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139 lines
4.3 KiB
C++
139 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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/**
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* @file ghst_telemetry.cpp
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*
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* IRC Ghost (Immersion RC Ghost) telemetry.
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*
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* @author Igor Misic <igy1000mb@gmail.com>
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* @author Juraj Ciberlin <jciberlin1@gmail.com>
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*/
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#include "ghst_telemetry.hpp"
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#include <lib/rc/ghst.hpp>
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using time_literals::operator ""_s;
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GHSTTelemetry::GHSTTelemetry(int uart_fd) :
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_uart_fd(uart_fd)
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{
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}
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bool GHSTTelemetry::update(const hrt_abstime &now)
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{
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bool success = false;
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if ((now - _last_update) > (1_s / (UPDATE_RATE_HZ * NUM_DATA_TYPES))) {
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switch (_next_type) {
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case 0U:
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success = send_battery_status();
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break;
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case 1U:
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success = send_gps1_status();
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break;
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case 2U:
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success = send_gps2_status();
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break;
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default:
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success = false;
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break;
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}
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_last_update = now;
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_next_type = (_next_type + 1U) % NUM_DATA_TYPES;
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}
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return success;
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}
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bool GHSTTelemetry::send_battery_status()
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{
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bool success = false;
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float voltage_in_10mV;
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float current_in_10mA;
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float fuel_in_10mAh;
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battery_status_s battery_status;
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if (_battery_status_sub.update(&battery_status)) {
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voltage_in_10mV = battery_status.voltage_v * FACTOR_VOLTS_TO_10MV;
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current_in_10mA = battery_status.current_a * FACTOR_AMPS_TO_10MA;
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fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH;
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success = ghst_send_telemetry_battery_status(_uart_fd,
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static_cast<uint16_t>(voltage_in_10mV),
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static_cast<uint16_t>(current_in_10mA),
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static_cast<uint16_t>(fuel_in_10mAh));
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}
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return success;
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}
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bool GHSTTelemetry::send_gps1_status()
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{
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sensor_gps_s vehicle_gps_position;
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if (!_vehicle_gps_position_sub.update(&vehicle_gps_position)) {
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return false;
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}
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int32_t latitude = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7)); // 1e-7 degrees
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int32_t longitude = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7)); // 1e-7 degrees
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uint16_t altitude = static_cast<int16_t>(round(vehicle_gps_position.altitude_msl_m)); // meters
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return ghst_send_telemetry_gps1_status(_uart_fd, latitude, longitude, altitude);
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}
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bool GHSTTelemetry::send_gps2_status()
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{
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sensor_gps_s vehicle_gps_position;
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if (!_vehicle_gps_position_sub.update(&vehicle_gps_position)) {
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return false;
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}
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uint16_t ground_speed = (uint16_t)(vehicle_gps_position.vel_d_m_s / 3.6f * 10.f);
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uint16_t ground_course = (uint16_t)(math::degrees(vehicle_gps_position.cog_rad) * 100.f);
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uint8_t num_sats = vehicle_gps_position.satellites_used;
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// TBD: Can these be computed in a RC telemetry driver?
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uint16_t home_dist = 0;
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uint16_t home_dir = 0;
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uint8_t flags = 0;
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return ghst_send_telemetry_gps2_status(_uart_fd, ground_speed, ground_course, num_sats, home_dist, home_dir, flags);
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}
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