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Merged in f5soh/librepilot/LP-563_Reduce_telemetry (pull request #480)
LP-563 Reduce telemetry bandwidth Approved-by: Lalanne Laurent <f5soh@free.fr> Approved-by: Philippe Renon <philippe_renon@yahoo.fr> Approved-by: Alessio Morale <alessiomorale@gmail.com>
2 parents 45d2913 + 43c4718 commit dc012a1

28 files changed

Lines changed: 51 additions & 27 deletions

‎flight/modules/CameraStab/camerastab.c‎

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@@ -49,6 +49,8 @@
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#include "accessorydesired.h"
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#include "attitudestate.h"
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#include "mixersettings.h"
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#include "actuatorcommand.h"
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#include "camerastabsettings.h"
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#include "cameradesired.h"
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#include "hwsettings.h"
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// Private types
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// Private variables
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static bool gimbalOutputEnabled = false;
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static struct CameraStab_data {
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portTickType lastSysTime;
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float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
@@ -83,6 +87,12 @@ static void attitudeUpdated(UAVObjEvent *ev);
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static void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettingsData *cameraStab);
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#endif
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// this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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int8_t matrix[5];
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} __attribute__((packed)) Mixer_t;
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/**
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* Initialise the module, called on startup
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return;
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}
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if (!gimbalOutputEnabled) {
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MixerSettingsData mixerSettings;
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MixerSettingsGet(&mixerSettings);
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Mixer_t *mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
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for (int ct = 0; ct < ACTUATORCOMMAND_CHANNEL_NUMELEM; ct++) {
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uint8_t mixer_type = mixers[ct].type;
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if ((mixer_type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1) &&
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(mixer_type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW)) {
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gimbalOutputEnabled = true;
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}
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}
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return;
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}
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AccessoryDesiredData accessory;
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CameraStabSettingsData cameraStab;

‎shared/uavobjectdefinition/airspeedsensor.xml‎

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<field name="TrueAirspeed" units="m/s" type="float" elements="1" defaultvalue="-1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/airspeedstate.xml‎

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<field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/altitudeholdstatus.xml‎

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<field name="ThrustDemand" units="" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/auxmagsensor.xml‎

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<field name="Status" units="" type="enum" elements="1" options="None,Ok" defaultvalue="None"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="10000"/>
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<telemetryflight acked="false" updatemode="throttled" period="10000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/barosensor.xml‎

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<field name="Pressure" units="Pa" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/cameradesired.xml‎

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<field name="Trigger" units="" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/debuglogstatus.xml‎

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<field name="FreeSlots" units="" type="uint16" elements="1" description="The number of free log slots available"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<telemetryflight acked="false" updatemode="throttled" period="1000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/ekfstatevariance.xml‎

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</field>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="10000"/>
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<telemetryflight acked="false" updatemode="throttled" period="10000"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

‎shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml‎

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<field name="Errors" units="" type="uint8" elementnames="Wind,Stallspeed,Lowspeed,Highspeed,Overspeed,Lowpower,Highpower,Rollcontrol,Pitchcontrol,AirspeedSensor" />
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="500"/>
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<telemetryflight acked="false" updatemode="throttled" period="500"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>

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