You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
79 lines
2.5 KiB
79 lines
2.5 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
|
|
DJI FPV MSP telemetry library backend |
|
|
|
The DJI Air Unit polls the FC for the following MSP messages at around 4Hz. |
|
Note: messages are polled in ascending hex id order. |
|
|
|
Hex|Dec|Name |
|
--------------------------- |
|
03 03 MSP_FC_VERSION |
|
0a 10 MSP_NAME |
|
54 84 MSP_OSD_CONFIG |
|
5c 92 MSP_FILTER_CONFIG |
|
5e 94 MSP_PID_ADVANCED |
|
65 101 MSP_STATUS |
|
69 105 MSP_RC |
|
6a 106 MSP_RAW_GPS |
|
6b 107 MSP_COMP_GPS |
|
6c 108 MSP_ATTITUDE |
|
6d 109 MSP_ALTITUDE |
|
6e 110 MSP_ANALOG |
|
6f 111 MSP_RC_TUNING |
|
70 112 MSP_PID |
|
82 130 MSP_BATTERY_STATE |
|
86 134 MSP_ESC_SENSOR_DATA |
|
96 150 MSP_STATUS_EX |
|
f7 247 MSP_RTC |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "AP_MSP_Telem_Backend.h" |
|
|
|
#if HAL_MSP_ENABLED |
|
|
|
class AP_MSP_Telem_DJI : public AP_MSP_Telem_Backend |
|
{ |
|
using AP_MSP_Telem_Backend::AP_MSP_Telem_Backend; |
|
public: |
|
bool init_uart() override; |
|
// implementation specific helpers |
|
bool is_scheduler_enabled() const override; |
|
AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; }; |
|
uint32_t get_osd_flight_mode_bitmask(void) override; |
|
void hide_osd_items(void) override; |
|
|
|
bool get_rssi(float &rssi) const override; |
|
void update_home_pos(home_state_t &home_state) override; |
|
void update_battery_state(battery_state_t &_battery_state) override; |
|
void update_gps_state(gps_state_t &gps_state) override; |
|
void update_airspeed(airspeed_state_t &airspeed_state) override; |
|
void update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled) override; |
|
|
|
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override; |
|
MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override; |
|
|
|
enum : uint8_t { |
|
DJI_FLAG_ARM = 0, |
|
DJI_FLAG_STAB, |
|
DJI_FLAG_HOR, |
|
DJI_FLAG_HEAD, |
|
DJI_FLAG_FS, |
|
DJI_FLAG_RESC, |
|
}; |
|
}; |
|
|
|
#endif //HAL_MSP_ENABLED
|
|
|