Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             : 
      15             :    DJI FPV MSP telemetry library backend
      16             : 
      17             :    The DJI Air Unit polls the FC for the following MSP messages at around 4Hz.
      18             :    Note: messages are polled in ascending hex id order.
      19             : 
      20             :    Hex|Dec|Name
      21             :    ---------------------------
      22             :    03   03      MSP_FC_VERSION
      23             :    0a   10      MSP_NAME
      24             :    54   84      MSP_OSD_CONFIG
      25             :    5c   92      MSP_FILTER_CONFIG
      26             :    5e   94      MSP_PID_ADVANCED
      27             :    65   101     MSP_STATUS
      28             :    69   105     MSP_RC
      29             :    6a   106     MSP_RAW_GPS
      30             :    6b   107     MSP_COMP_GPS
      31             :    6c   108     MSP_ATTITUDE
      32             :    6d   109     MSP_ALTITUDE
      33             :    6e   110     MSP_ANALOG
      34             :    6f   111     MSP_RC_TUNING
      35             :    70   112     MSP_PID
      36             :    82   130     MSP_BATTERY_STATE
      37             :    86   134     MSP_ESC_SENSOR_DATA
      38             :    96   150     MSP_STATUS_EX
      39             :    f7   247     MSP_RTC
      40             : */
      41             : 
      42             : #pragma once
      43             : 
      44             : #include "AP_MSP_Telem_Backend.h"
      45             : 
      46             : #if HAL_MSP_ENABLED
      47             : 
      48             : class AP_MSP_Telem_DJI : public AP_MSP_Telem_Backend
      49             : {
      50             :     using AP_MSP_Telem_Backend::AP_MSP_Telem_Backend;
      51             : public:
      52             :     bool init_uart() override;
      53             :     // implementation specific helpers
      54             :     bool is_scheduler_enabled() const override;
      55           0 :     AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; };
      56             :     uint32_t get_osd_flight_mode_bitmask(void) override;
      57             :     void hide_osd_items(void) override;
      58             : 
      59             :     bool get_rssi(float &rssi) const override;
      60             :     void update_home_pos(home_state_t &home_state) override;
      61             :     void update_battery_state(battery_state_t &_battery_state) override;
      62             :     void update_gps_state(gps_state_t &gps_state) override;
      63             :     void update_airspeed(airspeed_state_t &airspeed_state) override;
      64             :     void update_flight_mode_str(char *flight_mode_str, uint8_t size, bool wind_enabled) override;
      65             : 
      66             :     MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
      67             :     MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;
      68             : 
      69             :     enum : uint8_t {
      70             :         DJI_FLAG_ARM = 0,
      71             :         DJI_FLAG_STAB,
      72             :         DJI_FLAG_HOR,
      73             :         DJI_FLAG_HEAD,
      74             :         DJI_FLAG_FS,
      75             :         DJI_FLAG_RESC,
      76             :     };
      77             : };
      78             : 
      79             : #endif //HAL_MSP_ENABLED