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Add QFE reference elevation message to telemetry system #145

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Add QFE reference elevation message to telemetry system #145

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58 changes: 57 additions & 1 deletion telemetry/telemetry.c
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,12 @@ static void telemetry_build_msg_vehicle_id
);


static void telemetry_build_msg_calibration
(
TELEMETRY_MESSAGE* msg_buf
);


static void telemetry_build_msg_dashboard_dump
(
TELEMETRY_MESSAGE* msg_buf
Expand Down Expand Up @@ -85,11 +91,16 @@ void telemetry_get_next_message
TELEMETRY_MESSAGE_TYPES msg_type;

/* Determine which payload to send */
if( ( message_idx % 2 == 0 )
if( ( message_idx % 3 == 0 )
&& ( get_fc_state() == FC_STATE_LAUNCH_DETECT ) )
{
msg_type = TELEMETRY_MSG_VEHICLE_ID;
}
else if( ( message_idx % 3 == 1 )
&& ( get_fc_state() == FC_STATE_LAUNCH_DETECT ) )
{
msg_type = TELEMETRY_MSG_CALIBRATION;
}
else
{
msg_type = TELEMETRY_MSG_DASHBOARD_DATA;
Expand Down Expand Up @@ -137,6 +148,11 @@ switch( message_type )
telemetry_build_msg_dashboard_dump(msg_buf);
break;
}
case TELEMETRY_MSG_CALIBRATION:
{
telemetry_build_msg_calibration(msg_buf);
break;
}
default:
{
error_fail_fast( ERROR_RECORD_FLIGHT_EVENTS_ERROR );
Expand Down Expand Up @@ -195,6 +211,46 @@ strncpy( msg_buf->payload.vehicle_id.flight_id, "AVIONICS_TEST", 16 );
} /* telemetry_build_msg_vehicle_id */


/*********************************************************************************
* *
* FUNCTION: *
* telemetry_build_msg_calibration *
* *
* DESCRIPTION: *
* Build the calibration payload. Assume header is filled by caller. *
* *
*********************************************************************************/
static void telemetry_build_msg_calibration
(
TELEMETRY_MESSAGE* msg_buf
)
{
/*------------------------------------------------------------------------------
Local Variables
------------------------------------------------------------------------------*/
SENSOR_DATA qfe_sensor_data;

memset( &qfe_sensor_data, 0, sizeof( SENSOR_DATA ) );

/*------------------------------------------------------------------------------
Construct known elements from preset data
------------------------------------------------------------------------------*/
msg_buf->payload.calibration.imu_offset = preset_data.imu_offset;
msg_buf->payload.calibration.baro_preset = preset_data.baro_preset;
msg_buf->payload.calibration.servo_preset = preset_data.servo_preset;

/*------------------------------------------------------------------------------
Determine QFE reference elevation
------------------------------------------------------------------------------*/
qfe_sensor_data.baro_pressure = preset_data.baro_preset.baro_pres;
qfe_sensor_data.baro_temp = preset_data.baro_preset.baro_temp;
sensor_baro_alt( &qfe_sensor_data );

msg_buf->payload.calibration.qfe_elevation = qfe_sensor_data.baro_alt;

} /* telemetry_build_msg_calibration */


/*********************************************************************************
* *
* FUNCTION: *
Expand Down
11 changes: 11 additions & 0 deletions telemetry/telemetry.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@ typedef enum _TELEMETRY_MESSAGE_TYPES
{
TELEMETRY_MSG_VEHICLE_ID = 0x00000001,
TELEMETRY_MSG_DASHBOARD_DATA = 0x00000002,
TELEMETRY_MSG_CALIBRATION = 0x00000003,
__TELEMETRY_MSG_FORCE_32BIT = 0xFFFFFFFF /* used to force this type size to 32 bits */
} TELEMETRY_MESSAGE_TYPES;
_Static_assert( sizeof(TELEMETRY_MESSAGE_TYPES) == 4, "TELEMETRY_MESSAGE_TYPES size invalid.");
Expand Down Expand Up @@ -115,6 +116,15 @@ typedef struct __attribute__((packed)) _TELEMETRY_MSG_DASHBOARD_DUMP_TYPE
} TELEMETRY_MSG_DASHBOARD_DUMP_TYPE;
_Static_assert( sizeof(TELEMETRY_MSG_DASHBOARD_DUMP_TYPE) == LORA_PAYLOAD_SIZE, "TELEMETRY_MSG_DASHBOARD_DUMP_TYPE size invalid.");

typedef struct __attribute__((packed)) _TELEMETRY_MSG_CALIBRATION_TYPE
{
IMU_OFFSET imu_offset;
BARO_PRESET baro_preset;
float qfe_elevation;
SERVO_PRESET servo_preset;
} TELEMETRY_MSG_CALIBRATION_TYPE;
_Static_assert( sizeof(TELEMETRY_MSG_CALIBRATION_TYPE) == LORA_PAYLOAD_SIZE, "TELEMETRY_MSG_CALIBRATION size invalid." );

/* struct is packed to inhibit padding */
typedef struct __attribute__((packed)) _TELEMETRY_MESSAGE
{
Expand All @@ -123,6 +133,7 @@ typedef struct __attribute__((packed)) _TELEMETRY_MESSAGE
{
TELEMETRY_MSG_VEHICLE_ID_TYPE vehicle_id; /* provide information about the transmitting device */
TELEMETRY_MSG_DASHBOARD_DUMP_TYPE dashboard_dump; /* gives vehicle state info (location, orientation) */
TELEMETRY_MSG_CALIBRATION_TYPE calibration;
} payload;
} TELEMETRY_MESSAGE;
_Static_assert( sizeof(TELEMETRY_MESSAGE) == TELEMETRY_MESSAGE_SIZE, "LORA_PAYLOAD size invalid.");
Expand Down