Merge branch 'development'

src/main/config/config_master.h

@@ -132,6 +132,7 @@ typedef struct master_t {
 	uint8_t init_servos;
 	uint8_t telemetry_min_sats;
 	uint8_t telemetry_provider;
+	uint8_t telemetry_home;
 	uint8_t gps_min_sats;
 	uint8_t min_logic_level;
 	// NO PID CONTROL SYSTEM

src/main/io/display.c

@@ -72,6 +72,7 @@ extern int16_t telemetry_alt;
 extern int16_t telemetry_sats;
 extern uint8_t telemetry_failed_cs;
 extern uint8_t telemetry_fixtype;
+extern uint8_t telemetry_frequency;
 extern positionVector_t targetPosition;
 extern positionVector_t trackerPosition;
 extern bool gotFix;
@@ -653,11 +654,16 @@ void showCliModePage(void)
 
 void showTelemetryPage(void){
     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
-	i2c_OLED_set_line(rowIndex++);
+	//i2c_OLED_set_line(rowIndex++);
     if(!PROTOCOL(TP_MFD)) {
     	if(telemetry_sats>99)
     		telemetry_sats = 99;
 
+    	tfp_sprintf(lineBuffer, "Hz : %d",telemetry_frequency);
+    	padLineBuffer();
+    	i2c_OLED_set_line(rowIndex++);
+    	i2c_OLED_send_string(lineBuffer);
+
     	tfp_sprintf(lineBuffer, "Sat: %02d %s FCS:%d", telemetry_sats, telemetryFixType[telemetry_fixtype], telemetry_failed_cs);
 		padLineBuffer();
 		i2c_OLED_set_line(rowIndex++);

src/main/io/serial_cli.c

@@ -351,7 +351,11 @@ static const char * const lookupTableAlignment[] = {
 };
 
 static const char * const lookupTabletelemetryProvider[] = {
-    "NONE", "DIY_GPS","INAV", NULL
+    "NONE", "DIY_GPS","INAV","APM10"
+};
+
+static const char * const lookupTabletelemetryHome[] = {
+    "DEFAULT", "AUTO"
 };
 
 #ifdef GPS
@@ -401,6 +405,7 @@ typedef enum {
     TABLE_UNIT,
     TABLE_ALIGNMENT,
 	TABLE_TELEMETRY_PROVIDER,
+	TABLE_TELEMETRY_HOME,
 #ifdef GPS
     TABLE_GPS_PROVIDER,
     TABLE_GPS_SBAS_MODE,
@@ -419,6 +424,7 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
     { lookupTableAlignment, sizeof(lookupTableAlignment) / sizeof(char *) },
 	{ lookupTabletelemetryProvider, sizeof(lookupTabletelemetryProvider) / sizeof(char *) },
+	{ lookupTabletelemetryHome, sizeof(lookupTabletelemetryHome) / sizeof(char *) },
 #ifdef GPS
     { lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
     { lookupTableGPSSBASMode, sizeof(lookupTableGPSSBASMode) / sizeof(char *) },
@@ -733,6 +739,7 @@ const clivalue_t valueTable[] = {
 	{ "telemetry_protocol",        	VAR_UINT16 | TRACKER_VALUE, &masterConfig.telemetry_protocol, .config.minmax = { TP_SERVOTEST,  TP_PITLAB } },
     { "telemetry_min_sats",         VAR_UINT8  | TRACKER_VALUE, &masterConfig.telemetry_min_sats, .config.minmax = { 0,  20 } },
 	{ "telemetry_provider",			VAR_UINT8  | TRACKER_VALUE | MODE_LOOKUP, &masterConfig.telemetry_provider, .config.lookup = {TABLE_TELEMETRY_PROVIDER} },
+	{ "telemetry_home"	,			VAR_UINT8  | TRACKER_VALUE | MODE_LOOKUP, &masterConfig.telemetry_home, .config.lookup = {TABLE_TELEMETRY_HOME} },
 	//{ "gps_port",      		   	VAR_UINT8  | TRACKER_VALUE, &masterConfig.serialConfig.portConfigs[0].msp_baudrateIndex, .config.minmax = { 0,  4 } },
 	{ "start_tracking_distance",   	VAR_UINT8  | TRACKER_VALUE, &masterConfig.start_tracking_distance, .config.minmax = { 0,  100 } },
 	{ "start_tracking_altitude",   	VAR_UINT8  | TRACKER_VALUE, &masterConfig.start_tracking_altitude, .config.minmax = { 0,  100 } },

src/main/tracker/frskyd.c

@@ -2,7 +2,7 @@
  * This file is part of u360gts, aka amv-open360tracker 32bits:
  * https://github.com/raul-ortega/amv-open360tracker-32bits
  *
- * The code below is an adaptation by Raúl Ortega of the original code written by Samuel Brucksch:
+ * The code below is an adaptation by Raúl Ortega of the original code written by Samuel Brucksch:
  * https://github.com/SamuelBrucksch/open360tracker
  *
  * u360gts is free software: you can redistribute it and/or modify
@@ -241,6 +241,10 @@ void parseTelemHubByte(uint8_t c) {
     alt = (int16_t)((c << 8) + byte0);
     gotAlt = true;
     break;
+  case BARO_ALT_BP_ID:
+    alt = (int16_t)((c << 8) + byte0);
+    gotAlt = true;
+    break;	
   case GPS_LON_BP_ID:
     lon_bp = (c << 8) + byte0;
     break;

src/main/tracker/frskyx.c

@@ -49,6 +49,11 @@ int32_t coordToLong(int8_t neg, uint16_t bp, uint16_t ap);
 //used for sats and fix type
 #define TEMP2              0x05
 
+// FrSky Passthrough DATA IDs from APM
+#define GPS_STATUS				0x5002
+#define AIRCRAFT_HOME			0X5004
+#define bitmask(X,Y) (((1 << X) -1) << Y)
+
 // FrSky new DATA IDs (2 bytes)
 #define ALT_FIRST_ID       0x0100
 #define ALT_LAST_ID        0x010f
@@ -247,6 +252,19 @@ void processSportPacket(uint8_t *packet)
         }
 
       }
+      else if(appId == GPS_STATUS && telemetry_provider==3){
+    	  sats = (uint8_t) (SPORT_DATA_U32(packet) & bitmask(4,0));
+      }
+      else if(appId == AIRCRAFT_HOME && telemetry_provider==3){
+    	  uint16_t msl_dc, msl_x, msl_sgn;
+    	  msl_dc = (SPORT_DATA_U32(packet) & bitmask(7,24)) >> 24;
+    	  msl_x = (SPORT_DATA_U32(packet) & bitmask(2,22)) >> 22;
+    	  msl_sgn = (SPORT_DATA_U32(packet) & bitmask(1,31)) >> 31;
+    	  //homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m
+    	  alt = ((int16_t) (msl_dc * msl_x * 0.1 * msl_sgn == 1?-1:1));
+    	  telemetry_alt = alt;
+    	  gotAlt = true;
+      }
       break;
   }
 }

src/main/tracker/main.c

@@ -142,7 +142,7 @@ void offsetTrimDecrease(void);
 float map(long x, long in_min, long in_max, long out_min, long out_max);
 void calcEstimatedPosition();
 bool couldLolcalGpsSetHome(bool setByUser);
-bool couldTelemetrySetHome();
+bool couldTelemetrySetHome(void);
 void updateCalibratePan();
 uint16_t calculateDeltaHeading(uint16_t heading1, uint16_t heading2);
 void setEpsMode(void);
@@ -152,6 +152,7 @@ void protocolInit(void);
 void trackingInit(void);
 void telemetryPortInit(void);
 void setHomeByLocalGps(positionVector_t *tracker, int32_t lat, int32_t lon, int16_t alt, bool home_updated, bool beep);
+void calcTelemetryFrequency(void);
 uint8_t filterTiltAngle(uint8_t target);
 //EASING
 int16_t _lastTilt;
@@ -305,6 +306,10 @@ extern uint8_t telemetry_provider;
 extern int32_t telemetry_lat;
 extern int32_t telemetry_lon;
 
+extern uint8_t telemetry_frequency;
+uint8_t telemetry_fixes;
+uint32_t telemetry_millis;
+
 void tracker_setup(void)
 {
 
@@ -383,6 +388,9 @@ void trackingInit(void){
 	menuState = 0;
 
 	targetPosition.home_alt = -32768;
+
+	telemetry_frequency = 0;
+	telemetry_millis = millis();
 }
 
 void tracker_loop(void)
@@ -801,6 +809,8 @@ void updateTelemetryLost(void){
 	if(lostTelemetry) {
 		gotFix = false;
 		gotAlt = false;
+		telemetry_frequency = 0;
+		telemetry_fixes = 0;
 		return;
 	}
 
@@ -840,6 +850,9 @@ void updateTargetPosition(void){
 
 		if(!PROTOCOL(TP_MFD)){
 			if (gotFix) {
+
+				calcTelemetryFrequency();
+
 				targetPosition.lat = getTargetLat();
 				targetPosition.lon = getTargetLon();
 				currentDistance = distance_between(targetLast.lat / TELEMETRY_LATLON_DIVIDER_F,targetLast.lon / TELEMETRY_LATLON_DIVIDER_F,targetPosition.lat / TELEMETRY_LATLON_DIVIDER_F,targetPosition.lon / TELEMETRY_LATLON_DIVIDER_F);
@@ -1063,14 +1076,22 @@ void updateSetHomeByGPS(void){
 		home_timer_reset = 0;
 	} else if(masterConfig.update_home_by_local_gps == 1 && homeSet && couldLolcalGpsSetHome(false)){
 		setHomeByLocalGps(&trackerPosition,GPS_coord[LAT]/10,GPS_coord[LON]/10,GPS_altitude,true,false);
+	} else if(!homeSet && couldTelemetrySetHome()){
+		setHomeByTelemetry(&trackerPosition, &targetPosition);
+		if(masterConfig.gpsConfig.homeBeeper)
+					  beeper(BEEPER_ARMING_GPS_FIX);
 	}
 }
 
 bool couldLolcalGpsSetHome(bool setByUser){
 	if(feature(FEATURE_DEBUG)){
 		  return true;
 	}
-	return ((setByUser && GPS_numSat >= 4) || (!setByUser && GPS_numSat >= masterConfig.gps_min_sats)) && feature(FEATURE_GPS) && STATE(GPS_FIX);
+	return ((setByUser && GPS_numSat >= 4) || (!setByUser && GPS_numSat >= masterConfig.gps_min_sats)) && (feature(FEATURE_GPS) && STATE(GPS_FIX));
+}
+
+bool couldTelemetrySetHome(void){
+	return (!feature(FEATURE_GPS) && masterConfig.telemetry_home == 1 && telemetry_sats >= masterConfig.telemetry_min_sats);
 }
 
 void updateMFD(void){
@@ -1600,3 +1621,15 @@ void protocolInit(void){
 uint8_t filterTiltAngle(uint8_t target){
 	return (masterConfig.tilt_max_angle > 0 && target > masterConfig.tilt_max_angle)?masterConfig.tilt_max_angle:target;
 }
+
+void calcTelemetryFrequency(void){
+
+	telemetry_fixes++;
+
+	if(millis() - telemetry_millis >= 5000){
+		telemetry_frequency = (uint8_t) (telemetry_fixes / 5.0);
+		telemetry_fixes = 0;
+		telemetry_millis = millis();
+	}
+}
+

src/main/tracker/telemetry.c

@@ -49,6 +49,10 @@ uint8_t telemetry_provider = 0;
 
 uint8_t telemetry_fixtype = 0;
 
+uint8_t telemetry_fixes = 0;
+uint8_t telemetry_frequency = 0;
+uint32_t telemetry_millis = 0;
+
 uint8_t a;
 
 uint8_t LOCAL_GPS;

src/main/version.h

@@ -16,7 +16,7 @@
  */
 
 #define FC_VERSION_MAJOR            9 // increment when a major release is made (big new feature, etc)
-#define FC_VERSION_MINOR            4 // increment when a minor release is made (small new feature, change etc)
+#define FC_VERSION_MINOR            5 // increment when a minor release is made (small new feature, change etc)
 #define FC_VERSION_PATCH_LEVEL      0 // increment when a bug is fixed
 
 #define STR_HELPER(x) #x