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add launch and autotune to s-frame #4423

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merged 1 commit into from
Feb 28, 2019
Merged

add launch and autotune to s-frame #4423

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26 changes: 15 additions & 11 deletions src/main/telemetry/ltm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -158,28 +158,32 @@ void ltm_gframe(sbuf_t *dst)

void ltm_sframe(sbuf_t *dst)
{
uint8_t lt_flightmode;
ltm_modes_e lt_flightmode;

if (FLIGHT_MODE(MANUAL_MODE))
lt_flightmode = 0;
lt_flightmode = LTM_MODE_MANUAL;
else if (FLIGHT_MODE(NAV_WP_MODE))
lt_flightmode = 10;
lt_flightmode = LTM_MODE_WAYPOINTS;
else if (FLIGHT_MODE(NAV_RTH_MODE))
lt_flightmode = 13;
lt_flightmode = LTM_MODE_RTH;
else if (FLIGHT_MODE(NAV_POSHOLD_MODE))
lt_flightmode = 9;
lt_flightmode = LTM_MODE_GPSHOLD;
else if (FLIGHT_MODE(NAV_CRUISE_MODE))
lt_flightmode = 18;
lt_flightmode = LTM_MODE_CRUISE;
else if (FLIGHT_MODE(NAV_LAUNCH_MODE))
lt_flightmode = LTM_MODE_LAUNCH;
else if (FLIGHT_MODE(AUTO_TUNE))
lt_flightmode = LTM_MODE_AUTOTUNE;
else if (FLIGHT_MODE(NAV_ALTHOLD_MODE))
lt_flightmode = 8;
lt_flightmode = LTM_MODE_ALTHOLD;
else if (FLIGHT_MODE(HEADFREE_MODE) || FLIGHT_MODE(HEADING_MODE))
lt_flightmode = 11;
lt_flightmode = LTM_MODE_HEADHOLD;
else if (FLIGHT_MODE(ANGLE_MODE))
lt_flightmode = 2;
lt_flightmode = LTM_MODE_ANGLE;
else if (FLIGHT_MODE(HORIZON_MODE))
lt_flightmode = 3;
lt_flightmode = LTM_MODE_HORIZON;
else
lt_flightmode = 1; // Rate mode
lt_flightmode = LTM_MODE_RATE; // Rate mode

uint8_t lt_statemode = (ARMING_FLAG(ARMED)) ? 1 : 0;
if (failsafeIsActive())
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28 changes: 27 additions & 1 deletion src/main/telemetry/ltm.h
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Expand Up @@ -45,6 +45,33 @@ typedef enum {
#define LTM_MAX_PAYLOAD_SIZE 14
#define LTM_MAX_MESSAGE_SIZE (LTM_MAX_PAYLOAD_SIZE+4)


typedef enum {
LTM_MODE_MANUAL = 0,
LTM_MODE_RATE,
LTM_MODE_ANGLE,
LTM_MODE_HORIZON,
LTM_MODE_ACRO,
LTM_MODE_STABALIZED1,
LTM_MODE_STABALIZED2,
LTM_MODE_STABILIZED3,
LTM_MODE_ALTHOLD,
LTM_MODE_GPSHOLD,
LTM_MODE_WAYPOINTS,
LTM_MODE_HEADHOLD,
LTM_MODE_CIRCLE,
LTM_MODE_RTH,
LTM_MODE_FOLLOWWME,
LTM_MODE_LAND,
LTM_MODE_FLYBYWIRE1,
LTM_MODE_FLYBYWIRE2,
LTM_MODE_CRUISE,
LTM_MODE_UNKNOWN,
// iNav specific extensions
LTM_MODE_LAUNCH,
LTM_MODE_AUTOTUNE
} ltm_modes_e;

void initLtmTelemetry(void);
void handleLtmTelemetry(void);
void checkLtmTelemetryState(void);
Expand All @@ -53,4 +80,3 @@ void freeLtmTelemetryPort(void);
void configureLtmTelemetryPort(void);

int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType);