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107 lines
3.1 KiB
107 lines
3.1 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_Common/AP_FWVersion.h> |
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#include <AP_Vehicle/AP_Vehicle_Type.h> |
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#include "AP_MSP.h" |
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#include "AP_MSP_Telem_DJI.h" |
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#if HAL_MSP_ENABLED |
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extern const AP_HAL::HAL& hal; |
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using namespace MSP; |
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bool AP_MSP_Telem_DJI::init_uart() |
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{ |
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if (_msp_port.uart != nullptr) { |
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_msp_port.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
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_msp_port.uart->begin(AP_SERIALMANAGER_MSP_BAUD, AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_TX); |
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return true; |
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} |
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return false; |
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} |
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bool AP_MSP_Telem_DJI::is_scheduler_enabled() |
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{ |
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AP_MSP *msp = AP::msp(); |
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if (msp == nullptr) { |
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return false; |
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} |
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return msp->check_option(AP_MSP::OPTION_TELEMETRY_MODE); |
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} |
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void AP_MSP_Telem_DJI::hide_osd_items(void) |
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{ |
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AP_MSP *msp = AP::msp(); |
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if (msp == nullptr) { |
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return; |
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} |
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// apply base class defaults |
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AP_MSP_Telem_Backend::hide_osd_items(); |
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// apply DJI OSD specific rules |
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const AP_Notify& notify = AP::notify(); |
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// default is hide the DJI flightmode widget |
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BIT_SET(osd_hidden_items_bitmask, OSD_FLYMODE); |
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if (msp->_msp_status.flashing_on) { |
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// flash flightmode on failsafe |
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if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad) { |
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BIT_CLEAR(osd_hidden_items_bitmask, OSD_FLYMODE); |
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} |
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} |
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} |
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uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void) |
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{ |
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uint32_t mode_mask = 0; |
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const AP_Notify& notify = AP::notify(); |
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// set arming status |
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if (notify.flags.armed) { |
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BIT_SET(mode_mask, DJI_FLAG_ARM); |
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} |
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// check failsafe |
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if (notify.flags.failsafe_battery || notify.flags.failsafe_gcs || notify.flags.failsafe_radio || notify.flags.ekf_bad ) { |
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BIT_SET(mode_mask, DJI_FLAG_FS); |
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} |
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return mode_mask; |
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} |
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_api_version(sbuf_t *dst) |
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{ |
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sbuf_write_u8(dst, MSP_PROTOCOL_VERSION); |
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sbuf_write_u8(dst, API_VERSION_MAJOR); |
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sbuf_write_u8(dst, API_VERSION_MINOR); |
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return MSP_RESULT_ACK; |
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} |
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_version(sbuf_t *dst) |
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{ |
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sbuf_write_u8(dst, FC_VERSION_MAJOR); |
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sbuf_write_u8(dst, FC_VERSION_MINOR); |
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sbuf_write_u8(dst, FC_VERSION_PATCH_LEVEL); |
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return MSP_RESULT_ACK; |
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} |
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MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst) |
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{ |
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sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); |
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return MSP_RESULT_ACK; |
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} |
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#endif //HAL_MSP_ENABLED
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