#include <AP_Frsky_Telem.h>

Collaboration diagram for AP_Frsky_Telem:

Public Member Functions
	AP_Frsky_Telem (AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng)

	AP_Frsky_Telem (const AP_Frsky_Telem &other)=delete

AP_Frsky_Telem &	operator= (const AP_Frsky_Telem &)=delete

void	init (const AP_SerialManager &serial_manager, const char firmware_str, const uint8_t mav_type, const uint32_t ap_valuep=nullptr)

void	queue_message (MAV_SEVERITY severity, const char *text)

void	update_control_mode (uint8_t mode)

void	set_is_flying (bool is_flying)

void	update_sensor_status_flags (uint32_t error_mask)

Static Public Attributes
static ObjectArray< mavlink_statustext_t >	_statustext_queue

Private Member Functions
void	send_SPort_Passthrough (void)

void	send_SPort (void)

void	send_D (void)

void	tick (void)

void	calc_crc (uint8_t byte)

void	send_crc (void)

void	send_byte (uint8_t value)

void	send_uint32 (uint16_t id, uint32_t data)

void	send_uint16 (uint16_t id, uint16_t data)

bool	get_next_msg_chunk (void)

void	check_sensor_status_flags (void)

void	check_ekf_status (void)

uint32_t	calc_param (void)

uint32_t	calc_gps_latlng (bool *send_latitude)

uint32_t	calc_gps_status (void)

uint32_t	calc_batt (uint8_t instance)

uint32_t	calc_ap_status (void)

uint32_t	calc_home (void)

uint32_t	calc_velandyaw (void)

uint32_t	calc_attiandrng (void)

uint16_t	prep_number (int32_t number, uint8_t digits, uint8_t power)

void	calc_nav_alt (void)

float	format_gps (float dec)

void	calc_gps_position (void)

Private Attributes
AP_AHRS &	_ahrs

const AP_BattMonitor &	_battery

const RangeFinder &	_rng

AP_HAL::UARTDriver *	_port

AP_SerialManager::SerialProtocol	_protocol

bool	_initialised_uart

uint16_t	_crc

struct {
uint8_t mav_type

}	_params

struct {
uint8_t control_mode

uint32_t value

const uint32_t * valuep

uint32_t sensor_status_flags

}	_ap

uint32_t	check_sensor_status_timer

uint32_t	check_ekf_status_timer

uint8_t	_paramID

struct {
char lat_ns

char lon_ew

uint16_t latdddmm

uint16_t latmmmm

uint16_t londddmm

uint16_t lonmmmm

uint16_t alt_gps_meters

uint16_t alt_gps_cm

uint16_t alt_nav_meters

uint16_t alt_nav_cm

int16_t speed_in_meter

uint16_t speed_in_centimeter

}	_gps

struct {
uint8_t new_byte

bool send_attiandrng

bool send_latitude

uint32_t params_timer

uint32_t ap_status_timer

uint32_t batt_timer

uint32_t batt_timer2

uint32_t gps_status_timer

uint32_t home_timer

uint32_t velandyaw_timer

uint32_t gps_latlng_timer

}	_passthrough

struct {
bool sport_status

uint8_t fas_call

uint8_t gps_call

uint8_t vario_call

uint8_t various_call

}	_SPort

struct {
uint32_t last_200ms_frame

uint32_t last_1000ms_frame

}	_D

struct {
uint32_t chunk

uint8_t repeats

uint8_t char_index

}	_msg_chunk

Detailed Description

Definition at line 114 of file AP_Frsky_Telem.h.

Constructor & Destructor Documentation

◆ AP_Frsky_Telem() [1/2]

AP_Frsky_Telem::AP_Frsky_Telem	(	AP_AHRS &	ahrs,
		const AP_BattMonitor &	battery,
		const RangeFinder &	rng
	)

Definition at line 30 of file AP_Frsky_Telem.cpp.

◆ AP_Frsky_Telem() [2/2]

AP_Frsky_Telem::AP_Frsky_Telem ( const AP_Frsky_Telem & other )

delete

Member Function Documentation

◆ calc_ap_status()

uint32_t AP_Frsky_Telem::calc_ap_status ( void )

private

Definition at line 672 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_attiandrng()

uint32_t AP_Frsky_Telem::calc_attiandrng ( void )

private

Definition at line 750 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_batt()

uint32_t AP_Frsky_Telem::calc_batt ( uint8_t instance )

private

Definition at line 655 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_crc()

void AP_Frsky_Telem::calc_crc ( uint8_t byte )

private

Definition at line 342 of file AP_Frsky_Telem.cpp.

Referenced by send_byte().

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◆ calc_gps_latlng()

uint32_t AP_Frsky_Telem::calc_gps_latlng ( bool * send_latitude )

private

Definition at line 603 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_gps_position()

void AP_Frsky_Telem::calc_gps_position ( void )

private

Definition at line 862 of file AP_Frsky_Telem.cpp.

Referenced by send_D(), and send_SPort().

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◆ calc_gps_status()

uint32_t AP_Frsky_Telem::calc_gps_status ( void )

private

Definition at line 631 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_home()

uint32_t AP_Frsky_Telem::calc_home ( void )

private

Definition at line 695 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_nav_alt()

void AP_Frsky_Telem::calc_nav_alt ( void )

private

Definition at line 832 of file AP_Frsky_Telem.cpp.

Referenced by send_D(), and send_SPort().

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◆ calc_param()

uint32_t AP_Frsky_Telem::calc_param ( void )

private

Definition at line 570 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ calc_velandyaw()

uint32_t AP_Frsky_Telem::calc_velandyaw ( void )

private

Definition at line 725 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ check_ekf_status()

void AP_Frsky_Telem::check_ekf_status ( void )

private

Definition at line 532 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ check_sensor_status_flags()

void AP_Frsky_Telem::check_sensor_status_flags ( void )

private

Definition at line 482 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ format_gps()

float AP_Frsky_Telem::format_gps ( float dec )

private

Definition at line 852 of file AP_Frsky_Telem.cpp.

Referenced by calc_gps_position().

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◆ get_next_msg_chunk()

bool AP_Frsky_Telem::get_next_msg_chunk ( void )

private

Definition at line 423 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort_Passthrough().

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◆ init()

void AP_Frsky_Telem::init	(	const AP_SerialManager &	serial_manager,
		const char *	firmware_str,
		const uint8_t	mav_type,
		const uint32_t *	ap_valuep = `nullptr`
	)

Definition at line 39 of file AP_Frsky_Telem.cpp.

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◆ operator=()

AP_Frsky_Telem& AP_Frsky_Telem::operator= ( const AP_Frsky_Telem & )

delete

◆ prep_number()

uint16_t AP_Frsky_Telem::prep_number	(	int32_t	number,
		uint8_t	digits,
		uint8_t	power
	)

private

Definition at line 767 of file AP_Frsky_Telem.cpp.

Referenced by calc_attiandrng(), calc_batt(), calc_gps_status(), calc_home(), and calc_velandyaw().

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◆ queue_message()

void AP_Frsky_Telem::queue_message	(	MAV_SEVERITY	severity,
		const char *	text
	)

Definition at line 465 of file AP_Frsky_Telem.cpp.

Referenced by check_ekf_status(), check_sensor_status_flags(), init(), and GCS::send_statustext().

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◆ send_byte()

void AP_Frsky_Telem::send_byte ( uint8_t value )

private

Definition at line 363 of file AP_Frsky_Telem.cpp.

Referenced by send_crc(), send_uint16(), and send_uint32().

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◆ send_crc()

void AP_Frsky_Telem::send_crc ( void )

private

Definition at line 353 of file AP_Frsky_Telem.cpp.

Referenced by send_uint32().

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◆ send_D()

void AP_Frsky_Telem::send_D ( void )

private

Definition at line 278 of file AP_Frsky_Telem.cpp.

Referenced by tick().

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◆ send_SPort()

void AP_Frsky_Telem::send_SPort ( void )

private

Definition at line 167 of file AP_Frsky_Telem.cpp.

Referenced by tick().

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◆ send_SPort_Passthrough()

void AP_Frsky_Telem::send_SPort_Passthrough ( void )

private

Definition at line 74 of file AP_Frsky_Telem.cpp.

Referenced by tick().

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◆ send_uint16()

void AP_Frsky_Telem::send_uint16	(	uint16_t	id,
		uint16_t	data
	)

private

Definition at line 409 of file AP_Frsky_Telem.cpp.

Referenced by send_D().

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◆ send_uint32()

void AP_Frsky_Telem::send_uint32	(	uint16_t	id,
		uint32_t	data
	)

private

Definition at line 392 of file AP_Frsky_Telem.cpp.

Referenced by send_SPort(), and send_SPort_Passthrough().

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◆ set_is_flying()

void AP_Frsky_Telem::set_is_flying ( bool is_flying )

inline

Definition at line 134 of file AP_Frsky_Telem.h.

◆ tick()

void AP_Frsky_Telem::tick ( void )

private

Definition at line 316 of file AP_Frsky_Telem.cpp.

Referenced by init().

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◆ update_control_mode()

void AP_Frsky_Telem::update_control_mode ( uint8_t mode )

inline

Definition at line 129 of file AP_Frsky_Telem.h.

◆ update_sensor_status_flags()

void AP_Frsky_Telem::update_sensor_status_flags ( uint32_t error_mask )

inline

Definition at line 140 of file AP_Frsky_Telem.h.

Member Data Documentation

◆ _ahrs

AP_AHRS& AP_Frsky_Telem::_ahrs

private

Definition at line 145 of file AP_Frsky_Telem.h.

Referenced by calc_attiandrng(), calc_home(), calc_nav_alt(), calc_velandyaw(), check_ekf_status(), send_D(), and send_SPort().

◆ _ap

struct { ... } AP_Frsky_Telem::_ap

Referenced by calc_ap_status(), check_sensor_status_flags(), init(), send_D(), send_SPort(), send_SPort_Passthrough(), set_is_flying(), update_control_mode(), and update_sensor_status_flags().

◆ _battery

const AP_BattMonitor& AP_Frsky_Telem::_battery

private

Definition at line 146 of file AP_Frsky_Telem.h.

Referenced by calc_batt(), calc_param(), send_D(), send_SPort(), and send_SPort_Passthrough().

◆ _crc

uint16_t AP_Frsky_Telem::_crc

private

Definition at line 151 of file AP_Frsky_Telem.h.

Referenced by calc_crc(), and send_crc().

◆ _D

struct { ... } AP_Frsky_Telem::_D

Referenced by send_D().

◆ _gps

struct { ... } AP_Frsky_Telem::_gps

Referenced by calc_gps_position(), calc_nav_alt(), send_D(), and send_SPort().

◆ _initialised_uart

bool AP_Frsky_Telem::_initialised_uart

private

Definition at line 150 of file AP_Frsky_Telem.h.

Referenced by tick().

◆ _msg_chunk

struct { ... } AP_Frsky_Telem::_msg_chunk

Referenced by get_next_msg_chunk(), and send_SPort_Passthrough().

◆ _paramID

uint8_t AP_Frsky_Telem::_paramID

private

Definition at line 168 of file AP_Frsky_Telem.h.

Referenced by calc_param().

◆ _params

struct { ... } AP_Frsky_Telem::_params

Referenced by calc_param(), and init().

◆ _passthrough

struct { ... } AP_Frsky_Telem::_passthrough

Referenced by send_SPort_Passthrough().

◆ _port

AP_HAL::UARTDriver* AP_Frsky_Telem::_port

private

Definition at line 148 of file AP_Frsky_Telem.h.

Referenced by init(), send_byte(), send_SPort(), send_SPort_Passthrough(), send_uint16(), and tick().

◆ _protocol

AP_SerialManager::SerialProtocol AP_Frsky_Telem::_protocol

private

Definition at line 149 of file AP_Frsky_Telem.h.

Referenced by init(), send_byte(), and tick().

◆ _rng

const RangeFinder& AP_Frsky_Telem::_rng

private

Definition at line 147 of file AP_Frsky_Telem.h.

Referenced by calc_attiandrng().

◆ _SPort

struct { ... } AP_Frsky_Telem::_SPort

Referenced by send_SPort().

◆ _statustext_queue

ObjectArray< mavlink_statustext_t > AP_Frsky_Telem::_statustext_queue

static

Definition at line 142 of file AP_Frsky_Telem.h.

Referenced by get_next_msg_chunk(), and queue_message().

◆ alt_gps_cm

uint16_t AP_Frsky_Telem::alt_gps_cm

Definition at line 178 of file AP_Frsky_Telem.h.

◆ alt_gps_meters

uint16_t AP_Frsky_Telem::alt_gps_meters

Definition at line 177 of file AP_Frsky_Telem.h.

◆ alt_nav_cm

uint16_t AP_Frsky_Telem::alt_nav_cm

Definition at line 180 of file AP_Frsky_Telem.h.

◆ alt_nav_meters

uint16_t AP_Frsky_Telem::alt_nav_meters

Definition at line 179 of file AP_Frsky_Telem.h.

◆ ap_status_timer

uint32_t AP_Frsky_Telem::ap_status_timer

Definition at line 191 of file AP_Frsky_Telem.h.

◆ batt_timer

uint32_t AP_Frsky_Telem::batt_timer

Definition at line 192 of file AP_Frsky_Telem.h.

◆ batt_timer2

uint32_t AP_Frsky_Telem::batt_timer2

Definition at line 193 of file AP_Frsky_Telem.h.

◆ char_index

uint8_t AP_Frsky_Telem::char_index

Definition at line 219 of file AP_Frsky_Telem.h.

◆ check_ekf_status_timer

uint32_t AP_Frsky_Telem::check_ekf_status_timer

private

Definition at line 167 of file AP_Frsky_Telem.h.

Referenced by check_ekf_status().

◆ check_sensor_status_timer

uint32_t AP_Frsky_Telem::check_sensor_status_timer

private

Definition at line 166 of file AP_Frsky_Telem.h.

Referenced by check_sensor_status_flags().

◆ chunk

uint32_t AP_Frsky_Telem::chunk

Definition at line 217 of file AP_Frsky_Telem.h.

◆ control_mode

uint8_t AP_Frsky_Telem::control_mode

Definition at line 160 of file AP_Frsky_Telem.h.

◆ fas_call

uint8_t AP_Frsky_Telem::fas_call

Definition at line 203 of file AP_Frsky_Telem.h.

◆ gps_call

uint8_t AP_Frsky_Telem::gps_call

Definition at line 204 of file AP_Frsky_Telem.h.

◆ gps_latlng_timer

uint32_t AP_Frsky_Telem::gps_latlng_timer

Definition at line 197 of file AP_Frsky_Telem.h.

◆ gps_status_timer

uint32_t AP_Frsky_Telem::gps_status_timer

Definition at line 194 of file AP_Frsky_Telem.h.

◆ home_timer

uint32_t AP_Frsky_Telem::home_timer

Definition at line 195 of file AP_Frsky_Telem.h.

◆ last_1000ms_frame

uint32_t AP_Frsky_Telem::last_1000ms_frame

Definition at line 212 of file AP_Frsky_Telem.h.

◆ last_200ms_frame

uint32_t AP_Frsky_Telem::last_200ms_frame

Definition at line 211 of file AP_Frsky_Telem.h.

◆ lat_ns

char AP_Frsky_Telem::lat_ns

Definition at line 172 of file AP_Frsky_Telem.h.

◆ latdddmm

uint16_t AP_Frsky_Telem::latdddmm

Definition at line 173 of file AP_Frsky_Telem.h.

◆ latmmmm

uint16_t AP_Frsky_Telem::latmmmm

Definition at line 174 of file AP_Frsky_Telem.h.

◆ lon_ew

char AP_Frsky_Telem::lon_ew

Definition at line 172 of file AP_Frsky_Telem.h.

◆ londddmm

uint16_t AP_Frsky_Telem::londddmm

Definition at line 175 of file AP_Frsky_Telem.h.

◆ lonmmmm

uint16_t AP_Frsky_Telem::lonmmmm

Definition at line 176 of file AP_Frsky_Telem.h.

◆ mav_type

uint8_t AP_Frsky_Telem::mav_type

Definition at line 155 of file AP_Frsky_Telem.h.

Referenced by init().

◆ new_byte

uint8_t AP_Frsky_Telem::new_byte

Definition at line 187 of file AP_Frsky_Telem.h.

◆ params_timer

uint32_t AP_Frsky_Telem::params_timer

Definition at line 190 of file AP_Frsky_Telem.h.

◆ repeats

uint8_t AP_Frsky_Telem::repeats

Definition at line 218 of file AP_Frsky_Telem.h.

◆ send_attiandrng

bool AP_Frsky_Telem::send_attiandrng

Definition at line 188 of file AP_Frsky_Telem.h.

◆ send_latitude

bool AP_Frsky_Telem::send_latitude

Definition at line 189 of file AP_Frsky_Telem.h.

◆ sensor_status_flags

uint32_t AP_Frsky_Telem::sensor_status_flags

Definition at line 163 of file AP_Frsky_Telem.h.

◆ speed_in_centimeter

uint16_t AP_Frsky_Telem::speed_in_centimeter

Definition at line 182 of file AP_Frsky_Telem.h.

◆ speed_in_meter

int16_t AP_Frsky_Telem::speed_in_meter

Definition at line 181 of file AP_Frsky_Telem.h.

◆ sport_status

bool AP_Frsky_Telem::sport_status

Definition at line 202 of file AP_Frsky_Telem.h.

◆ value

uint32_t AP_Frsky_Telem::value

Definition at line 161 of file AP_Frsky_Telem.h.

◆ valuep

const uint32_t* AP_Frsky_Telem::valuep

Definition at line 162 of file AP_Frsky_Telem.h.

◆ vario_call

uint8_t AP_Frsky_Telem::vario_call

Definition at line 205 of file AP_Frsky_Telem.h.

◆ various_call

uint8_t AP_Frsky_Telem::various_call

Definition at line 206 of file AP_Frsky_Telem.h.

◆ velandyaw_timer

uint32_t AP_Frsky_Telem::velandyaw_timer

Definition at line 196 of file AP_Frsky_Telem.h.

The documentation for this class was generated from the following files:

libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AP_Frsky_Telem() [1/2]

◆ AP_Frsky_Telem() [2/2]

Member Function Documentation

◆ calc_ap_status()

◆ calc_attiandrng()

◆ calc_batt()

◆ calc_crc()

◆ calc_gps_latlng()

◆ calc_gps_position()

◆ calc_gps_status()

◆ calc_home()

◆ calc_nav_alt()

◆ calc_param()

◆ calc_velandyaw()

◆ check_ekf_status()

◆ check_sensor_status_flags()

◆ format_gps()

◆ get_next_msg_chunk()

◆ init()

◆ operator=()

◆ prep_number()

◆ queue_message()

◆ send_byte()

◆ send_crc()

◆ send_D()

◆ send_SPort()

◆ send_SPort_Passthrough()

◆ send_uint16()

◆ send_uint32()

◆ set_is_flying()

◆ tick()

◆ update_control_mode()

◆ update_sensor_status_flags()

Member Data Documentation

◆ _ahrs

◆ _ap

◆ _battery

◆ _crc

◆ _D

◆ _gps

◆ _initialised_uart

◆ _msg_chunk

◆ _paramID

◆ _params

◆ _passthrough

◆ _port

◆ _protocol

◆ _rng

◆ _SPort

◆ _statustext_queue

◆ alt_gps_cm

◆ alt_gps_meters

◆ alt_nav_cm

◆ alt_nav_meters

◆ ap_status_timer

◆ batt_timer

◆ batt_timer2

◆ char_index

◆ check_ekf_status_timer

◆ check_sensor_status_timer

◆ chunk

◆ control_mode

◆ fas_call

◆ gps_call

◆ gps_latlng_timer

◆ gps_status_timer

◆ home_timer

◆ last_1000ms_frame

◆ last_200ms_frame

◆ lat_ns

◆ latdddmm

◆ latmmmm

◆ lon_ew

◆ londddmm