crsf_telemetry.h
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file crsf_telemetry.h
*
* @author Beat Küng <beat-kueng@gmx.net>
*/
#pragma once
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
#include <matrix/math.hpp>
#include <mathlib/mathlib.h>
using namespace time_literals;
/**
* High-level class that handles sending of CRSF telemetry data
*/
class CRSFTelemetry
{
public:
/**
* @param uart_fd file descriptor for the UART to use. It is expected to be configured
* already.
*/
CRSFTelemetry(int uart_fd);
~CRSFTelemetry() = default;
/**
* Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
* limit the sending rate.
* @return true if new data sent
*/
bool update(const hrt_abstime &now);
private:
bool send_battery();
bool send_gps();
bool send_attitude();
bool send_flight_mode();
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
hrt_abstime _last_update{0};
static constexpr int num_data_types{4}; ///< number of different telemetry data types
int _next_type{0};
int _uart_fd;
};