int MspOsd::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Msp OSD! + +### Implementation +Does the things for the DJI Air Unit OSD + +### Examples +CLI usage example: +$ msp_osd + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("module", "msp_osd"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int msp_osd_main(int argc, char *argv[]) +{ + return MspOsd::main(argc, argv); +} diff --git a/src/drivers/osd/msp_osd/msp_osd.hpp b/src/drivers/osd/msp_osd/msp_osd.hpp new file mode 100644 index 0000000000..103599934a --- /dev/null +++ b/src/drivers/osd/msp_osd/msp_osd.hpp @@ -0,0 +1,127 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "MspV1.hpp" + +using namespace time_literals; + +class MspOsd : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + MspOsd(); + + ~MspOsd() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + + /** @see ModuleBase::print_status() */ + int print_status() override; + +private: + void Run() override; + + MspV1 _msp; + int _msp_fd{-1}; + + bool _is_initialized{false}; + + //uORB::Subscription power_monitor_sub(ORB_ID(power_monitor)); + uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; + uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; + uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)}; + uORB::Subscription _home_position_sub{ORB_ID(home_position)}; + uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; + uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _input_rc_sub{ORB_ID(input_rc)}; + + struct battery_status_s _battery_status_struct = {0}; + struct vehicle_status_s _vehicle_status_struct; + struct sensor_gps_s _vehicle_gps_position_struct = {0}; + struct airspeed_validated_s _airspeed_validated_struct = {0}; + struct vehicle_air_data_s _vehicle_air_data_struct = {0}; + struct home_position_s _home_position_struct = {0}; + struct vehicle_global_position_s _vehicle_global_position_struct = {0}; + struct vehicle_attitude_s _vehicle_attitude_struct = {0}; + struct estimator_status_s _estimator_status_struct = {0}; + struct vehicle_local_position_s _vehicle_local_position_struct = {0}; + struct input_rc_s _input_rc_struct = {0}; + + + void SendConfig(); + void SendTelemetry(); + + uint8_t _x{0}; + bool _heartbeat{false}; + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + +}; +