Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

Enable using the 'heading' field in MAVlink to display mAh used

Browse source
This commit is contained in:
Markus Jevring 2018-08-06 20:24:13 +02:00
parent efb340f4c6
commit 131d46c850
4 changed files with 21 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/interface/settings.c
View file

@ -885,6 +885,12 @@ const clivalue_t valueTable[] = {
#if defined(USE_TELEMETRY_SMARTPORT)
{ "smartport_use_extra_sensors", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, smartport_use_extra_sensors)},
#endif
#ifdef USE_TELEMETRY_MAVLINK
// Support for misusing the heading field in MAVlink to indicate mAh drawn for Connex Prosight OSD
// Set to 10 to show a tenth of your capacity drawn.
// Set to $size_of_battery to get a percentage of battery used.
{ "mavlink_mah_as_heading_divisor", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 30000 }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, mavlink_mah_as_heading_divisor) },
#endif
#endif // USE_TELEMETRY
// PG_LED_STRIP_CONFIG

15
src/main/telemetry/mavlink.c
View file

@ -136,6 +136,17 @@ static void mavlinkSerialWrite(uint8_t * buf, uint16_t length)
serialWrite(mavlinkPort, buf[i]);
}
static int16_t headingOrScaledMilliAmpereHoursDrawn(void)
{
if (isAmperageConfigured() && telemetryConfig()->mavlink_mah_as_heading_divisor > 0) {
// In the Connex Prosight OSD, this goes between 0 and 999, so it will need to be scaled in that range.
return getMAhDrawn() / telemetryConfig()->mavlink_mah_as_heading_divisor;
}
// heading Current heading in degrees, in compass units (0..360, 0=north)
return DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
void freeMAVLinkTelemetryPort(void)
{
closeSerialPort(mavlinkPort);
@ -354,7 +365,7 @@ void mavlinkSendPosition(void)
// Ground Z Speed (Altitude), expressed as m/s * 100
0,
// heading Current heading in degrees, in compass units (0..360, 0=north)
DECIDEGREES_TO_DEGREES(attitude.values.yaw)
headingOrScaledMilliAmpereHoursDrawn()
);
msgLength = mavlink_msg_to_send_buffer(mavBuffer, &mavMsg);
mavlinkSerialWrite(mavBuffer, msgLength);
@ -433,7 +444,7 @@ void mavlinkSendHUDAndHeartbeat(void)
// groundspeed Current ground speed in m/s
mavGroundSpeed,
// heading Current heading in degrees, in compass units (0..360, 0=north)
DECIDEGREES_TO_DEGREES(attitude.values.yaw),
headingOrScaledMilliAmpereHoursDrawn(),
// throttle Current throttle setting in integer percent, 0 to 100
scaleRange(constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, 0, 100),
// alt Current altitude (MSL), in meters, if we have sonar or baro use them, otherwise use GPS (less accurate)

1
src/main/telemetry/telemetry.c
View file

@ -77,6 +77,7 @@ PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
IBUS_SENSOR_TYPE_EXTERNAL_VOLTAGE
},
.smartport_use_extra_sensors = false,
.mavlink_mah_as_heading_divisor = 0,
);
void telemetryInit(void)

1
src/main/telemetry/telemetry.h
View file

@ -54,6 +54,7 @@ typedef struct telemetryConfig_s {
uint8_t report_cell_voltage;
uint8_t flysky_sensors[IBUS_SENSOR_COUNT];
uint8_t smartport_use_extra_sensors;
uint16_t mavlink_mah_as_heading_divisor;
} telemetryConfig_t;
PG_DECLARE(telemetryConfig_t, telemetryConfig);