Merge pull request iNavFlight#9438 from dronecontrol-ru/baro_alt_vario

Add support crsf baro altitude combined vario sensor
sensei-hacker · Dec 26, 2023 · 5d77d07 · 5d77d07
2 parents 3b218b6 + d0a403a
commit 5d77d07
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Showing 2 changed files with 44 additions and 7 deletions.
diff --git a/src/main/rx/crsf.h b/src/main/rx/crsf.h
@@ -45,6 +45,7 @@ enum {
     CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
     CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
     CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
+    CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE = 4,
     CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
     CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
     CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
@@ -86,6 +87,7 @@ typedef enum {
     CRSF_FRAMETYPE_GPS = 0x02,
     CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
     CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
+    CRSF_FRAMETYPE_BAROVARIO_SENSOR = 0x09,
     CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
     CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
     CRSF_FRAMETYPE_ATTITUDE = 0x1E,

diff --git a/src/main/telemetry/crsf.c b/src/main/telemetry/crsf.c
@@ -57,7 +57,7 @@
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
-
+#include "sensors/barometer.h"
 #include "telemetry/crsf.h"
 #include "telemetry/telemetry.h"
 #include "telemetry/msp_shared.h"
@@ -258,6 +258,22 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
     crsfSerialize8(dst, batteryRemainingPercentage);
 }
 
+/*
+0x09 Baro+Vario sensor
+Payload:
+uint16      Altitude
+int16      Vertical speed ( cm/s )
+*/
+static void crsfFrameBaroVarioSensor(sbuf_t *dst)
+{
+    // use sbufWrite since CRC does not include frame length
+    sbufWriteU8(dst, CRSF_FRAME_BAROVARIO_SENSOR_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
+    crsfSerialize8(dst, CRSF_FRAMETYPE_BAROVARIO_SENSOR);
+    int32_t altitude = baroGetLatestAltitude() / 10;    // Altitude in decimeters
+    crsfSerialize16(dst, altitude + 10000 < 0x8000 ? altitude + 10000 : 0x8000 + altitude / 10);
+    crsfSerialize16(dst, lrintf(getEstimatedActualVelocity(Z)));
+}
+
 typedef enum {
     CRSF_ACTIVE_ANTENNA1 = 0,
     CRSF_ACTIVE_ANTENNA2 = 1
@@ -411,6 +427,7 @@ typedef enum {
     CRSF_FRAME_FLIGHT_MODE_INDEX,
     CRSF_FRAME_GPS_INDEX,
     CRSF_FRAME_VARIO_SENSOR_INDEX,
+    CRSF_FRAME_BAROVARIO_SENSOR_INDEX,
     CRSF_SCHEDULE_COUNT_MAX
 } crsfFrameTypeIndex_e;
 
@@ -470,13 +487,18 @@ static void processCrsf(void)
         crsfFrameGps(dst);
         crsfFinalize(dst);
     }
-#endif
-#if defined(USE_BARO) || defined(USE_GPS)
     if (currentSchedule & BV(CRSF_FRAME_VARIO_SENSOR_INDEX)) {
         crsfInitializeFrame(dst);
         crsfFrameVarioSensor(dst);
         crsfFinalize(dst);
     }
+#endif
+#if defined(USE_BARO)
+    if (currentSchedule & BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX)) {
+        crsfInitializeFrame(dst);
+        crsfFrameBaroVarioSensor(dst);
+        crsfFinalize(dst);
+    }
 #endif
     crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
 }
@@ -501,14 +523,23 @@ void initCrsfTelemetry(void)
     crsfSchedule[index++] = BV(CRSF_FRAME_ATTITUDE_INDEX);
     crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
     crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);
-#ifdef USE_GPS
+#if defined(USE_GPS)
     if (feature(FEATURE_GPS)) {
         crsfSchedule[index++] = BV(CRSF_FRAME_GPS_INDEX);
+        #if !defined(USE_BARO)
+        crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
+        #endif
     }
 #endif
-#if defined(USE_BARO) || defined(USE_GPS)
-    if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
-        crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
+#if defined(USE_BARO)
+    if (sensors(SENSOR_BARO)) {
+        crsfSchedule[index++] = BV(CRSF_FRAME_BAROVARIO_SENSOR_INDEX);
+    } else {
+        #if defined(USE_GPS)
+        if (feature(FEATURE_GPS)) {
+            crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
+        }
+        #endif
     }
 #endif
     crsfScheduleCount = (uint8_t)index;
@@ -587,7 +618,11 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
     case CRSF_FRAMETYPE_VARIO_SENSOR:
         crsfFrameVarioSensor(sbuf);
         break;
+    case CRSF_FRAMETYPE_BAROVARIO_SENSOR:
+        crsfFrameBaroVarioSensor(sbuf);
+        break;
     }
+
     const int frameSize = crsfFinalizeBuf(sbuf, frame);
     return frameSize;
 }