mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 15:23:34 +08:00
Peter van der Perk
0fe8738ed9
- 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
193 lines
6.3 KiB
C++
193 lines
6.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/log_message.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/vehicle_air_data.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_status.h>
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#include "MspV1.hpp"
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#include "MessageDisplay/MessageDisplay.hpp"
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#include "uorb_to_msp.hpp"
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using namespace time_literals;
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// location to "hide" unused display elements
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#define LOCATION_HIDDEN 234;
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#define POWER_LEVEL_COUNT 5
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#define BAND_COUNT 7
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struct PerformanceData {
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bool initialization_problems{false};
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long unsigned int successful_sends{0};
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long unsigned int unsuccessful_sends{0};
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};
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// mapping from symbol name to bit in the parameter bitmask
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// @TODO investigate params; it seems like this should be available directly?
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enum SymbolIndex : uint8_t {
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CRAFT_NAME = 0,
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DISARMED = 1,
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GPS_LAT = 2,
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GPS_LON = 3,
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GPS_SATS = 4,
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GPS_SPEED = 5,
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HOME_DIST = 6,
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HOME_DIR = 7,
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MAIN_BATT_VOLTAGE = 8,
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CURRENT_DRAW = 9,
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MAH_DRAWN = 10,
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RSSI_VALUE = 11,
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ALTITUDE = 12,
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NUMERICAL_VARIO = 13,
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FLYMODE = 14,
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ESC_TMP = 15,
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PITCH_ANGLE = 16,
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ROLL_ANGLE = 17,
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CROSSHAIRS = 18,
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AVG_CELL_VOLTAGE = 19,
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HORIZON_SIDEBARS = 20,
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POWER = 21
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};
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class MspOsd : public ModuleBase<MspOsd>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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MspOsd(const char *device);
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~MspOsd() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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/** @see ModuleBase::print_status() */
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int print_status() override;
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int set_channel(char *new_channel);
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private:
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void Run() override;
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// update a single display element in the display
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void Send(const unsigned int message_type, const void *payload);
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void Send(const unsigned int message_type, const void *payload, int32_t payload_size);
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// receive vtx data
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void Receive();
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// send full configuration to MSP (triggers the actual update)
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void SendConfig();
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void SendTelemetry();
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// perform actions required for local updates
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void parameters_update();
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// convenience function to check if a given symbol is enabled
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bool enabled(const SymbolIndex &symbol);
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MspV1 _msp{0};
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int _msp_fd{-1};
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msp_osd::MessageDisplay _display{};
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bool _is_initialized{false};
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// subscriptions to desired vehicle display information
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uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _home_position_sub{ORB_ID(home_position)};
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uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
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uORB::Subscription _log_message_sub{ORB_ID(log_message)};
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uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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// local heartbeat
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bool _heartbeat{false};
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// parameters
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::OSD_SYMBOLS>) _param_osd_symbols,
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(ParamInt<px4::params::OSD_CH_HEIGHT>) _param_osd_ch_height,
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(ParamInt<px4::params::OSD_SCROLL_RATE>) _param_osd_scroll_rate,
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(ParamInt<px4::params::OSD_DWELL_TIME>) _param_osd_dwell_time,
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(ParamInt<px4::params::OSD_LOG_LEVEL>) _param_osd_log_level,
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(ParamInt<px4::params::OSD_RC_STICK>) _param_osd_rc_stick
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)
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// metadata
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char _device[64] {};
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PerformanceData _performance_data{};
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msp_set_vtx_config_t vtx_config;
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msp_set_vtxtable_powerlevel_t power_levels[POWER_LEVEL_COUNT];
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msp_set_vtxtable_band_t vtx_bands[BAND_COUNT] {};
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bool has_vtx_config {false};
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bool has_power_config {false};
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bool has_vtx_bands {false};
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bool change_channel {false};
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};
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