mavlink out

platformio.ini

@@ -16,3 +16,4 @@ extra_configs =
  targets/rapidfire.ini
  targets/rx5808.ini
  targets/skyzone.ini
+ targets/mfd_crossbow.ini

src/Vrx_main.cpp

@@ -40,6 +40,8 @@
  #include "orqa.h"
 #elif defined(AAT_BACKPACK)
  #include "module_aat.h"
+#elif defined(CROSSBOW_BACKPACK)
+ #include "mfd_crossbow.h"
 #endif
 
 /////////// DEFINES ///////////
@@ -121,6 +123,8 @@ uint8_t cachedLen = 0;
  Orqa vrxModule;
 #elif defined(AAT_BACKPACK)
  AatModule vrxModule(Serial);
+#elif defined(CROSSBOW_BACKPACK)
+ MFDCrossbow vrxModule(&Serial);
 #endif
 
 /////////// FUNCTION DEFS ///////////
@@ -251,28 +255,16 @@ void ProcessMSPPacket(mspPacket_t *packet)
  DBGLN("CRSF_TLM packet too short")
  break;
  }
- // switch (packet->payload[2]) {
- // case CRSF_FRAMETYPE_GPS:
- // vrxModule.SendGpsTelemetry((crsf_packet_gps_t *)packet->payload);
- // break;
- // case CRSF_FRAMETYPE_BATTERY_SENSOR:
- // vrxModule.SendBatteryTelemetry(packet->payload);
- // break;
- // case CRSF_FRAMETYPE_LINK_STATISTICS:
- // vrxModule.SendLinkTelemetry(packet->payload);
- // break;
- // }
- DBGLN("*** DUMP CRSF TO UART ***");
- for(int i = 0; i < packet->payloadSize; i++)
- {
- DBGV("%x,", packet->payload[i]); // Debug prints
- }
- DBGLN(""); // Extra line for serial output readability
- Serial.write(packet->payload, packet->payloadSize);
- if (packet->payload[2] == CRSF_FRAMETYPE_GPS)
- {
- memcpy(cachedGPS, packet->payload, packet->payloadSize);
- cachedLen = packet->payloadSize;
+ switch (packet->payload[2]) {
+ case CRSF_FRAMETYPE_GPS:
+ vrxModule.SendGpsTelemetry((crsf_packet_gps_t *)packet->payload);
+ break;
+ case CRSF_FRAMETYPE_BATTERY_SENSOR:
+ vrxModule.SendBatteryTelemetry(packet->payload);
+ break;
+ case CRSF_FRAMETYPE_LINK_STATISTICS:
+ vrxModule.SendLinkTelemetry(packet->payload);
+ break;
  }
  break;
  default:
@@ -343,6 +335,7 @@ void SetSoftMACAddress()
 
 void RequestVTXPacket()
 {
+#if !defined(AAT_BACKPACK) and !defined(CROSSBOW_BACKPACK)
  mspPacket_t packet;
  packet.reset();
  packet.makeCommand();
@@ -351,6 +344,7 @@ void RequestVTXPacket()
 
  blinkLED();
  sendMSPViaEspnow(&packet);
+#endif
 }
 
 void sendMSPViaEspnow(mspPacket_t *packet)

src/mfd_crossbow.cpp

@@ -0,0 +1,136 @@
+#include "mfd_crossbow.h"
+#include "common/mavlink.h"
+
+//Basic UAV Parameters
+uint8_t system_id = 1; // MAVLink system ID. Leave at 0 unless you need a specific ID.
+uint8_t component_id = 1; // Should be left at 0. Set to 190 to simulate mission planner sending a command
+uint8_t system_type = 1; // UAV type. 0 = generic, 1 = fixed wing, 2 = quadcopter, 3 = helicopter
+uint8_t autopilot_type = 3; // Autopilot type. Usually set to 0 for generic autopilot with all capabilities
+uint8_t system_mode = 64; // Flight mode. 4 = auto mode, 8 = guided mode, 16 = stabilize mode, 64 = manual mode
+uint32_t custom_mode = 0; // Usually set to 0 
+uint8_t system_state = 4; // 0 = unknown, 3 = standby, 4 = active
+uint32_t upTime = 0; // System uptime, usually set to 0 for cases where it doesn't matter
+
+// Flight parameters
+float roll = 0; // Roll angle in degrees
+float pitch = 0; // Pitch angle in degrees
+float yaw = 0; // Yaw angle in degrees
+int16_t heading = 0; // Geographical heading angle in degrees
+float lat = 0.0; // GPS latitude in degrees (example: 47.123456)
+float lon = 0.0; // GPS longitude in degrees
+float alt = 0.0; // Relative flight altitude in m
+float lat_temp = 0.0; //Temp values for GPS coords
+float lon_temp = 0.0; 
+float groundspeed = 0.0; // Groundspeed in m/s
+float airspeed = 0.0; // Airspeed in m/s
+float climbrate = 0.0; // Climb rate in m/s, currently not working
+float throttle = 0.0; // Throttle percentage
+
+// GPS parameters
+int16_t gps_sats = 0; // Number of visible GPS satellites
+int32_t gps_alt = 0.0; // GPS altitude (Altitude above MSL)
+float gps_hdop = 100.0; // GPS HDOP
+uint8_t fixType = 0; // GPS fix type. 0-1: no fix, 2: 2D fix, 3: 3D fix
+
+// Battery parameters
+float battery_remaining = 0.0; // Remaining battery percentage
+float voltage_battery = 0.0; // Battery voltage in V
+float current_battery = 0.0; // Battery current in A
+
+
+void
+MFDCrossbow::send_heartbeat(uint8_t system_id, uint8_t component_id, uint8_t system_type, uint8_t autopilot_type, uint8_t system_mode, uint32_t custom_mode, uint8_t system_state)
+{
+ // Initialize the required buffers
+ mavlink_message_t msg;
+ uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+
+ // Pack the message
+ mavlink_msg_heartbeat_pack(system_id,component_id, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state);
+
+ // Copy the message to the send buffer
+ uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+
+ // Send the message
+ m_port->write(buf, len);
+}
+
+void
+MFDCrossbow::send_gps_raw_int(int8_t system_id, int8_t component_id, int32_t upTime, int8_t fixType, float lat, float lon, float alt, float gps_alt, int16_t heading, float groundspeed, float gps_hdop, int16_t gps_sats)
+{
+ // Initialize the required buffers
+ mavlink_message_t msg;
+ uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+
+ uint16_t eph = UINT16_MAX;
+ uint16_t epv = UINT16_MAX;
+ uint16_t vel = groundspeed;
+ uint16_t cog = UINT16_MAX;
+ uint8_t satellites_visible = gps_sats;
+ uint32_t alt_ellipsoid = 0;
+ uint32_t h_acc = 0;
+ uint32_t v_acc = 0;
+ uint32_t vel_acc = 0;
+ uint32_t hdg_acc = 0;
+ uint16_t yaw = heading;
+
+ // Pack the message
+ mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg, upTime, fixType, lat, lon, alt, eph, epv, vel, cog, satellites_visible, alt_ellipsoid, h_acc, v_acc, vel_acc, hdg_acc, yaw);
+
+ // // Copy the message to the send buffer
+ uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+
+ m_port->write(buf, len);
+}
+
+void
+MFDCrossbow::send_global_position_int(int8_t system_id, int8_t component_id, int32_t upTime, float lat, float lon, float alt, float gps_alt, uint16_t heading)
+{
+ int16_t velx = 0; //x speed
+ int16_t vely = 0; //y speed
+ int16_t velz = 0; //z speed
+
+ // Initialize the required buffers
+ mavlink_message_t msg;
+ uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+
+ // Pack the message
+ mavlink_msg_global_position_int_pack(system_id, component_id, &msg, upTime, lat, lon, gps_alt, alt, velx, vely, velz, heading);
+
+ // Copy the message to the send buffer
+ uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
+
+ // Send the message (.write sends as bytes)
+ m_port->write(buf, len);
+}
+
+void
+MFDCrossbow::SendGpsTelemetry(crsf_packet_gps_t *packet)
+{
+ int32_t rawLat = be32toh(packet->p.lat); // Convert to host byte order
+ int32_t rawLon = be32toh(packet->p.lon); // Convert to host byte order
+ lat = static_cast<double>(rawLat);
+ lon = static_cast<double>(rawLon);
+
+ groundspeed = be16toh(packet->p.speed) / 36.0 * 100.0;
+ heading = be16toh(packet->p.heading);
+ alt = (be16toh(packet->p.altitude) - 1000) * 1000.0;
+ gps_sats = packet->p.satcnt;
+
+ // m_port->println("GPS lat: ");
+ // m_port->println(lat);
+ // m_port->println("GPS lon: ");
+ // m_port->println(lon);
+ // m_port->println("GPS speed: ");
+ // m_port->println(groundspeed); 
+ // m_port->println("GPS heading: ");
+ // m_port->println(heading);
+ // m_port->println("GPS altitude: ");
+ // m_port->println(alt);
+ // m_port->println("GPS satellites: ");
+ // m_port->println(gps_sats);
+
+ send_heartbeat(system_id, component_id, system_type, autopilot_type, system_mode, custom_mode, system_state);
+ send_gps_raw_int(system_id, component_id, upTime, fixType, lat, lon, alt, gps_alt, heading, groundspeed, gps_hdop, gps_sats);
+ send_global_position_int(system_id, component_id, upTime, lat, lon, alt, gps_alt, heading);
+}

src/mfd_crossbow.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "module_base.h"
+#include "msptypes.h"
+
+#define VRX_UART_BAUD 115200
+
+class MFDCrossbow : public ModuleBase
+{
+public:
+ MFDCrossbow(HardwareSerial *port) : m_port(port) {};
+
+ void send_heartbeat(uint8_t system_id, uint8_t component_id, uint8_t system_type, uint8_t autopilot_type, uint8_t system_mode, uint32_t custom_mode, uint8_t system_state);
+ void send_gps_raw_int(int8_t system_id, int8_t component_id, int32_t upTime, int8_t fixType, float lat, float lon, float alt, float gps_alt, int16_t heading, float groundspeed, float gps_hdop, int16_t gps_sats);
+ void send_global_position_int(int8_t system_id, int8_t component_id, int32_t upTime, float lat, float lon, float alt, float gps_alt, uint16_t heading);
+ void SendGpsTelemetry(crsf_packet_gps_t *packet);
+
+private:
+ HardwareSerial *m_port;
+};

targets/common.ini

@@ -10,6 +10,7 @@ lib_deps =
  ottowinter/ESPAsyncWebServer-esphome @ 3.0.0
  esphome/AsyncTCP-esphome @ 2.0.1 # use specific version - an update to this library breaks the build
  bblanchon/ArduinoJson @ 6.19.4
+ https://github.com/mavlink/c_library_v2.git#e54a8d2e8cf7985e689ad1c8c8f37dc0800ea87b
 
 [common_env_data]
 build_src_filter = +<*> -<.git/> -<svn/> -<example/> -<examples/> -<test/> -<tests/> -<*.py> -<*test*.*>
@@ -90,7 +91,7 @@ lib_ignore = STM32UPDATE
 build_flags =
  ${common_env_data.build_flags}
  -D TARGET_VRX_BACKPACK
- -D STEADYVIEW_BACKPACK
+ -D CROSSBOW_BACKPACK
 build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<fusion.*> -<hdzero.*> -<skyzone_msp.*> -<orqa.*> -<Timer_main.cpp>
 lib_ignore = STM32UPDATE
 

targets/mfd_crossbow.ini

@@ -0,0 +1,37 @@
+# ********************************
+# MFD Crossbow tracker backpack
+# ********************************
+
+[env:MFD_Crossbow_ESP8285_Backpack_via_UART]
+extends = env_common_esp12e
+build_flags =
+ ${common_env_data.build_flags}
+ ${env_common_esp12e.build_flags}
+ -D TARGET_VRX_BACKPACK
+ -D CROSSBOW_BACKPACK
+ -D PIN_BUTTON=0
+ -D PIN_LED=16
+lib_ignore = STM32UPDATE
+lib_deps =
+ ${env.lib_deps}
+build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<Timer_main.cpp>
+
+[env:MFD_Crossbow_ESP8285_Backpack_via_WIFI]
+extends = env:MFD_Crossbow_ESP8285_Backpack_via_UART
+
+[env:MFD_Crossbow_ESP32_Backpack_via_UART]
+extends = env_common_esp32
+build_flags =
+ ${common_env_data.build_flags}
+ ${env_common_esp32.build_flags}
+ -D TARGET_VRX_BACKPACK
+ -D CROSSBOW_BACKPACK
+ -D PIN_BUTTON=0
+ -D PIN_LED=16
+lib_ignore = STM32UPDATE
+lib_deps =
+ ${env.lib_deps}
+build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<Timer_main.cpp>
+
+[env:MFD_Crossbow_ESP32_Backpack_via_WIFI]
+extends = env:MFD_Crossbow_ESP32_Backpack_via_UART