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Merged in webbbn/librepilot/LP-511-port-uavofrskysensorhubbridge (pull request #422)
Frsky sensor hub telemetry Approved-by: Philippe Renon <philippe_renon@yahoo.fr> Approved-by: Lalanne Laurent <f5soh@free.fr> Approved-by: Vladimir Zidar <mr_w@mindnever.org> Approved-by: Brian Webb <webbbn@gmail.com>
This commit is contained in:
Brian Webb
Lalanne Laurent
commit
704b1f073a
@ -0,0 +1,761 @@
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/**
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******************************************************************************
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @{
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* @addtogroup UAVOFrSKYSensorHubBridge UAVO to FrSKY Bridge Module
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* @{
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*
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* @file UAVOFrSKYSensorHubBridge.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
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* dRonin, http://dRonin.org/, Copyright (C) 2016
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* Tau Labs, http://taulabs.org, Copyright (C) 2014
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* @brief Bridges selected UAVObjects to FrSKY Sensor Hub
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, see <http://www.gnu.org/licenses/>
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*
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* Additional note on redistribution: The copyright and license notices above
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* must be maintained in each individual source file that is a derivative work
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* of this source file; otherwise redistribution is prohibited.
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*/
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// ****************
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#include "pios.h"
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#include "pios_board_io.h"
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#include "openpilot.h"
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#include "flightbatterysettings.h"
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#include "flightbatterystate.h"
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#include "homelocation.h"
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#include "flightstatus.h"
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#include "pios_thread.h"
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#include "barosensor.h"
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#include "accelsensor.h"
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#include "gpspositionsensor.h"
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#include "taskinfo.h"
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// ****************
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// Private functions
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static void uavoFrSKYSensorHubBridgeTask(void *parameters);
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static uint16_t frsky_pack_altitude(
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float altitude,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_temperature_01(
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float temperature_01,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_temperature_02(
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float temperature_02,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_accel(
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float accels_x,
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float accels_y,
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float accels_z,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_cellvoltage(
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uint8_t cell,
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float cell_voltage,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_fas(
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float voltage,
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float current,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_rpm(
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uint16_t rpm,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_gps(
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float course,
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int32_t latitude,
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int32_t longitude,
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float altitude,
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float speed,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_fuel(
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float fuel_level,
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uint8_t *serial_buf);
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static uint16_t frsky_pack_stop(
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uint8_t *serial_buf);
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static int16_t frsky_acceleration_unit(float accel);
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static void frsky_serialize_value(uint8_t valueid,
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uint8_t *value,
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uint8_t *serial_buf,
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uint8_t *index);
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static void frsky_write_userdata_byte(uint8_t byte,
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uint8_t *serial_buf,
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uint8_t *index);
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static bool frame_trigger(uint8_t frame_num);
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// ****************
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// Private constants
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#if defined(PIOS_FRSKY_SENSOR_HUB_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_FRSKY_SENSOR_HUB_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 672
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY)
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#define TASK_RATE_HZ 10
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#define FRSKY_MAX_PACKET_LEN 106
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#define FRSKY_BAUD_RATE 9600
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#define FRSKY_FRAME_DATA_HEADER 0x5E
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#define FRSKY_FRAME_STOP 0x5E
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enum FRSKY_VALUE_ID {
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FRSKY_GPS_ALTITUDE_INTEGER = 0x01,
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FRSKY_GPS_ALTITUDE_DECIMAL = FRSKY_GPS_ALTITUDE_INTEGER + 8,
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FRSKY_TEMPERATURE_1 = 0x02,
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FRSKY_RPM = 0x03,
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FRSKY_FUEL_LEVEL = 0x04,
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FRSKY_TEMPERATURE_2 = 0x05,
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FRSKY_VOLTAGE = 0x06,
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FRSKY_ALTITUDE_INTEGER = 0x10,
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FRSKY_ALTITUDE_DECIMAL = 0x21,
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FRSKY_GPS_SPEED_INTEGER = 0x11,
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FRSKY_GPS_SPEED_DECIMAL = 0x11 + 8,
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FRSKY_GPS_LONGITUDE_INTEGER = 0x12,
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FRSKY_GPS_LONGITUDE_DECIMAL = FRSKY_GPS_LONGITUDE_INTEGER + 8,
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FRSKY_GPS_E_W = 0x1A + 8,
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FRSKY_GPS_LATITUDE_INTEGER = 0x13,
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FRSKY_GPS_LATITUDE_DECIMAL = FRSKY_GPS_LATITUDE_INTEGER + 8,
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FRSKY_GPS_N_S = 0x1B + 8,
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FRSKY_GPS_COURSE_INTEGER = 0x14,
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FRSKY_GPS_COURSE_DECIMAL = FRSKY_GPS_COURSE_INTEGER + 8,
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FRSKY_DATE_MONTH = 0x15,
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FRSKY_DATE_YEAR = 0x16,
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FRSKY_HOUR_MINUTE = 0x17,
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FRSKY_SECOND = 0x18,
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FRSKY_ACCELERATION_X = 0x24,
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FRSKY_ACCELERATION_Y = 0x25,
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FRSKY_ACCELERATION_Z = 0x26,
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FRSKY_VOLTAGE_AMPERE_SENSOR_INTEGER = 0x3A,
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FRSKY_VOLTAGE_AMPERE_SENSOR_DECIMAL = 0x3B,
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FRSKY_CURRENT = 0x28,
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};
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enum FRSKY_FRAME {
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FRSKY_FRAME_VARIO,
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FRSKY_FRAME_BATTERY,
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FRSKY_FRAME_GPS,
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};
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static const uint8_t frsky_rates[] = {
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[FRSKY_FRAME_VARIO] = 5, // 5Hz
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[FRSKY_FRAME_BATTERY] = 5, // 5Hz
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[FRSKY_FRAME_GPS] = 2, // 1Hz
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};
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#define MAXSTREAMS sizeof(frsky_rates)
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#define KNOTS2M_PER_SECOND 0.514444F
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#define GRAVITY 9.8F
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// ****************
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// Private variables
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static struct {
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uint32_t frsky_port;
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uint8_t frame_ticks[MAXSTREAMS];
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uint8_t serial_buf[FRSKY_MAX_PACKET_LEN];
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} *shub_global;
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/**
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* Start the module
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* \return -1 if start failed
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* \return 0 on success
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*/
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static int32_t uavoFrSKYSensorHubBridgeStart(void)
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{
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if (shub_global) {
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xTaskHandle taskHandle;
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xTaskCreate(uavoFrSKYSensorHubBridgeTask, "uavoFrSKYSensorHubBridge", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_UAVOFRSKYSENSORHUBBRIDGE, taskHandle);
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return 0;
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}
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return -1;
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}
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/**
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* Initialize the module
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* \return -1 if initialization failed
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* \return 0 on success
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*/
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static int32_t uavoFrSKYSensorHubBridgeInitialize(void)
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{
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uintptr_t frsky_port = PIOS_COM_FRSKY_SENSORHUB;
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if (frsky_port) {
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shub_global = pios_malloc(sizeof(*shub_global));
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if (shub_global == 0) {
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return -1;
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}
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PIOS_COM_ChangeBaud(frsky_port, FRSKY_BAUD_RATE);
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shub_global->frsky_port = frsky_port;
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for (uint32_t x = 0; x < MAXSTREAMS; ++x) {
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shub_global->frame_ticks[x] =
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(TASK_RATE_HZ / frsky_rates[x]);
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}
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return 0;
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}
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return -1;
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}
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MODULE_INITCALL(uavoFrSKYSensorHubBridgeInitialize, uavoFrSKYSensorHubBridgeStart);
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/**
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* Main task. It does not return.
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*/
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static void uavoFrSKYSensorHubBridgeTask(__attribute__((unused)) void *parameters)
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{
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uint32_t lastSysTime = PIOS_Thread_Systime();
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// Main task loop
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while (1) {
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PIOS_Thread_Sleep_Until(&lastSysTime, 1000 / TASK_RATE_HZ);
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if (frame_trigger(FRSKY_FRAME_VARIO)) {
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uint16_t msg_length = 0;
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// Get the accelerometer values
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float accX = 0, accY = 0, accZ = 0;
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if (AccelSensorHandle() != NULL) {
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AccelSensorxGet(&accX);
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AccelSensoryGet(&accY);
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AccelSensorzGet(&accZ);
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}
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msg_length += frsky_pack_accel(
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accX,
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accY,
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accZ,
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shub_global->serial_buf + msg_length);
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// Get the altritude from the barometer.
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float altitude;
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if (BaroSensorHandle() != NULL) {
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BaroSensorAltitudeGet(&altitude);
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}
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msg_length += frsky_pack_altitude(
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altitude,
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shub_global->serial_buf + msg_length);
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msg_length += frsky_pack_stop(shub_global->serial_buf + msg_length);
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PIOS_COM_SendBuffer(shub_global->frsky_port,
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shub_global->serial_buf, msg_length);
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}
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if (frame_trigger(FRSKY_FRAME_BATTERY)) {
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uint16_t msg_length = 0;
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FlightBatteryStateData batState;
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if (FlightBatteryStateHandle() != NULL) {
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FlightBatteryStateGet(&batState);
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}
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float voltage = voltage = batState.Voltage;
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float current = current = batState.Current;
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// As long as there is no voltage for each cell
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// all cells will have the same voltage.
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// Receiver will know number of cells.
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FlightBatterySettingsData batSettings;
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if (FlightBatterySettingsHandle() != NULL) {
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FlightBatterySettingsGet(&batSettings);
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}
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if (batState.NbCellsAutodetected == FLIGHTBATTERYSTATE_NBCELLSAUTODETECTED_TRUE) {
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batSettings.NbCells = batState.NbCells;
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}
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if (batSettings.NbCells > 0) {
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float cell_v = voltage / batSettings.NbCells;
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for (uint8_t i = 0; i < batSettings.NbCells; ++i) {
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msg_length += frsky_pack_cellvoltage(
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i,
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cell_v,
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shub_global->serial_buf + msg_length);
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}
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}
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msg_length += frsky_pack_fas(
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voltage,
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current,
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shub_global->serial_buf + msg_length);
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if (batSettings.Capacity > 0) {
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float fuel = 1.0f - batState.ConsumedEnergy / batSettings.Capacity;
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msg_length += frsky_pack_fuel(
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fuel,
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shub_global->serial_buf + msg_length);
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}
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msg_length += frsky_pack_stop(shub_global->serial_buf + msg_length);
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PIOS_COM_SendBuffer(shub_global->frsky_port,
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shub_global->serial_buf, msg_length);
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}
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if (frame_trigger(FRSKY_FRAME_GPS)) {
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uint16_t msg_length = 0;
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/**
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* Encodes ARM status and flight mode number as RPM value
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* Since there is no RPM information in any UAVO available,
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* we will intentionally misuse this item to encode other useful information.
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* It will encode flight status as three-digit number as follow:
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* most left digit encodes arm status (200=armed, 100=disarmed)
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* two most right digits encode flight mode number (see FlightStatus UAVO FlightMode enum)
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* To work properly on Taranis, you have to set Blades to "60" in telemetry setting
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*/
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FlightStatusData flight_status;
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FlightStatusGet(&flight_status);
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uint16_t status = 0;
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float hdop, vdop;
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status = (flight_status.Armed == FLIGHTSTATUS_ARMED_ARMED) ? 200 : 100;
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status += flight_status.FlightMode;
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msg_length += frsky_pack_rpm(status, shub_global->serial_buf + msg_length);
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uint8_t hl_set = HOMELOCATION_SET_FALSE;
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GPSPositionSensorData gpsPosData;
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if (GPSPositionSensorHandle() != NULL) {
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GPSPositionSensorGet(&gpsPosData);
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}
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if (HomeLocationHandle() != NULL) {
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HomeLocationSetGet(&hl_set);
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}
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/**
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* Encode GPS status and visible satellites as T1 value
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* We will intentionally misuse this item to encode other useful information.
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* Right-most two digits encode visible satellite count, left-most digit has following meaning:
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* 1 - no GPS connected
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* 2 - no fix
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* 3 - 2D fix
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* 4 - 3D fix
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* 5 - 3D fix and HomeLocation is SET - should be safe for navigation
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*/
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switch (gpsPosData.Status) {
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case GPSPOSITIONSENSOR_STATUS_NOGPS:
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status = 100;
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break;
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case GPSPOSITIONSENSOR_STATUS_NOFIX:
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status = 200;
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break;
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case GPSPOSITIONSENSOR_STATUS_FIX2D:
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status = 300;
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break;
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case GPSPOSITIONSENSOR_STATUS_FIX3D:
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if (hl_set == HOMELOCATION_SET_TRUE) {
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status = 500;
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} else {
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status = 400;
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}
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break;
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}
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if (gpsPosData.Satellites > 0) {
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status += gpsPosData.Satellites;
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}
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msg_length += frsky_pack_temperature_01((float)status, shub_global->serial_buf + msg_length);
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/**
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* Encode GPS HDOP and VDOP as T2 value
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* We will intentionally misuse this item to encode other useful information.
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* VDOP in the upper 16 bits, max 256 (2.56 * 100)
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* HDOP in the lower 16 bits, max 256 (2.56 * 100)
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*/
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hdop = gpsPosData.HDOP * 100.0f;
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hdop = 0;
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if (hdop > 255.0f) {
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hdop = 255.0f;
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}
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vdop = gpsPosData.VDOP * 100.0f;
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vdop = 0;
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if (vdop > 255.0f) {
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vdop = 255.0f;
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}
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msg_length += frsky_pack_temperature_02((vdop * 256 + hdop), shub_global->serial_buf + msg_length);
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if (gpsPosData.Status == GPSPOSITIONSENSOR_STATUS_FIX2D ||
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gpsPosData.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) {
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msg_length += frsky_pack_gps(
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gpsPosData.Heading,
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gpsPosData.Latitude,
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gpsPosData.Longitude,
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gpsPosData.Altitude,
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gpsPosData.Groundspeed,
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shub_global->serial_buf + msg_length);
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||||
} else {
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msg_length += frsky_pack_gps(0, 0, 0, 0, 0, shub_global->serial_buf + msg_length);
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}
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msg_length += frsky_pack_stop(shub_global->serial_buf + msg_length);
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PIOS_COM_SendBuffer(shub_global->frsky_port,
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shub_global->serial_buf, msg_length);
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}
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}
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}
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static bool frame_trigger(uint8_t frame_num)
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{
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||||
uint8_t rate = frsky_rates[frame_num];
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||||
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||||
if (rate == 0) {
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return false;
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}
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||||
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if (shub_global->frame_ticks[frame_num] == 0) {
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// we're triggering now, setup the next trigger point
|
||||
if (rate > TASK_RATE_HZ) {
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||||
rate = TASK_RATE_HZ;
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||||
}
|
||||
shub_global->frame_ticks[frame_num] = (TASK_RATE_HZ / rate);
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||||
return true;
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}
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||||
|
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// count down at 50Hz
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shub_global->frame_ticks[frame_num]--;
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||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes altitude to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_altitude(float altitude, uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
float altitudeInteger = 0.0f;
|
||||
|
||||
uint16_t decimalValue = lroundf(modff(altitude, &altitudeInteger) * 100);
|
||||
int16_t integerValue = lroundf(altitude);
|
||||
|
||||
frsky_serialize_value(FRSKY_ALTITUDE_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_ALTITUDE_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes baro temperature to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_temperature_01(
|
||||
float temperature_01,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
int16_t temperature = lroundf(temperature_01);
|
||||
|
||||
frsky_serialize_value(FRSKY_TEMPERATURE_1, (uint8_t *)&temperature, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes accel temperature to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_temperature_02(
|
||||
float temperature_02,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
int16_t temperature = lroundf(temperature_02);
|
||||
|
||||
frsky_serialize_value(FRSKY_TEMPERATURE_2, (uint8_t *)&temperature, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes acceleration values to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_accel(
|
||||
float accels_x,
|
||||
float accels_y,
|
||||
float accels_z,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
int16_t accel = frsky_acceleration_unit(accels_x);
|
||||
|
||||
frsky_serialize_value(FRSKY_ACCELERATION_X, (uint8_t *)&accel, serial_buf, &index);
|
||||
|
||||
accel = frsky_acceleration_unit(accels_y);
|
||||
frsky_serialize_value(FRSKY_ACCELERATION_Y, (uint8_t *)&accel, serial_buf, &index);
|
||||
|
||||
accel = frsky_acceleration_unit(accels_z);
|
||||
frsky_serialize_value(FRSKY_ACCELERATION_Z, (uint8_t *)&accel, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
static uint16_t frsky_pack_cellvoltage(
|
||||
uint8_t cell,
|
||||
float cell_voltage,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
// its not possible to address more than 15 cells
|
||||
if (cell > 15) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t index = 0;
|
||||
uint16_t v = lroundf((cell_voltage / 4.2f) * 2100);
|
||||
if (v > 2100) {
|
||||
v = 2100;
|
||||
}
|
||||
|
||||
uint16_t voltage = ((v & 0x00ff) << 8) | (cell << 4) | ((v & 0x0f00) >> 8);
|
||||
frsky_serialize_value(FRSKY_VOLTAGE, (uint8_t *)&voltage, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
/**
|
||||
* Writes battery values to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_fas(
|
||||
float voltage,
|
||||
float current,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
voltage = (voltage * 110.0f) / 21.0f;
|
||||
|
||||
uint16_t integerValue = lroundf(voltage) / 100;
|
||||
uint16_t decimalValue = lroundf(voltage - integerValue);
|
||||
|
||||
frsky_serialize_value(FRSKY_VOLTAGE_AMPERE_SENSOR_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_VOLTAGE_AMPERE_SENSOR_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
|
||||
integerValue = lroundf(current * 10);
|
||||
frsky_serialize_value(FRSKY_CURRENT, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes rpm value to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_rpm(uint16_t rpm, uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
frsky_serialize_value(FRSKY_RPM, (uint8_t *)&rpm, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes fuel value [0.0 ... 1.0] to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_fuel(
|
||||
float fuel_level,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
uint16_t level = lroundf(abs(fuel_level * 100));
|
||||
|
||||
// Use fixed levels here because documentation says so.
|
||||
if (level > 94) {
|
||||
level = 100;
|
||||
} else if (level > 69) {
|
||||
level = 75;
|
||||
} else if (level > 44) {
|
||||
level = 50;
|
||||
} else if (level > 19) {
|
||||
level = 25;
|
||||
} else {
|
||||
level = 0;
|
||||
}
|
||||
|
||||
frsky_serialize_value(FRSKY_FUEL_LEVEL, (uint8_t *)&level, serial_buf, &index);
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes gps values to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_gps(
|
||||
float course,
|
||||
int32_t latitude,
|
||||
int32_t longitude,
|
||||
float altitude,
|
||||
float speed,
|
||||
uint8_t *serial_buf)
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
{
|
||||
float courseInteger = 0.0f;
|
||||
uint16_t decimalValue = lroundf(modff(course, &courseInteger) * 100);
|
||||
uint16_t integerValue = lroundf(courseInteger);
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_COURSE_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_GPS_COURSE_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
}
|
||||
|
||||
// latitude
|
||||
{
|
||||
uint16_t integerValue = (abs(latitude) / 100000);
|
||||
uint16_t decimalValue = (abs(latitude) / 10) % 10000;
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_LATITUDE_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_GPS_LATITUDE_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
|
||||
uint16_t hemisphere = 'N';
|
||||
if (latitude < 0) {
|
||||
hemisphere = 'S';
|
||||
}
|
||||
frsky_serialize_value(FRSKY_GPS_N_S, (uint8_t *)&hemisphere, serial_buf, &index);
|
||||
}
|
||||
|
||||
// longitude
|
||||
{
|
||||
uint16_t integerValue = (abs(longitude) / 100000);
|
||||
uint16_t decimalValue = (abs(longitude) / 10) % 10000;
|
||||
|
||||
uint16_t hemisphere = 'E';
|
||||
if (longitude < 0) {
|
||||
hemisphere = 'W';
|
||||
}
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_LONGITUDE_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_GPS_LONGITUDE_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_E_W, (uint8_t *)&hemisphere, serial_buf, &index);
|
||||
}
|
||||
|
||||
// speed
|
||||
{
|
||||
float knots = speed / KNOTS2M_PER_SECOND;
|
||||
|
||||
float knotsInteger = 0.0f;
|
||||
uint16_t decimalValue = lroundf(modff(knots, &knotsInteger) * 100);
|
||||
int16_t integerValue = lroundf(knotsInteger);
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_SPEED_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_GPS_SPEED_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
}
|
||||
|
||||
// altitude
|
||||
{
|
||||
float altitudeInteger = 0.0F;
|
||||
uint16_t decimalValue = lroundf(modff(altitude, &altitudeInteger) * 100);
|
||||
int16_t integerValue = lroundf(altitudeInteger);
|
||||
|
||||
frsky_serialize_value(FRSKY_GPS_ALTITUDE_INTEGER, (uint8_t *)&integerValue, serial_buf, &index);
|
||||
frsky_serialize_value(FRSKY_GPS_ALTITUDE_DECIMAL, (uint8_t *)&decimalValue, serial_buf, &index);
|
||||
}
|
||||
|
||||
return index;
|
||||
}
|
||||
|
||||
/**
|
||||
* Writes stop byte to buffer
|
||||
* \return number of bytes written to the buffer
|
||||
*/
|
||||
static uint16_t frsky_pack_stop(uint8_t *serial_buf)
|
||||
{
|
||||
serial_buf[0] = FRSKY_FRAME_STOP;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Convert acceleration value to frsky acceleration unit
|
||||
* \return Acceleration value
|
||||
*/
|
||||
static int16_t frsky_acceleration_unit(float accel)
|
||||
{
|
||||
accel = accel / GRAVITY; // convert to gravity
|
||||
accel *= 1000;
|
||||
return lroundf(accel);
|
||||
}
|
||||
|
||||
/**
|
||||
* Write value to buffer
|
||||
*/
|
||||
static void frsky_serialize_value(uint8_t valueid, uint8_t *value, uint8_t *serial_buf, uint8_t *index)
|
||||
{
|
||||
serial_buf[(*index)++] = FRSKY_FRAME_DATA_HEADER;
|
||||
serial_buf[(*index)++] = valueid;
|
||||
|
||||
frsky_write_userdata_byte(value[0], serial_buf, index);
|
||||
frsky_write_userdata_byte(value[1], serial_buf, index);
|
||||
}
|
||||
|
||||
/**
|
||||
* Write a byte to the buffer and do byte stuffing if needed.
|
||||
*/
|
||||
static void frsky_write_userdata_byte(uint8_t byte, uint8_t *serial_buf, uint8_t *index)
|
||||
{
|
||||
// ** byte stuffing
|
||||
if ((byte == 0x5E) || (byte == 0x5D)) {
|
||||
serial_buf[(*index)++] = 0x5D;
|
||||
serial_buf[(*index)++] = ~(byte ^ 0x60);
|
||||
} else {
|
||||
serial_buf[(*index)++] = byte;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -95,6 +95,7 @@ uint32_t pios_openlrs_id; /* OpenLRS handle */
|
||||
uint32_t pios_com_hkosd_id; /* HK OSD ?? */
|
||||
uint32_t pios_com_msp_id; /* MSP */
|
||||
uint32_t pios_com_mavlink_id; /* MAVLink */
|
||||
uint32_t pios_com_frsky_sensorhub_id; /* Frsky Sensorhub */
|
||||
uint32_t pios_com_vcp_id; /* USB VCP */
|
||||
|
||||
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
|
||||
@ -292,109 +293,116 @@ struct uart_function {
|
||||
};
|
||||
|
||||
static const struct uart_function uart_function_map[] = {
|
||||
[PIOS_BOARD_IO_UART_TELEMETRY] = {
|
||||
[PIOS_BOARD_IO_UART_TELEMETRY] = {
|
||||
.com_id = &pios_com_telem_rf_id,
|
||||
.com_rx_buf_len = PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_TELEM_RF_TX_BUF_LEN,
|
||||
},
|
||||
|
||||
[PIOS_BOARD_IO_UART_MAVLINK] = {
|
||||
[PIOS_BOARD_IO_UART_MAVLINK] = {
|
||||
.com_id = &pios_com_mavlink_id,
|
||||
.com_rx_buf_len = PIOS_COM_MAVLINK_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_MAVLINK_TX_BUF_LEN,
|
||||
},
|
||||
|
||||
[PIOS_BOARD_IO_UART_MSP] = {
|
||||
[PIOS_BOARD_IO_UART_MSP] = {
|
||||
.com_id = &pios_com_msp_id,
|
||||
.com_rx_buf_len = PIOS_COM_MSP_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_MSP_TX_BUF_LEN,
|
||||
},
|
||||
#ifdef PIOS_INCLUDE_GPS
|
||||
[PIOS_BOARD_IO_UART_GPS] = {
|
||||
[PIOS_BOARD_IO_UART_GPS] = {
|
||||
.com_id = &pios_com_gps_id,
|
||||
.com_rx_buf_len = PIOS_COM_GPS_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_GPS_TX_BUF_LEN,
|
||||
},
|
||||
#endif
|
||||
[PIOS_BOARD_IO_UART_OSDHK] = {
|
||||
[PIOS_BOARD_IO_UART_OSDHK] = {
|
||||
.com_id = &pios_com_hkosd_id,
|
||||
.com_rx_buf_len = PIOS_COM_HKOSD_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_HKOSD_TX_BUF_LEN,
|
||||
},
|
||||
#ifdef PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
[PIOS_BOARD_IO_UART_FRSKY_SENSORHUB] = {
|
||||
.com_id = &pios_com_frsky_sensorhub_id,
|
||||
.com_rx_buf_len = PIOS_COM_FRSKY_SENSORHUB_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_FRSKY_SENSORHUB_TX_BUF_LEN,
|
||||
},
|
||||
#endif
|
||||
#ifdef PIOS_INCLUDE_HOTT_BRIDGE
|
||||
[PIOS_BOARD_IO_UART_HOTT_BRIDGE] = {
|
||||
[PIOS_BOARD_IO_UART_HOTT_BRIDGE] = {
|
||||
.com_id = &pios_com_hott_id,
|
||||
.com_rx_buf_len = PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN,
|
||||
},
|
||||
#endif
|
||||
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
|
||||
[PIOS_BOARD_IO_UART_DEBUGCONSOLE] = {
|
||||
[PIOS_BOARD_IO_UART_DEBUGCONSOLE] = {
|
||||
.com_id = &pios_com_debug_id,
|
||||
.com_tx_buf_len = PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
|
||||
},
|
||||
#endif
|
||||
[PIOS_BOARD_IO_UART_COMBRIDGE] = {
|
||||
[PIOS_BOARD_IO_UART_COMBRIDGE] = {
|
||||
.com_id = &pios_com_bridge_id,
|
||||
.com_rx_buf_len = PIOS_COM_BRIDGE_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_BRIDGE_TX_BUF_LEN,
|
||||
},
|
||||
#ifdef PIOS_INCLUDE_RCVR
|
||||
# ifdef PIOS_INCLUDE_IBUS
|
||||
[PIOS_BOARD_IO_UART_IBUS] = {
|
||||
[PIOS_BOARD_IO_UART_IBUS] = {
|
||||
.rcvr_init = &PIOS_IBUS_Init,
|
||||
.rcvr_driver = &pios_ibus_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_IBUS,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_IBUS */
|
||||
# ifdef PIOS_INCLUDE_EXBUS
|
||||
[PIOS_BOARD_IO_UART_EXBUS] = {
|
||||
[PIOS_BOARD_IO_UART_EXBUS] = {
|
||||
.rcvr_init = &PIOS_EXBUS_Init,
|
||||
.rcvr_driver = &pios_exbus_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_EXBUS */
|
||||
# ifdef PIOS_INCLUDE_SRXL
|
||||
[PIOS_BOARD_IO_UART_SRXL] = {
|
||||
[PIOS_BOARD_IO_UART_SRXL] = {
|
||||
.rcvr_init = &PIOS_SRXL_Init,
|
||||
.rcvr_driver = &pios_srxl_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_SRXL */
|
||||
# ifdef PIOS_INCLUDE_HOTT
|
||||
[PIOS_BOARD_IO_UART_HOTT_SUMD] = {
|
||||
[PIOS_BOARD_IO_UART_HOTT_SUMD] = {
|
||||
.rcvr_init = &PIOS_HOTT_Init_SUMD,
|
||||
.rcvr_driver = &pios_hott_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT,
|
||||
},
|
||||
|
||||
[PIOS_BOARD_IO_UART_HOTT_SUMH] = {
|
||||
[PIOS_BOARD_IO_UART_HOTT_SUMH] = {
|
||||
.rcvr_init = &PIOS_HOTT_Init_SUMH,
|
||||
.rcvr_driver = &pios_hott_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_HOTT */
|
||||
# ifdef PIOS_INCLUDE_DSM
|
||||
[PIOS_BOARD_IO_UART_DSM_MAIN] = {
|
||||
[PIOS_BOARD_IO_UART_DSM_MAIN] = {
|
||||
.rcvr_init = &PIOS_DSM_Init_Helper,
|
||||
.rcvr_driver = &pios_dsm_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,
|
||||
},
|
||||
|
||||
[PIOS_BOARD_IO_UART_DSM_FLEXI] = {
|
||||
[PIOS_BOARD_IO_UART_DSM_FLEXI] = {
|
||||
.rcvr_init = &PIOS_DSM_Init_Helper,
|
||||
.rcvr_driver = &pios_dsm_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,
|
||||
},
|
||||
|
||||
[PIOS_BOARD_IO_UART_DSM_RCVR] = {
|
||||
[PIOS_BOARD_IO_UART_DSM_RCVR] = {
|
||||
.rcvr_init = &PIOS_DSM_Init_Helper,
|
||||
.rcvr_driver = &pios_dsm_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_DSM */
|
||||
# ifdef PIOS_INCLUDE_SBUS
|
||||
[PIOS_BOARD_IO_UART_SBUS] = {
|
||||
[PIOS_BOARD_IO_UART_SBUS] = {
|
||||
.rcvr_init = &PIOS_SBus_Init_Helper,
|
||||
.rcvr_driver = &pios_sbus_rcvr_driver,
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS,
|
||||
|
||||
@ -157,25 +157,35 @@ extern uint32_t pios_com_mavlink_id;
|
||||
/* HoTT Telemetry */
|
||||
#ifdef PIOS_INCLUDE_HOTT_BRIDGE
|
||||
# ifndef PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN
|
||||
# define PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN 512
|
||||
# define PIOS_COM_HOTT_BRIDGE_RX_BUF_LEN 512
|
||||
# endif
|
||||
# ifndef PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN
|
||||
# define PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN 512
|
||||
# define PIOS_COM_HOTT_BRIDGE_TX_BUF_LEN 512
|
||||
# endif
|
||||
extern uint32_t pios_com_hott_id;
|
||||
# define PIOS_COM_HOTT (pios_com_hott_id)
|
||||
# define PIOS_COM_HOTT (pios_com_hott_id)
|
||||
#endif
|
||||
|
||||
/* Frsky Sensorhub */
|
||||
extern uint32_t pios_com_frsky_sensorhub_id;
|
||||
#define PIOS_COM_FRSKY_SENSORHUB (pios_com_frsky_sensorhub_id)
|
||||
#ifndef PIOS_COM_FRSKY_SENSORHUB_TX_BUF_LEN
|
||||
# define PIOS_COM_FRSKY_SENSORHUB_TX_BUF_LEN 128
|
||||
#endif
|
||||
#ifndef PIOS_COM_FRSKY_SENSORHUB_RX_BUF_LEN
|
||||
# define PIOS_COM_FRSKY_SENSORHUB_RX_BUF_LEN 128
|
||||
#endif
|
||||
|
||||
/* USB VCP */
|
||||
extern uint32_t pios_com_vcp_id;
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
|
||||
|
||||
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
|
||||
extern uint32_t pios_com_debug_id;
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#ifndef PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN
|
||||
# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
#endif
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
|
||||
@ -208,6 +218,7 @@ typedef enum {
|
||||
PIOS_BOARD_IO_UART_EXBUS, /* rcvr */
|
||||
// PIOS_BOARD_IO_UART_FRSKY_SPORT_TELEMETRY, /* com */
|
||||
PIOS_BOARD_IO_UART_HOTT_BRIDGE, /* com */
|
||||
PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, /* com */
|
||||
} PIOS_BOARD_IO_UART_Function;
|
||||
|
||||
|
||||
|
||||
@ -59,6 +59,7 @@ OPTMODULES += AutoTune
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
OPTMODULES += UAVOMavlinkBridge
|
||||
OPTMODULES += UAVOFrSKYSensorHubBridge
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
|
||||
@ -153,6 +153,7 @@
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
#define PIOS_INCLUDE_GPS_DJI_PARSER
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
#define PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
|
||||
@ -59,44 +59,47 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMDEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMCOMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
[HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
|
||||
[HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@ -58,6 +58,7 @@ OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOHottBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
OPTMODULES += UAVOMavlinkBridge
|
||||
OPTMODULES += UAVOFrSKYSensorHubBridge
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
|
||||
@ -160,6 +160,7 @@
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
#define PIOS_INCLUDE_GPS_DJI_PARSER
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
#define PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
|
||||
/* Stabilization options */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
@ -58,44 +58,47 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMDEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMCOMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_RCVRPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
[HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
|
||||
[HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@ -56,6 +56,7 @@ OPTMODULES += AutoTune
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
OPTMODULES += UAVOMavlinkBridge
|
||||
OPTMODULES += UAVOFrSKYSensorHubBridge
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
|
||||
@ -160,6 +160,7 @@
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
#define PIOS_INCLUDE_GPS_DJI_PARSER
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
#define PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
|
||||
/* Stabilization options */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
@ -68,31 +68,32 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
|
||||
#include <pios_board_info.h>
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
|
||||
[HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
[HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
||||
[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
|
||||
[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
void PIOS_Board_Init(void)
|
||||
|
||||
@ -57,6 +57,7 @@ OPTMODULES += AutoTune
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
OPTMODULES += UAVOMavlinkBridge
|
||||
OPTMODULES += UAVOFrSKYSensorHubBridge
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
|
||||
@ -163,6 +163,7 @@
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
#define PIOS_INCLUDE_GPS_DJI_PARSER
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
#define PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
|
||||
/* Stabilization options */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
@ -75,22 +75,24 @@ static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
[HWSETTINGS_SPK2_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_SPK2_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_SPK2_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_SPK2_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_SPK2_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
<object name="HwSettings" singleinstance="true" settings="true" category="System">
|
||||
<description>Selection of optional hardware configurations.</description>
|
||||
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Telemetry"/>
|
||||
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Telemetry"/>
|
||||
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
|
||||
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
@ -11,15 +11,15 @@
|
||||
<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge,MSP,MAVLink" defaultvalue="Telemetry"/>
|
||||
<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge,MSP,MAVLink" defaultvalue="GPS"/>
|
||||
|
||||
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,PPM+Telemetry,PPM+DebugConsole,PPM+ComBridge,PPM+MSP,PPM+MAVLink,PPM+GPS,PPM+HoTT Telemetry,Outputs,Telemetry,DebugConsole,ComBridge,MSP,MAVLink,GPS,HoTT Telemetry,IBus"
|
||||
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,PPM+Telemetry,PPM+DebugConsole,PPM+ComBridge,PPM+MSP,PPM+MAVLink,PPM+GPS,PPM+HoTT Telemetry,Outputs,Telemetry,DebugConsole,ComBridge,MSP,MAVLink,GPS,HoTT Telemetry,IBus,FrskySensorHub"
|
||||
defaultvalue="PWM"
|
||||
limits="%0905NE:PPM+PWM:PPM+Telemetry:PPM+DebugConsole:PPM+ComBridge:PPM+MSP:PPM+MAVLink:PPM+GPS:PPM+HoTT Telemetry:Telemetry:DebugConsole:ComBridge:MSP:MAVLink:GPS:HoTT Telemetry:IBus;"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,HoTT Telemetry,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,HoTT Telemetry,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
limits="%0905NE:PPM+PWM:PPM+Telemetry:PPM+DebugConsole:PPM+ComBridge:PPM+MSP:PPM+MAVLink:PPM+GPS:PPM+HoTT Telemetry:Telemetry:DebugConsole:ComBridge:MSP:MAVLink:GPS:HoTT Telemetry:IBus;"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,HoTT Telemetry,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,HoTT Telemetry,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="SPK2_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH" defaultvalue="PPM"/>
|
||||
<field name="SPK2_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
<field name="SPK2_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink" defaultvalue="Disabled"/>
|
||||
<field name="SPK2_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
<field name="SPK2_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
<field name="SPK2_I2CPort" units="function" type="enum" elements="1" options="Disabled,I2C" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
@ -29,12 +29,12 @@
|
||||
<field name="MAVLinkSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
|
||||
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
|
||||
<field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink,ComBridge" defaultvalue="Disabled"/>
|
||||
<field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink,ComBridge" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,CameraControl,GPS,Fault,Altitude,Airspeed,TxPID,Battery,Overo,MagBaro,OsdHk,AutoTune" options="Disabled,Enabled" defaultvalue="Disabled"/>
|
||||
<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>
|
||||
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="SBusMode" units="" type="enum" elements="1" options="Normal,Non Inverted" defaultvalue="Normal"/>
|
||||
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="SBusMode" units="" type="enum" elements="1" options="Normal,Non Inverted" defaultvalue="Normal"/>
|
||||
<field name="WS2811LED_Out" units="" type="enum" elements="1" options="ServoOut1,ServoOut2,ServoOut3,ServoOut4,ServoOut5,ServoOut6,FlexiIOPin3,FlexiIOPin4,Disabled" defaultvalue="Disabled"
|
||||
limits="%0905NE:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4;"
|
||||
/>
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
<xml>
|
||||
<object name="TaskInfo" singleinstance="true" settings="false" category="System">
|
||||
<description>Task information</description>
|
||||
<field name="StackRemaining" units="bytes" type="uint16">
|
||||
<description>Task information</description>
|
||||
<field name="StackRemaining" units="bytes" type="uint16">
|
||||
<elementnames>
|
||||
<!-- system -->
|
||||
<elementname>System</elementname>
|
||||
@ -33,8 +33,9 @@
|
||||
<elementname>OSDGen</elementname>
|
||||
<elementname>UAVOHoTTBridge</elementname>
|
||||
<elementname>UAVOMSPBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
<elementname>UAVOFrskySensorHubBridge</elementname>
|
||||
<elementname>UAVOMAVLinkBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<field name="Running" units="bool" type="enum">
|
||||
@ -69,8 +70,9 @@
|
||||
<elementname>OSDGen</elementname>
|
||||
<elementname>UAVOHoTTBridge</elementname>
|
||||
<elementname>UAVOMSPBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
<elementname>UAVOFrskySensorHubBridge</elementname>
|
||||
<elementname>UAVOMAVLinkBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
</elementnames>
|
||||
<options>
|
||||
<option>False</option>
|
||||
@ -109,8 +111,9 @@
|
||||
<elementname>OSDGen</elementname>
|
||||
<elementname>UAVOHoTTBridge</elementname>
|
||||
<elementname>UAVOMSPBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
<elementname>UAVOFrskySensorHubBridge</elementname>
|
||||
<elementname>UAVOMAVLinkBridge</elementname>
|
||||
<elementname>AutoTune</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<access gcs="readonly" flight="readwrite"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user