Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 19:40:31 +03:00
Code Issues Wiki Activity

CRSF Flight Mode Sensor Value update (#13854)

Browse source 
* CRSF Flight Mode Sensor Value update

* Fix FS FM

* Add ? for GPS not available

* Need to check define

* better name

* Update mode and test unit

* Fixes review CT

* Fixes review JimB40

* Apply ctz comment

* Update isAllowArmingWithoutFix

* Fix fs/resc sw

* Add required sats

* Update comments
This commit is contained in:
Mark Haslinghuis 2024-09-16 17:38:31 +02:00 • committed by GitHub
parent 654d18ced4
commit 698b8616f9
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
7 changed files with 47 additions and 24 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/fc/runtime_config.h
View file

@ -132,4 +132,3 @@ void sensorsSet(uint32_t mask);
void sensorsClear(uint32_t mask);
uint32_t sensorsMask(void);
void mwDisarm(void);

4
src/main/flight/failsafe.c
View file

@ -425,8 +425,8 @@ FAST_CODE_NOINLINE void failsafeUpdateState(void)
break;
}
DEBUG_SET(DEBUG_FAILSAFE, 0, failsafeState.boxFailsafeSwitchWasOn);
DEBUG_SET(DEBUG_FAILSAFE, 3, failsafeState.phase);
DEBUG_SET(DEBUG_FAILSAFE, 0, failsafeState.boxFailsafeSwitchWasOn);
DEBUG_SET(DEBUG_FAILSAFE, 3, failsafeState.phase);
} while (reprocessState);

2
src/main/osd/osd_elements.c
View file

@ -1061,7 +1061,7 @@ static void osdElementFlymode(osdElementParms_t *element)
} else if (FLIGHT_MODE(ANGLE_MODE)) {
strcpy(element->buff, "ANGL");
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
strcpy(element->buff, "ALTH ");
strcpy(element->buff, "ALTH");
} else if (FLIGHT_MODE(HORIZON_MODE)) {
strcpy(element->buff, "HOR ");
} else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {

28
src/main/telemetry/crsf.c
View file

@ -48,6 +48,7 @@
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/position.h"
@ -391,23 +392,17 @@ void crsfFrameFlightMode(sbuf_t *dst)
// Acro is the default mode
const char *flightMode = "ACRO";
#if defined(USE_GPS)
if (!ARMING_FLAG(ARMED) && featureIsEnabled(FEATURE_GPS) && (!STATE(GPS_FIX) || !STATE(GPS_FIX_HOME))) {
flightMode = "WAIT"; // Waiting for GPS lock
} else
#endif
// Flight modes in decreasing order of importance
if (FLIGHT_MODE(FAILSAFE_MODE)) {
if (FLIGHT_MODE(FAILSAFE_MODE) || IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
flightMode = "!FS!";
} else if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
} else if (FLIGHT_MODE(GPS_RESCUE_MODE) || IS_RC_MODE_ACTIVE(BOXGPSRESCUE)) {
flightMode = "RTH";
} else if (FLIGHT_MODE(PASSTHRU_MODE)) {
flightMode = "MANU";
} else if (FLIGHT_MODE(ANGLE_MODE)) {
flightMode = "STAB";
flightMode = "ANGL";
} else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
flightMode = "ALTH ";
flightMode = "ALTH";
} else if (FLIGHT_MODE(HORIZON_MODE)) {
flightMode = "HOR";
} else if (airmodeIsEnabled()) {
@ -415,9 +410,18 @@ void crsfFrameFlightMode(sbuf_t *dst)
}
sbufWriteString(dst, flightMode);
if (!ARMING_FLAG(ARMED)) {
sbufWriteU8(dst, '*');
if (!ARMING_FLAG(ARMED) && !FLIGHT_MODE(FAILSAFE_MODE)) {
// * = ready to arm
// ! = arming disabled
// ? = GPS rescue disabled
bool isGpsRescueDisabled = false;
#ifdef USE_GPS
isGpsRescueDisabled = featureIsEnabled(FEATURE_GPS) && gpsRescueIsConfigured() && gpsSol.numSat < gpsRescueConfig()->minSats && !STATE(GPS_FIX);
#endif
sbufWriteU8(dst, isArmingDisabled() ? '!' : isGpsRescueDisabled ? '?' : '*');
}
sbufWriteU8(dst, '\0'); // zero-terminate string
// write in the frame length
*lengthPtr = sbufPtr(dst) - lengthPtr;

16
src/test/unit/rx_spi_expresslrs_telemetry_unittest.cc
View file

@ -44,6 +44,8 @@ extern "C" {
#include "telemetry/msp_shared.h"
#include "rx/crsf_protocol.h"
#include "rx/expresslrs_telemetry.h"
#include "fc/rc_modes.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "sensors/battery.h"
@ -70,6 +72,7 @@ extern "C" {
PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
}
#include "unittest_macros.h"
@ -209,10 +212,10 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestFlightMode)
getNextTelemetryPayload(&payloadSize, &payload);
EXPECT_EQ(currentPayloadIndex, 0);
EXPECT_EQ('W', payload[3]);
EXPECT_EQ('A', payload[4]);
EXPECT_EQ('I', payload[5]);
EXPECT_EQ('T', payload[6]);
EXPECT_EQ('A', payload[3]);
EXPECT_EQ('C', payload[4]);
EXPECT_EQ('R', payload[5]);
EXPECT_EQ('O', payload[6]);
EXPECT_EQ('*', payload[7]);
EXPECT_EQ(0, payload[8]);
@ -464,4 +467,9 @@ extern "C" {
timeUs_t rxFrameTimeUs(void) { return 0; }
bool IS_RC_MODE_ACTIVE(boxId_e) { return false; }
int getArmingDisableFlags(void) { return 0; }
bool gpsRescueIsConfigured(void) { return false; }
}

7
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -44,7 +44,9 @@ extern "C" {
#include "drivers/system.h"
#include "fc/runtime_config.h"
#include "fc/rc_modes.h"
#include "config/config.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "io/serial.h"
@ -85,6 +87,7 @@ extern "C" {
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG,0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame;
@ -324,4 +327,8 @@ extern "C" {
}
timeUs_t rxFrameTimeUs(void) { return 0; }
bool IS_RC_MODE_ACTIVE(boxId_e) { return false; }
bool gpsRescueIsConfigured(void) { return false; }
}

13
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -43,8 +43,10 @@ extern "C" {
#include "config/config.h"
#include "fc/runtime_config.h"
#include "fc/rc_modes.h"
#include "flight/pid.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "io/gps.h"
@ -79,6 +81,7 @@ extern "C" {
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
}
#include "unittest_macros.h"
@ -264,10 +267,10 @@ TEST(TelemetryCrsfTest, TestFlightMode)
EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
EXPECT_EQ(7, frame[1]); // length
EXPECT_EQ(0x21, frame[2]); // type
EXPECT_EQ('S', frame[3]);
EXPECT_EQ('T', frame[4]);
EXPECT_EQ('A', frame[5]);
EXPECT_EQ('B', frame[6]);
EXPECT_EQ('A', frame[3]);
EXPECT_EQ('N', frame[4]);
EXPECT_EQ('G', frame[5]);
EXPECT_EQ('L', frame[6]);
EXPECT_EQ(0, frame[7]);
EXPECT_EQ(crfsCrc(frame, frameLen), frame[8]);
@ -389,4 +392,6 @@ bool handleMspFrame(uint8_t *, uint8_t, uint8_t *) { return false; }
bool isBatteryVoltageConfigured(void) { return true; }
bool isAmperageConfigured(void) { return true; }
timeUs_t rxFrameTimeUs(void) { return 0; }
bool IS_RC_MODE_ACTIVE(boxId_e) { return false; }
bool gpsRescueIsConfigured(void) { return false; }
}