ghst_telemetry.cpp
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/****************************************************************************
*
* Copyright (c) 2021 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 ghst_telemetry.cpp
*
* IRC Ghost (Immersion RC Ghost) telemetry.
*
* @author Igor Misic <igy1000mb@gmail.com>
* @author Juraj Ciberlin <jciberlin1@gmail.com>
*/
#include "ghst_telemetry.hpp"
#include <lib/rc/ghst.hpp>
using time_literals::operator ""_s;
GHSTTelemetry::GHSTTelemetry(int uart_fd) :
_uart_fd(uart_fd)
{
}
bool GHSTTelemetry::update(const hrt_abstime &now)
{
bool success = false;
if ((now - _last_update) > (1_s / (UPDATE_RATE_HZ * NUM_DATA_TYPES))) {
switch (_next_type) {
case 0U:
success = send_battery_status();
break;
default:
success = false;
break;
}
_last_update = now;
_next_type = (_next_type + 1U) % NUM_DATA_TYPES;
}
return success;
}
bool GHSTTelemetry::send_battery_status()
{
bool success = false;
float voltage_in_10mV;
float current_in_10mA;
float fuel_in_10mAh;
battery_status_s battery_status;
if (_battery_status_sub.update(&battery_status)) {
voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV;
current_in_10mA = battery_status.current_filtered_a * FACTOR_AMPS_TO_10MA;
fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH;
success = ghst_send_telemetry_battery_status(_uart_fd,
static_cast<uint16_t>(voltage_in_10mV),
static_cast<uint16_t>(current_in_10mA),
static_cast<uint16_t>(fuel_in_10mAh));
}
return success;
}