Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Ghost improvements

Browse source 
Add new frame types
This commit is contained in:
Štěpán Dalecký 2021-09-30 21:07:41 +02:00
parent 9f2cd64100
commit 5fd383b9dd
5 changed files with 203 additions and 106 deletions
Download patch file Download diff file Expand all files Collapse all files

31
src/main/telemetry/ghst.c
View file

@ -68,11 +68,12 @@
#define GHST_CYCLETIME_US 100000 // 10x/sec
#define GHST_FRAME_PACK_PAYLOAD_SIZE 10
#define GHST_FRAME_GPS_PAYLOAD_SIZE 10
#define GHST_FRAME_MAGBARO_PAYLOAD_SIZE 10
#define GHST_FRAME_LENGTH_CRC 1
#define GHST_FRAME_LENGTH_TYPE 1
static bool ghstTelemetryEnabled;
static uint8_t ghstFrame[GHST_FRAME_SIZE_MAX];
static uint8_t ghstFrame[GHST_FRAME_SIZE];
static void ghstInitializeFrame(sbuf_t *dst)
{
@ -95,7 +96,7 @@ void ghstFramePackTelemetry(sbuf_t *dst)
{
// use sbufWrite since CRC does not include frame length
sbufWriteU8(dst, GHST_FRAME_PACK_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
sbufWriteU8(dst, 0x23); // GHST_DL_PACK_STAT
sbufWriteU8(dst, GHST_DL_PACK_STAT);
if (telemetryConfig()->report_cell_voltage) {
sbufWriteU16(dst, getBatteryAverageCellVoltage()); // units of 10mV
@ -142,8 +143,8 @@ void ghstFrameGpsSecondaryTelemetry(sbuf_t *dst)
sbufWriteU16(dst, gpsSol.groundSpeed); // speed in 0.1m/s
sbufWriteU16(dst, gpsSol.groundCourse); // degrees * 10
sbufWriteU8(dst, gpsSol.numSat);
sbufWriteU16(dst, (uint16_t) (GPS_distanceToHome / 10)); // use units of 10m to increase range of U16 to 655.36km
sbufWriteU16(dst, GPS_distanceToHome / 10); // use units of 10m to increase range of U16 to 655.36km
sbufWriteU16(dst, GPS_directionToHome / 10);
uint8_t gpsFlags = 0;
@ -186,13 +187,13 @@ void ghstFrameMagBaro(sbuf_t *dst)
#endif
// use sbufWrite since CRC does not include frame length
sbufWriteU8(dst, GHST_FRAME_GPS_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
sbufWriteU8(dst, GHST_FRAME_MAGBARO_PAYLOAD_SIZE + GHST_FRAME_LENGTH_CRC + GHST_FRAME_LENGTH_TYPE);
sbufWriteU8(dst, GHST_DL_MAGBARO);
sbufWriteU16(dst, yaw); // magHeading, deci-degrees
sbufWriteU16(dst, altitude); // baroAltitude, m
sbufWriteU8(dst, vario); // cm/s
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
@ -252,13 +253,14 @@ static void processGhst(void)
void initGhstTelemetry(void)
{
// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry is enabled.
ghstTelemetryEnabled = ghstRxIsActive();
if (!ghstTelemetryEnabled) {
// If the GHST Rx driver is active, since tx and rx share the same pin, assume telemetry
// can be initialized but not enabled yet.
if (!ghstRxIsActive()) {
return;
}
ghstTelemetryEnabled = false;
int index = 0;
if ((isBatteryVoltageConfigured() && telemetryIsSensorEnabled(SENSOR_VOLTAGE))
|| (isAmperageConfigured() && telemetryIsSensorEnabled(SENSOR_CURRENT | SENSOR_FUEL))) {
@ -285,9 +287,14 @@ void initGhstTelemetry(void)
}
#endif
ghstScheduleCount = (uint8_t)index;
ghstScheduleCount = index;
}
void setGhstTelemetryState(bool state)
{
ghstTelemetryEnabled = state;
}
bool checkGhstTelemetryState(void)
{
return ghstTelemetryEnabled;
@ -296,7 +303,7 @@ bool checkGhstTelemetryState(void)
// Called periodically by the scheduler
void handleGhstTelemetry(timeUs_t currentTimeUs)
{
static uint32_t ghstLastCycleTime;
static timeUs_t ghstLastCycleTime;
if (!ghstTelemetryEnabled) {
return;