mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 19:19:06 +08:00
msp_osd: Add VTX config, stick commands and arming status
- Adds MSPv1 rx parsing to fetch VTX config - Allows to inspect and change VTX channel through CLI - Forward MSP_RC for stick commands osd - Forward MSP_STATUS for arming status for PIT and LP mode
This commit is contained in:
Peter van der Perk
Daniel Agar
parent
437b74836c
commit
c45ba5a57b
@ -39,6 +39,7 @@
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#include <float.h>
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#include <string.h>
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#include <math.h>
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#include <stdio.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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@ -62,7 +63,7 @@ struct msp_message_descriptor_t {
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uint8_t message_size;
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};
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#define MSP_DESCRIPTOR_COUNT 11
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#define MSP_DESCRIPTOR_COUNT 12
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const msp_message_descriptor_t msp_message_descriptors[MSP_DESCRIPTOR_COUNT] = {
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{MSP_OSD_CONFIG, true, sizeof(msp_osd_config_t)},
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{MSP_NAME, true, sizeof(msp_name_t)},
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@ -75,10 +76,9 @@ const msp_message_descriptor_t msp_message_descriptors[MSP_DESCRIPTOR_COUNT] = {
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{MSP_COMP_GPS, true, sizeof(msp_comp_gps_t)},
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{MSP_ESC_SENSOR_DATA, true, sizeof(msp_esc_sensor_data_dji_t)},
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{MSP_MOTOR_TELEMETRY, true, sizeof(msp_motor_telemetry_t)},
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{MSP_RC, true, sizeof(msp_rc_t)},
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};
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#define MSP_FRAME_START_SIZE 5
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#define MSP_CRC_SIZE 1
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bool MspV1::Send(const uint8_t message_id, const void *payload)
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{
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uint32_t payload_size = 0;
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@ -149,3 +149,76 @@ bool MspV1::Send(const uint8_t message_id, const void *payload, uint32_t payload
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int packet_size = MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE;
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return write(_fd, packet, packet_size) == packet_size;
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}
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int MspV1::Receive(uint8_t *payload, uint8_t *message_id)
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{
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uint8_t payload_size;
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uint8_t crc;
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uint8_t calc_crc;
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int ret;
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while (!has_header) {
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int bytes_available = 0;
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if (ioctl(_fd, FIONREAD, &bytes_available) < 0) {
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return -EIO;
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}
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if (bytes_available < 5) {
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return -EWOULDBLOCK;
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}
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while (bytes_available > 4) {
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if ((ret = read(_fd, header, 1)) != 1) {
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return ret;
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}
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bytes_available--;
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if (header[0] == '$') {
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break;
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}
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}
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if (header[0] != '$') {
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return -EWOULDBLOCK;
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}
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if ((ret = read(_fd, &header[1], 4)) != 4) {
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return ret;
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}
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if (header[0] == '$' && header[1] == 'M' && header[2] == '<') {
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has_header = true;
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}
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}
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payload_size = header[3];
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*message_id = header[4];
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if ((ret = read(_fd, payload, payload_size + MSP_CRC_SIZE)) != payload_size + MSP_CRC_SIZE) {
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if (ret != -EWOULDBLOCK) {
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has_header = false;
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}
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return ret;
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}
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has_header = false;
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crc = payload[payload_size];
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calc_crc = payload_size ^ header[4];
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for (int i = 0; i < payload_size; i++) {
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calc_crc ^= payload[i];
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}
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if (calc_crc != crc) {
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return -EINVAL;
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}
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return payload_size;
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}
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@ -33,6 +33,9 @@
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#pragma once
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#define MSP_FRAME_START_SIZE 5
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#define MSP_CRC_SIZE 1
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class MspV1
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{
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public:
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@ -40,7 +43,10 @@ public:
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int GetMessageSize(int message_type);
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bool Send(const uint8_t message_id, const void *payload);
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bool Send(const uint8_t message_id, const void *payload, uint32_t payload_size);
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int Receive(uint8_t *payload, uint8_t *message_id);
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private:
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int _fd{-1};
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uint8_t header[MSP_FRAME_START_SIZE + MSP_CRC_SIZE];
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bool has_header{false};
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};
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@ -97,3 +97,14 @@ parameters:
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min: 100
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max: 10000
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default: 500
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# RC Stick input
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OSD_RC_STICK:
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description:
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short: OSD RC Stick commands
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long: |
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Forward RC stick input to VTX when disarmed
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type: int32
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min: 0
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max: 1
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default: 1
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@ -48,6 +48,8 @@
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#define MSP_ARMING_CONFIG 61
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#define MSP_RX_MAP 64 // get channel map (also returns number of channels total)
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#define MSP_LOOP_TIME 73 // FC cycle time i.e looptime parameter
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#define MSP_GET_VTX_CONFIG 88
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#define MSP_SET_VTX_CONFIG 89
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#define MSP_STATUS 101
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#define MSP_RAW_IMU 102
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#define MSP_SERVO 103
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@ -75,10 +77,12 @@
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#define MSP_SET_PID 202 // set P I D coeff
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// commands
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#define MSP_SET_HEAD 211 // define a new heading hold direction
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#define MSP_SET_RAW_RC 200 // 8 rc chan
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#define MSP_SET_RAW_GPS 201 // fix, numsat, lat, lon, alt, speed
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#define MSP_SET_WP 209 // sets a given WP (WP#, lat, lon, alt, flags)
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#define MSP_SET_HEAD 211 // define a new heading hold direction
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#define MSP_SET_RAW_RC 200 // 8 rc chan
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#define MSP_SET_RAW_GPS 201 // fix, numsat, lat, lon, alt, speed
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#define MSP_SET_WP 209 // sets a given WP (WP#, lat, lon, alt, flags)
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#define MSP_SET_VTXTABLE_BAND 227
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#define MSP_SET_VTXTABLE_POWERLEVEL 228
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// bits of getActiveModes() return value
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#define MSP_MODE_ARM 0
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@ -895,6 +899,58 @@ struct msp_status_BF_t {
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uint8_t extra_flags;
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} __attribute__((packed));
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struct msp_set_vtx_config_t {
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uint16_t new_freq; // if setting frequency then full uint16 is the frequency in MHz (ie. 5800)
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//if setting band channel than band is high 8 bits and channel is low 8 bits
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uint8_t power_level;
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uint8_t pit_mode; // 0 = off, 1 = on
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uint8_t low_power_disarm;
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uint16_t pit_freq;
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uint8_t user_band;
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uint8_t user_channel;
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uint16_t user_freq; // in MHz, 0 if using band & channel
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uint8_t band_count;
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uint8_t channel_count;
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uint8_t power_count;
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uint8_t clear_vtxtable; // Bool
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} __attribute__((packed));
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struct msp_get_vtx_config_t {
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uint8_t vtx_type;
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uint8_t band;
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uint8_t channel;
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uint8_t power_index;
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uint8_t pit_mode; // 0 = off, 1 = on
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uint16_t freq; // in MHz, 0 if using band & channel
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uint8_t device_ready;
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uint8_t low_power_disarm;
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} __attribute__((packed));
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struct msp_set_vtxtable_powerlevel_t {
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uint8_t index;
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uint16_t power_value;
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uint8_t power_label_length;
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uint8_t power_label_name[3];
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} __attribute__((packed));
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#define VTX_TABLE_BAND_NAME_LENGTH 8
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#define VTXDEV_MSP 5
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//29 bytes
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struct msp_set_vtxtable_band_t {
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uint8_t band;
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uint8_t band_name_length;
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uint8_t band_label_name[VTX_TABLE_BAND_NAME_LENGTH];
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uint8_t band_letter;
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uint8_t is_factory_band;
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uint8_t channel_count;
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uint16_t frequency[8];
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} __attribute__((packed));
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////ArduPlane
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enum arduPlaneModes_e {
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MANUAL = 0,
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@ -47,6 +47,7 @@
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#include <unistd.h>
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#include <termios.h>
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#include <string.h>
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#include <ctype.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/log.h>
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@ -239,6 +240,7 @@ void MspOsd::SendConfig()
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_msp.Send(MSP_OSD_CONFIG, &msp_osd_config);
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}
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// extract it to MSPOSD_BF_Run() and MSPOSD_DJIFPV_Run() for compatibility?
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void MspOsd::Run()
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{
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@ -280,6 +282,23 @@ void MspOsd::Run()
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_is_initialized = true;
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}
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if (change_channel) {
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msp_get_vtx_config_t vtx_set_config{0};
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vtx_set_config.low_power_disarm = vtx_config.low_power_disarm;
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vtx_set_config.pit_mode = vtx_config.pit_mode;
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vtx_set_config.vtx_type = VTXDEV_MSP;
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vtx_set_config.band = vtx_config.user_band;
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vtx_set_config.channel = vtx_config.user_channel;
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this->Send(MSP_GET_VTX_CONFIG, &vtx_set_config, sizeof(msp_get_vtx_config_t));
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change_channel = false;
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}
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this->Receive();
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if (!has_vtx_config) {
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this->Send(MSP_GET_VTX_CONFIG, nullptr, 0);
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}
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// avoid premature pessimization; if skip processing if we're effectively disabled
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if (_param_osd_symbols.get() == 0) {
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return;
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@ -420,6 +439,32 @@ void MspOsd::Run()
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{
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}
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// MSP_RC
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{
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if (_param_osd_rc_stick.get() == 1) {
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vehicle_status_s vehicle_status{};
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_vehicle_status_sub.copy(&vehicle_status);
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if (vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
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input_rc_s input_rc{};
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_input_rc_sub.copy(&input_rc);
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const auto msg = msp_osd::construct_MSP_RC(input_rc);
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this->Send(MSP_RC, &msg, sizeof(msp_rc_t));
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}
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}
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}
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// MSP_STATUS
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{
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vehicle_status_s vehicle_status{};
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_vehicle_status_sub.copy(&vehicle_status);
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const auto msg = msp_osd::construct_MSP_STATUS(vehicle_status);
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this->Send(MSP_STATUS, &msg, sizeof(msp_status_t));
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}
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subcmd = MSP_DP_DRAW_SCREEN;
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this->Send(MSP_CMD_DISPLAYPORT, &subcmd, 1);
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}
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@ -443,6 +488,58 @@ void MspOsd::Send(const unsigned int message_type, const void *payload, int32_t
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}
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}
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void MspOsd::Receive()
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{
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uint8_t packet[255];
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uint8_t message_id;
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int ret;
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while ((ret = _msp.Receive(packet, &message_id)) != -EWOULDBLOCK) {
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if (ret >= 0) {
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switch (message_id) {
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case MSP_SET_VTX_CONFIG: {
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if (ret == 0xF) {
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memcpy((void *)&vtx_config, packet, sizeof(vtx_config));
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has_vtx_config = true;
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}
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break;
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}
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case MSP_SET_VTXTABLE_BAND: {
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msp_set_vtxtable_band_t *band_info = (msp_set_vtxtable_band_t *)&packet[0];
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// Only supported fixed name lenght and < 8 channels for now
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if (band_info->band <= BAND_COUNT && band_info->band_name_length == 8 && band_info->channel_count <= 8) {
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memcpy((void *)&vtx_bands[band_info->band - 1], packet, sizeof(msp_set_vtxtable_band_t));
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if (has_vtx_config && band_info->band == vtx_config.band_count) {
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has_vtx_bands = true;
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}
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}
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break;
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}
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case MSP_SET_VTXTABLE_POWERLEVEL: {
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if ((packet[0] - 1) < POWER_LEVEL_COUNT) {
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memcpy((void *)&power_levels[packet[0] - 1], packet, sizeof(msp_set_vtxtable_powerlevel_t));
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has_power_config = true;
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}
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break;
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}
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default:
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break;
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}
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}
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}
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}
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void MspOsd::parameters_update()
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{
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// update our display rate and dwell time
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@ -523,11 +620,102 @@ int MspOsd::print_status()
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_display.get(msg, hrt_absolute_time());
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PX4_INFO("Current message: \n\t%s", msg);
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if (has_vtx_config) {
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PX4_INFO("=== VTX Configuration ===");
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if (has_vtx_bands) {
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PX4_INFO("Channel: %c%u", vtx_bands[vtx_config.user_band - 1].band_letter, vtx_config.user_channel);
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} else {
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PX4_INFO("Band: %u", vtx_config.user_band);
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PX4_INFO("Channel: %u", vtx_config.user_channel);
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}
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PX4_INFO("Frequency: %u MHz", vtx_config.user_freq);
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if (has_power_config && (vtx_config.power_level - 1) < POWER_LEVEL_COUNT) {
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PX4_INFO("Transmit power: %.*s mW", power_levels[vtx_config.power_level - 1].power_label_length,
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power_levels[vtx_config.power_level - 1].power_label_name);
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} else {
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PX4_INFO("Power Level: %u/%u", vtx_config.power_level, vtx_config.power_count);
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}
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PX4_INFO("PIT Mode: %s", vtx_config.pit_mode ? "On" : "Off");
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const char *disarm_modes[] = {
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"Off",
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"Always",
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"Until First Arm"
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};
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if (vtx_config.low_power_disarm < 3) {
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PX4_INFO("Low Power Disarm: %s", disarm_modes[vtx_config.low_power_disarm]);
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} else {
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PX4_INFO("Low Power Disarm: Unknown (%u)", vtx_config.low_power_disarm);
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}
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PX4_INFO("PIT Frequency: %u MHz", vtx_config.pit_freq);
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} else {
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PX4_INFO("No VTX Configuration available, can't do channel switching");
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}
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return 0;
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}
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int MspOsd::set_channel(char *new_channel)
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{
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char band_letter = toupper(new_channel[0]);
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if (!has_vtx_bands) {
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return -2;
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}
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for (int i = 0; i < BAND_COUNT; i++) {
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if (vtx_bands[i].band != 0) {
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if (band_letter == toupper(vtx_bands[i].band_letter)) {
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int channel = atoi(&new_channel[1]);
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if (channel > 0 && channel <= vtx_config.channel_count && vtx_bands[i].frequency[channel - 1] != 0) {
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vtx_config.user_band = vtx_bands[i].band;
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vtx_config.user_channel = channel;
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vtx_config.user_freq = vtx_bands[i].frequency[channel - 1];
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change_channel = true;
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return 0;
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}
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}
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}
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}
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return -1;
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}
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int MspOsd::custom_command(int argc, char *argv[])
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{
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if (argc > 0 && strcmp("channel", argv[0]) == 0) {
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if (argc == 1) {
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PX4_INFO("Please provide a channel");
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} else if (is_running() && _object.load()) {
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MspOsd *object = _object.load();
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int ret = object->set_channel(argv[1]);
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if (ret == -1) {
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PX4_INFO("Channel not found");
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} else if (ret == -2) {
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PX4_INFO("No VTX Channel table available");
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}
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} else {
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PX4_INFO("not running");
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}
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}
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return 0;
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}
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@ -553,6 +741,7 @@ $ msp_osd
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PRINT_MODULE_USAGE_NAME("msp_osd", "driver");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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PRINT_MODULE_USAGE_COMMAND_DESCR("channel", "Change VTX channel");
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return 0;
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||||
}
|
||||
|
||||
@ -64,6 +64,9 @@ using namespace time_literals;
|
||||
// location to "hide" unused display elements
|
||||
#define LOCATION_HIDDEN 234;
|
||||
|
||||
#define POWER_LEVEL_COUNT 5
|
||||
#define BAND_COUNT 7
|
||||
|
||||
struct PerformanceData {
|
||||
bool initialization_problems{false};
|
||||
long unsigned int successful_sends{0};
|
||||
@ -118,6 +121,8 @@ public:
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
int set_channel(char *new_channel);
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
@ -125,6 +130,9 @@ private:
|
||||
void Send(const unsigned int message_type, const void *payload);
|
||||
void Send(const unsigned int message_type, const void *payload, int32_t payload_size);
|
||||
|
||||
// receive vtx data
|
||||
void Receive();
|
||||
|
||||
// send full configuration to MSP (triggers the actual update)
|
||||
void SendConfig();
|
||||
void SendTelemetry();
|
||||
@ -166,10 +174,19 @@ private:
|
||||
(ParamInt<px4::params::OSD_CH_HEIGHT>) _param_osd_ch_height,
|
||||
(ParamInt<px4::params::OSD_SCROLL_RATE>) _param_osd_scroll_rate,
|
||||
(ParamInt<px4::params::OSD_DWELL_TIME>) _param_osd_dwell_time,
|
||||
(ParamInt<px4::params::OSD_LOG_LEVEL>) _param_osd_log_level
|
||||
(ParamInt<px4::params::OSD_LOG_LEVEL>) _param_osd_log_level,
|
||||
(ParamInt<px4::params::OSD_RC_STICK>) _param_osd_rc_stick
|
||||
)
|
||||
|
||||
// metadata
|
||||
char _device[64] {};
|
||||
PerformanceData _performance_data{};
|
||||
|
||||
msp_set_vtx_config_t vtx_config;
|
||||
msp_set_vtxtable_powerlevel_t power_levels[POWER_LEVEL_COUNT];
|
||||
msp_set_vtxtable_band_t vtx_bands[BAND_COUNT] {};
|
||||
bool has_vtx_config {false};
|
||||
bool has_power_config {false};
|
||||
bool has_vtx_bands {false};
|
||||
bool change_channel {false};
|
||||
};
|
||||
|
||||
@ -214,14 +214,8 @@ msp_rendor_rssi_t construct_rendor_RSSI(const input_rc_s &input_rc)
|
||||
rssi.screenYPosition = 0x02;
|
||||
rssi.screenXPosition = 0x02;
|
||||
|
||||
int len = snprintf(&rssi.str[0], sizeof(rssi.str) - 1, "%d", input_rc.link_quality);
|
||||
|
||||
if (len >= 3) {
|
||||
rssi.str[3] = '%';
|
||||
|
||||
} else {
|
||||
rssi.str[len] = '%';
|
||||
}
|
||||
snprintf(&rssi.str[0], sizeof(rssi.str), "%3d", input_rc.link_quality);
|
||||
rssi.str[3] = '%';
|
||||
|
||||
return rssi;
|
||||
}
|
||||
@ -569,4 +563,30 @@ msp_esc_sensor_data_dji_t construct_ESC_SENSOR_DATA()
|
||||
return esc_sensor_data;
|
||||
}
|
||||
|
||||
msp_rc_t construct_MSP_RC(const input_rc_s &input_rc)
|
||||
{
|
||||
// initialize result
|
||||
msp_rc_t rc;
|
||||
|
||||
rc.channelValue[0] = input_rc.values[0]; // roll
|
||||
rc.channelValue[1] = input_rc.values[1]; // pitch
|
||||
rc.channelValue[2] = input_rc.values[3]; // yaw
|
||||
rc.channelValue[3] = input_rc.values[2]; // Throttle
|
||||
return rc;
|
||||
}
|
||||
|
||||
msp_status_t construct_MSP_STATUS(const vehicle_status_s &vehicle_status)
|
||||
{
|
||||
// initialize result
|
||||
msp_status_t status{0};
|
||||
|
||||
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
|
||||
status.flightModeFlags |= (1 << MSP_MODE_ARM);
|
||||
}
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
|
||||
} // namespace msp_osd
|
||||
|
||||
@ -126,4 +126,10 @@ msp_rendor_distanceToHome_t construct_rendor_distanceToHome(const home_position_
|
||||
// construct an MSP_ESC_SENSOR_DATA struct
|
||||
msp_esc_sensor_data_dji_t construct_ESC_SENSOR_DATA();
|
||||
|
||||
// construct an MSP_RC struct
|
||||
msp_rc_t construct_MSP_RC(const input_rc_s &input_rc);
|
||||
|
||||
// construct an MSP_STATUS struct
|
||||
msp_status_t construct_MSP_STATUS(const vehicle_status_s &vehicle_status);
|
||||
|
||||
} // namespace msp_osd
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user