rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-28 06:24:10 +01:00
Code Issues Releases Activity

Merged in LP-609_Hott_menu (pull request #550) (fix for pull request #528 )

Browse Source 
LP-609 Hott menu
This commit is contained in:
Eric Price 2022-06-16 14:35:37 +00:00
commit 3344598ba7
3 changed files with 1423 additions and 166 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

281
flight/modules/UAVOHottBridge/inc/uavohottbridge.h
View File

@ -6,7 +6,7 @@
* @{
*
* @file uavohottbridge.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019.
* Tau Labs, http://taulabs.org, Copyright (C) 2013
* @brief sends telemery data on HoTT request
*
@ -30,101 +30,102 @@
*/
// timing variables
#define IDLE_TIME 10 // idle line delay to prevent data crashes on telemetry line.
#define DATA_TIME 3 // time between 2 transmitted bytes
#define IDLE_TIME 10 // idle line delay to prevent data crashes on telemetry line.
#define DATA_TIME 3 // time between 2 transmitted bytes
// sizes and lengths
#define climbratesize 50 // defines size of ring buffer for climbrate calculation
#define statussize 21 // number of characters in status line
#define climbratesize 62 // defines size of ring buffer for climbrate calculation
#define statussize 21 // number of characters in status line
#define HOTT_MAX_MESSAGE_LENGTH 200
// scale factors
#define M_TO_CM 100 // scale m to cm or m/s to cm/s
#define M_TO_CM 100 // scale m to cm or m/s to cm/s
#define MS_TO_KMH 3.6f // scale m/s to km/h
#define DEG_TO_UINT 0.5f // devide degrees by 2. then the value fits into a byte.
// offsets. used to make transmitted values unsigned.
#define OFFSET_ALTITUDE 500 // 500m
#define OFFSET_ALTITUDE 500 // 500m
#define OFFSET_CLIMBRATE 30000 // 30000cm/s or 300m/s
#define OFFSET_CLIMBRATE3S 120 // 120m/s
#define OFFSET_TEMPERATURE 20 // 20 degrees
#define OFFSET_CLIMBRATE3S 120 // 120m/s
#define OFFSET_TEMPERATURE 20 // 20 degrees
// Bits to invert display areas or values
#define VARIO_INVERT_ALT (1 << 0) // altitude
#define VARIO_INVERT_MAX (1 << 1) // max altitude
#define VARIO_INVERT_MIN (1 << 2) // min altitude
#define VARIO_INVERT_CR1S (1 << 3) // climbrate 1s
#define VARIO_INVERT_CR3S (1 << 4) // climbrate 3s
#define VARIO_INVERT_CR10S (1 << 5) // climbrate 10s
#define VARIO_INVERT_ALT (1 << 0) // altitude
#define VARIO_INVERT_MAX (1 << 1) // max altitude
#define VARIO_INVERT_MIN (1 << 2) // min altitude
#define VARIO_INVERT_CR1S (1 << 3) // climbrate 1s
#define VARIO_INVERT_CR3S (1 << 4) // climbrate 3s
#define VARIO_INVERT_CR10S (1 << 5) // climbrate 10s
#define GPS_INVERT_HDIST (1 << 0) // home distance
#define GPS_INVERT_SPEED (1 << 1) // speed (kmh)
#define GPS_INVERT_ALT (1 << 2) // altitude
#define GPS_INVERT_CR1S (1 << 3) // climbrate 1s
#define GPS_INVERT_CR3S (1 << 4) // climbrate 3s
#define GPS_INVERT2_POS (1 << 0) // GPS postion values
#define GPS_INVERT_HDIST (1 << 0) // home distance
#define GPS_INVERT_SPEED (1 << 1) // speed (kmh)
#define GPS_INVERT_ALT (1 << 2) // altitude
#define GPS_INVERT_CR1S (1 << 3) // climbrate 1s
#define GPS_INVERT_CR3S (1 << 4) // climbrate 3s
#define GPS_INVERT2_POS (1 << 0) // GPS postion values
#define GAM_INVERT_CELL (1 << 0) // cell voltage
#define GAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
#define GAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
#define GAM_INVERT_TEMP1 (1 << 3) // temperature 1
#define GAM_INVERT_TEMP2 (1 << 4) // temperature 2
#define GAM_INVERT_FUEL (1 << 5) // fuel
#define GAM_INVERT2_CURRENT (1 << 0) // current
#define GAM_INVERT2_VOLTAGE (1 << 1) // voltage
#define GAM_INVERT2_ALT (1 << 2) // altitude
#define GAM_INVERT2_CR1S (1 << 3) // climbrate 1s
#define GAM_INVERT2_CR3S (1 << 4) // climbrate 3s
#define GAM_INVERT_CELL (1 << 0) // cell voltage
#define GAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
#define GAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
#define GAM_INVERT_TEMP1 (1 << 3) // temperature 1
#define GAM_INVERT_TEMP2 (1 << 4) // temperature 2
#define GAM_INVERT_FUEL (1 << 5) // fuel
#define GAM_INVERT2_CURRENT (1 << 0) // current
#define GAM_INVERT2_VOLTAGE (1 << 1) // voltage
#define GAM_INVERT2_ALT (1 << 2) // altitude
#define GAM_INVERT2_CR1S (1 << 3) // climbrate 1s
#define GAM_INVERT2_CR3S (1 << 4) // climbrate 3s
#define EAM_INVERT_CAPACITY (1 << 0) // capacity
#define EAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
#define EAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
#define EAM_INVERT_TEMP1 (1 << 3) // temperature 1
#define EAM_INVERT_TEMP2 (1 << 4) // temperature 2
#define EAM_INVERT_ALT (1 << 5) // altitude
#define EAM_INVERT_CURRENT (1 << 6) // current
#define EAM_INVERT_VOLTAGE (1 << 7) // voltage
#define EAM_INVERT2_ALT (1 << 2) // altitude
#define EAM_INVERT2_CR1S (1 << 3) // climbrate 1s
#define EAM_INVERT2_CR3S (1 << 4) // climbrate 3s
#define EAM_INVERT_CAPACITY (1 << 0) // capacity
#define EAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
#define EAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
#define EAM_INVERT_TEMP1 (1 << 3) // temperature 1
#define EAM_INVERT_TEMP2 (1 << 4) // temperature 2
#define EAM_INVERT_ALT (1 << 5) // altitude
#define EAM_INVERT_CURRENT (1 << 6) // current
#define EAM_INVERT_VOLTAGE (1 << 7) // voltage
#define EAM_INVERT2_ALT (1 << 2) // altitude
#define EAM_INVERT2_CR1S (1 << 3) // climbrate 1s
#define EAM_INVERT2_CR3S (1 << 4) // climbrate 3s
#define ESC_INVERT_VOLTAGE (1 << 0) // voltage
#define ESC_INVERT_TEMP1 (1 << 1) // temperature 1
#define ESC_INVERT_TEMP2 (1 << 2) // temperature 2
#define ESC_INVERT_CURRENT (1 << 3) // current
#define ESC_INVERT_RPM (1 << 4) // rpm
#define ESC_INVERT_CAPACITY (1 << 5) // capacity
#define ESC_INVERT_MAXCURRENT (1 << 6) // maximum current
#define ESC_INVERT_VOLTAGE (1 << 0) // voltage
#define ESC_INVERT_TEMP1 (1 << 1) // temperature 1
#define ESC_INVERT_TEMP2 (1 << 2) // temperature 2
#define ESC_INVERT_CURRENT (1 << 3) // current
#define ESC_INVERT_RPM (1 << 4) // rpm
#define ESC_INVERT_CAPACITY (1 << 5) // capacity
#define ESC_INVERT_MAXCURRENT (1 << 6) // maximum current
// message codes
#define HOTT_TEXT_ID 0x7f // Text request
#define HOTT_BINARY_ID 0x80 // Binary request
#define HOTT_VARIO_ID 0x89 // Vario Module ID
#define HOTT_VARIO_TEXT_ID 0x90 // Vario Module TEXT ID
#define HOTT_GPS_ID 0x8a // GPS Module ID
#define HOTT_GPS_TEXT_ID 0xa0 // GPS Module TEXT ID
#define HOTT_ESC_ID 0x8c // ESC Module ID
#define HOTT_ESC_TEXT_ID 0xc0 // ESC Module TEXT ID
#define HOTT_GAM_ID 0x8d // General Air Module ID
#define HOTT_GAM_TEXT_ID 0xd0 // General Air Module TEXT ID
#define HOTT_EAM_ID 0x8e // Electric Air Module ID
#define HOTT_EAM_TEXT_ID 0xe0 // Electric Air Module TEXT ID
#define HOTT_TEXT_START 0x7b // Start byte Text mode
#define HOTT_START 0x7c // Start byte Binary mode
#define HOTT_STOP 0x7d // End byte
#define HOTT_BUTTON_DEC 0xEB // minus button
#define HOTT_BUTTON_INC 0xED // plus button
#define HOTT_BUTTON_SET 0xE9 // set button
#define HOTT_BUTTON_NIL 0x0F // esc button
#define HOTT_BUTTON_NEXT 0xEE // next button
#define HOTT_BUTTON_PREV 0xE7 // previous button
#define HOTT_TEXT_ID 0x7f // Text request
#define HOTT_BINARY_ID 0x80 // Binary request
#define HOTT_VARIO_ID 0x89 // Vario Module ID
#define HOTT_VARIO_TEXT_ID 0x90 // Vario Module TEXT ID
#define HOTT_GPS_ID 0x8a // GPS Module ID
#define HOTT_GPS_TEXT_ID 0xa0 // GPS Module TEXT ID
#define HOTT_ESC_ID 0x8c // ESC Module ID
#define HOTT_ESC_TEXT_ID 0xc0 // ESC Module TEXT ID
#define HOTT_GAM_ID 0x8d // General Air Module ID
#define HOTT_GAM_TEXT_ID 0xd0 // General Air Module TEXT ID
#define HOTT_EAM_ID 0x8e // Electric Air Module ID
#define HOTT_EAM_TEXT_ID 0xe0 // Electric Air Module TEXT ID
#define HOTT_TEXT_START 0x7b // Start byte Text mode
#define HOTT_START 0x7c // Start byte Binary mode
#define HOTT_STOP 0x7d // End byte
// prefined signal tones or spoken announcments
#define HOTT_BUTTON_DEC 0xEB // minus button
#define HOTT_BUTTON_INC 0xED // plus button
#define HOTT_BUTTON_SET 0xE9 // set button
#define HOTT_BUTTON_NIL 0x0F // esc button
#define HOTT_BUTTON_NEXT 0xEE // next button
#define HOTT_BUTTON_PREV 0xE7 // previous button
// prefined signal tones or spoken announcements
#define HOTT_TONE_A 1 // minimum speed
#define HOTT_TONE_B 2 // sink rate 3 seconds
#define HOTT_TONE_C 3 // sink rate 1 second
#define HOTT_TONE_D 4 // maximum distance
#define HOTT_TONE_E 5 // -
#define HOTT_TONE_E 5 // low signal
#define HOTT_TONE_F 6 // minimum temperature sensor 1
#define HOTT_TONE_G 7 // minimum temperature sensor 2
#define HOTT_TONE_H 8 // maximum temperature sensor 1
@ -146,6 +147,16 @@
#define HOTT_TONE_X 24 // maximum input voltage
#define HOTT_TONE_Y 25 // maximum rpm
#define HOTT_TONE_Z 26 // maximum height
#define HOTT_TONE_27 27 // sudden descent
#define HOTT_TONE_28 28 // fast descent
#define HOTT_TONE_29 29 // normal descent
#define HOTT_TONE_30 30 // slow descent
#define HOTT_TONE_31 31 // very slow descent
#define HOTT_TONE_32 32 // very slow rise
#define HOTT_TONE_33 33 // slow rise
#define HOTT_TONE_34 34 // normal rise
#define HOTT_TONE_35 35 // fast rise
#define HOTT_TONE_36 36 // sudden rise
#define HOTT_TONE_20M 37 // 20 meters
#define HOTT_TONE_40M 38 // 40 meters
#define HOTT_TONE_60M 39 // 60 meters
@ -157,10 +168,18 @@
#define HOTT_TONE_400M 47 // 400 meters
#define HOTT_TONE_600M 48 // 600 meters
#define HOTT_TONE_800M 49 // 800 meters
#define HOTT_TONE_1000M 50 // 10000 meters
#define HOTT_TONE_1000M 50 // 1000 meters
#define HOTT_TONE_51 51 // maximum servo temperature
#define HOTT_TONE_52 52 // maximum servo position difference
#define HOTT_KEY_DEC 11
#define HOTT_KEY_INC 13
#define HOTT_KEY_NEXT 14
#define HOTT_KEY_PREV 7
#define HOTT_KEY_SET 9
#define HOTT_TEXT_LINES 8
#define HOTT_TEXT_COLUMNS 21
// Private types
typedef struct {
@ -171,18 +190,20 @@ typedef struct {
// Private structures
struct telemetrydata {
HoTTBridgeSettingsData Settings;
AttitudeStateData Attitude;
BaroSensorData Baro;
AttitudeStateData Attitude;
AccelStateData Accel;
BaroSensorData Baro;
FlightBatteryStateData Battery;
FlightStatusData FlightStatus;
FlightStatusData FlightStatus;
GPSPositionSensorData GPS;
AirspeedStateData Airspeed;
AirspeedStateData Airspeed;
GPSTimeData GPStime;
GyroSensorData Gyro;
HomeLocationData Home;
PositionStateData Position;
SystemAlarmsData SysAlarms;
VelocityStateData Velocity;
GyroSensorData Gyro;
HomeLocationData Home;
PositionStateData Position;
SystemAlarmsData SysAlarms;
VelocityStateData Velocity;
TemperatureStateData Temp;
int16_t climbratebuffer[climbratesize];
uint8_t climbrate_pointer;
float altitude;
@ -194,10 +215,82 @@ struct telemetrydata {
float climbrate10s;
float homedistance;
float homecourse;
float max_distance;
float max_speed;
float current_G; // G force
float max_G;
float min_G;
float min_voltage;
float max_temp1;
float max_temp2;
uint8_t last_armed;
char statusline[statussize];
};
// HoTT menu
static const char *const hottTextPageTitle[] = {
"**LIBREPILOT HoTT****",
"**LIBREPILOT CONFIG**",
"*****GPS CONFIG******",
"***BATTERY CONFIG****",
"---VARIO WARNINGS----",
"----VARIO LIMITS-----",
"------GPS PAGE-------",
"--GENERAL AIR PAGE---",
"--ELECTRIC AIR PAGE--",
"------ESC PAGE-------",
"--SENSORREDIR PAGE---"
};
typedef enum {
HOTTTEXT_PAGE_MAIN = 0,
HOTTTEXT_PAGE_MAINCONFIG = 1,
HOTTTEXT_PAGE_GPSCONFIG = 2,
HOTTTEXT_PAGE_BATTERYCONFIG = 3,
HOTTTEXT_PAGE_VARIOWARNINGS = 4,
HOTTTEXT_PAGE_VARIOLIMITS = 5,
HOTTTEXT_PAGE_GPS = 6,
HOTTTEXT_PAGE_GENERAL = 7,
HOTTTEXT_PAGE_ELECTRIC = 8,
HOTTTEXT_PAGE_ESC = 9,
HOTTTEXT_PAGE_SENSORREDIR = 10,
} hottTextPageElem;
#define HOTTTEXT_PAGE_NUMELEM 11
typedef enum {
HOTTTEXT_EDITSTATUS_STEP1 = 0,
HOTTTEXT_EDITSTATUS_STEP10 = 1,
HOTTTEXT_EDITSTATUS_STEP100 = 2,
HOTTTEXT_EDITSTATUS_STEP1K = 3,
HOTTTEXT_EDITSTATUS_STEP10K = 4,
HOTTTEXT_EDITSTATUS_DONE = 5,
} hottTextEditStatusElem;
static const char *const hottTextADCpinNames[] = {
"----",
"ADC0",
"ADC1",
"ADC2",
"ADC3",
"ADC4",
"ADC5",
"ADC6",
"ADC7"
};
static const char *const hottTextSensorRedirectNames[] = {
" NONE ",
"GPSSPEED",
"AIRSPEED",
"BATTVOLT",
"GYROTEMP",
"BAROTEMP",
" TEMP1 ",
" TEMP2 ",
" GFORCE "
};
// VARIO Module message structure
struct hott_vario_message {
uint8_t start; // start byte
@ -275,9 +368,9 @@ struct hott_gam_message {
uint8_t cell4;
uint8_t cell5;
uint8_t cell6;
uword_t batt1_voltage; // battery sensor 1 in 0.1V steps, 50 == 5.5V
uword_t batt2_voltage; // battery sensor 2 voltage
uint8_t temperature1; // temperature 1 in °C, offset of 20, 20 == 0°C
uword_t batt1_voltage; // battery sensor 1 in 0.1V steps, 50 == 5.5V, max 99.0V
uword_t batt2_voltage; // battery sensor 2 voltage,
uint8_t temperature1; // temperature 1 in °C, offset of 20, 20 == 0°C, max 200°C
uint8_t temperature2; // temperature 2
uint8_t fuel_procent; // fuel capacity in %, values from 0..100
uword_t fuel_ml; // fuel capacity in ml, values from 0..65535
@ -288,12 +381,12 @@ struct hott_gam_message {
uword_t current; // current in 0.1A steps
uword_t voltage; // main power voltage in 0.1V steps
uword_t capacity; // used battery capacity in 10mAh steps
uword_t speed; // speed in km/h
uword_t speed; // speed in km/h (not used ?)
uint8_t min_cell_volt; // lowest cell voltage in 20mV steps. 124 == 2.48V
uint8_t min_cell_volt_num; // number of the cell with the lowest voltage
uword_t rpm2; // rpm2 in 10 rpm steps, 300 == 3000rpm
uint8_t g_error_number; // general error number (Voice error == 12)
uint8_t pressure; // pressure up to 15bar, 0.1bar steps
uint8_t pressure; // pressure up to 25bar, 0.1bar steps
uint8_t version; // version number
uint8_t stop; // stop byte
uint8_t checksum; // Lower 8-bits of all bytes summed
@ -321,10 +414,10 @@ struct hott_eam_message {
uint8_t cell5_H;
uint8_t cell6_H;
uint8_t cell7_H;
uword_t batt1_voltage; // battery sensor 1 voltage, in steps of 0.02V
uword_t batt2_voltage; // battery sensor 2 voltage, in steps of 0.02V
uint8_t temperature1; // temperature sensor 1. 20 = 0 degrees
uint8_t temperature2; // temperature sensor 2. 20 = 0 degrees
uword_t batt1_voltage; // battery sensor 1 voltage, in steps of 0.02V max 99.0V
uword_t batt2_voltage; // battery sensor 2 voltage, in steps of 0.02V max 99.0V
uint8_t temperature1; // temperature sensor 1. 20 = 0 degrees, max 200°C
uint8_t temperature2; // temperature sensor 2. 20 = 0 degrees, max 200°C
uword_t altitude; // altitude (meters). 500 = 0 meters
uword_t current; // current (A) in steps of 0.1A
uword_t voltage; // main power voltage in steps of 0.1V
@ -334,7 +427,7 @@ struct hott_eam_message {
uword_t rpm; // rpm in steps of 10 rpm
uint8_t electric_min; // estaminated flight time in minutes.
uint8_t electric_sec; // estaminated flight time in seconds.
uword_t speed; // speed in km/h in steps of 1 km/h
uword_t speed; // speed in km/h in steps of 1 km/h (not used ?)
uint8_t stop; // Stop byte
uint8_t checksum; // Lower 8-bits of all bytes summed.
};
@ -368,7 +461,7 @@ struct hott_text_message {
uint8_t start; // Start byte
uint8_t sensor_id; // TEXT id
uint8_t warning;
uint8_t text[21][8]; // text field 21 columns and 8 rows (bit 7=1 for inverse display)
char text[HOTT_TEXT_LINES][HOTT_TEXT_COLUMNS]; // text field 21 columns and 8 rows (bit 7=1 for inverse display)
uint8_t stop; // Stop byte
uint8_t checksum; // Lower 8-bits of all bytes summed.
};

1303
flight/modules/UAVOHottBridge/uavohottbridge.c
View File

@ -6,7 +6,7 @@
* @{
*
* @file uavohottbridge.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019.
* Tau Labs, http://taulabs.org, Copyright (C) 2013-2014
* @brief sends telemery data on HoTT request
*
@ -39,6 +39,7 @@
#include "callbackinfo.h"
#include "hottbridgesettings.h"
#include "attitudestate.h"
#include "accelstate.h"
#include "barosensor.h"
#include "flightbatterystate.h"
#include "flightstatus.h"
@ -50,8 +51,15 @@
#include "positionstate.h"
#include "systemalarms.h"
#include "velocitystate.h"
#include "temperaturestate.h"
#include "hottbridgestatus.h"
#include "hottbridgesettings.h"
#include "flightbatterysettings.h"
#include "hwsettings.h"
#include "revosettings.h"
#include "attitudesettings.h"
#include "gpssettings.h"
#include "homelocation.h"
#include "objectpersistence.h"
#include "pios_sensors.h"
#include "uavohottbridge.h"
@ -61,11 +69,13 @@
#if defined(PIOS_INCLUDE_HOTT_BRIDGE)
#if defined(PIOS_HoTT_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_HoTT_STACK_SIZE
#define STACK_SIZE_BYTES PIOS_HoTT_STACK_SIZE
#else
#define STACK_SIZE_BYTES 2048
#define STACK_SIZE_BYTES 2048
#endif
#define TASK_PRIORITY CALLBACK_TASK_AUXILIARY
#define TASK_PRIORITY CALLBACK_TASK_AUXILIARY
#define ADC_XX_PIN_NOTFOUND -1
static bool module_enabled = false;
@ -73,6 +83,7 @@ static bool module_enabled = false;
static bool module_enabled;
static struct telemetrydata *telestate;
static HoTTBridgeStatusData status;
static HomeLocationSetOptions homeSetFlash;
// Private functions
static void uavoHoTTBridgeTask(void *parameters);
@ -81,9 +92,17 @@ static uint16_t build_GPS_message(struct hott_gps_message *msg);
static uint16_t build_GAM_message(struct hott_gam_message *msg);
static uint16_t build_EAM_message(struct hott_eam_message *msg);
static uint16_t build_ESC_message(struct hott_esc_message *msg);
static uint16_t build_TEXT_message(struct hott_text_message *msg);
static uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t current_line, int8_t value_change, uint8_t step_change, bool edit_line, bool exit_menu);
static char *reverse_pixels(char *line, uint8_t from_char, uint8_t to_char);
static uint8_t get_page(uint8_t page, bool next);
static uint8_t enable_disable_warning(uint8_t value);
static uint8_t enable_disable_sensor(uint8_t value);
static float get_redirect_sensor_value(uint8_t hott_sensor);
static int16_t get_new_value(int16_t current_value, int8_t value_change, uint8_t step, int16_t min, int16_t max);
static int8_t get_newADCPin_value(uint8_t *adcRouting, int8_t from_pin, int8_t value_change);
static uint8_t calc_checksum(uint8_t *data, uint16_t size);
static uint8_t generate_warning();
static void store_settings(uint8_t page, uint8_t current_line);
static void update_telemetrydata();
static void convert_long2gps(int32_t value, uint8_t *dir, uword_t *min, uword_t *sec);
static uint8_t scale_float2uint8(float value, float scale, float offset);
@ -155,6 +174,9 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
// clear all state values
memset(telestate, 0, sizeof(*telestate));
// init minimal values
telestate->min_voltage = 100.0f;
// initialize timer variables
portTickType lastSysTime = xTaskGetTickCount();
// idle delay between telemetry request and answer
@ -162,6 +184,12 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
// data delay between transmitted bytes
uint32_t datadelay = DATA_TIME;
// Get stored homeSet status at start
if (HomeLocationHandle() != NULL) {
UAVObjLoad(HomeLocationHandle(), 0); // load from flash
HomeLocationSetGet(&homeSetFlash);
}
// work on hott telemetry. endless loop.
while (1) {
// clear message size on every loop before processing
@ -201,17 +229,118 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
}
} else if (rx_buffer[1] == HOTT_TEXT_ID) {
// first received byte looks like a text request. check second received byte for a valid button.
switch (rx_buffer[0]) {
case HOTT_BUTTON_DEC:
case HOTT_BUTTON_INC:
case HOTT_BUTTON_SET:
case HOTT_BUTTON_NIL:
case HOTT_BUTTON_NEXT:
case HOTT_BUTTON_PREV:
message_size = build_TEXT_message((struct hott_text_message *)tx_buffer);
uint8_t id_key = rx_buffer[0] & 0x0F;
uint8_t id_sensor = rx_buffer[0] >> 4;
static bool edit_line = false;
bool exit_menu = false;
int8_t value_change = 0;
static uint8_t step_change = 0;
// define allowed edited lines for Main, Main Config, GPS config, Battery config, VarioWarnings, VarioLimits, GPS, General, Electric, Esc pages and Sensor redirect page
uint8_t min_line[] = { 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2 };
uint8_t max_line[] = { 6, 5, 5, 6, 8, 8, 7, 7, 7, 7, 8 };
static uint8_t page = HOTTTEXT_PAGE_MAIN;
static uint8_t edit_status = HOTTTEXT_EDITSTATUS_DONE;
static uint8_t last_page = 0;
static uint8_t current_line = 0;
// menu keys
if (edit_line) {
switch (id_key) {
case HOTT_KEY_DEC: // up
value_change--;
break;
case HOTT_KEY_INC: // down
value_change++;
break;
case HOTT_KEY_PREV: // left
if (step_change < HOTTTEXT_EDITSTATUS_STEP10K) {
step_change++;
}
break;
case HOTT_KEY_NEXT: // right
if (step_change > HOTTTEXT_EDITSTATUS_STEP1) {
step_change--;
}
break;
case HOTT_KEY_SET: // Set
value_change = 0;
step_change = 0;
if (edit_status != HOTTTEXT_EDITSTATUS_DONE) {
store_settings(page, current_line);
edit_line = false; // exit edit mode
}
break;
default:
value_change = 0;
}
} else {
switch (id_key) {
case HOTT_KEY_DEC: // up
current_line--;
break;
case HOTT_KEY_INC: // down
current_line++;
break;
case HOTT_KEY_PREV: // left
exit_menu = (page == HOTTTEXT_PAGE_MAIN) ? true : false;
page = get_page(page, false);
break;
case HOTT_KEY_NEXT: // right
exit_menu = false;
current_line = 0;
page = get_page(page, true);
break;
case HOTT_KEY_SET: // Set
edit_line = true; // enter edit mode
break;
}
}
// select page to display from text request
// (this inhibit normal page browsing and give direct access to sensor page)
switch (id_sensor) {
case (HOTT_VARIO_ID & 0x0f):
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
default:
message_size = 0;
case (HOTT_GPS_ID & 0x0f):
page = HOTTTEXT_PAGE_GPS;
break;
case (HOTT_GAM_ID & 0x0f):
page = HOTTTEXT_PAGE_GENERAL;
break;
case (HOTT_EAM_ID & 0x0f):
page = HOTTTEXT_PAGE_ELECTRIC;
break;
case (HOTT_ESC_ID & 0x0f):
page = HOTTTEXT_PAGE_ESC;
}
// new page
if (page != last_page) {
last_page = page;
current_line = 0;
edit_line = false;
}
// keep current line between min/max limits
if (current_line > max_line[page]) {
current_line = max_line[page];
}
if (current_line < min_line[page]) {
current_line = min_line[page];
}
edit_status = build_TEXT_message((struct hott_text_message *)tx_buffer, page, current_line, value_change, step_change, edit_line, exit_menu);
message_size = sizeof(struct hott_text_message);
if (edit_status == HOTTTEXT_EDITSTATUS_DONE) {
// Save and exit edit mode
store_settings(page, current_line);
edit_line = false;
} else if (edit_line) {
step_change = edit_status;
}
}
@ -227,8 +356,6 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
for (int i = 0; i < message_size; i++) {
// send message content with pause between each byte
PIOS_COM_SendCharNonBlocking(PIOS_COM_HOTT, tx_buffer[i]);
// grab possible incoming loopback data and throw it away
PIOS_COM_ReceiveBuffer(PIOS_COM_HOTT, rx_buffer, sizeof(rx_buffer), 0);
vTaskDelayUntil(&lastSysTime, datadelay / portTICK_RATE_MS);
}
status.TxPackets++;
@ -334,9 +461,9 @@ uint16_t build_GPS_message(struct hott_gps_message *msg)
msg->alarm_inverse1 |= (telestate->Settings.Limit.PosDifference2 < telestate->climbrate3s) ? GPS_INVERT_CR3S : 0;
msg->alarm_inverse2 |= (telestate->SysAlarms.Alarm.GPS != SYSTEMALARMS_ALARM_OK) ? GPS_INVERT2_POS : 0;
// gps direction, groundspeed and postition
// gps direction, groundspeed and position
msg->flight_direction = scale_float2uint8(telestate->GPS.Heading, DEG_TO_UINT, 0);
msg->gps_speed = scale_float2uword(telestate->GPS.Groundspeed, MS_TO_KMH, 0);
msg->gps_speed = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_SPEED), MS_TO_KMH, 0);
convert_long2gps(telestate->GPS.Latitude, &msg->latitude_ns, &msg->latitude_min, &msg->latitude_sec);
convert_long2gps(telestate->GPS.Longitude, &msg->longitude_ew, &msg->longitude_min, &msg->longitude_sec);
@ -434,8 +561,8 @@ uint16_t build_GAM_message(struct hott_gam_message *msg)
msg->alarm_inverse2 |= (telestate->Settings.Limit.PosDifference2 < telestate->climbrate3s) ? GAM_INVERT2_CR3S : 0;
// temperatures
msg->temperature1 = scale_float2uint8(telestate->Gyro.temperature, 1, OFFSET_TEMPERATURE);
msg->temperature2 = scale_float2uint8(telestate->Baro.Temperature, 1, OFFSET_TEMPERATURE);
msg->temperature1 = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1), 1, OFFSET_TEMPERATURE);
msg->temperature2 = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2), 1, OFFSET_TEMPERATURE);
// altitude
msg->altitude = scale_float2uword(telestate->altitude, 1, OFFSET_ALTITUDE);
@ -461,18 +588,17 @@ uint16_t build_GAM_message(struct hott_gam_message *msg)
msg->cell5 = (telestate->Battery.NbCells >= 5) ? cell_voltage : 0;
msg->cell6 = (telestate->Battery.NbCells >= 6) ? cell_voltage : 0;
msg->min_cell_volt = cell_voltage;
msg->min_cell_volt = (telestate->Battery.Voltage > 0) ? scale_float2uint8(telestate->min_voltage / telestate->Battery.NbCells, 50, 0) : 0;
msg->min_cell_volt_num = telestate->Battery.NbCells;
// apply main voltage to batt1 voltage
msg->batt1_voltage = msg->voltage;
// batt1 and batt2 voltage
msg->batt1_voltage = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY1), 10, 0);
msg->batt2_voltage = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY2), 10, 0);
// AirSpeed
float airspeed = (telestate->Airspeed.TrueAirspeed > 0) ? telestate->Airspeed.TrueAirspeed : 0;
msg->speed = scale_float2uword(airspeed, MS_TO_KMH, 0);
// pressure kPa to 0.1Bar, max 25Bar
msg->pressure = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_PRESSURE), 10, 0);
// pressure kPa to 0.1Bar
msg->pressure = scale_float2uint8(telestate->Baro.Pressure, 0.1f, 0);
msg->rpm = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_RPM), 1, 0);
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
return sizeof(*msg);
@ -526,30 +652,38 @@ uint16_t build_EAM_message(struct hott_eam_message *msg)
msg->cell6_H = (telestate->Battery.NbCells >= 6) ? cell_voltage : 0;
msg->cell7_H = (telestate->Battery.NbCells >= 7) ? cell_voltage : 0;
// apply main voltage to batt1 voltage
msg->batt1_voltage = msg->voltage;
uint8_t cell_voltage_min = (telestate->Battery.Voltage > 0) ? scale_float2uint8(telestate->min_voltage / telestate->Battery.NbCells, 50, 0) : 0;
msg->cell1_L = (telestate->Battery.NbCells >= 1) ? cell_voltage_min : 0;
msg->cell2_L = (telestate->Battery.NbCells >= 2) ? cell_voltage_min : 0;
msg->cell3_L = (telestate->Battery.NbCells >= 3) ? cell_voltage_min : 0;
msg->cell4_L = (telestate->Battery.NbCells >= 4) ? cell_voltage_min : 0;
msg->cell5_L = (telestate->Battery.NbCells >= 5) ? cell_voltage_min : 0;
msg->cell6_L = (telestate->Battery.NbCells >= 6) ? cell_voltage_min : 0;
msg->cell7_L = (telestate->Battery.NbCells >= 7) ? cell_voltage_min : 0;
// AirSpeed
float airspeed = (telestate->Airspeed.TrueAirspeed > 0) ? telestate->Airspeed.TrueAirspeed : 0;
msg->speed = scale_float2uword(airspeed, MS_TO_KMH, 0);
// batt1 and batt2 voltage
msg->batt1_voltage = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY1), 10, 0);
msg->batt2_voltage = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY2), 10, 0);
// temperatures
msg->temperature1 = scale_float2uint8(telestate->Gyro.temperature, 1, OFFSET_TEMPERATURE);
msg->temperature2 = scale_float2uint8(telestate->Baro.Temperature, 1, OFFSET_TEMPERATURE);
msg->temperature1 = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1), 1, OFFSET_TEMPERATURE);
msg->temperature2 = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2), 1, OFFSET_TEMPERATURE);
// altitude
msg->altitude = scale_float2uword(telestate->altitude, 1, OFFSET_ALTITUDE);
msg->altitude = scale_float2uword(telestate->altitude, 1, OFFSET_ALTITUDE);
// climbrate
msg->climbrate = scale_float2uword(telestate->climbrate1s, M_TO_CM, OFFSET_CLIMBRATE);
msg->climbrate3s = scale_float2uint8(telestate->climbrate3s, 1, OFFSET_CLIMBRATE3S);
msg->climbrate = scale_float2uword(telestate->climbrate1s, M_TO_CM, OFFSET_CLIMBRATE);
msg->climbrate3s = scale_float2uint8(telestate->climbrate3s, 1, OFFSET_CLIMBRATE3S);
// flight time
float flighttime = (telestate->Battery.EstimatedFlightTime <= 5999) ? telestate->Battery.EstimatedFlightTime : 5999;
msg->electric_min = flighttime / 60;
msg->electric_sec = flighttime - 60 * msg->electric_min;
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
msg->rpm = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_RPM), 1, 0);
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
return sizeof(*msg);
}
@ -571,7 +705,7 @@ uint16_t build_ESC_message(struct hott_esc_message *msg)
msg->warning = 0;
msg->sensor_text_id = HOTT_ESC_TEXT_ID;
// main batterie
// main battery
float voltage = (telestate->Battery.Voltage > 0) ? telestate->Battery.Voltage : 0;
float current = (telestate->Battery.Current > 0) ? telestate->Battery.Current : 0;
float max_current = (telestate->Battery.PeakCurrent > 0) ? telestate->Battery.PeakCurrent : 0;
@ -580,18 +714,21 @@ uint16_t build_ESC_message(struct hott_esc_message *msg)
msg->current = scale_float2uword(current, 10, 0);
msg->max_current = scale_float2uword(max_current, 10, 0);
msg->batt_capacity = scale_float2uword(energy, 0.1f, 0);
msg->min_batt_voltage = scale_float2uword(telestate->min_voltage, 10, 0);
// temperatures
msg->temperatureESC = scale_float2uint8(telestate->Gyro.temperature, 1, OFFSET_TEMPERATURE);
msg->max_temperatureESC = scale_float2uint8(0, 1, OFFSET_TEMPERATURE);
msg->temperatureMOT = scale_float2uint8(telestate->Baro.Temperature, 1, OFFSET_TEMPERATURE);
msg->max_temperatureMOT = scale_float2uint8(0, 1, OFFSET_TEMPERATURE);
msg->temperatureESC = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1), 1, OFFSET_TEMPERATURE);
msg->max_temperatureESC = scale_float2uint8(telestate->max_temp1, 1, OFFSET_TEMPERATURE);
msg->temperatureMOT = scale_float2uint8(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2), 1, OFFSET_TEMPERATURE);
msg->max_temperatureMOT = scale_float2uint8(telestate->max_temp2, 1, OFFSET_TEMPERATURE);
msg->rpm = scale_float2uword(get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_RPM), 1, 0);
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
return sizeof(*msg);
}
uint16_t build_TEXT_message(struct hott_text_message *msg)
uint8_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t current_line, int8_t value_change, uint8_t step, bool edit_mode, bool exit_menu)
{
update_telemetrydata();
@ -599,12 +736,954 @@ uint16_t build_TEXT_message(struct hott_text_message *msg)
memset(msg, 0, sizeof(*msg));
// message header
msg->start = HOTT_START;
msg->start = HOTT_TEXT_START;
msg->stop = HOTT_STOP;
msg->sensor_id = HOTT_TEXT_ID;
msg->sensor_id = (exit_menu == true) ? 0x01 : 0x00; // exit menu / normal
msg->warning = 0;
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
return sizeof(*msg);
HoTTBridgeSettingsSensorData sensor;
HoTTBridgeSettingsLimitData alarmLimits;
HoTTBridgeSettingsWarningData alarmWarning;
uint8_t varioSensitivity;
RevoSettingsFusionAlgorithmOptions revoFusionAlgo;
AttitudeSettingsBoardRotationData boardRotation;
FlightBatterySettingsSensorCalibrationsData battSensorCalibration;
uint32_t battSensorCapacity;
HomeLocationSetOptions homeSet;
GPSSettingsData gpsSettings;
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
uint8_t sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_NUMELEM];
uint8_t edit_status = step;
// page title
snprintf(msg->text[0], HOTT_TEXT_COLUMNS, "%s", hottTextPageTitle[page]); // line 1
// compute page content
switch (page) {
case HOTTTEXT_PAGE_VARIOWARNINGS: // Vario page (Warnings)
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsWarningGet(&alarmWarning);
}
bool edit_altitudebeep = (edit_mode && (current_line == 2));
bool edit_maxheight = (edit_mode && (current_line == 3));
bool edit_minheight = (edit_mode && (current_line == 4));
bool edit_sinkrate1s = (edit_mode && (current_line == 5));
bool edit_climbrate1s = (edit_mode && (current_line == 6));
bool edit_sinkrate3s = (edit_mode && (current_line == 7));
bool edit_climbrate3s = (edit_mode && (current_line == 8));
if (edit_altitudebeep) {
alarmWarning.AltitudeBeep = enable_disable_warning(alarmWarning.AltitudeBeep);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_minheight) {
alarmWarning.MinHeight = enable_disable_warning(alarmWarning.MinHeight);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxheight) {
alarmWarning.MaxHeight = enable_disable_warning(alarmWarning.MaxHeight);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_sinkrate1s) {
alarmWarning.NegDifference1 = enable_disable_warning(alarmWarning.NegDifference1);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_climbrate1s) {
alarmWarning.PosDifference1 = enable_disable_warning(alarmWarning.PosDifference1);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_sinkrate3s) {
alarmWarning.NegDifference2 = enable_disable_warning(alarmWarning.NegDifference2);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_climbrate3s) {
alarmWarning.PosDifference2 = enable_disable_warning(alarmWarning.PosDifference2);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Altitude speak [%1s] ", ((alarmWarning.AltitudeBeep == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxHeight [%1s] ", ((alarmWarning.MaxHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MinHeight [%1s] ", ((alarmWarning.MinHeight == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Instant Sink [%1s] ", ((alarmWarning.NegDifference1 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Instant Climb [%1s] ", ((alarmWarning.PosDifference1 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Fast Sink [%1s] ", ((alarmWarning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " Fast Climb [%1s] ", ((alarmWarning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
break;
case HOTTTEXT_PAGE_VARIOLIMITS: // Vario page (Limits)
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsLimitGet(&alarmLimits);
HoTTBridgeSettingsVarioSensitivityGet(&varioSensitivity);
}
bool edit_sensitivity_value = (edit_mode && (current_line == 2));
bool edit_maxheight_value = (edit_mode && (current_line == 3));
bool edit_minheight_value = (edit_mode && (current_line == 4));
bool edit_sinkrate1s_value = (edit_mode && (current_line == 5));
bool edit_climbrate1s_value = (edit_mode && (current_line == 6));
bool edit_sinkrate3s_value = (edit_mode && (current_line == 7));
bool edit_climbrate3s_value = (edit_mode && (current_line == 8));
if (edit_sensitivity_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to 99cm/s
varioSensitivity = get_new_value((int16_t)varioSensitivity, value_change, step, 0, 99);
HoTTBridgeSettingsVarioSensitivitySet(&varioSensitivity);
}
if (edit_minheight_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -500 to 500m
alarmLimits.MinHeight = get_new_value((int16_t)alarmLimits.MinHeight, value_change, step, -500, 500);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_maxheight_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -500 to 1500m
alarmLimits.MaxHeight = get_new_value((int16_t)alarmLimits.MaxHeight, value_change, step, -500, 1500);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_sinkrate1s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to -50m
alarmLimits.NegDifference1 = get_new_value((int16_t)alarmLimits.NegDifference1, value_change, step, -50, 0);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_climbrate1s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP10) ? HOTTTEXT_EDITSTATUS_STEP10 : step;
// 0 to 50m
alarmLimits.PosDifference1 = get_new_value((int16_t)alarmLimits.PosDifference1, value_change, step, 0, 50);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_sinkrate3s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 0 to -500m
alarmLimits.NegDifference2 = get_new_value((int16_t)alarmLimits.NegDifference2, value_change, step, -500, 0);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_climbrate3s_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 0 to 500m
alarmLimits.PosDifference2 = get_new_value((int16_t)alarmLimits.PosDifference2, value_change, step, 0, 500);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Sensitivity cm/s%3d ", (int16_t)varioSensitivity); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Max height %4d ", (int16_t)alarmLimits.MaxHeight); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Min height %4d ", (int16_t)alarmLimits.MinHeight); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Inst. Sink m/s %3d ", (int16_t)alarmLimits.NegDifference1); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Inst. Climb m/s %3d ", (int16_t)alarmLimits.PosDifference1); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Fast Sink m/3s %4d ", (int16_t)alarmLimits.NegDifference2); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " Fast Climb m/3s%4d ", (int16_t)alarmLimits.PosDifference2); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_minheight_value || edit_maxheight_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_sensitivity_value || edit_sinkrate1s_value || edit_climbrate1s_value) {
reverse_pixels((char *)msg->text[current_line - 1], 18 + (1 - step), 20 - step);
}
if (edit_sinkrate3s_value || edit_climbrate3s_value) {
reverse_pixels((char *)msg->text[current_line - 1], 17 + (2 - step), 20 - step);
}
break;
case HOTTTEXT_PAGE_GPS: // GPS page
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsWarningGet(&alarmWarning);
HoTTBridgeSettingsLimitGet(&alarmLimits);
}
bool edit_maxdistance = (edit_mode && (current_line == 2));
bool edit_maxspeed = (edit_mode && (current_line == 3));
bool edit_minspeed = (edit_mode && (current_line == 4));
bool edit_maxdistance_value = (edit_mode && (current_line == 5));
bool edit_maxspeed_value = (edit_mode && (current_line == 6));
bool edit_minspeed_value = (edit_mode && (current_line == 7));
if (edit_maxdistance) {
alarmWarning.MaxDistance = enable_disable_warning(alarmWarning.MaxDistance);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_minspeed) {
alarmWarning.MinSpeed = enable_disable_warning(alarmWarning.MinSpeed);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxspeed) {
alarmWarning.MaxSpeed = enable_disable_warning(alarmWarning.MaxSpeed);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxdistance_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 10m to 9000m
alarmLimits.MaxDistance = get_new_value((uint16_t)alarmLimits.MaxDistance, value_change, step, 10, 9000);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_maxspeed_value) {
// 0kmh to 1000kmh
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
alarmLimits.MaxSpeed = get_new_value((int16_t)alarmLimits.MaxSpeed, value_change, step, 0, 1000);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_minspeed_value) {
// 0kmh to 1000kmh
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
alarmLimits.MinSpeed = get_new_value((int16_t)alarmLimits.MinSpeed, value_change, step, 0, 1000);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " MaxDist warn [%1s] ", ((alarmWarning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxSpeed warn [%1s] ", ((alarmWarning.MaxSpeed == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MinSpeed warn [%1s] ", ((alarmWarning.MinSpeed == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Max distance %4d ", (uint16_t)alarmLimits.MaxDistance); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Max speed %4d ", (int16_t)alarmLimits.MaxSpeed); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Min speed %4d ", (int16_t)alarmLimits.MinSpeed); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_maxdistance_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_maxspeed_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_minspeed_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
break;
case HOTTTEXT_PAGE_GENERAL: // General Air page
case HOTTTEXT_PAGE_ELECTRIC: // Electric Air page
case HOTTTEXT_PAGE_ESC: // Esc page
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsWarningGet(&alarmWarning);
HoTTBridgeSettingsLimitGet(&alarmLimits);
}
if (FlightBatterySettingsHandle() != NULL) {
FlightBatterySettingsCapacityGet(&battSensorCapacity);
}
bool edit_minvoltage = (edit_mode && (current_line == 2));
bool edit_maxcurrent = (edit_mode && (current_line == 3));
bool edit_maxusedcapacity = (edit_mode && (current_line == 4));
bool edit_minvoltage_value = (edit_mode && (current_line == 5));
bool edit_maxcurrent_value = (edit_mode && (current_line == 6));
bool edit_maxusedcapacity_value = (edit_mode && (current_line == 7));
if (edit_minvoltage) {
alarmWarning.MinPowerVoltage = enable_disable_warning(alarmWarning.MinPowerVoltage);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxcurrent) {
alarmWarning.MaxCurrent = enable_disable_warning(alarmWarning.MaxCurrent);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_maxusedcapacity) {
alarmWarning.MaxUsedCapacity = enable_disable_warning(alarmWarning.MaxUsedCapacity);
HoTTBridgeSettingsWarningSet(&alarmWarning);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_minvoltage_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 3V to 50V
alarmLimits.MinPowerVoltage = (float)(get_new_value((uint16_t)(alarmLimits.MinPowerVoltage * 10), value_change, step, 30, 500) / 10.0f);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_maxcurrent_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 1A to 300A
alarmLimits.MaxCurrent = get_new_value((uint16_t)(alarmLimits.MaxCurrent), value_change, step, 1, 300);
HoTTBridgeSettingsLimitSet(&alarmLimits);
}
if (edit_maxusedcapacity_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 100mAh to 30000mAh
alarmLimits.MaxUsedCapacity = (float)(get_new_value((uint16_t)alarmLimits.MaxUsedCapacity, value_change, step, 100, 30000));
HoTTBridgeSettingsLimitSet(&alarmLimits);
// apply MaxUsedCapacity as main battery capacity
battSensorCapacity = (uint32_t)alarmLimits.MaxUsedCapacity;
FlightBatterySettingsCapacitySet(&battSensorCapacity);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " MinVoltage warn [%1s] ", ((alarmWarning.MinPowerVoltage == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " MaxCurrent warn [%1s] ", ((alarmWarning.MaxCurrent == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " MaxUsedmAH warn [%1s] ", ((alarmWarning.MaxUsedCapacity == HOTTBRIDGESETTINGS_WARNING_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Min voltage %2d.%d ", (uint16_t)(alarmLimits.MinPowerVoltage), (uint16_t)(alarmLimits.MinPowerVoltage * 10) % 10); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Max current %3d ", (uint16_t)alarmLimits.MaxCurrent); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Max used mAH %5d ", (uint16_t)alarmLimits.MaxUsedCapacity); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_minvoltage_value) {
reverse_pixels((char *)msg->text[current_line - 1], 15 + (4 - (step > 0 ? step + 1 : step)), 20 - (step > 0 ? step + 1 : step));
}
if (edit_maxcurrent_value) {
reverse_pixels((char *)msg->text[current_line - 1], 16 + (3 - step), 20 - step);
}
if (edit_maxusedcapacity_value) {
reverse_pixels((char *)msg->text[current_line - 1], 15 + (4 - step), 20 - step);
}
break;
case HOTTTEXT_PAGE_SENSORREDIR:
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsSensorRedirectArrayGet(sensorRedirect);
}
if (edit_mode) {
uint8_t sensor_data = current_line - 2;
if ((value_change > 0) && (sensorRedirect[sensor_data] < HOTTBRIDGESETTINGS_SENSORREDIRECT_GFORCE)) {
sensorRedirect[sensor_data]++;
} else if ((value_change < 0) && (sensorRedirect[sensor_data] > HOTTBRIDGESETTINGS_SENSORREDIRECT_NONE)) {
sensorRedirect[sensor_data]--;
}
HoTTBridgeSettingsSensorRedirectArraySet(sensorRedirect);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Speed %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_SPEED]]); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Battery1 %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY1]]); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Battery2 %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY2]]); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Temp1 %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1]]); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " Temp2 %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2]]); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Pressure %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_PRESSURE]]); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " RPM %s ", hottTextSensorRedirectNames[sensorRedirect[HOTTBRIDGESETTINGS_SENSORREDIRECT_RPM]]); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_mode) {
reverse_pixels((char *)msg->text[current_line - 1], 12, 20);
}
break;
case HOTTTEXT_PAGE_GPSCONFIG: // GPS config page
if (GPSSettingsHandle() != NULL) {
GPSSettingsGet(&gpsSettings);
}
if (HomeLocationHandle() != NULL) {
HomeLocationSetGet(&homeSet);
}
bool edit_savehome = (edit_mode && (current_line == 2));
bool edit_minsat_value = (edit_mode && (current_line == 3));
bool edit_maxpdop_value = (edit_mode && (current_line == 4));
bool edit_ubxrate_value = (edit_mode && (current_line == 5));
if (edit_minsat_value) {
gpsSettings.MinSatellites = get_new_value(gpsSettings.MinSatellites, value_change, 0, 4, 9);
GPSSettingsSet(&gpsSettings);
}
if (edit_maxpdop_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// 1.0 to 10.0
gpsSettings.MaxPDOP = (float)(get_new_value((uint16_t)(gpsSettings.MaxPDOP * 10), value_change, step, 10, 100) / 10.0f);
GPSSettingsSet(&gpsSettings);
}
if (edit_ubxrate_value) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1) ? HOTTTEXT_EDITSTATUS_STEP1 : step;
gpsSettings.UbxRate = get_new_value(gpsSettings.UbxRate, value_change, 0, 1, 15);
GPSSettingsSet(&gpsSettings);
}
char *home_set_status = (homeSetFlash == HOMELOCATION_SET_FALSE) ? ((homeSet == HOMELOCATION_SET_TRUE) ? "ISSET" : " ?") : "FIXED";
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Home status %s ", home_set_status); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Min satellites %d ", gpsSettings.MinSatellites); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Max PDOP %2d.%d ", (uint16_t)(gpsSettings.MaxPDOP), (uint16_t)(gpsSettings.MaxPDOP * 10) % 10); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " UBX Rate %2d ", gpsSettings.UbxRate); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " "); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, "%2d Sats %s PDOP:%2d.%d ",
(uint16_t)(telestate->GPS.Satellites),
((telestate->GPS.Status > GPSPOSITIONSENSOR_STATUS_FIX2D) ? "3D" : "??"),
(uint16_t)(telestate->GPS.PDOP), (uint16_t)(telestate->GPS.PDOP * 10) % 10); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_savehome) {
if (homeSet == HOMELOCATION_SET_TRUE) {
homeSet = HOMELOCATION_SET_FALSE;
HomeLocationSetSet(&homeSet);
}
// refresh fixed homelocation if any
if (homeSetFlash == HOMELOCATION_SET_TRUE) {
homeSetFlash = HOMELOCATION_SET_FALSE;
HomeLocationSetSet(&homeSetFlash);
UAVObjSave(HomeLocationHandle(), 0);
}
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
if (edit_minsat_value) {
reverse_pixels((char *)msg->text[current_line - 1], 19, 20);
}
if (edit_maxpdop_value) {
reverse_pixels((char *)msg->text[current_line - 1], 15 + (4 - (step > 0 ? step + 1 : step)), 20 - (step > 0 ? step + 1 : step));
}
if (edit_ubxrate_value) {
reverse_pixels((char *)msg->text[current_line - 1], 18, 20);
}
break;
case HOTTTEXT_PAGE_BATTERYCONFIG:
if (FlightBatterySettingsHandle() != NULL) {
FlightBatterySettingsSensorCalibrationsGet(&battSensorCalibration);
}
if (HwSettingsHandle() != NULL) {
HwSettingsADCRoutingArrayGet(adcRouting);
}
if (edit_mode && (current_line == 2)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 1.00 to 30.00
battSensorCalibration.VoltageFactor = (float)(get_new_value((uint16_t)roundf(battSensorCalibration.VoltageFactor * 100), value_change, step, 100, 3000) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
if (edit_mode && (current_line == 3)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP1K) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// 1.00 to 30.00
battSensorCalibration.CurrentFactor = (float)(get_new_value((uint16_t)roundf(battSensorCalibration.CurrentFactor * 100), value_change, step, 100, 3000) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
if (edit_mode && (current_line == 4)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP100 : step;
// -9.00 to 9.00
battSensorCalibration.CurrentZero = (float)(get_new_value((int16_t)roundf(battSensorCalibration.CurrentZero * 100), value_change, step, -900, 900) / 100.0f);
FlightBatterySettingsSensorCalibrationsSet(&battSensorCalibration);
}
int8_t voltageADCPin = ADC_XX_PIN_NOTFOUND;
int8_t currentADCPin = ADC_XX_PIN_NOTFOUND;
int8_t newADCPin = ADC_XX_PIN_NOTFOUND;
for (int i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
currentADCPin = i;
}
}
if (edit_mode && (current_line == 5)) {
newADCPin = get_newADCPin_value(adcRouting, voltageADCPin, value_change);
adcRouting[voltageADCPin] = HWSETTINGS_ADCROUTING_DISABLED;
if (newADCPin > ADC_XX_PIN_NOTFOUND) {
adcRouting[newADCPin] = HWSETTINGS_ADCROUTING_BATTERYVOLTAGE;
}
HwSettingsADCRoutingArraySet(adcRouting);
}
if (edit_mode && (current_line == 6)) {
newADCPin = get_newADCPin_value(adcRouting, currentADCPin, value_change);
adcRouting[currentADCPin] = HWSETTINGS_ADCROUTING_DISABLED;
if (newADCPin > ADC_XX_PIN_NOTFOUND) {
adcRouting[newADCPin] = HWSETTINGS_ADCROUTING_BATTERYCURRENT;
}
HwSettingsADCRoutingArraySet(adcRouting);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Volt. Factor %2d.%02d ", (uint16_t)(battSensorCalibration.VoltageFactor), (uint16_t)(battSensorCalibration.VoltageFactor * 100) % 100); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Curr. Factor %2d.%02d ", (uint16_t)(battSensorCalibration.CurrentFactor), (uint16_t)(battSensorCalibration.CurrentFactor * 100) % 100); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Curr. Zero %s%d.%02d ", (battSensorCalibration.CurrentZero < 0 ? "-" : " "), (uint16_t)(fabsf(battSensorCalibration.CurrentZero)), (uint16_t)(fabsf(battSensorCalibration.CurrentZero * 100)) % 100); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " VoltagePin %s ", hottTextADCpinNames[voltageADCPin + 1]); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " CurrentPin %s ", hottTextADCpinNames[currentADCPin + 1]); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, "%2d.%02dV %3d.%02dA ",
(uint16_t)(telestate->Battery.Voltage), (uint16_t)(telestate->Battery.Voltage * 100) % 100,
(uint16_t)(telestate->Battery.Current), (uint16_t)(telestate->Battery.Current * 100) % 100); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_mode && ((current_line == 2) || (current_line == 3) || (current_line == 4))) {
reverse_pixels((char *)msg->text[current_line - 1], 14 + (5 - (step > 1 ? step + 1 : step)), 20 - (step > 1 ? step + 1 : step));
}
if (edit_mode && ((current_line == 5) || (current_line == 6))) {
reverse_pixels((char *)msg->text[current_line - 1], 16, 20);
}
break;
case HOTTTEXT_PAGE_MAINCONFIG:
if (RevoSettingsHandle() != NULL) {
RevoSettingsFusionAlgorithmGet(&revoFusionAlgo);
}
if (AttitudeSettingsHandle() != NULL) {
AttitudeSettingsBoardRotationGet(&boardRotation);
}
if (edit_mode && (current_line == 2)) {
if ((value_change > 0) && (revoFusionAlgo < REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS)) {
revoFusionAlgo++;
} else if ((value_change < 0) && (revoFusionAlgo > REVOSETTINGS_FUSIONALGORITHM_NONE)) {
revoFusionAlgo--;
}
RevoSettingsFusionAlgorithmSet(&revoFusionAlgo);
}
char *txt_fusionalgo = "";
// check current algo status
switch (revoFusionAlgo) {
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
txt_fusionalgo = " INS NOGPS ";
break;
case REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF:
txt_fusionalgo = "INS+CFNOGPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
txt_fusionalgo = " INS GPS ";
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
txt_fusionalgo = " INS+CF GPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
txt_fusionalgo = " BASIC ";
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYGPSOUTDOOR:
txt_fusionalgo = " BASIC+GPS ";
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
txt_fusionalgo = " BASIC+MAG ";
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
txt_fusionalgo = "BASICMAGGPS";
break;
case REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS:
txt_fusionalgo = " ??ACRO?? ";
break;
case REVOSETTINGS_FUSIONALGORITHM_NONE:
txt_fusionalgo = " ??NONE?? ";
break;
default:
txt_fusionalgo = "!UNDEFINED!";
}
if (edit_mode && (current_line == 3)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// -180 to 180
boardRotation.Roll = (float)(get_new_value((int16_t)(boardRotation.Roll * 10), value_change, step, -1800, 1800) / 10.0f);
AttitudeSettingsBoardRotationSet(&boardRotation);
}
if (edit_mode && (current_line == 4)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// -180 to 180
boardRotation.Pitch = (float)(get_new_value((int16_t)(boardRotation.Pitch * 10), value_change, step, -1800, 1800) / 10.0f);
AttitudeSettingsBoardRotationSet(&boardRotation);
}
if (edit_mode && (current_line == 5)) {
step = (step > HOTTTEXT_EDITSTATUS_STEP100) ? HOTTTEXT_EDITSTATUS_STEP1K : step;
// -180 to 180
boardRotation.Yaw = (float)(get_new_value((int16_t)(boardRotation.Yaw * 10), value_change, step, -1800, 1800) / 10.0f);
AttitudeSettingsBoardRotationSet(&boardRotation);
}
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " EstAlgo %s ", txt_fusionalgo); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " Roll rot. %4d.%d ", (int16_t)(boardRotation.Roll), (int16_t)fabs(boardRotation.Roll * 10) % 10); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " Pitch rot. %4d.%d ", (int16_t)(boardRotation.Pitch), (int16_t)fabs(boardRotation.Pitch * 10) % 10); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " Yaw rot. %4d.%d ", (int16_t)(boardRotation.Yaw), (int16_t)fabs(boardRotation.Yaw * 10) % 10); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " "); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
if (edit_mode && (current_line == 2)) {
reverse_pixels((char *)msg->text[current_line - 1], 9, 20);
}
if (edit_mode && ((current_line == 3) || (current_line == 4) || (current_line == 5))) {
reverse_pixels((char *)msg->text[current_line - 1], 15 + (4 - (step > 0 ? step + 1 : step)), 20 - (step > 0 ? step + 1 : step));
}
break;
default:
case HOTTTEXT_PAGE_MAIN: // Main page where HoTT modules can be started
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsSensorGet(&sensor);
}
if (edit_mode) {
switch (current_line) {
case 2:
sensor.VARIO = enable_disable_sensor(sensor.VARIO);
break;
case 3:
sensor.GPS = enable_disable_sensor(sensor.GPS);
break;
case 4:
sensor.EAM = enable_disable_sensor(sensor.EAM);
if (sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
// no need to emulate General module
sensor.GAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 5:
sensor.GAM = enable_disable_sensor(sensor.GAM);
if (sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
// no need to emulate Electric module
sensor.EAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 6:
sensor.ESC = enable_disable_sensor(sensor.ESC);
}
HoTTBridgeSettingsSensorSet(&sensor);
edit_status = HOTTTEXT_EDITSTATUS_DONE;
}
// create Main page content
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " VARIO module [%1s] ", ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*")); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " GPS module [%1s] ", ((sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*")); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " ELECTRIC module [%1s] ", ((sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*")); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " GENERAL module [%1s] ", ((sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*")); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " ESC module [%1s] ", ((sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*")); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Select module ");
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " to be emulated ");
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
// break;
}
msg->stop = HOTT_STOP;
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
if (edit_status != HOTTTEXT_EDITSTATUS_DONE) {
edit_status = step;
}
return edit_status;
}
/**
* get next/previous page to display
*/
uint8_t get_page(uint8_t page, bool next)
{
HoTTBridgeSettingsSensorData sensor;
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsSensorGet(&sensor);
}
if (next) {
switch (page) {
case HOTTTEXT_PAGE_MAIN:
page = HOTTTEXT_PAGE_MAINCONFIG;
break;
case HOTTTEXT_PAGE_MAINCONFIG:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPSCONFIG;
break;
}
case HOTTTEXT_PAGE_GPSCONFIG:
if ((sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_BATTERYCONFIG;
break;
}
case HOTTTEXT_PAGE_BATTERYCONFIG:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
}
case HOTTTEXT_PAGE_VARIOWARNINGS:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOLIMITS;
break;
}
case HOTTTEXT_PAGE_VARIOLIMITS:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPS;
break;
}
case HOTTTEXT_PAGE_GPS:
if (sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GENERAL;
break;
}
case HOTTTEXT_PAGE_GENERAL:
if (sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_ELECTRIC;
break;
}
case HOTTTEXT_PAGE_ELECTRIC:
if (sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_ESC;
break;
}
case HOTTTEXT_PAGE_ESC:
if ((sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_SENSORREDIR;
break;
}
case HOTTTEXT_PAGE_SENSORREDIR:
break;
default:
page = HOTTTEXT_PAGE_MAIN;
}
} else {
switch (page) {
case HOTTTEXT_PAGE_SENSORREDIR:
if (sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_ESC;
break;
}
case HOTTTEXT_PAGE_ESC:
if (sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_ELECTRIC;
break;
}
case HOTTTEXT_PAGE_ELECTRIC:
if (sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GENERAL;
break;
}
case HOTTTEXT_PAGE_GENERAL:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPS;
break;
}
case HOTTTEXT_PAGE_GPS:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOLIMITS;
break;
}
case HOTTTEXT_PAGE_VARIOLIMITS:
if ((sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_VARIOWARNINGS;
break;
}
case HOTTTEXT_PAGE_VARIOWARNINGS:
if ((sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ||
(sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_ENABLED)) {
page = HOTTTEXT_PAGE_BATTERYCONFIG;
break;
}
case HOTTTEXT_PAGE_BATTERYCONFIG:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) {
page = HOTTTEXT_PAGE_GPSCONFIG;
break;
}
case HOTTTEXT_PAGE_GPSCONFIG:
page = HOTTTEXT_PAGE_MAINCONFIG;
break;
case HOTTTEXT_PAGE_MAINCONFIG:
page = HOTTTEXT_PAGE_MAIN;
break;
case HOTTTEXT_PAGE_MAIN:
default:
page = HOTTTEXT_PAGE_MAIN;
}
}
return page;
}
/**
* change Hott Warning state
*/
uint8_t enable_disable_warning(uint8_t value)
{
if (value == HOTTBRIDGESETTINGS_WARNING_DISABLED) {
value = HOTTBRIDGESETTINGS_WARNING_ENABLED;
} else {
value = HOTTBRIDGESETTINGS_WARNING_DISABLED;
}
return value;
}
/**
* change emulated Hott sensor state
*/
uint8_t enable_disable_sensor(uint8_t value)
{
if (value == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
value = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
} else {
value = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
return value;
}
/**
* get value from redirected sensor
*/
float get_redirect_sensor_value(uint8_t hott_sensor)
{
HoTTBridgeSettingsSensorRedirectData sensorRedirect;
HoTTBridgeSettingsSensorRedirectOptions sensor = HOTTBRIDGESETTINGS_SENSORREDIRECT_NONE;
float value = 0.0f;
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsSensorRedirectGet(&sensorRedirect);
}
switch (hott_sensor) {
case HOTTBRIDGESETTINGS_SENSORREDIRECT_SPEED:
sensor = sensorRedirect.Speed;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY1:
sensor = sensorRedirect.Battery1;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTERY2:
sensor = sensorRedirect.Battery2;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1:
sensor = sensorRedirect.Temp1;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2:
sensor = sensorRedirect.Temp2;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_PRESSURE:
sensor = sensorRedirect.Pressure;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_RPM:
sensor = sensorRedirect.Rpm;
break;
}
switch (sensor) {
case HOTTBRIDGESETTINGS_SENSORREDIRECT_GPSSPEED:
value = telestate->GPS.Groundspeed;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_AIRSPEED:
value = telestate->Airspeed.TrueAirspeed;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_BATTVOLTAGE:
value = telestate->Battery.Voltage;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_GYROTEMPERATURE:
value = telestate->Gyro.temperature;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_BAROTEMPERATURE:
value = telestate->Baro.Temperature;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMPERATURE1:
value = telestate->Temp.Temperature1;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMPERATURE2:
value = telestate->Temp.Temperature2;
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_GFORCE:
value = fabs(telestate->current_G);
break;
case HOTTBRIDGESETTINGS_SENSORREDIRECT_NONE:
value = 0.0f;
}
return value;
}
/**
* get new ADCPin for edited field
*/
int8_t get_newADCPin_value(uint8_t *adcRouting, int8_t from_pin, int8_t value_change)
{
int8_t newADCPin = from_pin;
if (value_change > 0) {
for (int i = from_pin + 1; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_DISABLED) {
newADCPin = i;
break;
}
}
} else if (value_change < 0) {
for (int i = from_pin - 1; i > ADC_XX_PIN_NOTFOUND - 1; i--) {
if (i < 0) {
newADCPin = ADC_XX_PIN_NOTFOUND;
break;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_DISABLED) {
newADCPin = i;
break;
}
}
}
return newADCPin;
}
/**
* get new value for edited field
*/
int16_t get_new_value(int16_t current_value, int8_t value_change, uint8_t step, int16_t min, int16_t max)
{
uint16_t increment[] = { 1, 10, 100, 1000, 10000 };
int16_t new_value = 0;
new_value = current_value + (value_change * increment[step]);
if (new_value < min) {
new_value = min;
}
if (new_value > max) {
new_value = max;
}
return new_value;
}
/**
* store settings to onboard flash
*/
void store_settings(uint8_t page, uint8_t current_line)
{
switch (page) {
case HOTTTEXT_PAGE_MAIN:
case HOTTTEXT_PAGE_VARIOWARNINGS:
case HOTTTEXT_PAGE_VARIOLIMITS:
case HOTTTEXT_PAGE_GPS:
case HOTTTEXT_PAGE_SENSORREDIR:
UAVObjSave(HoTTBridgeSettingsHandle(), 0);
break;
case HOTTTEXT_PAGE_GENERAL:
case HOTTTEXT_PAGE_ELECTRIC:
case HOTTTEXT_PAGE_ESC:
UAVObjSave(HoTTBridgeSettingsHandle(), 0);
UAVObjSave(FlightBatterySettingsHandle(), 0);
break;
case HOTTTEXT_PAGE_BATTERYCONFIG:
switch (current_line) {
case 2:
case 3:
case 4:
UAVObjSave(FlightBatterySettingsHandle(), 0);
break;
case 5:
case 6:
UAVObjSave(HwSettingsHandle(), 0);
break;
}
case HOTTTEXT_PAGE_GPSCONFIG:
UAVObjSave(GPSSettingsHandle(), 0);
break;
case HOTTTEXT_PAGE_MAINCONFIG:
switch (current_line) {
case 2:
UAVObjSave(RevoSettingsHandle(), 0);
break;
case 3:
case 4:
case 5:
UAVObjSave(AttitudeSettingsHandle(), 0);
break;
}
}
}
/**
@ -612,6 +1691,9 @@ uint16_t build_TEXT_message(struct hott_text_message *msg)
* this is called on every telemetry request
* calling interval is 200ms depending on TX
* 200ms telemetry request is used as time base for timed calculations (5Hz interval)
*
* note : measured around 160ms with a MC20 and adjusted climbratebuffer size from 50 to 62
* to match the 10s period
*/
void update_telemetrydata()
{
@ -622,6 +1704,9 @@ void update_telemetrydata()
if (AttitudeStateHandle() != NULL) {
AttitudeStateGet(&telestate->Attitude);
}
if (AccelStateHandle() != NULL) {
AccelStateGet(&telestate->Accel);
}
if (BaroSensorHandle() != NULL) {
BaroSensorGet(&telestate->Baro);
}
@ -655,24 +1740,40 @@ void update_telemetrydata()
if (VelocityStateHandle() != NULL) {
VelocityStateGet(&telestate->Velocity);
}
if (TemperatureStateHandle() != NULL) {
TemperatureStateGet(&telestate->Temp);
}
// Make vario less sensitive in +/-VarioSensitivity range
float sensitivity = (float)telestate->Settings.VarioSensitivity / 100.0f;
float absVelDown = fabs(telestate->Velocity.Down);
if ((absVelDown < sensitivity) && (absVelDown > 0.0f)) {
telestate->Velocity.Down /= ((sensitivity / absVelDown) * (sensitivity / absVelDown));
}
// send actual climbrate value to ring buffer as mm per 0.2s values
uint8_t n = telestate->climbrate_pointer;
telestate->climbratebuffer[telestate->climbrate_pointer++] = -telestate->Velocity.Down * 200;
telestate->climbrate_pointer %= climbratesize;
// calculate avarage climbrates in meters per 1, 3 and 10 second(s) based on 200ms interval
// calculate average climbrates in meters per 1, 3 and 10 second(s) based on 200ms interval
telestate->climbrate1s = 0;
telestate->climbrate3s = 0;
telestate->climbrate10s = 0;
for (uint8_t i = 0; i < climbratesize; i++) {
telestate->climbrate1s += (i < 5) ? telestate->climbratebuffer[n] : 0;
telestate->climbrate3s += (i < 15) ? telestate->climbratebuffer[n] : 0;
telestate->climbrate10s += (i < 50) ? telestate->climbratebuffer[n] : 0;
telestate->climbrate1s += (i < climbratesize / 10) ? telestate->climbratebuffer[n] : 0;
telestate->climbrate3s += (i < (climbratesize / 10) * 3) ? telestate->climbratebuffer[n] : 0;
telestate->climbrate10s += (i < climbratesize) ? telestate->climbratebuffer[n] : 0;
n += climbratesize - 1;
n %= climbratesize;
}
telestate->climbrate1s = telestate->climbrate1s / 1000;
telestate->climbrate1s = telestate->climbrate1s / 1000;
// Increase deadband because radio start beeps with climbrate1s > 0, like +0.01m/s
// while display shows 0.0
if ((telestate->climbrate1s > 0) && (telestate->climbrate1s < 0.1f)) {
telestate->climbrate1s = 0.0f;
}
telestate->climbrate3s = telestate->climbrate3s / 1000;
telestate->climbrate10s = telestate->climbrate10s / 1000;
@ -680,11 +1781,26 @@ void update_telemetrydata()
if ((telestate->FlightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING) || ((telestate->last_armed != FLIGHTSTATUS_ARMED_ARMED) && (telestate->FlightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED))) {
telestate->min_altitude = 0;
telestate->max_altitude = 0;
telestate->max_distance = 0;
}
telestate->last_armed = telestate->FlightStatus.Armed;
telestate->last_armed = telestate->FlightStatus.Armed;
// calculate altitude relative to start position
telestate->altitude = -telestate->Position.Down;
telestate->altitude = -telestate->Position.Down;
// gps home position and course
telestate->homedistance = sqrtf(telestate->Position.North * telestate->Position.North + telestate->Position.East * telestate->Position.East);
telestate->homecourse = acosf(-telestate->Position.North / telestate->homedistance) / 3.14159265f * 180;
if (telestate->Position.East > 0) {
telestate->homecourse = 360 - telestate->homecourse;
}
// calculate current 3D speed
float speed_3d = sqrtf((telestate->Velocity.North * telestate->Velocity.North) + (telestate->Velocity.East * telestate->Velocity.East) + (telestate->Velocity.Down * telestate->Velocity.Down)) * MS_TO_KMH;
// Normal Acceleration (G unit)
float nz_alpha = 0.7f;
telestate->current_G = ((1 - nz_alpha) * (-telestate->Accel.z / 9.81f)) + (telestate->current_G * nz_alpha);
// check and set min/max values when armed
// and without receiver input for standalone board used as sensor
@ -695,13 +1811,31 @@ void update_telemetrydata()
if (telestate->max_altitude < telestate->altitude) {
telestate->max_altitude = telestate->altitude;
}
}
if (telestate->max_distance < telestate->homedistance) {
telestate->max_distance = telestate->homedistance;
}
if (telestate->max_speed < speed_3d) {
telestate->max_speed = speed_3d;
}
if (telestate->max_G < telestate->current_G) {
telestate->max_G = telestate->current_G;
}
if (telestate->min_G > telestate->current_G) {
telestate->min_G = telestate->current_G;
}
// gps home position and course
telestate->homedistance = sqrtf(telestate->Position.North * telestate->Position.North + telestate->Position.East * telestate->Position.East);
telestate->homecourse = acosf(-telestate->Position.North / telestate->homedistance) / 3.14159265f * 180;
if (telestate->Position.East > 0) {
telestate->homecourse = 360 - telestate->homecourse;
// temperatures and voltage
float temp1 = get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP1);
float temp2 = get_redirect_sensor_value(HOTTBRIDGESETTINGS_SENSORREDIRECT_TEMP2);
if (telestate->max_temp1 < temp1) {
telestate->max_temp1 = temp1;
}
if (telestate->max_temp2 < temp2) {
telestate->max_temp2 = temp2;
}
if (telestate->min_voltage > telestate->Battery.Voltage) {
telestate->min_voltage = telestate->Battery.Voltage;
}
}
// statusline
@ -807,7 +1941,17 @@ void update_telemetrydata()
txt_armstate = txt_unknown;
}
snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%7s", txt_flightmode, txt_armstate);
// use climbrate pointer for alternate display, without GPS every 5s or 3.3s with speed/dist msg
uint8_t statusmsg_num = (telestate->Settings.Sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ? 3 : 2;
if (telestate->climbrate_pointer < (climbratesize / statusmsg_num)) {
snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%7s", txt_flightmode, txt_armstate);
} else if (telestate->climbrate_pointer < (climbratesize / statusmsg_num) * 2) {
snprintf(telestate->statusline, sizeof(telestate->statusline), "MaxG %2d.%d MinG %2d.%d",
(int8_t)(telestate->max_G), (int8_t)(telestate->max_G * 10) % 10,
(int8_t)(telestate->min_G), (int8_t)abs(telestate->min_G * 10) % 10);
} else {
snprintf(telestate->statusline, sizeof(telestate->statusline), "Max %3dkmh Dst %4dm", (uint16_t)telestate->max_speed, (uint16_t)telestate->max_distance);
}
}
/**
@ -824,11 +1968,12 @@ uint8_t generate_warning()
}
if ((telestate->Settings.Warning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.NegDifference2 > telestate->climbrate3s)) {
return HOTT_TONE_B; // sink rate 3s
return HOTT_TONE_28; // fast descent
}
if ((telestate->Settings.Warning.NegDifference1 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.NegDifference1 > telestate->climbrate1s)) {
return HOTT_TONE_C; // sink rate 1s
(telestate->Settings.Limit.NegDifference1 > telestate->climbrate1s) &&
((telestate->Settings.Limit.NegDifference1 * 3) < telestate->climbrate3s)) {
return HOTT_TONE_27; // sudden descent
}
if ((telestate->Settings.Warning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MaxDistance < telestate->homedistance) && gps_ok) {
@ -855,12 +2000,13 @@ uint8_t generate_warning()
return HOTT_TONE_L; // maximum speed
}
if ((telestate->Settings.Warning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.PosDifference2 > telestate->climbrate3s)) {
return HOTT_TONE_M; // climb rate 3s
(telestate->Settings.Limit.PosDifference2 < telestate->climbrate3s)) {
return HOTT_TONE_35; // fast rise
}
if ((telestate->Settings.Warning.PosDifference1 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.PosDifference1 > telestate->climbrate1s)) {
return HOTT_TONE_N; // climb rate 1s
(telestate->Settings.Limit.PosDifference1 < telestate->climbrate1s) &&
((telestate->Settings.Limit.PosDifference1 * 3) > telestate->climbrate3s)) {
return HOTT_TONE_36; // sudden rise
}
if ((telestate->Settings.Warning.MinHeight == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
(telestate->Settings.Limit.MinHeight > telestate->altitude)) {
@ -928,6 +2074,21 @@ uint8_t generate_warning()
return 0;
}
/**
* reverse pixels
*/
char *reverse_pixels(char *line, uint8_t from_char, uint8_t to_char)
{
for (int i = from_char; i < to_char; i++) {
if (line[i] == 0) {
line[i] = (uint8_t)(0x80 + 0x20);
} else {
line[i] = (0x80 + line[i]);
}
}
return line;
}
/**
* calculate checksum of data buffer
*/

5
shared/uavobjectdefinition/hottbridgesettings.xml
View File

@ -73,7 +73,10 @@
<elementname>MaxServoDifference</elementname>
</elementnames>
</field>
<field name="SensorRedirect" units="" type="enum" elementnames="Speed,Battery1,Battery2,Temp1,Temp2,Pressure,Rpm"
options="None,GpsSpeed,AirSpeed,BattVoltage,GyroTemperature,BaroTemperature,Temperature1,Temperature2,Gforce"
defaultvalue="GpsSpeed,BattVoltage,None,GyroTemperature,BaroTemperature,Gforce,None"/>
<field name="VarioSensitivity" units="cm/s" type="uint8" elements="1" defaultvalue="10"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>