Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add support crsf baro altitude combined vario sensor #9438

Merged
merged 6 commits into from
Dec 26, 2023
Merged

Add support crsf baro altitude combined vario sensor #9438

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
d2515b4
Add support baro altitude combined vario
r1000 Nov 2, 2023
7bf0cee
Vario 0x07 when baro is not present
r1000 Nov 5, 2023
9bdd629
Merge branch 'master' into baro_alt_vario
Nov 5, 2023
075c285
Merge branch 'master' into baro_alt_vario
Nov 17, 2023
fc5dd56
Merge branch 'master' into baro_alt_vario
r1000 Nov 25, 2023
d0a403a
Merge branch 'iNavFlight:master' into baro_alt_vario
r1000ru Dec 7, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions src/main/rx/crsf.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ enum {
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
Expand Down Expand Up @@ -86,6 +87,7 @@ typedef enum {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
Expand Down
49 changes: 42 additions & 7 deletions src/main/telemetry/crsf.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@

#include "sensors/battery.h"
#include "sensors/sensors.h"

#include "sensors/barometer.h"
#include "telemetry/crsf.h"
#include "telemetry/telemetry.h"
#include "telemetry/msp_shared.h"
Expand Down Expand Up @@ -258,6 +258,22 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
crsfSerialize8(dst, batteryRemainingPercentage);
}

/*
0x09 Baro+Vario sensor
Payload:
uint16 Altitude
int16 Vertical speed ( cm/s )
*/
static void crsfFrameBaroVarioSensor(sbuf_t *dst)
{
// use sbufWrite since CRC does not include frame length
sbufWriteU8(dst, CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_BAROVARIO_SENSOR);
int32_t altitude = baroGetLatestAltitude() / 10; // Altitude in decimeters
crsfSerialize16(dst, altitude + 10000 < 0x8000 ? altitude + 10000 : 0x8000 + altitude / 10);
crsfSerialize16(dst, lrintf(getEstimatedActualVelocity(Z)));
}

typedef enum {
CRSF_ACTIVE_ANTENNA1 = 0,
CRSF_ACTIVE_ANTENNA2 = 1
Expand Down Expand Up @@ -411,6 +427,7 @@ typedef enum {
CRSF_FRAME_FLIGHT_MODE_INDEX,
CRSF_FRAME_GPS_INDEX,
CRSF_FRAME_VARIO_SENSOR_INDEX,
CRSF_FRAME_BAROVARIO_SENSOR_INDEX,
CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e;

Expand Down Expand Up @@ -470,13 +487,18 @@ static void processCrsf(void)
crsfFrameGps(dst);
crsfFinalize(dst);
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
if (currentSchedule & BV(CRSF_FRAME_VARIO_SENSOR_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameVarioSensor(dst);
crsfFinalize(dst);
}
#endif
#if defined(USE_BARO)
if (currentSchedule & BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameBaroVarioSensor(dst);
crsfFinalize(dst);
}
#endif
crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
}
Expand All @@ -501,14 +523,23 @@ void initCrsfTelemetry(void)
crsfSchedule[index++] = BV(CRSF_FRAME_ATTITUDE_INDEX);
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
#ifdef USE_GPS
#if defined(USE_GPS)
if (feature(FEATURE_GPS)) {
crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
#if !defined(USE_BARO)
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
#endif
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
#if defined(USE_BARO)
if (sensors(SENSOR_BARO)) {
crsfSchedule[index++] = BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX);
} else {
#if defined(USE_GPS)
if (feature(FEATURE_GPS)) {
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
}
#endif
}
#endif
crsfScheduleCount = (uint8_t)index;
Expand Down Expand Up @@ -587,7 +618,11 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
case CRSF_FRAMETYPE_VARIO_SENSOR:
crsfFrameVarioSensor(sbuf);
break;
case CRSF_FRAMETYPE_BAROVARIO_SENSOR:
crsfFrameBaroVarioSensor(sbuf);
break;
}

const int frameSize = crsfFinalizeBuf(sbuf, frame);
return frameSize;
}
Expand Down
Loading