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[Crossfire] New frame ATTITUDE added

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This commit is contained in:
Bertrand Songis
2016-06-04 12:36:37 +02:00
parent 068fa45a06
commit 5767be27b6
18 changed files with 129 additions and 24 deletions
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radio/src/telemetry/crossfire.cpp
+50 -22
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@@ -48,30 +48,38 @@ enum CrossfireSensorIndexes {
GPS_HEADING_INDEX,
GPS_ALTITUDE_INDEX,
GPS_SATELLITES_INDEX,
UNKNOW_INDEX,
ATTITUDE_PITCH_INDEX,
ATTITUDE_ROLL_INDEX,
ATTITUDE_YAW_INDEX,
FLIGHT_MODE_INDEX,
UNKNOWN_INDEX,
};
const CrossfireSensor crossfireSensors[] = {
{LINK_ID, 0, ZSTR_RX_RSSI1, UNIT_DB, 0},
{LINK_ID, 1, ZSTR_RX_RSSI2, UNIT_DB, 0},
{LINK_ID, 2, ZSTR_RX_QUALITY, UNIT_PERCENT, 0},
{LINK_ID, 3, ZSTR_RX_SNR, UNIT_DB, 0},
{LINK_ID, 4, ZSTR_ANTENNA, UNIT_RAW, 0},
{LINK_ID, 5, ZSTR_RF_MODE, UNIT_RAW, 0},
{LINK_ID, 6, ZSTR_TX_POWER, UNIT_MILLIWATTS, 0},
{LINK_ID, 7, ZSTR_TX_RSSI, UNIT_DB, 0},
{LINK_ID, 8, ZSTR_TX_QUALITY, UNIT_PERCENT, 0},
{LINK_ID, 9, ZSTR_TX_SNR, UNIT_DB, 0},
{BATTERY_ID, 0, ZSTR_BATT, UNIT_VOLTS, 1},
{BATTERY_ID, 1, ZSTR_CURR, UNIT_AMPS, 1},
{BATTERY_ID, 2, ZSTR_CAPACITY, UNIT_MAH, 0},
{GPS_ID, 0, ZSTR_GPS, UNIT_GPS_LATITUDE, 0},
{GPS_ID, 0, ZSTR_GPS, UNIT_GPS_LONGITUDE, 0},
{GPS_ID, 2, ZSTR_GSPD, UNIT_KMH, 1},
{GPS_ID, 3, ZSTR_HDG, UNIT_DEGREE, 3},
{GPS_ID, 4, ZSTR_ALT, UNIT_METERS, 0},
{GPS_ID, 5, ZSTR_SATELLITES, UNIT_RAW, 0},
{0, 0, "UNKNOWN", UNIT_RAW, 0},
{LINK_ID, 0, ZSTR_RX_RSSI1, UNIT_DB, 0},
{LINK_ID, 1, ZSTR_RX_RSSI2, UNIT_DB, 0},
{LINK_ID, 2, ZSTR_RX_QUALITY, UNIT_PERCENT, 0},
{LINK_ID, 3, ZSTR_RX_SNR, UNIT_DB, 0},
{LINK_ID, 4, ZSTR_ANTENNA, UNIT_RAW, 0},
{LINK_ID, 5, ZSTR_RF_MODE, UNIT_RAW, 0},
{LINK_ID, 6, ZSTR_TX_POWER, UNIT_MILLIWATTS, 0},
{LINK_ID, 7, ZSTR_TX_RSSI, UNIT_DB, 0},
{LINK_ID, 8, ZSTR_TX_QUALITY, UNIT_PERCENT, 0},
{LINK_ID, 9, ZSTR_TX_SNR, UNIT_DB, 0},
{BATTERY_ID, 0, ZSTR_BATT, UNIT_VOLTS, 1},
{BATTERY_ID, 1, ZSTR_CURR, UNIT_AMPS, 1},
{BATTERY_ID, 2, ZSTR_CAPACITY, UNIT_MAH, 0},
{GPS_ID, 0, ZSTR_GPS, UNIT_GPS_LATITUDE, 0},
{GPS_ID, 0, ZSTR_GPS, UNIT_GPS_LONGITUDE, 0},
{GPS_ID, 2, ZSTR_GSPD, UNIT_KMH, 1},
{GPS_ID, 3, ZSTR_HDG, UNIT_DEGREE, 3},
{GPS_ID, 4, ZSTR_ALT, UNIT_METERS, 0},
{GPS_ID, 5, ZSTR_SATELLITES, UNIT_RAW, 0},
{ATTITUDE_ID, 0, ZSTR_PITCH, UNIT_RADIANS, 3},
{ATTITUDE_ID, 1, ZSTR_ROLL, UNIT_RADIANS, 3},
{ATTITUDE_ID, 2, ZSTR_YAW, UNIT_RADIANS, 3},
{FLIGHT_MODE_ID, 2, ZSTR_FLIGHT_MODE, UNIT_TEXT, 0},
{0, 0, "UNKNOWN", UNIT_RAW, 0},
};
const CrossfireSensor & getCrossfireSensor(uint8_t id, uint8_t subId)
@@ -82,8 +90,12 @@ const CrossfireSensor & getCrossfireSensor(uint8_t id, uint8_t subId)
return crossfireSensors[BATT_VOLTAGE_INDEX+subId];
else if (id == GPS_ID)
return crossfireSensors[GPS_LATITUDE_INDEX+subId];
else if (id == ATTITUDE_ID)
return crossfireSensors[ATTITUDE_PITCH_INDEX+subId];
else if (id == FLIGHT_MODE_ID)
return crossfireSensors[FLIGHT_MODE_INDEX];
else
return crossfireSensors[UNKNOW_INDEX];
return crossfireSensors[UNKNOWN_INDEX];
}
void processCrossfireTelemetryValue(uint8_t index, uint32_t value)
@@ -140,6 +152,7 @@ void processCrossfireTelemetryFrame()
if (getCrossfireTelemetryValue<1>(17, value))
processCrossfireTelemetryValue(GPS_SATELLITES_INDEX, value);
break;
case LINK_ID:
telemetryStreaming = TELEMETRY_TIMEOUT10ms;
for (int i=0; i<10; i++) {
@@ -151,6 +164,7 @@ void processCrossfireTelemetryFrame()
}
}
break;
case BATTERY_ID:
if (getCrossfireTelemetryValue<2>(3, value))
processCrossfireTelemetryValue(BATT_VOLTAGE_INDEX, value);
@@ -159,6 +173,20 @@ void processCrossfireTelemetryFrame()
if (getCrossfireTelemetryValue<3>(7, value))
processCrossfireTelemetryValue(BATT_CAPACITY_INDEX, value);
break;
case ATTITUDE_ID:
if (getCrossfireTelemetryValue<2>(3, value))
processCrossfireTelemetryValue(ATTITUDE_PITCH_INDEX, value/10);
if (getCrossfireTelemetryValue<2>(5, value))
processCrossfireTelemetryValue(ATTITUDE_ROLL_INDEX, value/10);
if (getCrossfireTelemetryValue<2>(7, value))
processCrossfireTelemetryValue(ATTITUDE_YAW_INDEX, value/10);
break;
case FLIGHT_MODE_ID:
// TODO
break;
}
}