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* tidy up LTM update schedules
* update CLI and Telemetry documentation
This commit is contained in:
Jonathan Hudson
parent
88ed98a7f5
commit
6be27778da
3 changed files with 43 additions and 15 deletions
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@ -210,7 +210,8 @@ Re-apply any new defaults as desired.
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| frsky_vfas_cell_voltage | OFF | |
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| hott_alarm_sound_interval | 5 | Battery alarm delay in seconds for Hott telemetry |
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| smartport_uart_unidir | OFF | Turn UART into UNIDIR for smartport telemetry for usage on F1 and F4 target. See Telemertry.md for details |
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| ibus_telemetry_type | 0 | Type compatibility ibus telemetry for transmitters. See Telemertry.md label IBUS for details. |
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| ibus_telemetry_type | 0 | Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details. |
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| ltm_update_rate | NORMAL | Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details. |
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| battery_capacity | 0 | Battery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity. |
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| vbat_scale | 110 | Result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) x 10 for 0.1V. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli. |
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| vbat_max_cell_voltage | 43 | Maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V) |
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@ -98,17 +98,30 @@ The INAV implementation of LTM implements the following frames:
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suffixed '+' not implemented in INAV.
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* O-FRAME: Origin (home position, lat, long, altitude, fix)
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In addition, in the inav (navigation-rewrite) fork:
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In addition, in iNav:
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* N-FRAME: Navigation information (GPS mode, Nav mode, Nav action,
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Waypoint number, Nav Error, Nav Flags).
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* X-FRAME: Extra information. Currently HDOP is reported.
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LTM is transmit only, and can work at any supported baud rate. It is
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designed to operate over 2400 baud (9600 in INAV) and does not
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benefit from higher rates. It is thus usable on soft serial.
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A CLI variable `ltm-update-rate` may be used to configure the update
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rate and hence band-width used by LTM, with the following enumerations:
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* NORMAL: Legacy rate, currently 303 bytes/second (requires 4800 bps)
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* MEDIUM: 164 bytes/second (requires 2400 bps)
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* SLOW: 105 bytes/second (requires 1200 bps)
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For many telemetry devices, there is direction correlation between the
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air-speed of the radio link and range; thus a lower value may
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facilitate longer range links.
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More information about the fields, encoding and enumerations may be
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found at
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https://github.com/stronnag/mwptools/blob/master/docs/ltm-definition.txt
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found at https://github.com/iNavFlight/inav/wiki/Lightweight-Telemetry-(LTM).
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## MAVLink telemetry
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@ -237,7 +250,7 @@ HDOP: 0 is 0-9m, 8 is 80-90m, 9 is >90m
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Mode: 1-Armed(rate), 2-Horizon, 3-Angle, 4-HeadFree or Mag, 5-AltHold, 6-PosHold, 7-Rth, 8-Fail and Rth, 9-Fail
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Example: 12803 is 12 satelites, Fix3D, FixHome, 0-9m HDOP, Angle Mode
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Example: 12803 is 12 satelites, Fix3D, FixHome, 0-9m HDOP, Angle Mode
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### CLI command
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@ -257,6 +270,3 @@ These receivers are reported to work with i-bus telemetry:
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- FlySky/Turnigy FS-iA10B 10-Channel Receiver (http://www.flysky-cn.com/products_detail/productId=52.html)
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Note that the FlySky/Turnigy FS-iA4B 4-Channel Receiver (http://www.flysky-cn.com/products_detail/productId=46.html) seems to work but has a bug that might lose the binding, DO NOT FLY the FS-iA4B!
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@ -80,6 +80,7 @@
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#define TELEMETRY_LTM_INITIAL_PORT_MODE MODE_TX
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#define LTM_CYCLETIME 100
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#define LTM_SCHEDULE_SIZE (1000/LTM_CYCLETIME)
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extern uint16_t rssi; // FIXME dependency on mw.c
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static serialPort_t *ltmPort;
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@ -88,6 +89,7 @@ static bool ltmEnabled;
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static portSharing_e ltmPortSharing;
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static uint8_t ltm_crc;
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static uint8_t ltmPayload[LTM_MAX_MESSAGE_SIZE];
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static uint8_t ltm_x_counter;
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static void ltm_initialise_packet(sbuf_t *dst)
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{
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@ -251,9 +253,10 @@ void ltm_xframe(sbuf_t *dst)
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sbufWriteU8(dst, 'X');
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ltm_serialise_16(dst, gpsSol.hdop);
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ltm_serialise_8(dst, sensorStatus);
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ltm_serialise_8(dst, ltm_x_counter);
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ltm_serialise_8(dst, 0);
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ltm_serialise_8(dst, 0);
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ltm_serialise_8(dst, 0);
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ltm_x_counter++; // overflow is OK
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}
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#endif
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@ -279,7 +282,11 @@ void ltm_nframe(sbuf_t *dst)
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#define LTM_BIT_NFRAME (1 << 4)
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#define LTM_BIT_XFRAME (1 << 5)
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static uint8_t ltm_normal_schedule[10] = {
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/*
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* This is the normal (default) scheduler, needs c. 4800 baud or faster
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* Equates to c. 303 bytes / second
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*/
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static uint8_t ltm_normal_schedule[LTM_SCHEDULE_SIZE] = {
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LTM_BIT_AFRAME | LTM_BIT_GFRAME,
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LTM_BIT_AFRAME | LTM_BIT_SFRAME | LTM_BIT_OFRAME,
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LTM_BIT_AFRAME | LTM_BIT_GFRAME,
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@ -292,7 +299,11 @@ static uint8_t ltm_normal_schedule[10] = {
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LTM_BIT_AFRAME | LTM_BIT_SFRAME | LTM_BIT_NFRAME
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};
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static uint8_t ltm_medium_schedule[] = {
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/*
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* This is the medium scheduler, needs c. 2400 baud or faster
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* Equates to c. 164 bytes / second
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*/
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static uint8_t ltm_medium_schedule[LTM_SCHEDULE_SIZE] = {
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LTM_BIT_AFRAME,
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LTM_BIT_GFRAME,
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LTM_BIT_AFRAME | LTM_BIT_SFRAME,
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@ -305,21 +316,25 @@ static uint8_t ltm_medium_schedule[] = {
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LTM_BIT_NFRAME
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};
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static uint8_t ltm_slow_schedule[] = {
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/*
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* This is the slow scheduler, needs c. 1200 baud or faster
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* Equates to c. 105 bytes / second (91 b/s if the second GFRAME is zeroed)
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*/
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static uint8_t ltm_slow_schedule[LTM_SCHEDULE_SIZE] = {
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LTM_BIT_GFRAME,
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LTM_BIT_SFRAME,
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LTM_BIT_AFRAME,
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0,
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LTM_BIT_OFRAME,
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LTM_BIT_XFRAME,
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LTM_BIT_GFRAME,
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LTM_BIT_GFRAME, // consider zeroing this for even lower bytes/sec
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0,
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LTM_BIT_AFRAME,
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LTM_BIT_NFRAME,
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};
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/* This is the default scheduler, needs c. 4800 baud or faster */
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static uint8_t *ltm_schedule = ltm_normal_schedule;
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/* Set by initialisation */
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static uint8_t *ltm_schedule;
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static void process_ltm(void)
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{
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@ -410,6 +425,7 @@ void configureLtmTelemetryPort(void)
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baudRateIndex = BAUD_19200;
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}
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/* setup scheduler, default to 'normal' */
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if(telemetryConfig()->ltmUpdateRate == LTM_RATE_MEDIUM)
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ltm_schedule = ltm_medium_schedule;
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else if (telemetryConfig()->ltmUpdateRate == LTM_RATE_SLOW)
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@ -420,6 +436,7 @@ void configureLtmTelemetryPort(void)
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ltmPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_LTM, NULL, baudRates[baudRateIndex], TELEMETRY_LTM_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
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if (!ltmPort)
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return;
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ltm_x_counter = 0;
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ltmEnabled = true;
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}
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