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Send GPS related sensors via S.Port even without a fix

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Check for feature(FEATURE_GPS) rather than for a GPS fix. This lets
users perform the sensor discovery step without having a GPS fix.

To still allow users to notice if the GPS has stopped working, we
check that either the craft has never been armed or we do have a GPS
fix. This way the sensor is available on startup, but if it stops
working mid-flight the user will get a "sensor lost" alarm.
This commit is contained in:
Alberto García Hierro 2018-05-13 00:07:11 +01:00
parent fd790f1235
commit f665972fb3
1 changed files with 15 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

25
src/main/telemetry/smartport.c
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@ -325,6 +325,15 @@ static void smartPortSendMspResponse(uint8_t *data) {
}
#endif
static bool smartPortShouldSendGPSData(void)
{
// We send GPS data if the GPS is configured and we have a fix
// or the craft has never been armed yet. This way if GPS stops working
// while in flight, the user will easily notice because the sensor will stop
// updating.
return feature(FEATURE_GPS) && (STATE(GPS_FIX) || !ARMING_FLAG(WAS_EVER_ARMED));
}
void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clearToSend, const uint32_t *requestTimeout)
{
if (payload) {
@ -475,10 +484,9 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
break;
}
case FSSP_DATAID_T2 :
if (sensors(SENSOR_GPS)) {
#ifdef USE_GPS
if (smartPortShouldSendGPSData()) {
uint32_t tmpi = 0;
#ifdef USE_GPS
// ones and tens columns (# of satellites 0 - 99)
tmpi += constrain(gpsSol.numSat, 0, 99);
@ -496,14 +504,11 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
smartPortSendPackage(id, tmpi);
*clearToSend = false;
#endif
} else if (feature(FEATURE_GPS)) {
smartPortSendPackage(id, 0);
*clearToSend = false;
}
break;
#ifdef USE_GPS
case FSSP_DATAID_SPEED :
if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
if (smartPortShouldSendGPSData()) {
//convert to knots: 1cm/s = 0.0194384449 knots
//Speed should be sent in knots/1000 (GPS speed is in cm/s)
uint32_t tmpui = gpsSol.groundSpeed * 1944 / 100;
@ -512,7 +517,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
}
break;
case FSSP_DATAID_LATLONG :
if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
if (smartPortShouldSendGPSData()) {
uint32_t tmpui = 0;
// the same ID is sent twice, one for longitude, one for latitude
// the MSB of the sent uint32_t helps FrSky keep track
@ -532,13 +537,13 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
}
break;
case FSSP_DATAID_HOME_DIST :
if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
if (smartPortShouldSendGPSData()) {
smartPortSendPackage(id, GPS_distanceToHome);
*clearToSend = false;
}
break;
case FSSP_DATAID_GPS_ALT :
if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
if (smartPortShouldSendGPSData()) {
smartPortSendPackage(id, gpsSol.llh.alt); // cm
*clearToSend = false;
}