mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-24 00:35:20 +03:00
Merge pull request #1988 from iNavFlight/dzikuvx-ltm-decoder
Decode LTM telemetry protocol
This commit is contained in:
Paweł Spychalski
GitHub
commit
f93fba9c36
8 changed files with 596 additions and 2 deletions
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@ -5603,5 +5603,38 @@
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},
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"ezTuneNote": {
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"message": "<strong>Important</strong> Ez Tune is enabled. All settings on this tab are set and controlled by the Ez Tune. To use PID Tuning tab you have to disable Ez Tune. To do it, uncheck the <strong>Enabled</strong> checkbox on the Ez Tune tab."
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},
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"gsActivated": {
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"message": "Ground station mode activated"
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},
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"gsDeactivated": {
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"message": "Ground station mode deactivated"
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},
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"gsTelemetry": {
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"message": "Telemetry"
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},
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"gsTelemetryLatitude": {
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"message": "Latitude"
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},
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"gsTelemetryLongitude": {
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"message": "Longitude"
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},
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"gsTelemetryAltitude": {
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"message": "Altitude"
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},
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"gsTelemetryAltitudeShort": {
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"message": "Alt"
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},
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"gsTelemetryVoltageShort": {
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"message": "Vbat"
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},
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"gsTelemetrySats": {
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"message": "Sats"
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},
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"gsTelemetryFix": {
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"message": "Fix"
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},
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"gsTelemetrySpeed": {
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"message": "Speed"
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}
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}
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@ -55,6 +55,7 @@ sources.css = [
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'./node_modules/openlayers/dist/ol.css',
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'./src/css/logic.css',
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'./src/css/defaults_dialog.css',
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'./src/css/groundstation.css',
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];
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sources.js = [
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@ -139,7 +140,9 @@ sources.js = [
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'./js/libraries/plotly-latest.min.js',
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'./js/sitl.js',
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'./js/CliAutoComplete.js',
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'./node_modules/jquery-textcomplete/dist/jquery.textcomplete.js'
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'./node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
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'./js/ltmDecoder.js',
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'./js/groundstation.js'
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];
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sources.receiverCss = [
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194
js/groundstation.js
Normal file
194
js/groundstation.js
Normal file
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@ -0,0 +1,194 @@
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'use strict';
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var helper = helper || {};
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helper.groundstation = (function () {
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let publicScope = {},
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privateScope = {};
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privateScope.activated = false;
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privateScope.$viewport = null;
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privateScope.$gsViewport = null;
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privateScope.mapHandler = null;
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privateScope.mapLayer = null;
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privateScope.mapView = null;
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privateScope.cursorStyle = null;
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privateScope.cursorPosition = null;
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privateScope.cursorFeature = null;
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privateScope.cursorVector = null;
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privateScope.cursorLayer = null;
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privateScope.textGeometry = null;
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privateScope.textFeature = null;
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privateScope.textVector = null;
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privateScope.textSource = null;
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privateScope.mapInitiated = false;
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publicScope.isActivated = function () {
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return privateScope.activated;
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};
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publicScope.activate = function ($viewport) {
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if (privateScope.activated) {
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return;
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}
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helper.interval.add('gsUpdateGui', privateScope.updateGui, 200);
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privateScope.$viewport = $viewport;
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privateScope.$viewport.find(".tab_container").hide();
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privateScope.$viewport.find('#content').hide();
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privateScope.$viewport.find('#status-bar').hide();
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privateScope.$viewport.find('#connectbutton a.connect_state').text(chrome.i18n.getMessage('disconnect')).addClass('active');
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privateScope.$gsViewport = $viewport.find('#view-groundstation');
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privateScope.$gsViewport.show();
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privateScope.mapInitiated = false;
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setTimeout(privateScope.initMap, 100);
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privateScope.activated = true;
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GUI.log(chrome.i18n.getMessage('gsActivated'));
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}
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privateScope.initMap = function () {
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//initialte layers
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if (globalSettings.mapProviderType == 'bing') {
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privateScope.mapLayer = new ol.source.BingMaps({
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key: globalSettings.mapApiKey,
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imagerySet: 'AerialWithLabels',
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maxZoom: 19
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});
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} else if (globalSettings.mapProviderType == 'mapproxy') {
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privateScope.mapLayer = new ol.source.TileWMS({
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url: globalSettings.proxyURL,
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params: { 'LAYERS': globalSettings.proxyLayer }
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})
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} else {
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privateScope.mapLayer = new ol.source.OSM();
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}
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//initiate view
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privateScope.mapView = new ol.View({
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center: ol.proj.fromLonLat([0, 0]),
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zoom: 3
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});
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//initiate map handler
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privateScope.mapHandler = new ol.Map({
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target: document.getElementById('groundstation-map'),
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layers: [
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new ol.layer.Tile({
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source: privateScope.mapLayer
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})
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],
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view: privateScope.mapView
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});
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};
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publicScope.deactivate = function () {
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if (!privateScope.activated) {
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return;
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}
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helper.interval.remove('gsUpdateGui');
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if (privateScope.$viewport !== null) {
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privateScope.$viewport.find(".tab_container").show();
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privateScope.$viewport.find('#content').show();
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privateScope.$viewport.find('#status-bar').show();
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}
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if (privateScope.$gsViewport !== null) {
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privateScope.$gsViewport.hide();
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}
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privateScope.activated = false;
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GUI.log(chrome.i18n.getMessage('gsDeactivated'));
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}
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privateScope.updateGui = function () {
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let telemetry = helper.ltmDecoder.get();
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if (telemetry.gpsFix && telemetry.gpsFix > 1) {
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let lat = telemetry.latitude / 10000000;
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let lon = telemetry.longitude / 10000000;
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//On first initiation, set zoom to 15
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if (!privateScope.mapInitiated) {
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//Place UAV on the map
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privateScope.cursorStyle = new ol.style.Style({
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image: new ol.style.Icon(({
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anchor: [0.5, 0.5],
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opacity: 1,
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scale: 0.6,
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src: '../images/icons/icon_mission_airplane.png'
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}))
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});
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privateScope.cursorPosition = new ol.geom.Point(ol.proj.fromLonLat([lon, lat]));
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privateScope.cursorFeature = new ol.Feature({
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geometry: privateScope.cursorPosition
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});
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privateScope.cursorFeature.setStyle(privateScope.cursorStyle);
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privateScope.cursorVector = new ol.source.Vector({
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features: [privateScope.cursorFeature]
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});
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privateScope.cursorLayer = new ol.layer.Vector({
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source: privateScope.cursorVector
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});
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privateScope.mapHandler.addLayer(privateScope.cursorLayer);
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privateScope.mapView.setZoom(17);
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privateScope.mapInitiated = true;
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}
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//Update map center
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let position = ol.proj.fromLonLat([lon, lat]);
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privateScope.mapView.setCenter(position);
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//Update position of cursor
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privateScope.cursorPosition.setCoordinates(position);
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//Update orientation of cursor
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privateScope.cursorStyle.getImage().setRotation((telemetry.heading / 360.0) * 6.28318);
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//Update text
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privateScope.$viewport.find("#gs-telemetry-latitude").html(lat);
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privateScope.$viewport.find("#gs-telemetry-longitude").html(lon);
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}
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privateScope.$viewport.find("#gs-telemetry-altitude").html(telemetry.altitude / 100.0 + 'm');
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privateScope.$viewport.find("#gs-telemetry-voltage").html(telemetry.voltage / 100.0 + 'V');
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privateScope.$viewport.find("#gs-telemetry-sats").html(telemetry.gpsSats);
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privateScope.$viewport.find("#gs-telemetry-speed").html(telemetry.groundSpeed * 100 + 'm/s');
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let fixText = '';
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if (telemetry.gpsFix == 3) {
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fixText = '3D';
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} else if (telemetry.gpsFix == 2) {
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fixText = '2D';
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} else {
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fixText = 'No fix';
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}
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privateScope.$viewport.find("#gs-telemetry-fix").html(fixText);
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};
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return publicScope;
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})();
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260
js/ltmDecoder.js
Normal file
260
js/ltmDecoder.js
Normal file
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@ -0,0 +1,260 @@
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'use strict';
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var helper = helper || {};
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helper.ltmDecoder = (function () {
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let TELEMETRY = {
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//A frame
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pitch: null,
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roll: null,
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heading: null,
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//S frame
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voltage: null,
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currectDrawn: null,
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rssi: null,
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airspeed: null,
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flightmode: null,
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flightmodeName: null,
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armed: null,
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failsafe: null,
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//G frame
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latitude: null,
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longitude: null,
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altitude: null,
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groundSpeed: null,
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gpsFix: null,
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gpsSats: null,
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//X frame
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hdop: null,
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sensorStatus: null,
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frameCounter: null,
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disarmReason: null,
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disarmReasonName: null
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};
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let publicScope = {},
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privateScope = {};
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const LTM_TIMEOUT_MS = 5000;
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const LTM_FRAME_TIMEOUT_MS = 700;
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const LTM_HEADER_START_1 = '$';
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const LTM_HEADER_START_2 = 'T';
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const LTM_FRAMELENGTH = {
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'G': 18,
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'A': 10,
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'S': 11,
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'O': 18,
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'N': 10,
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'X': 10
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};
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const LTM_FLIGHT_MODE_NAMES = [
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"MANUAL",
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"RATE",
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"ANGLE",
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"HORIZON",
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"ACRO",
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"STABALIZED1",
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"STABALIZED2",
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"STABILIZED3",
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"ALTHOLD",
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"GPSHOLD",
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"WAYPOINTS",
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"HEADHOLD",
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"CIRCLE",
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"RTH",
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"FOLLOWME",
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"LAND",
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"FLYBYWIRE1",
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"FLYBYWIRE2",
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"CRUISE",
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"UNKNOWN",
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"LAUNCH",
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"AUTOTUNE"
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];
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const LTM_DISARM_REASON_NAMES = [
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"NONE",
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"TIMEOUT",
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"STICKS",
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"SWITCH_3D",
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"SWITCH",
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"KILLSWITCH",
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"FAILSAFE",
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"NAVIGATION",
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"LANDING"
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];
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const LTM_STATE_IDLE = 0;
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const LTM_STATE_HEADER_START_1 = 1;
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const LTM_STATE_HEADER_START_2 = 2;
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const LTM_STATE_MSGTYPE = 3;
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privateScope.protocolState = LTM_STATE_IDLE;
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privateScope.lastFrameReceivedMs = null;
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privateScope.frameType = null;
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privateScope.frameLength = null;
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privateScope.receiverIndex = 0;
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privateScope.serialBuffer = [];
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privateScope.frameProcessingStartedAtMs = 0;
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privateScope.readByte = function (offset) {
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return privateScope.serialBuffer[offset];
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};
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privateScope.readInt = function (offset) {
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return privateScope.serialBuffer[offset] + (privateScope.serialBuffer[offset + 1] << 8);
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}
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privateScope.readInt32 = function (offset) {
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return privateScope.serialBuffer[offset] + (privateScope.serialBuffer[offset + 1] << 8) + (privateScope.serialBuffer[offset + 2] << 16) + (privateScope.serialBuffer[offset + 3] << 24);
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}
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privateScope.push = function (data) {
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let charCode = String.fromCharCode(data);
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//If frame is processed for too long, reset protocol state
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if (privateScope.protocolState != LTM_STATE_IDLE && new Date().getTime() - privateScope.frameProcessingStartedAtMs > LTM_FRAME_TIMEOUT_MS) {
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privateScope.protocolState = LTM_STATE_IDLE;
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privateScope.frameProcessingStartedAtMs = new Date().getTime();
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console.log('LTM privateScope.protocolState: TIMEOUT, forcing into IDLE, processed frame: ' + privateScope.frameType);
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}
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if (privateScope.protocolState == LTM_STATE_IDLE) {
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if (charCode == LTM_HEADER_START_1) {
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privateScope.protocolState = LTM_STATE_HEADER_START_1;
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privateScope.frameProcessingStartedAtMs = new Date().getTime();
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}
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return;
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} else if (privateScope.protocolState == LTM_STATE_HEADER_START_1) {
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if (charCode == LTM_HEADER_START_2) {
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privateScope.protocolState = LTM_STATE_HEADER_START_2;
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} else {
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privateScope.protocolState = LTM_STATE_IDLE;
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}
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return;
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} else if (privateScope.protocolState == LTM_STATE_HEADER_START_2) {
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//Check if incoming frame type is a known one
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if (LTM_FRAMELENGTH[charCode] == undefined) {
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//Unknown frame type, reset protocol state
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privateScope.protocolState = LTM_STATE_IDLE;
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console.log('Unknown frame type, reset protocol state');
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} else {
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//Known frame type, store it and move to next state
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privateScope.frameType = charCode;
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privateScope.frameLength = LTM_FRAMELENGTH[charCode];
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privateScope.receiverIndex = 0;
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privateScope.serialBuffer = [];
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privateScope.protocolState = LTM_STATE_MSGTYPE;
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console.log('protocolState: LTM_STATE_MSGTYPE', 'will expext frame ' + privateScope.frameType, 'expected length: ' + privateScope.frameLength);
|
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}
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return;
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|
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} else if (privateScope.protocolState == LTM_STATE_MSGTYPE) {
|
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/*
|
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* Check if last payload byte has been received.
|
||||
*/
|
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if (privateScope.receiverIndex == privateScope.frameLength - 4) {
|
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/*
|
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* If YES, check checksum and execute data processing
|
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*/
|
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|
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let checksum = 0;
|
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for (let i = 0; i < privateScope.serialBuffer.length; i++) {
|
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checksum ^= privateScope.serialBuffer[i];
|
||||
}
|
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|
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if (checksum != data) {
|
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console.log('LTM checksum error, frame type: ' + privateScope.frameType + ' rejected');
|
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privateScope.protocolState = LTM_STATE_IDLE;
|
||||
privateScope.serialBuffer = [];
|
||||
privateScope.receiverIndex = 0;
|
||||
return;
|
||||
}
|
||||
|
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if (privateScope.frameType == 'A') {
|
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TELEMETRY.pitch = privateScope.readInt(0);
|
||||
TELEMETRY.roll = privateScope.readInt(2);
|
||||
TELEMETRY.heading = privateScope.readInt(4);
|
||||
}
|
||||
|
||||
if (privateScope.frameType == 'S') {
|
||||
TELEMETRY.voltage = privateScope.readInt(0);
|
||||
TELEMETRY.currectDrawn = privateScope.readInt(2);
|
||||
TELEMETRY.rssi = privateScope.readByte(4);
|
||||
|
||||
TELEMETRY.airspeed = privateScope.readByte(5);
|
||||
|
||||
let fm = privateScope.readByte(6);
|
||||
TELEMETRY.flightmode = fm >> 2;
|
||||
TELEMETRY.flightmodeName = LTM_FLIGHT_MODE_NAMES[TELEMETRY.flightmode];
|
||||
|
||||
TELEMETRY.armed = (fm & 0x02) >> 1;
|
||||
TELEMETRY.failsafe = fm & 0x01;
|
||||
}
|
||||
|
||||
if (privateScope.frameType == 'G') {
|
||||
TELEMETRY.latitude = privateScope.readInt32(0);
|
||||
TELEMETRY.longitude = privateScope.readInt32(4);
|
||||
TELEMETRY.groundSpeed = privateScope.readByte(8);
|
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TELEMETRY.altitude = privateScope.readInt32(9);
|
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|
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let raw = privateScope.readByte(13);
|
||||
TELEMETRY.gpsSats = raw >> 2;
|
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TELEMETRY.gpsFix = raw & 0x03;
|
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}
|
||||
|
||||
if (privateScope.frameType == 'X') {
|
||||
TELEMETRY.hdop = privateScope.readInt(0);
|
||||
TELEMETRY.sensorStatus = privateScope.readByte(2);
|
||||
TELEMETRY.frameCounter = privateScope.readByte(3);
|
||||
TELEMETRY.disarmReason = privateScope.readByte(4);
|
||||
TELEMETRY.disarmReasonName = LTM_DISARM_REASON_NAMES[TELEMETRY.disarmReason];
|
||||
}
|
||||
|
||||
privateScope.protocolState = LTM_STATE_IDLE;
|
||||
privateScope.serialBuffer = [];
|
||||
privateScope.lastFrameReceivedMs = new Date().getTime();
|
||||
privateScope.receiverIndex = 0;
|
||||
|
||||
} else {
|
||||
/*
|
||||
* If no, put data into buffer
|
||||
*/
|
||||
privateScope.serialBuffer.push(data);
|
||||
privateScope.receiverIndex++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
publicScope.read = function (readInfo) {
|
||||
var data = new Uint8Array(readInfo.data);
|
||||
|
||||
for (var i = 0; i < data.length; i++) {
|
||||
privateScope.push(data[i]);
|
||||
}
|
||||
};
|
||||
|
||||
publicScope.isReceiving = function () {
|
||||
return privateScope.lastFrameReceivedMs !== null && (new Date().getTime() - privateScope.lastFrameReceivedMs) < LTM_TIMEOUT_MS;
|
||||
};
|
||||
|
||||
publicScope.wasEverReceiving = function () {
|
||||
return privateScope.lastFrameReceivedMs !== null;
|
||||
};
|
||||
|
||||
publicScope.get = function () {
|
||||
return TELEMETRY;
|
||||
};
|
||||
|
||||
return publicScope;
|
||||
})();
|
||||
|
|
@ -78,6 +78,8 @@ var MSP = {
|
|||
last_received_timestamp: null,
|
||||
analog_last_received_timestamp: null,
|
||||
|
||||
lastFrameReceivedMs: 0,
|
||||
|
||||
read: function (readInfo) {
|
||||
var data = new Uint8Array(readInfo.data);
|
||||
|
||||
|
|
@ -236,6 +238,7 @@ var MSP = {
|
|||
if (this.message_checksum == expected_checksum) {
|
||||
// message received, process
|
||||
mspHelper.processData(this);
|
||||
this.lastFrameReceivedMs = Date.now();
|
||||
} else {
|
||||
console.log('code: ' + this.code + ' - crc failed');
|
||||
this.packet_error++;
|
||||
|
|
@ -378,6 +381,12 @@ var MSP = {
|
|||
this.packet_error = 0; // reset CRC packet error counter for next session
|
||||
|
||||
this.callbacks_cleanup();
|
||||
},
|
||||
isReceiving: function () {
|
||||
return Date.now() - this.lastFrameReceivedMs < 5000;
|
||||
},
|
||||
wasEverReceiving: function () {
|
||||
return this.lastFrameReceivedMs > 0;
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -129,6 +129,11 @@ $(document).ready(function () {
|
|||
});
|
||||
|
||||
$('div.connect_controls a.connect').click(function () {
|
||||
|
||||
if (helper.groundstation.isActivated()) {
|
||||
helper.groundstation.deactivate();
|
||||
}
|
||||
|
||||
if (GUI.connect_lock != true) { // GUI control overrides the user control
|
||||
|
||||
var clicks = $(this).data('clicks');
|
||||
|
|
@ -322,10 +327,13 @@ function onOpen(openInfo) {
|
|||
chrome.storage.local.set({wireless_mode_enabled: $('#wireless-mode').is(":checked")});
|
||||
|
||||
CONFIGURATOR.connection.addOnReceiveListener(read_serial);
|
||||
CONFIGURATOR.connection.addOnReceiveListener(helper.ltmDecoder.read);
|
||||
|
||||
// disconnect after 10 seconds with error if we don't get IDENT data
|
||||
helper.timeout.add('connecting', function () {
|
||||
if (!CONFIGURATOR.connectionValid) {
|
||||
|
||||
//As we add LTM listener, we need to invalidate connection only when both protocols are not listening!
|
||||
if (!CONFIGURATOR.connectionValid && !helper.ltmDecoder.isReceiving()) {
|
||||
GUI.log(chrome.i18n.getMessage('noConfigurationReceived'));
|
||||
|
||||
helper.mspQueue.flush();
|
||||
|
|
@ -337,6 +345,13 @@ function onOpen(openInfo) {
|
|||
}
|
||||
}, 10000);
|
||||
|
||||
//Add a timer that every 1s will check if LTM stream is receiving data and display alert if so
|
||||
helper.interval.add('ltm-connection-check', function () {
|
||||
if (helper.ltmDecoder.isReceiving()) {
|
||||
helper.groundstation.activate($('#main-wrapper'));
|
||||
}
|
||||
}, 1000);
|
||||
|
||||
FC.resetState();
|
||||
|
||||
// request configuration data. Start with MSPv1 and
|
||||
|
|
|
|||
43
main.html
43
main.html
|
|
@ -174,6 +174,49 @@
|
|||
<div id="scrollicon"></div>
|
||||
<div class="wrapper"></div>
|
||||
</div>
|
||||
<div id="view-groundstation" style="display: none;">
|
||||
<div id="groundstation-telemetry">
|
||||
|
||||
<h2 class="groundstation-telemetry__header" data-i18n="gsTelemetry"></h2>
|
||||
|
||||
<div class="groundstation-telemetry__row groundstation-telemetry__row--big">
|
||||
<label for="gs-telemetry-voltage" class="groundstation-telemetry__label" data-i18n="gsTelemetryVoltageShort"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-voltage">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row groundstation-telemetry__row--big">
|
||||
<label for="gs-telemetry-altitude" class="groundstation-telemetry__label" data-i18n="gsTelemetryAltitudeShort"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-altitude">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row groundstation-telemetry__row--big">
|
||||
<label for="gs-telemetry-speed" class="groundstation-telemetry__label" data-i18n="gsTelemetrySpeed"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-speed">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row">
|
||||
<label for="gs-telemetry-latitude" class="groundstation-telemetry__label" data-i18n="gsTelemetryLatitude"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-latitude">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row">
|
||||
<label class="groundstation-telemetry__label" for="gs-telemetry-longitude" data-i18n="gsTelemetryLongitude"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-longitude">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row">
|
||||
<label class="groundstation-telemetry__label" for="gs-telemetry-longitude" data-i18n="gsTelemetrySats"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-sats">-</div>
|
||||
</div>
|
||||
|
||||
<div class="groundstation-telemetry__row">
|
||||
<label class="groundstation-telemetry__label" for="gs-telemetry-longitude" data-i18n="gsTelemetryFix"></label>
|
||||
<div class="groundstation-telemetry__value" id="gs-telemetry-fix">-</div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<div id="groundstation-map"></div>
|
||||
</div>
|
||||
<div class="tab_container">
|
||||
<div id="tabs">
|
||||
<ul class="mode-disconnected">
|
||||
|
|
|
|||
37
src/css/groundstation.css
Normal file
37
src/css/groundstation.css
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
#view-groundstation {
|
||||
background-color: #2e2e2e;
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
display: flex;
|
||||
}
|
||||
|
||||
#groundstation-map {
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
}
|
||||
|
||||
#groundstation-telemetry {
|
||||
width: 20%;
|
||||
color: #ddd;
|
||||
}
|
||||
|
||||
.groundstation-telemetry__header {
|
||||
margin: 1em;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.groundstation-telemetry__row {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
margin: 1em;
|
||||
font-size: 1.1em;
|
||||
}
|
||||
|
||||
.groundstation-telemetry__row--big {
|
||||
font-size: 2.2em;
|
||||
}
|
||||
|
||||
.groundstation-telemetry__label {
|
||||
color: #aaa;
|
||||
font-weight: bold;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue