Horus version 1.9.5

- fixed terrain error in CRSF RF Mode 1
- added support for TURTLE flight mode
- added support for BLIMP vehicle
- added WIND rendering
- added airspeed option on the hud above groundspeed FRSKY_OPTION = current value + 1
- added plotting page with selectable sensors to plot (configure as widget page 6)

HORUS/SD/SCRIPTS/TOOLS/Yaapu Debug CRSF.lua

@@ -0,0 +1,137 @@
+local CRSF_FRAME_CUSTOM_TELEM = 0x80
+local CRSF_FRAME_CUSTOM_TELEM_LEGACY = 0x7F
+local CRSF_CUSTOM_TELEM_PASSTHROUGH = 0xF0
+local CRSF_CUSTOM_TELEM_STATUS_TEXT = 0xF1
+local CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY = 0xF2
+
+local packetStats = {
+  [0x5000] = {count = 0, avg = 0 , tot = 0},
+  [0x5001] = {count = 0, avg = 0 , tot = 0},
+  [0x5002] = {count = 0, avg = 0 , tot = 0},
+  [0x5003] = {count = 0, avg = 0 , tot = 0},
+  [0x5004] = {count = 0, avg = 0 , tot = 0},
+  [0x5005] = {count = 0, avg = 0 , tot = 0},
+  [0x5006] = {count = 0, avg = 0 , tot = 0},
+  [0x5007] = {count = 0, avg = 0 , tot = 0},
+  [0x5008] = {count = 0, avg = 0 , tot = 0},
+  [0x5009] = {count = 0, avg = 0 , tot = 0},
+  [0x500A] = {count = 0, avg = 0 , tot = 0},
+  [0x500B] = {count = 0, avg = 0 , tot = 0},
+  [0x500C] = {count = 0, avg = 0 , tot = 0},
+  [0x500D] = {count = 0, avg = 0 , tot = 0},
+  link_rate = 0
+}
+
+local logfilename
+local logfile
+local flushtime = getTime()
+
+local function processTelemetry(data_id, value)
+  if packetStats[data_id] ~= nil then
+    packetStats[data_id].tot = packetStats[data_id].tot + 1
+    packetStats[data_id].count = packetStats[data_id].count + 1
+  end
+  io.write(logfile, getTime(), ";0;", data_id, ";", value, "\r\n")
+end
+
+local function crossfirePop()
+    local command, data = crossfireTelemetryPop()
+    -- command is 0x80 CRSF_FRAMETYPE_ARDUPILOT
+    if (command == CRSF_FRAME_CUSTOM_TELEM or command == CRSF_FRAME_CUSTOM_TELEM_LEGACY)  and data ~= nil then
+      -- actual payload starts at data[2]
+      if #data >= 7 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH then
+        local app_id = bit32.lshift(data[3],8) + data[2]
+        local value =  bit32.lshift(data[7],24) + bit32.lshift(data[6],16) + bit32.lshift(data[5],8) + data[4]
+        return 0x00, 0x10, app_id, value
+      elseif #data > 4 and data[1] == CRSF_CUSTOM_TELEM_STATUS_TEXT then
+        return 0x00, 0x10, 0x5000, 0x00000000
+      elseif #data > 48 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY then
+        -- passthrough array
+        local app_id, value
+        for i=0,data[2]-1
+        do
+          app_id = bit32.lshift(data[4+(6*i)],8) + data[3+(6*i)]
+          value =  bit32.lshift(data[8+(6*i)],24) + bit32.lshift(data[7+(6*i)],16) + bit32.lshift(data[6+(6*i)],8) + data[5+(6*i)]
+          --pushMessage(7,string.format("CRSF:%d - %04X:%08X",i, app_id, value))
+          processTelemetry(app_id, value)
+        end
+      end
+    end
+    return nil, nil ,nil ,nil
+end
+
+local function getLogFilename()
+  local datenow = getDateTime()
+  local info = model.getInfo()
+  local modelName = string.lower(string.gsub(info.name, "[%c%p%s%z]", ""))
+  return modelName..string.format("-crsf-%04d%02d%02d_%02d%02d%02d.plog", datenow.year, datenow.mon, datenow.day, datenow.hour, datenow.min, datenow.sec)
+end
+
+local last_refresh = getTime()
+
+local function background()
+  for i=1,5
+  do
+    local success, sensor_id, frame_id, data_id, value = pcall(crossfirePop)
+    if success and frame_id == 0x10 then
+      processTelemetry(data_id, value)
+    end
+    local now = getTime()
+    if now - last_refresh > 100 then
+      local aggregate = 0
+      for i=0x00,0x0D
+      do
+        aggregate = aggregate + packetStats[0x5000+i].count
+
+        if packetStats[0x5000+i].avg == 0 then
+          packetStats[0x5000+i].avg = packetStats[0x5000+i].count
+        end
+        packetStats[0x5000+i].avg = packetStats[0x5000+i].avg * 0.75 + packetStats[0x5000+i].count * 0.25
+        packetStats[0x5000+i].count = 0
+      end
+      packetStats.link_rate = packetStats.link_rate * 0.75 + aggregate * 0.25
+      last_refresh = now
+    end
+  end
+
+  if getTime() - flushtime > 50 then
+    -- flush
+    pcall(io.close,logfile)
+    logfile = io.open("/LOGS/"..logfilename,"a")
+
+    flushtime = getTime()
+  end
+end
+
+local function run(event)
+  background()
+  lcd.setColor(CUSTOM_COLOR, 0x0AB1)
+  lcd.clear(CUSTOM_COLOR)
+
+  lcd.setColor(CUSTOM_COLOR, WHITE)
+  lcd.drawText(1,1,"YAAPU CRSF DEBUG 1.9.5", CUSTOM_COLOR)
+
+  local link_rate = 0
+  for i=0x00,0x0D
+  do
+    lcd.setColor(CUSTOM_COLOR, WHITE)
+    if packetStats[0x5000+i].avg > 0 then
+      lcd.setColor(CUSTOM_COLOR, lcd.RGB(0,255,0))
+    end
+    lcd.drawText(20,22+(i*16),string.format("0x50%02X: rate: %.01fHz, count: %d, ", i, packetStats[0x5000+i].avg, packetStats[0x5000+i].tot),CUSTOM_COLOR)
+  end
+  lcd.drawText(LCD_W-10, 1,string.format("link rate: %.01fHz", packetStats.link_rate), CUSTOM_COLOR+RIGHT)
+
+  lcd.drawText(1,LCD_H-20,tostring("/LOGS/"..logfilename),CUSTOM_COLOR)
+  collectgarbage()
+  collectgarbage()
+  return 0
+end
+
+local function init()
+  logfilename = getLogFilename()
+  logfile = io.open("/LOGS/"..logfilename,"a")
+  io.write(logfile, "counter;f_time;data_id;value\r\n")
+end
+
+return {run=run, init=init}

HORUS/SD/SCRIPTS/TOOLS/Yaapu Debug FRSKY.lua

@@ -0,0 +1,108 @@
+local packetStats = {
+  [0x5000] = {count = 0, avg = 0 , tot = 0},
+  [0x5001] = {count = 0, avg = 0 , tot = 0},
+  [0x5002] = {count = 0, avg = 0 , tot = 0},
+  [0x5003] = {count = 0, avg = 0 , tot = 0},
+  [0x5004] = {count = 0, avg = 0 , tot = 0},
+  [0x5005] = {count = 0, avg = 0 , tot = 0},
+  [0x5006] = {count = 0, avg = 0 , tot = 0},
+  [0x5007] = {count = 0, avg = 0 , tot = 0},
+  [0x5008] = {count = 0, avg = 0 , tot = 0},
+  [0x5009] = {count = 0, avg = 0 , tot = 0},
+  [0x500A] = {count = 0, avg = 0 , tot = 0},
+  [0x500B] = {count = 0, avg = 0 , tot = 0},
+  [0x500C] = {count = 0, avg = 0 , tot = 0},
+  [0x500D] = {count = 0, avg = 0 , tot = 0},
+  link_rate = 0
+}
+
+local sensorIds = {}
+
+local logfilename
+local logfile
+local flushtime = getTime()
+
+local function processTelemetry(data_id, value)
+  if packetStats[data_id] ~= nil then
+    packetStats[data_id].tot = packetStats[data_id].tot + 1
+    packetStats[data_id].count = packetStats[data_id].count + 1
+  end
+  io.write(logfile, getTime(), ";0;", data_id, ";", value, "\r\n")
+end
+
+local function getLogFilename()
+  local datenow = getDateTime()
+  local info = model.getInfo()
+  local modelName = string.lower(string.gsub(info.name, "[%c%p%s%z]", ""))
+  return modelName..string.format("-frsky-%04d%02d%02d_%02d%02d%02d.plog", datenow.year, datenow.mon, datenow.day, datenow.hour, datenow.min, datenow.sec)
+end
+
+local last_refresh = getTime()
+
+local function background()
+  for i=1,5
+  do
+    local success,sensor_id,frame_id,data_id,value = pcall(sportTelemetryPop)
+    if success and sensor_id ~= nil then
+      sensorIds[sensor_id] = true
+      processTelemetry(data_id, value)
+    end
+    local now = getTime()
+    if now - last_refresh > 100 then
+      local aggregate = 0
+      for i=0x00,0x0D
+      do
+        aggregate = aggregate + packetStats[0x5000+i].count
+
+        if packetStats[0x5000+i].avg == 0 then
+          packetStats[0x5000+i].avg = packetStats[0x5000+i].count
+        end
+        packetStats[0x5000+i].avg = packetStats[0x5000+i].avg * 0.75 + packetStats[0x5000+i].count * 0.25
+        packetStats[0x5000+i].count = 0
+      end
+      packetStats.link_rate = packetStats.link_rate * 0.75 + aggregate * 0.25
+      last_refresh = now
+    end
+  end
+
+  if getTime() - flushtime > 50 then
+    -- flush
+    pcall(io.close,logfile)
+    logfile = io.open("/LOGS/"..logfilename,"a")
+
+    flushtime = getTime()
+  end
+end
+
+local function run(event)
+  background()
+  lcd.setColor(CUSTOM_COLOR, 0x0AB1)
+  lcd.clear(CUSTOM_COLOR)
+
+  lcd.setColor(CUSTOM_COLOR, WHITE)
+  lcd.drawText(1,1,"YAAPU FRSKY DEBUG 1.9.5", CUSTOM_COLOR)
+
+  local link_rate = 0
+  for i=0x00,0x0D
+  do
+    lcd.setColor(CUSTOM_COLOR, WHITE)
+    if packetStats[0x5000+i].avg > 0 then
+      lcd.setColor(CUSTOM_COLOR, lcd.RGB(0,255,0))
+    end
+    lcd.drawText(20,22+(i*16),string.format("0x50%02X: rate: %.01fHz, count: %d, ", i, packetStats[0x5000+i].avg, packetStats[0x5000+i].tot),CUSTOM_COLOR)
+  end
+  lcd.drawText(LCD_W-10, 1,string.format("link rate: %.01fHz", packetStats.link_rate), CUSTOM_COLOR+RIGHT)
+
+  lcd.drawText(1,LCD_H-20,tostring("/LOGS/"..logfilename),CUSTOM_COLOR)
+  collectgarbage()
+  collectgarbage()
+  return 0
+end
+
+local function init()
+  logfilename = getLogFilename()
+  logfile = io.open("/LOGS/"..logfilename,"a")
+  io.write(logfile, "counter;f_time;data_id;value\r\n")
+end
+
+return {run=run, init=init}