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Add CRSF vario sensor support (#13558)

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This commit is contained in:
Mark Haslinghuis 2024-05-09 22:42:42 +02:00 • committed by GitHub
parent d1ffa46aa6
commit d5af7d2254
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GPG key ID: B5690EEEBB952194
5 changed files with 39 additions and 1 deletions
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2
src/main/rx/crsf_protocol.h
View file

@ -36,6 +36,7 @@ enum { CRSF_PAYLOAD_SIZE_MAX = CRSF_FRAME_SIZE_MAX - 6 };
typedef enum {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_HEARTBEAT = 0x0B,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
@ -88,6 +89,7 @@ enum {
enum {
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_HEARTBEAT_PAYLOAD_SIZE = 2,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,

32
src/main/telemetry/crsf.c
View file

@ -257,6 +257,19 @@ void crsfFrameGps(sbuf_t *dst)
sbufWriteU8(dst, gpsSol.numSat);
}
/*
0x07 Vario sensor
Payload:
int16_t Vertical speed ( cm/s )
*/
void crsfFrameVarioSensor(sbuf_t *dst)
{
// use sbufWrite since CRC does not include frame length
sbufWriteU8(dst, CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
sbufWriteU8(dst, CRSF_FRAMETYPE_VARIO_SENSOR);
sbufWriteU16BigEndian(dst, getEstimatedVario()); // vario, cm/s(Z));
}
/*
0x08 Battery sensor
Payload:
@ -622,6 +635,7 @@ typedef enum {
CRSF_FRAME_BATTERY_SENSOR_INDEX,
CRSF_FRAME_FLIGHT_MODE_INDEX,
CRSF_FRAME_GPS_INDEX,
CRSF_FRAME_VARIO_SENSOR_INDEX,
CRSF_FRAME_HEARTBEAT_INDEX,
CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e;
@ -692,7 +706,13 @@ static void processCrsf(void)
crsfFinalize(dst);
}
#endif
#ifdef USE_VARIO
if (currentSchedule & BIT(CRSF_FRAME_VARIO_SENSOR_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameVarioSensor(dst);
crsfFinalize(dst);
}
#endif
#if defined(USE_CRSF_V3)
if (currentSchedule & BIT(CRSF_FRAME_HEARTBEAT_INDEX)) {
crsfInitializeFrame(dst);
@ -760,6 +780,11 @@ void initCrsfTelemetry(void)
crsfSchedule[index++] = BIT(CRSF_FRAME_GPS_INDEX);
}
#endif
#ifdef USE_VARIO
if ((sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS)) && telemetryIsSensorEnabled(SENSOR_VARIO)) {
crsfSchedule[index++] = BIT(CRSF_FRAME_VARIO_SENSOR_INDEX);
}
#endif
#if defined(USE_CRSF_V3)
while (index < (CRSF_CYCLETIME_US / CRSF_TELEMETRY_FRAME_INTERVAL_MAX_US) && index < CRSF_SCHEDULE_COUNT_MAX) {
@ -959,6 +984,11 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
crsfFrameGps(sbuf);
break;
#endif
#if defined(USE_VARIO)
case CRSF_FRAMETYPE_VARIO_SENSOR:
crsfFrameVarioSensor(sbuf);
break;
#endif
#if defined(USE_MSP_OVER_TELEMETRY)
case CRSF_FRAMETYPE_DEVICE_INFO:
crsfFrameDeviceInfo(sbuf);

2
src/test/unit/rx_spi_expresslrs_telemetry_unittest.cc
View file

@ -428,6 +428,8 @@ extern "C" {
int32_t getEstimatedAltitudeCm(void) { return gpsSol.llh.altCm; }
int16_t getEstimatedVario(void) { return 0; }
int32_t getMAhDrawn(void) { return testmAhDrawn; }
bool isArmingDisabled(void) { return false; }

2
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -285,6 +285,8 @@ extern "C" {
return 0;
}
int16_t getEstimatedVario(void) { return 0; }
bool featureIsEnabled(uint32_t) {return false;}
bool airmodeIsEnabled(void) {return true;}

2
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -377,6 +377,8 @@ int32_t getEstimatedAltitudeCm(void)
return gpsSol.llh.altCm; // function returns cm not m.
}
int16_t getEstimatedVario(void) { return 0; }
int32_t getMAhDrawn(void)
{
return testmAhDrawn;