PX4-Autopilot/src/drivers/rc_input/crsf_telemetry.cpp

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#include "crsf_telemetry.h"
#include <lib/rc/crsf.h>

CRSFTelemetry::CRSFTelemetry(int uart_fd)
	: _vehicle_gps_position_sub(orb_subscribe(ORB_ID(vehicle_gps_position))),
	  _battery_status_sub(orb_subscribe(ORB_ID(battery_status))),
	  _vehicle_attitude_sub(orb_subscribe(ORB_ID(vehicle_attitude))),
	  _vehicle_status_sub(orb_subscribe(ORB_ID(vehicle_status))),
	  _uart_fd(uart_fd)
{
}

CRSFTelemetry::~CRSFTelemetry()
{
	orb_unsubscribe(_vehicle_gps_position_sub);
	orb_unsubscribe(_battery_status_sub);
	orb_unsubscribe(_vehicle_attitude_sub);
	orb_unsubscribe(_vehicle_status_sub);
}

bool CRSFTelemetry::update(const hrt_abstime &now)
{
	const int update_rate_hz = 10;

	if (now - _last_update <= 1_s / (update_rate_hz * num_data_types)) {
		return false;
	}

	bool sent = false;

	switch (_next_type) {
	case 0:
		sent = send_battery();
		break;

	case 1:
		sent = send_gps();
		break;

	case 2:
		sent = send_attitude();
		break;

	case 3:
		sent = send_flight_mode();
		break;
	}

	_last_update = now;
	_next_type = (_next_type + 1) % num_data_types;

	return sent;
}

bool CRSFTelemetry::send_battery()
{
	battery_status_s battery_status;

	if (orb_copy(ORB_ID(battery_status), _battery_status_sub, &battery_status) != 0) {
		return false;
	}

	uint16_t voltage = battery_status.voltage_filtered_v * 10;
	uint16_t current = battery_status.current_filtered_a * 10;
	int fuel = battery_status.discharged_mah;
	uint8_t remaining = battery_status.remaining * 100;
	return crsf_send_telemetry_battery(_uart_fd, voltage, current, fuel, remaining);
}

bool CRSFTelemetry::send_gps()
{
	vehicle_gps_position_s vehicle_gps_position;

	if (orb_copy(ORB_ID(vehicle_gps_position), _vehicle_gps_position_sub, &vehicle_gps_position) != 0) {
		return false;
	}

	int32_t latitude = vehicle_gps_position.lat;
	int32_t longitude = vehicle_gps_position.lon;
	uint16_t groundspeed = vehicle_gps_position.vel_d_m_s / 3.6f * 10.f;
	uint16_t gps_heading = math::degrees(vehicle_gps_position.cog_rad) * 100.f;
	uint16_t altitude = vehicle_gps_position.alt + 1000;
	uint8_t num_satellites = vehicle_gps_position.satellites_used;

	return crsf_send_telemetry_gps(_uart_fd, latitude, longitude, groundspeed,
				       gps_heading, altitude, num_satellites);
}

bool CRSFTelemetry::send_attitude()
{
	vehicle_attitude_s vehicle_attitude;

	if (orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude) != 0) {
		return false;
	}

	matrix::Eulerf attitude = matrix::Quatf(vehicle_attitude.q);
	int16_t pitch = attitude(1) * 1e4f;
	int16_t roll = attitude(0) * 1e4f;
	int16_t yaw = attitude(2) * 1e4f;
	return crsf_send_telemetry_attitude(_uart_fd, pitch, roll, yaw);
}

bool CRSFTelemetry::send_flight_mode()
{
	vehicle_status_s vehicle_status;

	if (orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &vehicle_status) != 0) {
		return false;
	}

	const char *flight_mode = "(unknown)";

	switch (vehicle_status.nav_state) {
	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
		flight_mode = "Manual";
		break;

	case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
		flight_mode = "Altitude";
		break;

	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
		flight_mode = "Position";
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
		flight_mode = "Return";
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
		flight_mode = "Mission";
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
		flight_mode = "Auto";
		break;

	case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
	case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
		flight_mode = "Failure";
		break;

	case vehicle_status_s::NAVIGATION_STATE_ACRO:
		flight_mode = "Acro";
		break;

	case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
		flight_mode = "Terminate";
		break;

	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
		flight_mode = "Offboard";
		break;

	case vehicle_status_s::NAVIGATION_STATE_STAB:
		flight_mode = "Stabilized";
		break;

	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
		flight_mode = "Rattitude";
		break;
	}

	return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode);
}