Couple fixes

iNavFlight · Feb 2, 2019 · 8e12f12 · 8e12f12
1 parent 372f0e5
commit 8e12f12
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Showing 13 changed files with 148 additions and 113 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -353,19 +353,19 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
     {"wind",                   0, SIGNED,   PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"wind",                   1, SIGNED,   PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"wind",                   2, SIGNED,   PREDICT(0),      ENCODING(UNSIGNED_VB)},
-    {"MPU temperature",       -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"IMUTemperature",        -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
 #ifdef USE_BARO
-    {"baro temperature",      -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"baroTemperature",       -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
 #endif
 #ifdef USE_TEMPERATURE_SENSOR
-    {"temp0 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp1 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp2 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp3 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp4 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp5 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp6 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
-    {"temp7 temperature",     -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens0Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens1Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens2Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens3Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens4Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens5Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens6Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
+    {"sens7Temp",             -1, SIGNED,   PREDICT(0),      ENCODING(SIGNED_VB)},
 #endif
 };
 
@@ -465,9 +465,13 @@ typedef struct blackboxSlowState_s {
     uint16_t powerSupplyImpedance;
     uint16_t sagCompensatedVBat;
     int16_t wind[XYZ_AXIS_COUNT];
-    int16_t mpuTemperature;
+    int16_t imuTemperature;
+#ifdef USE_BARO
     int16_t baroTemperature;
+#endif
+#ifdef USE_TEMPERATURE_SENSOR
     int16_t tempSensorTemperature[MAX_TEMP_SENSORS];
+#endif
 } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
 
 //From rc_controls.c
@@ -1055,10 +1059,15 @@ static void writeSlowFrame(void)
 
     blackboxWriteSigned16VBArray(slowHistory.wind, XYZ_AXIS_COUNT);
 
-    blackboxWriteSignedVB(slowHistory.mpuTemperature);
+    blackboxWriteSignedVB(slowHistory.imuTemperature);
+
+#ifdef USE_BARO
     blackboxWriteSignedVB(slowHistory.baroTemperature);
+#endif
 
+#ifdef USE_TEMPERATURE_SENSOR
     blackboxWriteSigned16VBArray(slowHistory.tempSensorTemperature, MAX_TEMP_SENSORS);
+#endif
 
     blackboxSlowFrameIterationTimer = 0;
 }
@@ -1093,15 +1102,20 @@ static void loadSlowState(blackboxSlowState_t *slow)
     }
 
     bool valid_temp;
-    valid_temp = getMPUTemperature(&slow->mpuTemperature);
-    if (!valid_temp) slow->mpuTemperature = 0xFFFF;
+    valid_temp = getIMUTemperature(&slow->imuTemperature);
+    if (!valid_temp) slow->imuTemperature = 0xFFFF;
+
+#ifdef USE_BARO
     valid_temp = getBaroTemperature(&slow->baroTemperature);
     if (!valid_temp) slow->baroTemperature = 0xFFFF;
+#endif
 
+#ifdef USE_TEMPERATURE_SENSOR
     for (uint8_t index; index < MAX_TEMP_SENSORS; ++index) {
         valid_temp = getSensorTemperature(index, slow->tempSensorTemperature + index);
         if (!valid_temp) slow->tempSensorTemperature[index] = 0xFFFF;
     }
+#endif
 
 }
 

diff --git a/src/main/cms/cms_menu_osd.c b/src/main/cms/cms_menu_osd.c
@@ -245,7 +245,7 @@ static const OSD_Entry menuOsdElemsEntries[] =
     OSD_ELEMENT_ENTRY("WIND HOR", OSD_WIND_SPEED_HORIZONTAL),
     OSD_ELEMENT_ENTRY("WIND VERT", OSD_WIND_SPEED_VERTICAL),
 
-    OSD_ELEMENT_ENTRY("MPU TEMP", OSD_MPU_TEMPERATURE),
+    OSD_ELEMENT_ENTRY("IMU TEMP", OSD_IMU_TEMPERATURE),
 #ifdef USE_BARO
     OSD_ELEMENT_ENTRY("BARO TEMP", OSD_BARO_TEMPERATURE),
 #endif

diff --git a/src/main/drivers/1-wire/ds2482.c b/src/main/drivers/1-wire/ds2482.c
@@ -89,23 +89,20 @@ bool ds2482_write_config(_1WireDev_t *_1WireDev, uint8_t config)
     return busWrite(_1WireDev->busDev, DS2482_WRITE_CONFIG_CMD, DS2482_CONFIG_WRITE_BYTE(config));
 }
 
-bool ds2482_wait_for_bus(_1WireDev_t *_1WireDev)
+bool ds2482_poll(_1WireDev_t *_1WireDev, bool wait_for_bus, uint8_t *status)
 {
-    uint8_t status;
+    uint8_t status_temp;
     do {
-        bool ack = busRead(_1WireDev->busDev, 0xFF, &status);
+        bool ack = busRead(_1WireDev->busDev, 0xFF, &status_temp);
         if (!ack) return false;
-    } while (DS2482_1WIRE_BUSY(status));
+    } while (wait_for_bus && DS2482_1WIRE_BUSY(status_temp));
+    if (status) *status = status_temp;
     return true;
 }
 
-bool ds2482_poll(_1WireDev_t *_1WireDev, bool wait_for_bus, uint8_t *status)
+bool ds2482_wait_for_bus(_1WireDev_t *_1WireDev)
 {
-    do {
-        bool ack = busRead(_1WireDev->busDev, 0xFF, status);
-        if (!ack) return false;
-    } while (wait_for_bus && DS2482_1WIRE_BUSY(*status));
-    return true;
+    return ds2482_poll(_1WireDev, true, NULL);
 }
 
 bool ds2482_1wire_reset(_1WireDev_t *_1WireDev)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1348,10 +1348,15 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, osdConfig()->alt_alarm);
         sbufWriteU16(dst, osdConfig()->dist_alarm);
         sbufWriteU16(dst, osdConfig()->neg_alt_alarm);
-        sbufWriteU16(dst, osdConfig()->mpu_temp_alarm_min);
-        sbufWriteU16(dst, osdConfig()->mpu_temp_alarm_max);
+        sbufWriteU16(dst, osdConfig()->imu_temp_alarm_min);
+        sbufWriteU16(dst, osdConfig()->imu_temp_alarm_max);
+#ifdef USE_BARO
         sbufWriteU16(dst, osdConfig()->baro_temp_alarm_min);
         sbufWriteU16(dst, osdConfig()->baro_temp_alarm_max);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         break;
 
     case MSP2_INAV_OSD_PREFERENCES:
@@ -1407,7 +1412,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         for (uint8_t index = 0; index < MAX_TEMP_SENSORS; ++index) {
             int16_t temperature;
             bool valid = getSensorTemperature(index, &temperature);
-            sbufWriteU16(dst, valid ? temperature : 0xFFFF);
+            sbufWriteU16(dst, valid ? temperature : -1000);
         }
 #endif
         break;
@@ -2600,10 +2605,12 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                 osdConfigMutable()->alt_alarm = sbufReadU16(src);
                 osdConfigMutable()->dist_alarm = sbufReadU16(src);
                 osdConfigMutable()->neg_alt_alarm = sbufReadU16(src);
-                osdConfigMutable()->mpu_temp_alarm_min = sbufReadU16(src);
-                osdConfigMutable()->mpu_temp_alarm_max = sbufReadU16(src);
+                osdConfigMutable()->imu_temp_alarm_min = sbufReadU16(src);
+                osdConfigMutable()->imu_temp_alarm_max = sbufReadU16(src);
+#ifdef USE_BARO
                 osdConfigMutable()->baro_temp_alarm_min = sbufReadU16(src);
                 osdConfigMutable()->baro_temp_alarm_max = sbufReadU16(src);
+#endif
             } else
                 return MSP_RESULT_ERROR;
         }
@@ -2655,7 +2662,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP2_INAV_SET_TEMP_SENSOR_CONFIG:
 #ifdef USE_TEMPERATURE_SENSOR
-        if (dataSize >= sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
+        if (dataSize == sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
             for (uint8_t index = 0; index < MAX_TEMP_SENSORS; ++index) {
                 tempSensorConfig_t *sensorConfig = tempSensorConfigMutable(index);
                 sensorConfig->type = sbufReadU8(src);

diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
@@ -367,7 +367,8 @@ uint16_t packSensorStatus(void)
             IS_ENABLED(sensors(SENSOR_GPS))     << 3 |
             IS_ENABLED(sensors(SENSOR_RANGEFINDER))   << 4 |
             IS_ENABLED(sensors(SENSOR_OPFLOW))  << 5 |
-            IS_ENABLED(sensors(SENSOR_PITOT))   << 6;
+            IS_ENABLED(sensors(SENSOR_PITOT))   << 6 |
+            IS_ENABLED(sensors(SENSOR_TEMP))   << 7;
 
     // Hardware failure indication bit
     if (!isHardwareHealthy()) {

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -1592,14 +1592,24 @@ groups:
         field: neg_alt_alarm
         min: 0
         max: 10000
-      - name: osd_mpu_temp_alarm_min
-        field: mpu_temp_alarm_min
-        min: -55
-        max: 125
-      - name: osd_mpu_temp_alarm_max
-        field: mpu_temp_alarm_max
-        min: -55
-        max: 125
+      - name: osd_imu_temp_alarm_min
+        field: imu_temp_alarm_min
+        min: -550
+        max: 1250
+      - name: osd_imu_temp_alarm_max
+        field: imu_temp_alarm_max
+        min: -550
+        max: 1250
+      - name: osd_baro_temp_alarm_min
+        field: baro_temp_alarm_min
+        condition: USE_BARO
+        min: -550
+        max: 1250
+      - name: osd_baro_temp_alarm_max
+        field: baro_temp_alarm_max
+        condition: USE_BARO
+        min: -550
+        max: 1250
 
       - name: osd_artificial_horizon_reverse_roll
         field: ahi_reverse_roll

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -2294,19 +2294,19 @@ static bool osdDrawSingleElement(uint8_t item)
             break;
         }
 
-    case OSD_MPU_TEMPERATURE:
+    case OSD_IMU_TEMPERATURE:
         {
             int16_t temperature;
-            const bool valid = getMPUTemperature(&temperature);
-            osdDisplayTemperature(elemPosX, elemPosY, "MPU", valid, temperature, osdConfig()->mpu_temp_alarm_min, osdConfig()->mpu_temp_alarm_max);
+            const bool valid = getIMUTemperature(&temperature);
+            osdDisplayTemperature(elemPosX, elemPosY, "IMU", valid, temperature, osdConfig()->imu_temp_alarm_min, osdConfig()->imu_temp_alarm_max);
             return true;
         }
 
     case OSD_BARO_TEMPERATURE:
         {
             int16_t temperature;
             const bool valid = getBaroTemperature(&temperature);
-            osdDisplayTemperature(elemPosX, elemPosY, "BARO", valid, temperature, osdConfig()->mpu_temp_alarm_min, osdConfig()->mpu_temp_alarm_max);
+            osdDisplayTemperature(elemPosX, elemPosY, "BARO", valid, temperature, osdConfig()->imu_temp_alarm_min, osdConfig()->imu_temp_alarm_max);
             return true;
         }
 
@@ -2640,7 +2640,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
 
     osdConfig->item_pos[0][OSD_POWER] = OSD_POS(15, 1);
 
-    osdConfig->item_pos[0][OSD_MPU_TEMPERATURE] = OSD_POS(19, 2);
+    osdConfig->item_pos[0][OSD_IMU_TEMPERATURE] = OSD_POS(19, 2);
     osdConfig->item_pos[0][OSD_BARO_TEMPERATURE] = OSD_POS(19, 3);
     osdConfig->item_pos[0][OSD_TEMP_SENSOR_0_TEMPERATURE] = OSD_POS(19, 4);
     osdConfig->item_pos[0][OSD_TEMP_SENSOR_1_TEMPERATURE] = OSD_POS(19, 5);
@@ -2669,10 +2669,12 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     osdConfig->alt_alarm = 100;
     osdConfig->dist_alarm = 1000;
     osdConfig->neg_alt_alarm = 5;
-    osdConfig->mpu_temp_alarm_min = -200;
-    osdConfig->mpu_temp_alarm_max = 600;
+    osdConfig->imu_temp_alarm_min = -200;
+    osdConfig->imu_temp_alarm_max = 600;
+#ifdef USE_BARO
     osdConfig->baro_temp_alarm_min = -200;
     osdConfig->baro_temp_alarm_max = 600;
+#endif
 
     osdConfig->video_system = VIDEO_SYSTEM_AUTO;
 

diff --git a/src/main/io/osd.h b/src/main/io/osd.h
@@ -122,7 +122,7 @@ typedef enum {
     OSD_MC_VEL_Z_PID_OUTPUTS,
     OSD_MC_POS_XYZ_P_OUTPUTS,
     OSD_3D_SPEED,
-    OSD_MPU_TEMPERATURE,
+    OSD_IMU_TEMPERATURE,
     OSD_BARO_TEMPERATURE,
     OSD_TEMP_SENSOR_0_TEMPERATURE,
     OSD_TEMP_SENSOR_1_TEMPERATURE,
@@ -170,8 +170,8 @@ typedef struct osdConfig_s {
     uint16_t alt_alarm; // positive altitude in m
     uint16_t dist_alarm; // home distance in m
     uint16_t neg_alt_alarm; // abs(negative altitude) in m
-    int16_t mpu_temp_alarm_min;
-    int16_t mpu_temp_alarm_max;
+    int16_t imu_temp_alarm_min;
+    int16_t imu_temp_alarm_max;
 #ifdef USE_BARO
     int16_t baro_temp_alarm_min;
     int16_t baro_temp_alarm_max;

diff --git a/src/main/rx/eleres.c b/src/main/rx/eleres.c
@@ -272,8 +272,12 @@ static void telemetryRX(void)
 
     presfil  -= presfil/4;
     presfil  += baro.baroPressure;
+
+    int16_t temperature;
+    const bool temp_valid = sensors(SENSOR_BARO) ? getBaroTemperature(&temperature) : getIMUTemperature(&temperature);
+    if (!temp_valid) temperature = -1250; // If temperature not valid report -125°C
     thempfil -= thempfil/8;
-    thempfil += DEGREES_TO_DECIDEGREES(getCurrentTemperature());
+    thempfil += temperature;
 
     switch (telem_state++) {
     case 0:

diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
@@ -53,6 +53,7 @@ typedef enum {
     SENSOR_OPFLOW = 1 << 6,
     SENSOR_GPS = 1 << 7,
     SENSOR_GPSMAG = 1 << 8,
+    SENSOR_TEMP = 1 << 9
 } sensors_e;
 
 extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];