Merged in f5soh/librepilot/LP-608_HoTT_telemetry_revonano (pull request #527)

LP-608 HoTT telemetry revonano

Approved-by: Vladimir Zidar <mr_w@mindnever.org>
Approved-by: Lalanne Laurent <f5soh@free.fr>

Author: f5soh

flight/modules/UAVOHottBridge/inc/uavohottbridge.h

@@ -176,7 +176,8 @@ struct telemetrydata {
     FlightBatteryStateData Battery;
     FlightStatusData FlightStatus;
     GPSPositionSensorData  GPS;
-    GPSTimeData       GPStime;
+    AirspeedStateData Airspeed;
+    GPSTimeData GPStime;
     GyroSensorData    Gyro;
     HomeLocationData  Home;
     PositionStateData Position;

flight/modules/UAVOHottBridge/uavohottbridge.c

@@ -45,6 +45,7 @@
 #include "gyrosensor.h"
 #include "gpspositionsensor.h"
 #include "gpstime.h"
+#include "airspeedstate.h"
 #include "homelocation.h"
 #include "positionstate.h"
 #include "systemalarms.h"
@@ -451,6 +452,25 @@ uint16_t build_GAM_message(struct hott_gam_message *msg)
     msg->current  = scale_float2uword(current, 10, 0);
     msg->capacity = scale_float2uword(energy, 0.1f, 0);
 
+    // simulate individual cell voltage
+    uint8_t cell_voltage = (telestate->Battery.Voltage > 0) ? scale_float2uint8(telestate->Battery.Voltage / telestate->Battery.NbCells, 50, 0) : 0;
+    msg->cell1 = (telestate->Battery.NbCells >= 1) ? cell_voltage : 0;
+    msg->cell2 = (telestate->Battery.NbCells >= 2) ? cell_voltage : 0;
+    msg->cell3 = (telestate->Battery.NbCells >= 3) ? cell_voltage : 0;
+    msg->cell4 = (telestate->Battery.NbCells >= 4) ? cell_voltage : 0;
+    msg->cell5 = (telestate->Battery.NbCells >= 5) ? cell_voltage : 0;
+    msg->cell6 = (telestate->Battery.NbCells >= 6) ? cell_voltage : 0;
+
+    msg->min_cell_volt     = cell_voltage;
+    msg->min_cell_volt_num = telestate->Battery.NbCells;
+
+    // apply main voltage to batt1 voltage
+    msg->batt1_voltage     = msg->voltage;
+
+    // AirSpeed
+    float airspeed = (telestate->Airspeed.TrueAirspeed > 0) ? telestate->Airspeed.TrueAirspeed : 0;
+    msg->speed    = scale_float2uword(airspeed, MS_TO_KMH, 0);
+
     // pressure kPa to 0.1Bar
     msg->pressure = scale_float2uint8(telestate->Baro.Pressure, 0.1f, 0);
 
@@ -492,9 +512,26 @@ uint16_t build_EAM_message(struct hott_eam_message *msg)
     float voltage = (telestate->Battery.Voltage > 0) ? telestate->Battery.Voltage : 0;
     float current = (telestate->Battery.Current > 0) ? telestate->Battery.Current : 0;
     float energy  = (telestate->Battery.ConsumedEnergy > 0) ? telestate->Battery.ConsumedEnergy : 0;
-    msg->voltage      = scale_float2uword(voltage, 10, 0);
-    msg->current      = scale_float2uword(current, 10, 0);
-    msg->capacity     = scale_float2uword(energy, 0.1f, 0);
+    msg->voltage  = scale_float2uword(voltage, 10, 0);
+    msg->current  = scale_float2uword(current, 10, 0);
+    msg->capacity = scale_float2uword(energy, 0.1f, 0);
+
+    // simulate individual cell voltage
+    uint8_t cell_voltage = (telestate->Battery.Voltage > 0) ? scale_float2uint8(telestate->Battery.Voltage / telestate->Battery.NbCells, 50, 0) : 0;
+    msg->cell1_H = (telestate->Battery.NbCells >= 1) ? cell_voltage : 0;
+    msg->cell2_H = (telestate->Battery.NbCells >= 2) ? cell_voltage : 0;
+    msg->cell3_H = (telestate->Battery.NbCells >= 3) ? cell_voltage : 0;
+    msg->cell4_H = (telestate->Battery.NbCells >= 4) ? cell_voltage : 0;
+    msg->cell5_H = (telestate->Battery.NbCells >= 5) ? cell_voltage : 0;
+    msg->cell6_H = (telestate->Battery.NbCells >= 6) ? cell_voltage : 0;
+    msg->cell7_H = (telestate->Battery.NbCells >= 7) ? cell_voltage : 0;
+
+    // apply main voltage to batt1 voltage
+    msg->batt1_voltage = msg->voltage;
+
+    // AirSpeed
+    float airspeed = (telestate->Airspeed.TrueAirspeed > 0) ? telestate->Airspeed.TrueAirspeed : 0;
+    msg->speed = scale_float2uword(airspeed, MS_TO_KMH, 0);
 
     // temperatures
     msg->temperature1 = scale_float2uint8(telestate->Gyro.temperature, 1, OFFSET_TEMPERATURE);
@@ -597,6 +634,9 @@ void update_telemetrydata()
     if (GPSPositionSensorHandle() != NULL) {
         GPSPositionSensorGet(&telestate->GPS);
     }
+    if (AirspeedStateHandle() != NULL) {
+        AirspeedStateGet(&telestate->Airspeed);
+    }
     if (GPSTimeHandle() != NULL) {
         GPSTimeGet(&telestate->GPStime);
     }
@@ -646,8 +686,9 @@ void update_telemetrydata()
     // calculate altitude relative to start position
     telestate->altitude   = -telestate->Position.Down;
 
-    // check and set min/max values when armed.
-    if (telestate->FlightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
+    // check and set min/max values when armed
+    // and without receiver input for standalone board used as sensor
+    if ((telestate->FlightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) || ((telestate->SysAlarms.Alarm.Attitude == SYSTEMALARMS_ALARM_OK) && (telestate->SysAlarms.Alarm.Receiver != SYSTEMALARMS_ALARM_OK))) {
         if (telestate->min_altitude > telestate->altitude) {
             telestate->min_altitude = telestate->altitude;
         }
@@ -774,10 +815,12 @@ void update_telemetrydata()
  */
 uint8_t generate_warning()
 {
+    bool gps_ok = (telestate->SysAlarms.Alarm.GPS == SYSTEMALARMS_ALARM_OK);
+
     // set warning tone with hardcoded priority
     if ((telestate->Settings.Warning.MinSpeed == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
-        (telestate->Settings.Limit.MinSpeed > telestate->GPS.Groundspeed * MS_TO_KMH)) {
-        return HOTT_TONE_A; // maximum speed
+        (telestate->Settings.Limit.MinSpeed > telestate->GPS.Groundspeed * MS_TO_KMH) && gps_ok) {
+        return HOTT_TONE_A; // minimum speed
     }
     if ((telestate->Settings.Warning.NegDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
         (telestate->Settings.Limit.NegDifference2 > telestate->climbrate3s)) {
@@ -788,7 +831,7 @@ uint8_t generate_warning()
         return HOTT_TONE_C; // sink rate 1s
     }
     if ((telestate->Settings.Warning.MaxDistance == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
-        (telestate->Settings.Limit.MaxDistance < telestate->homedistance)) {
+        (telestate->Settings.Limit.MaxDistance < telestate->homedistance) && gps_ok) {
         return HOTT_TONE_D; // maximum distance
     }
     if ((telestate->Settings.Warning.MinSensor1Temp == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
@@ -808,7 +851,7 @@ uint8_t generate_warning()
         return HOTT_TONE_I; // maximum temperature sensor 2
     }
     if ((telestate->Settings.Warning.MaxSpeed == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&
-        (telestate->Settings.Limit.MaxSpeed < telestate->GPS.Groundspeed * MS_TO_KMH)) {
+        (telestate->Settings.Limit.MaxSpeed < telestate->GPS.Groundspeed * MS_TO_KMH) && gps_ok) {
         return HOTT_TONE_L; // maximum speed
     }
     if ((telestate->Settings.Warning.PosDifference2 == HOTTBRIDGESETTINGS_WARNING_ENABLED) &&

flight/targets/boards/revolution/firmware/pios_board.c

@@ -73,6 +73,7 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
     [HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
     [HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
     [HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
+    [HWSETTINGS_RM_RCVRPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 };
 
 static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
@@ -86,6 +87,7 @@ static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
     [HWSETTINGS_RM_MAINPORT_MSP]            = PIOS_BOARD_IO_UART_MSP,
     [HWSETTINGS_RM_MAINPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
     [HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
+    [HWSETTINGS_RM_MAINPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 };
 
 static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
@@ -103,6 +105,7 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
     [HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
     [HWSETTINGS_RM_FLEXIPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
     [HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
+    [HWSETTINGS_RM_FLEXIPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 };
 
 /**

flight/targets/boards/revonano/firmware/Makefile

@@ -57,6 +57,7 @@ OPTMODULES += ComUsbBridge
 OPTMODULES += UAVOMSPBridge
 OPTMODULES += UAVOMavlinkBridge
 OPTMODULES += UAVOFrSKYSensorHubBridge
+OPTMODULES += UAVOHottBridge
 
 SRC += $(FLIGHTLIB)/notification.c
 

flight/targets/boards/revonano/firmware/UAVObjects.inc

@@ -124,6 +124,8 @@ UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += txpidstatus
+UAVOBJSRCFILENAMES += hottbridgesettings
+UAVOBJSRCFILENAMES += hottbridgestatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
 UAVOBJSRCFILENAMES += systemidentsettings

flight/targets/boards/revonano/firmware/inc/pios_config.h

@@ -122,6 +122,7 @@
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_IAP
 #define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_HOTT_BRIDGE
 /* #define PIOS_INCLUDE_I2C_ESC */
 /* #define PIOS_INCLUDE_OVERO */
 /* #define PIOS_OVERO_SPI */

flight/targets/boards/revonano/firmware/pios_board.c

@@ -86,6 +86,7 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
     [HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
     [HWSETTINGS_RM_FLEXIPORT_MAVLINK]        = PIOS_BOARD_IO_UART_MAVLINK,
     [HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
+    [HWSETTINGS_RM_FLEXIPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 };
 
 static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
@@ -98,6 +99,7 @@ static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
     [HWSETTINGS_RM_MAINPORT_OSDHK]          = PIOS_BOARD_IO_UART_OSDHK,
     [HWSETTINGS_RM_MAINPORT_MSP]            = PIOS_BOARD_IO_UART_MSP,
     [HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
+    [HWSETTINGS_RM_MAINPORT_HOTTTELEMETRY]  = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
 };
 
 void PIOS_Board_Init(void)