Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
telemetry.c@0:62a1c91a859a, 2011-02-18 (annotated)
- Committer:
- gke
- Date:
- Fri Feb 18 22:28:05 2011 +0000
- Revision:
- 0:62a1c91a859a
- Child:
- 1:1e3318a30ddd
First release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gke | 0:62a1c91a859a | 1 | // =============================================================================================== |
gke | 0:62a1c91a859a | 2 | // = UAVXArm Quadrocopter Controller = |
gke | 0:62a1c91a859a | 3 | // = Copyright (c) 2008 by Prof. Greg Egan = |
gke | 0:62a1c91a859a | 4 | // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer = |
gke | 0:62a1c91a859a | 5 | // = http://code.google.com/p/uavp-mods/ http://uavp.ch = |
gke | 0:62a1c91a859a | 6 | // =============================================================================================== |
gke | 0:62a1c91a859a | 7 | |
gke | 0:62a1c91a859a | 8 | // This is part of UAVXArm. |
gke | 0:62a1c91a859a | 9 | |
gke | 0:62a1c91a859a | 10 | // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU |
gke | 0:62a1c91a859a | 11 | // General Public License as published by the Free Software Foundation, either version 3 of the |
gke | 0:62a1c91a859a | 12 | // License, or (at your option) any later version. |
gke | 0:62a1c91a859a | 13 | |
gke | 0:62a1c91a859a | 14 | // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without |
gke | 0:62a1c91a859a | 15 | // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
gke | 0:62a1c91a859a | 16 | // See the GNU General Public License for more details. |
gke | 0:62a1c91a859a | 17 | |
gke | 0:62a1c91a859a | 18 | // You should have received a copy of the GNU General Public License along with this program. |
gke | 0:62a1c91a859a | 19 | // If not, see http://www.gnu.org/licenses/ |
gke | 0:62a1c91a859a | 20 | |
gke | 0:62a1c91a859a | 21 | #include "UAVXArm.h" |
gke | 0:62a1c91a859a | 22 | |
gke | 0:62a1c91a859a | 23 | void RxTelemetryPacket(uint8); |
gke | 0:62a1c91a859a | 24 | void InitTelemetryPacket(void); |
gke | 0:62a1c91a859a | 25 | void BuildTelemetryPacket(uint8); |
gke | 0:62a1c91a859a | 26 | |
gke | 0:62a1c91a859a | 27 | void SendPacketHeader(void); |
gke | 0:62a1c91a859a | 28 | void SendPacketTrailer(void); |
gke | 0:62a1c91a859a | 29 | |
gke | 0:62a1c91a859a | 30 | void SendTelemetry(void); |
gke | 0:62a1c91a859a | 31 | void SendCycle(void); |
gke | 0:62a1c91a859a | 32 | void SendControl(void); |
gke | 0:62a1c91a859a | 33 | void SendFlightPacket(void); |
gke | 0:62a1c91a859a | 34 | void SendNavPacket(void); |
gke | 0:62a1c91a859a | 35 | void SendControlPacket(void); |
gke | 0:62a1c91a859a | 36 | void SendStatsPacket(void); |
gke | 0:62a1c91a859a | 37 | void SendParamPacket(uint8); |
gke | 0:62a1c91a859a | 38 | void SendMinPacket(void); |
gke | 0:62a1c91a859a | 39 | void SendArduStation(void); |
gke | 0:62a1c91a859a | 40 | void SendCustom(void); |
gke | 0:62a1c91a859a | 41 | void SensorTrace(void); |
gke | 0:62a1c91a859a | 42 | |
gke | 0:62a1c91a859a | 43 | uint8 UAVXCurrPacketTag; |
gke | 0:62a1c91a859a | 44 | uint8 RxPacketLength, RxPacketByteCount; |
gke | 0:62a1c91a859a | 45 | uint8 RxCheckSum; |
gke | 0:62a1c91a859a | 46 | uint8 RxPacketTag, ReceivedPacketTag; |
gke | 0:62a1c91a859a | 47 | uint8 PacketRxState; |
gke | 0:62a1c91a859a | 48 | boolean CheckSumError, TelemetryPacketReceived; |
gke | 0:62a1c91a859a | 49 | |
gke | 0:62a1c91a859a | 50 | int16 RxLengthErrors, RxTypeErrors, RxCheckSumErrors; |
gke | 0:62a1c91a859a | 51 | |
gke | 0:62a1c91a859a | 52 | uint8 UAVXPacket[256]; |
gke | 0:62a1c91a859a | 53 | |
gke | 0:62a1c91a859a | 54 | FILE *logfile = NULL; |
gke | 0:62a1c91a859a | 55 | boolean EchoToLogFile = false; |
gke | 0:62a1c91a859a | 56 | uint32 LogChars; |
gke | 0:62a1c91a859a | 57 | boolean LogfileIsOpen = false; |
gke | 0:62a1c91a859a | 58 | |
gke | 0:62a1c91a859a | 59 | uint8 TxCheckSum; |
gke | 0:62a1c91a859a | 60 | |
gke | 0:62a1c91a859a | 61 | void InitTelemetryPacket(void) { |
gke | 0:62a1c91a859a | 62 | RxPacketByteCount = 0; |
gke | 0:62a1c91a859a | 63 | RxCheckSum = 0; |
gke | 0:62a1c91a859a | 64 | RxPacketTag = UnknownPacketTag; |
gke | 0:62a1c91a859a | 65 | RxPacketLength = 2; // set as minimum |
gke | 0:62a1c91a859a | 66 | PacketRxState = WaitRxSentinel; |
gke | 0:62a1c91a859a | 67 | } // InitTelemetryPacket |
gke | 0:62a1c91a859a | 68 | |
gke | 0:62a1c91a859a | 69 | void BuildTelemetryPacket(uint8 ch) { |
gke | 0:62a1c91a859a | 70 | static boolean RxPacketError; |
gke | 0:62a1c91a859a | 71 | |
gke | 0:62a1c91a859a | 72 | UAVXPacket[RxPacketByteCount++] = ch; |
gke | 0:62a1c91a859a | 73 | |
gke | 0:62a1c91a859a | 74 | if (RxPacketByteCount == 1) { |
gke | 0:62a1c91a859a | 75 | RxPacketTag = ch; |
gke | 0:62a1c91a859a | 76 | PacketRxState=WaitRxBody; |
gke | 0:62a1c91a859a | 77 | } else |
gke | 0:62a1c91a859a | 78 | if (RxPacketByteCount == 2) { |
gke | 0:62a1c91a859a | 79 | RxPacketLength = ch; // ignore |
gke | 0:62a1c91a859a | 80 | PacketRxState = WaitRxBody; |
gke | 0:62a1c91a859a | 81 | } else |
gke | 0:62a1c91a859a | 82 | if (RxPacketByteCount >= (RxPacketLength + 3)) { |
gke | 0:62a1c91a859a | 83 | RxPacketError = CheckSumError = RxCheckSum != 0; |
gke | 0:62a1c91a859a | 84 | |
gke | 0:62a1c91a859a | 85 | if (CheckSumError) |
gke | 0:62a1c91a859a | 86 | RxCheckSumErrors++; |
gke | 0:62a1c91a859a | 87 | |
gke | 0:62a1c91a859a | 88 | if (!RxPacketError) { |
gke | 0:62a1c91a859a | 89 | TelemetryPacketReceived = true; |
gke | 0:62a1c91a859a | 90 | ReceivedPacketTag=RxPacketTag; |
gke | 0:62a1c91a859a | 91 | } |
gke | 0:62a1c91a859a | 92 | PacketRxState = WaitRxSentinel; |
gke | 0:62a1c91a859a | 93 | // InitPollPacket(); |
gke | 0:62a1c91a859a | 94 | } else |
gke | 0:62a1c91a859a | 95 | PacketRxState = WaitRxBody; |
gke | 0:62a1c91a859a | 96 | } // BuildTelemetryPacket |
gke | 0:62a1c91a859a | 97 | |
gke | 0:62a1c91a859a | 98 | void RxTelemetryPacket(uint8 ch) { |
gke | 0:62a1c91a859a | 99 | |
gke | 0:62a1c91a859a | 100 | RxCheckSum ^= ch; |
gke | 0:62a1c91a859a | 101 | switch (PacketRxState) { |
gke | 0:62a1c91a859a | 102 | case WaitRxSentinel: |
gke | 0:62a1c91a859a | 103 | if (ch == SOH) { |
gke | 0:62a1c91a859a | 104 | InitTelemetryPacket(); |
gke | 0:62a1c91a859a | 105 | CheckSumError = false; |
gke | 0:62a1c91a859a | 106 | PacketRxState = WaitRxBody; |
gke | 0:62a1c91a859a | 107 | } |
gke | 0:62a1c91a859a | 108 | break; |
gke | 0:62a1c91a859a | 109 | case WaitRxBody: |
gke | 0:62a1c91a859a | 110 | if (ch == ESC) |
gke | 0:62a1c91a859a | 111 | PacketRxState = WaitRxESC; |
gke | 0:62a1c91a859a | 112 | else |
gke | 0:62a1c91a859a | 113 | if (ch == SOH) { // unexpected start of packet |
gke | 0:62a1c91a859a | 114 | RxLengthErrors++; |
gke | 0:62a1c91a859a | 115 | |
gke | 0:62a1c91a859a | 116 | InitTelemetryPacket(); |
gke | 0:62a1c91a859a | 117 | PacketRxState = WaitRxBody; |
gke | 0:62a1c91a859a | 118 | } else |
gke | 0:62a1c91a859a | 119 | if (ch == EOT) { // unexpected end of packet |
gke | 0:62a1c91a859a | 120 | RxLengthErrors++; |
gke | 0:62a1c91a859a | 121 | PacketRxState = WaitRxSentinel; |
gke | 0:62a1c91a859a | 122 | } else |
gke | 0:62a1c91a859a | 123 | BuildTelemetryPacket(ch); |
gke | 0:62a1c91a859a | 124 | break; |
gke | 0:62a1c91a859a | 125 | case WaitRxESC: |
gke | 0:62a1c91a859a | 126 | BuildTelemetryPacket(ch); |
gke | 0:62a1c91a859a | 127 | break; |
gke | 0:62a1c91a859a | 128 | default: |
gke | 0:62a1c91a859a | 129 | PacketRxState = WaitRxSentinel; |
gke | 0:62a1c91a859a | 130 | break; |
gke | 0:62a1c91a859a | 131 | } |
gke | 0:62a1c91a859a | 132 | } // ParseTelemetryPacket |
gke | 0:62a1c91a859a | 133 | |
gke | 0:62a1c91a859a | 134 | |
gke | 0:62a1c91a859a | 135 | #define NAV_STATS_INTERLEAVE 10 |
gke | 0:62a1c91a859a | 136 | static int8 StatsNavAlternate = 0; |
gke | 0:62a1c91a859a | 137 | |
gke | 0:62a1c91a859a | 138 | void CheckTelemetry(void) { |
gke | 0:62a1c91a859a | 139 | |
gke | 0:62a1c91a859a | 140 | // check incoming - switch on associated action |
gke | 0:62a1c91a859a | 141 | |
gke | 0:62a1c91a859a | 142 | // do routine telemetry Tx |
gke | 0:62a1c91a859a | 143 | if ( mSClock() > mS[TelemetryUpdate] ) |
gke | 0:62a1c91a859a | 144 | switch ( P[TelemetryType] ) { |
gke | 0:62a1c91a859a | 145 | case UAVXTelemetry: |
gke | 0:62a1c91a859a | 146 | mS[TelemetryUpdate] = mSClock() + UAVX_TEL_INTERVAL_MS; |
gke | 0:62a1c91a859a | 147 | SendCycle(); |
gke | 0:62a1c91a859a | 148 | break; |
gke | 0:62a1c91a859a | 149 | case ArduStationTelemetry: |
gke | 0:62a1c91a859a | 150 | mS[TelemetryUpdate] = mSClock() + UAVX_CONTROL_TEL_INTERVAL_MS; |
gke | 0:62a1c91a859a | 151 | SendArduStation(); |
gke | 0:62a1c91a859a | 152 | break; |
gke | 0:62a1c91a859a | 153 | case UAVXControlTelemetry: |
gke | 0:62a1c91a859a | 154 | mS[TelemetryUpdate] = mSClock() + UAVX_CONTROL_TEL_INTERVAL_MS; |
gke | 0:62a1c91a859a | 155 | SendControlPacket(); |
gke | 0:62a1c91a859a | 156 | break; |
gke | 0:62a1c91a859a | 157 | case UAVXMinTelemetry: |
gke | 0:62a1c91a859a | 158 | mS[TelemetryUpdate] = mSClock() + UAVX_MIN_TEL_INTERVAL_MS; |
gke | 0:62a1c91a859a | 159 | SendMinPacket(); |
gke | 0:62a1c91a859a | 160 | break; |
gke | 0:62a1c91a859a | 161 | case CustomTelemetry: |
gke | 0:62a1c91a859a | 162 | mS[TelemetryUpdate] = mSClock() + CUSTOM_TEL_INTERVAL_MS; |
gke | 0:62a1c91a859a | 163 | SendCustom(); |
gke | 0:62a1c91a859a | 164 | break; |
gke | 0:62a1c91a859a | 165 | case GPSTelemetry: |
gke | 0:62a1c91a859a | 166 | break; |
gke | 0:62a1c91a859a | 167 | } |
gke | 0:62a1c91a859a | 168 | |
gke | 0:62a1c91a859a | 169 | } // CheckTelemetry |
gke | 0:62a1c91a859a | 170 | |
gke | 0:62a1c91a859a | 171 | void SendPacketHeader(void) { |
gke | 0:62a1c91a859a | 172 | static int8 b; |
gke | 0:62a1c91a859a | 173 | |
gke | 0:62a1c91a859a | 174 | EchoToLogFile = true; |
gke | 0:62a1c91a859a | 175 | |
gke | 0:62a1c91a859a | 176 | #ifdef TELEMETRY_PREAMBLE |
gke | 0:62a1c91a859a | 177 | for (b=10;b;b--) |
gke | 0:62a1c91a859a | 178 | TxChar(0x55); |
gke | 0:62a1c91a859a | 179 | #endif // TELEMETRY_PREAMBLE |
gke | 0:62a1c91a859a | 180 | |
gke | 0:62a1c91a859a | 181 | TxChar(0xff); // synchronisation to "jolt" USART |
gke | 0:62a1c91a859a | 182 | TxChar(SOH); |
gke | 0:62a1c91a859a | 183 | TxCheckSum = 0; |
gke | 0:62a1c91a859a | 184 | } // SendPacketHeader |
gke | 0:62a1c91a859a | 185 | |
gke | 0:62a1c91a859a | 186 | void SendPacketTrailer(void) { |
gke | 0:62a1c91a859a | 187 | TxESCu8(TxCheckSum); |
gke | 0:62a1c91a859a | 188 | TxChar(EOT); |
gke | 0:62a1c91a859a | 189 | |
gke | 0:62a1c91a859a | 190 | TxChar(CR); |
gke | 0:62a1c91a859a | 191 | TxChar(LF); |
gke | 0:62a1c91a859a | 192 | |
gke | 0:62a1c91a859a | 193 | EchoToLogFile = false; |
gke | 0:62a1c91a859a | 194 | } // SendPacketTrailer |
gke | 0:62a1c91a859a | 195 | |
gke | 0:62a1c91a859a | 196 | void ShowAttitude(void) { |
gke | 0:62a1c91a859a | 197 | // Stick units |
gke | 0:62a1c91a859a | 198 | TxESCi16(DesiredRoll); |
gke | 0:62a1c91a859a | 199 | TxESCi16(DesiredPitch); |
gke | 0:62a1c91a859a | 200 | TxESCi16(DesiredYaw); |
gke | 0:62a1c91a859a | 201 | |
gke | 0:62a1c91a859a | 202 | // mRadian and mG |
gke | 0:62a1c91a859a | 203 | TxESCi16(Gyro[Roll] * 1000.0); // Rate |
gke | 0:62a1c91a859a | 204 | TxESCi16(Gyro[Pitch] * 1000.0); |
gke | 0:62a1c91a859a | 205 | TxESCi16(Gyro[Yaw] * 1000.0); |
gke | 0:62a1c91a859a | 206 | |
gke | 0:62a1c91a859a | 207 | TxESCi16(Angle[Roll] * 1000.0); |
gke | 0:62a1c91a859a | 208 | TxESCi16(Angle[Pitch] * 1000.0); |
gke | 0:62a1c91a859a | 209 | TxESCi16(Angle[Yaw] * 1000.0); |
gke | 0:62a1c91a859a | 210 | |
gke | 0:62a1c91a859a | 211 | TxESCi16(Acc[LR] * 1000.0); |
gke | 0:62a1c91a859a | 212 | TxESCi16(Acc[BF] * 1000.0); |
gke | 0:62a1c91a859a | 213 | TxESCi16(Acc[UD] * 1000.0); |
gke | 0:62a1c91a859a | 214 | } // ShowAttitude |
gke | 0:62a1c91a859a | 215 | |
gke | 0:62a1c91a859a | 216 | void SendFlightPacket(void) { |
gke | 0:62a1c91a859a | 217 | static int8 b; |
gke | 0:62a1c91a859a | 218 | |
gke | 0:62a1c91a859a | 219 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 220 | |
gke | 0:62a1c91a859a | 221 | TxESCu8(UAVXFlightPacketTag); |
gke | 0:62a1c91a859a | 222 | TxESCu8(48 + TELEMETRY_FLAG_BYTES); |
gke | 0:62a1c91a859a | 223 | for ( b = 0; b < TELEMETRY_FLAG_BYTES; b++ ) |
gke | 0:62a1c91a859a | 224 | TxESCu8(F.AllFlags[b]); |
gke | 0:62a1c91a859a | 225 | |
gke | 0:62a1c91a859a | 226 | TxESCu8(State); |
gke | 0:62a1c91a859a | 227 | |
gke | 0:62a1c91a859a | 228 | // dV, dA, mAH |
gke | 0:62a1c91a859a | 229 | TxESCi16(BatteryVolts * 10.0); // to do scaling |
gke | 0:62a1c91a859a | 230 | TxESCi16(BatteryCurrent * 10.0); |
gke | 0:62a1c91a859a | 231 | TxESCi16(BatteryChargeUsedAH * 1000.0); |
gke | 0:62a1c91a859a | 232 | |
gke | 0:62a1c91a859a | 233 | TxESCi16(RCGlitches); |
gke | 0:62a1c91a859a | 234 | TxESCi16(DesiredThrottle); |
gke | 0:62a1c91a859a | 235 | |
gke | 0:62a1c91a859a | 236 | ShowAttitude(); |
gke | 0:62a1c91a859a | 237 | |
gke | 0:62a1c91a859a | 238 | TxESCi8((int8)Comp[LR]); |
gke | 0:62a1c91a859a | 239 | TxESCi8((int8)Comp[BF]); |
gke | 0:62a1c91a859a | 240 | TxESCi8((int8)Comp[UD]); |
gke | 0:62a1c91a859a | 241 | TxESCi8((int8)Comp[Alt]); |
gke | 0:62a1c91a859a | 242 | |
gke | 0:62a1c91a859a | 243 | for ( b = 0; b < 4; b++ ) |
gke | 0:62a1c91a859a | 244 | TxESCu8((uint8)PWM[b]); |
gke | 0:62a1c91a859a | 245 | |
gke | 0:62a1c91a859a | 246 | TxESCu8((uint8)PWM[CamRollC]); |
gke | 0:62a1c91a859a | 247 | TxESCu8((uint8)PWM[CamPitchC]); |
gke | 0:62a1c91a859a | 248 | |
gke | 0:62a1c91a859a | 249 | TxESCi24(mSClock() - mS[StartTime]); |
gke | 0:62a1c91a859a | 250 | |
gke | 0:62a1c91a859a | 251 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 252 | } // SendFlightPacket |
gke | 0:62a1c91a859a | 253 | |
gke | 0:62a1c91a859a | 254 | void SendControlPacket(void) { |
gke | 0:62a1c91a859a | 255 | static int8 b; |
gke | 0:62a1c91a859a | 256 | |
gke | 0:62a1c91a859a | 257 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 258 | |
gke | 0:62a1c91a859a | 259 | TxESCu8(UAVXControlPacketTag); |
gke | 0:62a1c91a859a | 260 | TxESCu8(35); |
gke | 0:62a1c91a859a | 261 | |
gke | 0:62a1c91a859a | 262 | TxESCi16(DesiredThrottle); |
gke | 0:62a1c91a859a | 263 | |
gke | 0:62a1c91a859a | 264 | ShowAttitude(); |
gke | 0:62a1c91a859a | 265 | |
gke | 0:62a1c91a859a | 266 | for ( b = 0; b < 6; b++ ) // motor/servo channels |
gke | 0:62a1c91a859a | 267 | TxESCu8((uint8)PWM[b]); |
gke | 0:62a1c91a859a | 268 | |
gke | 0:62a1c91a859a | 269 | TxESCi24( time(NULL) ); |
gke | 0:62a1c91a859a | 270 | |
gke | 0:62a1c91a859a | 271 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 272 | |
gke | 0:62a1c91a859a | 273 | } // SendControlPacket |
gke | 0:62a1c91a859a | 274 | |
gke | 0:62a1c91a859a | 275 | void SendNavPacket(void) { |
gke | 0:62a1c91a859a | 276 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 277 | |
gke | 0:62a1c91a859a | 278 | TxESCu8(UAVXNavPacketTag); |
gke | 0:62a1c91a859a | 279 | TxESCu8(59); |
gke | 0:62a1c91a859a | 280 | |
gke | 0:62a1c91a859a | 281 | TxESCu8(NavState); |
gke | 0:62a1c91a859a | 282 | TxESCu8(FailState); |
gke | 0:62a1c91a859a | 283 | TxESCu8(GPSNoOfSats); |
gke | 0:62a1c91a859a | 284 | TxESCu8(GPSFix); |
gke | 0:62a1c91a859a | 285 | |
gke | 0:62a1c91a859a | 286 | TxESCu8(CurrWP); |
gke | 0:62a1c91a859a | 287 | |
gke | 0:62a1c91a859a | 288 | TxESCi16(ROC * 10.0 ); // dm/S |
gke | 0:62a1c91a859a | 289 | TxESCi24(BaroRelAltitude * 10.0); |
gke | 0:62a1c91a859a | 290 | |
gke | 0:62a1c91a859a | 291 | TxESCi16(GPSHeading * 1000.0); |
gke | 0:62a1c91a859a | 292 | TxESCi16(RangefinderAltitude * 100.0); // cm |
gke | 0:62a1c91a859a | 293 | |
gke | 0:62a1c91a859a | 294 | TxESCi16(GPSHDilute); |
gke | 0:62a1c91a859a | 295 | TxESCi16(Heading * 1000.0); |
gke | 0:62a1c91a859a | 296 | TxESCi16(WayHeading * 1000.0); |
gke | 0:62a1c91a859a | 297 | |
gke | 0:62a1c91a859a | 298 | TxESCi16(GPSVel * 10.0); |
gke | 0:62a1c91a859a | 299 | TxESCi16(0); // was GPSROC; |
gke | 0:62a1c91a859a | 300 | |
gke | 0:62a1c91a859a | 301 | TxESCi24(GPSRelAltitude * 10.0); // dm |
gke | 0:62a1c91a859a | 302 | TxESCi32(GPSLatitude); // 5 decimal minute units |
gke | 0:62a1c91a859a | 303 | TxESCi32(GPSLongitude); |
gke | 0:62a1c91a859a | 304 | |
gke | 0:62a1c91a859a | 305 | TxESCi24(DesiredAltitude * 10.0 ); |
gke | 0:62a1c91a859a | 306 | TxESCi32(DesiredLatitude); |
gke | 0:62a1c91a859a | 307 | TxESCi32(DesiredLongitude); |
gke | 0:62a1c91a859a | 308 | |
gke | 0:62a1c91a859a | 309 | TxESCi24(mS[NavStateTimeout] - mSClock()); // mS |
gke | 0:62a1c91a859a | 310 | |
gke | 0:62a1c91a859a | 311 | TxESCi16(AmbientTemperature.i16); // 0.1C |
gke | 0:62a1c91a859a | 312 | TxESCi32( time(NULL) ); //GPSSeconds); |
gke | 0:62a1c91a859a | 313 | |
gke | 0:62a1c91a859a | 314 | TxESCu8(NavSensitivity); |
gke | 0:62a1c91a859a | 315 | TxESCi8(NavCorr[Roll]); |
gke | 0:62a1c91a859a | 316 | TxESCi8(NavCorr[Pitch]); |
gke | 0:62a1c91a859a | 317 | TxESCi8(NavCorr[Yaw]); |
gke | 0:62a1c91a859a | 318 | |
gke | 0:62a1c91a859a | 319 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 320 | |
gke | 0:62a1c91a859a | 321 | } // SendNavPacket |
gke | 0:62a1c91a859a | 322 | |
gke | 0:62a1c91a859a | 323 | void SendStatsPacket(void) { |
gke | 0:62a1c91a859a | 324 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 325 | |
gke | 0:62a1c91a859a | 326 | TxESCu8(UAVXStatsPacketTag); |
gke | 0:62a1c91a859a | 327 | TxESCu8(44); |
gke | 0:62a1c91a859a | 328 | |
gke | 0:62a1c91a859a | 329 | TxESCi16(Stats[I2CFailS]); |
gke | 0:62a1c91a859a | 330 | TxESCi16(Stats[GPSInvalidS]); |
gke | 0:62a1c91a859a | 331 | TxESCi16(Stats[AccFailS]); |
gke | 0:62a1c91a859a | 332 | TxESCi16(Stats[GyroFailS]); |
gke | 0:62a1c91a859a | 333 | TxESCi16(Stats[CompassFailS]); |
gke | 0:62a1c91a859a | 334 | TxESCi16(Stats[BaroFailS]); |
gke | 0:62a1c91a859a | 335 | TxESCi16(Stats[ESCI2CFailS]); |
gke | 0:62a1c91a859a | 336 | |
gke | 0:62a1c91a859a | 337 | TxESCi16(Stats[RCFailsafesS]); |
gke | 0:62a1c91a859a | 338 | |
gke | 0:62a1c91a859a | 339 | TxESCi16(Stats[GPSAltitudeS]); |
gke | 0:62a1c91a859a | 340 | TxESCi16(Stats[GPSVelS]); |
gke | 0:62a1c91a859a | 341 | TxESCi16(Stats[GPSMinSatsS]); |
gke | 0:62a1c91a859a | 342 | TxESCi16(Stats[GPSMaxSatsS]); |
gke | 0:62a1c91a859a | 343 | TxESCi16(Stats[MinHDiluteS]); |
gke | 0:62a1c91a859a | 344 | TxESCi16(Stats[MaxHDiluteS]); |
gke | 0:62a1c91a859a | 345 | |
gke | 0:62a1c91a859a | 346 | TxESCi16(Stats[BaroRelAltitudeS]); |
gke | 0:62a1c91a859a | 347 | TxESCi16(0);//Stats[MinBaroROCS]); |
gke | 0:62a1c91a859a | 348 | TxESCi16(0);//Stats[MaxBaroROCS]); |
gke | 0:62a1c91a859a | 349 | |
gke | 0:62a1c91a859a | 350 | TxESCi16(Stats[MinTempS]); |
gke | 0:62a1c91a859a | 351 | TxESCi16(Stats[MaxTempS]); |
gke | 0:62a1c91a859a | 352 | |
gke | 0:62a1c91a859a | 353 | TxESCi16(Stats[BadS]); |
gke | 0:62a1c91a859a | 354 | |
gke | 0:62a1c91a859a | 355 | TxESCu8(UAVXAirframe | 0x80); |
gke | 0:62a1c91a859a | 356 | TxESCu8(Orientation); |
gke | 0:62a1c91a859a | 357 | TxESCi16(Stats[BadNumS]); |
gke | 0:62a1c91a859a | 358 | |
gke | 0:62a1c91a859a | 359 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 360 | |
gke | 0:62a1c91a859a | 361 | } // SendStatsPacket |
gke | 0:62a1c91a859a | 362 | |
gke | 0:62a1c91a859a | 363 | void SendMinPacket(void) { |
gke | 0:62a1c91a859a | 364 | static int8 b; |
gke | 0:62a1c91a859a | 365 | |
gke | 0:62a1c91a859a | 366 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 367 | |
gke | 0:62a1c91a859a | 368 | TxESCu8(UAVXMinPacketTag); |
gke | 0:62a1c91a859a | 369 | TxESCu8(33 + TELEMETRY_FLAG_BYTES); |
gke | 0:62a1c91a859a | 370 | for ( b = 0; b < TELEMETRY_FLAG_BYTES; b++ ) |
gke | 0:62a1c91a859a | 371 | TxESCu8(F.AllFlags[b]); |
gke | 0:62a1c91a859a | 372 | |
gke | 0:62a1c91a859a | 373 | TxESCu8(State); |
gke | 0:62a1c91a859a | 374 | TxESCu8(NavState); |
gke | 0:62a1c91a859a | 375 | TxESCu8(FailState); |
gke | 0:62a1c91a859a | 376 | |
gke | 0:62a1c91a859a | 377 | TxESCi16(BatteryVolts * 10.0); // to do scaling |
gke | 0:62a1c91a859a | 378 | TxESCi16(BatteryCurrent * 10.0); |
gke | 0:62a1c91a859a | 379 | TxESCi16(BatteryChargeUsedAH * 1000.0); |
gke | 0:62a1c91a859a | 380 | |
gke | 0:62a1c91a859a | 381 | TxESCi16(Angle[Roll] * 1000.0); |
gke | 0:62a1c91a859a | 382 | TxESCi16(Angle[Pitch] * 1000.0); |
gke | 0:62a1c91a859a | 383 | |
gke | 0:62a1c91a859a | 384 | TxESCi24(BaroRelAltitude * 10.0); |
gke | 0:62a1c91a859a | 385 | TxESCi16(RangefinderAltitude * 100.0); // cm |
gke | 0:62a1c91a859a | 386 | |
gke | 0:62a1c91a859a | 387 | TxESCi16(Heading * 1000.0); |
gke | 0:62a1c91a859a | 388 | |
gke | 0:62a1c91a859a | 389 | TxESCi32(GPSLatitude); // 5 decimal minute units |
gke | 0:62a1c91a859a | 390 | TxESCi32(GPSLongitude); |
gke | 0:62a1c91a859a | 391 | |
gke | 0:62a1c91a859a | 392 | TxESCu8(UAVXAirframe | 0x80 ); // ARM has top bit set |
gke | 0:62a1c91a859a | 393 | TxESCu8(Orientation); |
gke | 0:62a1c91a859a | 394 | |
gke | 0:62a1c91a859a | 395 | TxESCi24(mSClock() - mS[StartTime]); |
gke | 0:62a1c91a859a | 396 | |
gke | 0:62a1c91a859a | 397 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 398 | |
gke | 0:62a1c91a859a | 399 | } // SendMinPacket |
gke | 0:62a1c91a859a | 400 | |
gke | 0:62a1c91a859a | 401 | void SendParamPacket(uint8 p) { |
gke | 0:62a1c91a859a | 402 | |
gke | 0:62a1c91a859a | 403 | static uint8 b; |
gke | 0:62a1c91a859a | 404 | |
gke | 0:62a1c91a859a | 405 | SendPacketHeader(); |
gke | 0:62a1c91a859a | 406 | |
gke | 0:62a1c91a859a | 407 | TxESCu8(UAVXParamsPacketTag); |
gke | 0:62a1c91a859a | 408 | TxESCu8(MAX_PARAMETERS+1); |
gke | 0:62a1c91a859a | 409 | TxESCu8(p); |
gke | 0:62a1c91a859a | 410 | for (b = 0; b < (uint8)MAX_PARAMETERS; b++ ) |
gke | 0:62a1c91a859a | 411 | TxESCi8(PX[MAX_PARAMETERS*2 + b]); |
gke | 0:62a1c91a859a | 412 | |
gke | 0:62a1c91a859a | 413 | SendPacketTrailer(); |
gke | 0:62a1c91a859a | 414 | |
gke | 0:62a1c91a859a | 415 | } // SendParamPacket |
gke | 0:62a1c91a859a | 416 | |
gke | 0:62a1c91a859a | 417 | void SendCycle(void) { |
gke | 0:62a1c91a859a | 418 | |
gke | 0:62a1c91a859a | 419 | switch ( UAVXCurrPacketTag ) { |
gke | 0:62a1c91a859a | 420 | case UAVXFlightPacketTag: |
gke | 0:62a1c91a859a | 421 | SendFlightPacket(); |
gke | 0:62a1c91a859a | 422 | |
gke | 0:62a1c91a859a | 423 | UAVXCurrPacketTag = UAVXNavPacketTag; |
gke | 0:62a1c91a859a | 424 | break; |
gke | 0:62a1c91a859a | 425 | |
gke | 0:62a1c91a859a | 426 | case UAVXNavPacketTag: |
gke | 0:62a1c91a859a | 427 | if ( ++StatsNavAlternate < NAV_STATS_INTERLEAVE) |
gke | 0:62a1c91a859a | 428 | SendNavPacket(); |
gke | 0:62a1c91a859a | 429 | else { |
gke | 0:62a1c91a859a | 430 | SendStatsPacket(); |
gke | 0:62a1c91a859a | 431 | StatsNavAlternate = 0; |
gke | 0:62a1c91a859a | 432 | } |
gke | 0:62a1c91a859a | 433 | |
gke | 0:62a1c91a859a | 434 | UAVXCurrPacketTag = UAVXFlightPacketTag; |
gke | 0:62a1c91a859a | 435 | break; |
gke | 0:62a1c91a859a | 436 | |
gke | 0:62a1c91a859a | 437 | default: |
gke | 0:62a1c91a859a | 438 | UAVXCurrPacketTag = UAVXFlightPacketTag; |
gke | 0:62a1c91a859a | 439 | break; |
gke | 0:62a1c91a859a | 440 | } |
gke | 0:62a1c91a859a | 441 | |
gke | 0:62a1c91a859a | 442 | } // SendCycle |
gke | 0:62a1c91a859a | 443 | |
gke | 0:62a1c91a859a | 444 | void SendArduStation(void) { |
gke | 0:62a1c91a859a | 445 | |
gke | 0:62a1c91a859a | 446 | static int8 Count = 0; |
gke | 0:62a1c91a859a | 447 | /* |
gke | 0:62a1c91a859a | 448 | Definitions of the low rate telemetry (1Hz): |
gke | 0:62a1c91a859a | 449 | LAT: Latitude |
gke | 0:62a1c91a859a | 450 | LON: Longitude |
gke | 0:62a1c91a859a | 451 | SPD: Speed over ground from GPS |
gke | 0:62a1c91a859a | 452 | CRT: Climb Rate in M/S |
gke | 0:62a1c91a859a | 453 | ALT: Altitude in meters |
gke | 0:62a1c91a859a | 454 | ALH: The altitude is trying to hold |
gke | 0:62a1c91a859a | 455 | CRS: Course over ground in degrees. |
gke | 0:62a1c91a859a | 456 | BER: Bearing is the heading you want to go |
gke | 0:62a1c91a859a | 457 | WPN: Waypoint number, where WP0 is home. |
gke | 0:62a1c91a859a | 458 | DST: Distance from Waypoint |
gke | 0:62a1c91a859a | 459 | BTV: Battery Voltage. |
gke | 0:62a1c91a859a | 460 | RSP: Roll setpoint used to debug, (not displayed here). |
gke | 0:62a1c91a859a | 461 | |
gke | 0:62a1c91a859a | 462 | Definitions of the high rate telemetry (~4Hz): |
gke | 0:62a1c91a859a | 463 | ASP: Airspeed, right now is the raw data. |
gke | 0:62a1c91a859a | 464 | TTH: Throttle in 100% the autopilot is applying. |
gke | 0:62a1c91a859a | 465 | RLL: Roll in degrees + is right - is left |
gke | 0:62a1c91a859a | 466 | PCH: Pitch in degrees |
gke | 0:62a1c91a859a | 467 | SST: Switch Status, used for debugging, but is disabled in the current version. |
gke | 0:62a1c91a859a | 468 | */ |
gke | 0:62a1c91a859a | 469 | |
gke | 0:62a1c91a859a | 470 | if ( ++Count == 4 ) { |
gke | 0:62a1c91a859a | 471 | TxString("!!!"); |
gke | 0:62a1c91a859a | 472 | TxString("LAT:"); |
gke | 0:62a1c91a859a | 473 | TxVal32(GPSLatitude / 6000, 3, 0); |
gke | 0:62a1c91a859a | 474 | TxString(",LON:"); |
gke | 0:62a1c91a859a | 475 | TxVal32(GPSLongitude / 6000, 3, 0); |
gke | 0:62a1c91a859a | 476 | TxString(",ALT:"); |
gke | 0:62a1c91a859a | 477 | TxVal32(Altitude / 10,0,0); |
gke | 0:62a1c91a859a | 478 | TxString(",ALH:"); |
gke | 0:62a1c91a859a | 479 | TxVal32(DesiredAltitude / 10, 0, 0); |
gke | 0:62a1c91a859a | 480 | TxString(",CRT:"); |
gke | 0:62a1c91a859a | 481 | TxVal32(ROC / 100, 0, 0); |
gke | 0:62a1c91a859a | 482 | TxString(",CRS:"); |
gke | 0:62a1c91a859a | 483 | TxVal32(Heading * RADDEG, 0, 0); // scaling to degrees? |
gke | 0:62a1c91a859a | 484 | TxString(",BER:"); |
gke | 0:62a1c91a859a | 485 | TxVal32(WayHeading * RADDEG, 0, 0); |
gke | 0:62a1c91a859a | 486 | TxString(",SPD:"); |
gke | 0:62a1c91a859a | 487 | TxVal32(GPSVel, 0, 0); |
gke | 0:62a1c91a859a | 488 | TxString(",WPN:"); |
gke | 0:62a1c91a859a | 489 | TxVal32(CurrWP,0,0); |
gke | 0:62a1c91a859a | 490 | TxString(",DST:"); |
gke | 0:62a1c91a859a | 491 | TxVal32(0, 0, 0); // distance to WP |
gke | 0:62a1c91a859a | 492 | TxString(",BTV:"); |
gke | 0:62a1c91a859a | 493 | TxVal32((BatteryVoltsADC * 61)/205, 1, 0); |
gke | 0:62a1c91a859a | 494 | TxString(",RSP:"); |
gke | 0:62a1c91a859a | 495 | TxVal32(DesiredRoll, 0, 0); |
gke | 0:62a1c91a859a | 496 | |
gke | 0:62a1c91a859a | 497 | Count = 0; |
gke | 0:62a1c91a859a | 498 | } else { |
gke | 0:62a1c91a859a | 499 | TxString("+++"); |
gke | 0:62a1c91a859a | 500 | TxString("ASP:"); |
gke | 0:62a1c91a859a | 501 | TxVal32(GPSVel / 100, 0, 0); |
gke | 0:62a1c91a859a | 502 | TxString(",RLL:"); |
gke | 0:62a1c91a859a | 503 | TxVal32(Angle[Roll] / 35, 0, 0); // scale to degrees? |
gke | 0:62a1c91a859a | 504 | TxString(",PCH:"); |
gke | 0:62a1c91a859a | 505 | TxVal32(Angle[Pitch] / 35, 0, 0); |
gke | 0:62a1c91a859a | 506 | TxString(",THH:"); |
gke | 0:62a1c91a859a | 507 | TxVal32( ((int24)DesiredThrottle * 100L) / RC_MAXIMUM, 0, 0); |
gke | 0:62a1c91a859a | 508 | } |
gke | 0:62a1c91a859a | 509 | |
gke | 0:62a1c91a859a | 510 | TxString(",***\r\n"); |
gke | 0:62a1c91a859a | 511 | |
gke | 0:62a1c91a859a | 512 | } // SendArduStation |
gke | 0:62a1c91a859a | 513 | |
gke | 0:62a1c91a859a | 514 | void SendCustom(void) |
gke | 0:62a1c91a859a | 515 | { // user defined telemetry human readable OK for small amounts of data < 1mS |
gke | 0:62a1c91a859a | 516 | |
gke | 0:62a1c91a859a | 517 | EchoToLogFile = true; |
gke | 0:62a1c91a859a | 518 | |
gke | 0:62a1c91a859a | 519 | // insert values here using TxVal32(n, dp, separator) |
gke | 0:62a1c91a859a | 520 | // dp is the scaling to decimal places, separator |
gke | 0:62a1c91a859a | 521 | // separator may be a single 'char', HT for tab, or 0 (no space) |
gke | 0:62a1c91a859a | 522 | // -> |
gke | 0:62a1c91a859a | 523 | |
gke | 0:62a1c91a859a | 524 | TxVal32(mSClock(), 3, HT); |
gke | 0:62a1c91a859a | 525 | |
gke | 0:62a1c91a859a | 526 | if ( F.HoldingAlt ) // are we holding |
gke | 0:62a1c91a859a | 527 | TxChar('H'); |
gke | 0:62a1c91a859a | 528 | else |
gke | 0:62a1c91a859a | 529 | TxChar('N'); |
gke | 0:62a1c91a859a | 530 | TxChar(HT); |
gke | 0:62a1c91a859a | 531 | |
gke | 0:62a1c91a859a | 532 | if (F.UsingRangefinderAlt ) // are we using the rangefinder |
gke | 0:62a1c91a859a | 533 | TxChar('R'); |
gke | 0:62a1c91a859a | 534 | else |
gke | 0:62a1c91a859a | 535 | TxChar('B'); |
gke | 0:62a1c91a859a | 536 | TxChar(HT); |
gke | 0:62a1c91a859a | 537 | |
gke | 0:62a1c91a859a | 538 | TxVal32(SRS32(Comp[Alt],1), 1, HT); // ~% throttle compensation |
gke | 0:62a1c91a859a | 539 | |
gke | 0:62a1c91a859a | 540 | TxVal32(GPSRelAltitude, 1, HT); |
gke | 0:62a1c91a859a | 541 | TxVal32(BaroRelAltitude, 1, HT); |
gke | 0:62a1c91a859a | 542 | TxVal32(RangefinderAltitude, 2, HT); |
gke | 0:62a1c91a859a | 543 | |
gke | 0:62a1c91a859a | 544 | TxVal32(BaroPressure, 0, HT); // eff. sensor reading |
gke | 0:62a1c91a859a | 545 | TxVal32(BaroTemperature, 0, HT); // eff. sensor reading redundant for MPX4115 |
gke | 0:62a1c91a859a | 546 | TxVal32(CompBaroPressure, 0, HT); // moving sum of last 8 readings |
gke | 0:62a1c91a859a | 547 | |
gke | 0:62a1c91a859a | 548 | // <- |
gke | 0:62a1c91a859a | 549 | |
gke | 0:62a1c91a859a | 550 | TxChar(CR); |
gke | 0:62a1c91a859a | 551 | TxChar(LF); |
gke | 0:62a1c91a859a | 552 | |
gke | 0:62a1c91a859a | 553 | EchoToLogFile = false; |
gke | 0:62a1c91a859a | 554 | } // SendCustom |
gke | 0:62a1c91a859a | 555 | |
gke | 0:62a1c91a859a | 556 | void SensorTrace(void) { |
gke | 0:62a1c91a859a | 557 | #ifdef TESTING |
gke | 0:62a1c91a859a | 558 | |
gke | 0:62a1c91a859a | 559 | if ( DesiredThrottle > 20 ) { |
gke | 0:62a1c91a859a | 560 | EchoToLogFile = false; // direct to USART |
gke | 0:62a1c91a859a | 561 | |
gke | 0:62a1c91a859a | 562 | TxValH16(((int24)Heading * 180)/MILLIPI); |
gke | 0:62a1c91a859a | 563 | TxChar(';'); |
gke | 0:62a1c91a859a | 564 | |
gke | 0:62a1c91a859a | 565 | TxValH16(BaroRelAltitude); |
gke | 0:62a1c91a859a | 566 | TxChar(';'); |
gke | 0:62a1c91a859a | 567 | TxValH16(RangefinderAltitude); |
gke | 0:62a1c91a859a | 568 | TxChar(';'); |
gke | 0:62a1c91a859a | 569 | TxValH16(0); |
gke | 0:62a1c91a859a | 570 | TxChar(';'); |
gke | 0:62a1c91a859a | 571 | |
gke | 0:62a1c91a859a | 572 | TxValH16(DesiredThrottle); |
gke | 0:62a1c91a859a | 573 | TxChar(';'); |
gke | 0:62a1c91a859a | 574 | TxValH16(DesiredRoll); |
gke | 0:62a1c91a859a | 575 | TxChar(';'); |
gke | 0:62a1c91a859a | 576 | TxValH16(DesiredPitch); |
gke | 0:62a1c91a859a | 577 | TxChar(';'); |
gke | 0:62a1c91a859a | 578 | TxValH16(DesiredYaw); |
gke | 0:62a1c91a859a | 579 | TxChar(';'); |
gke | 0:62a1c91a859a | 580 | |
gke | 0:62a1c91a859a | 581 | TxValH16(Rate[Roll]); |
gke | 0:62a1c91a859a | 582 | TxChar(';'); |
gke | 0:62a1c91a859a | 583 | TxValH16(Rate[Pitch]); |
gke | 0:62a1c91a859a | 584 | TxChar(';'); |
gke | 0:62a1c91a859a | 585 | TxValH16(Rate[Yaw]); |
gke | 0:62a1c91a859a | 586 | TxChar(';'); |
gke | 0:62a1c91a859a | 587 | |
gke | 0:62a1c91a859a | 588 | TxValH16(Angle[Roll]); |
gke | 0:62a1c91a859a | 589 | TxChar(';'); |
gke | 0:62a1c91a859a | 590 | TxValH16(Angle[Pitch]); |
gke | 0:62a1c91a859a | 591 | TxChar(';'); |
gke | 0:62a1c91a859a | 592 | TxValH16(Angle[Yaw]); |
gke | 0:62a1c91a859a | 593 | TxChar(';'); |
gke | 0:62a1c91a859a | 594 | |
gke | 0:62a1c91a859a | 595 | TxValH16(Acc[LR]); |
gke | 0:62a1c91a859a | 596 | TxChar(';'); |
gke | 0:62a1c91a859a | 597 | TxValH16(Acc[FB]); |
gke | 0:62a1c91a859a | 598 | TxChar(';'); |
gke | 0:62a1c91a859a | 599 | TxValH16(Acc[DU]); |
gke | 0:62a1c91a859a | 600 | TxChar(';'); |
gke | 0:62a1c91a859a | 601 | |
gke | 0:62a1c91a859a | 602 | TxValH16(Comp[LR]); |
gke | 0:62a1c91a859a | 603 | TxChar(';'); |
gke | 0:62a1c91a859a | 604 | TxValH16(Comp[FB]); |
gke | 0:62a1c91a859a | 605 | TxChar(';'); |
gke | 0:62a1c91a859a | 606 | TxValH16(Comp[DU]); |
gke | 0:62a1c91a859a | 607 | TxChar(';'); |
gke | 0:62a1c91a859a | 608 | TxValH16(Comp[Alt]); |
gke | 0:62a1c91a859a | 609 | TxChar(';'); |
gke | 0:62a1c91a859a | 610 | TxNextLine(); |
gke | 0:62a1c91a859a | 611 | } |
gke | 0:62a1c91a859a | 612 | #endif // TESTING |
gke | 0:62a1c91a859a | 613 | } // SensorTrace |