From 9a1d4f802a75c10bb62f3cb4e6ebfd667e219e0b Mon Sep 17 00:00:00 2001 From: yaapu Date: Sat, 18 May 2019 15:46:46 +0200 Subject: [PATCH] Taranis version 1.8.0 - new hud layout, speed on left, alt on right VSI on bottom - added support for up to 6 frsky sensors on dedicated second screen - added script reset support (no need to power cycle the radio between packs) - added haptic feedback support - added total flown distance (calculated from speed) - added PX4 flight modes support when using the mavlinkToPassthru firmware - added support for mavlinkToPassthru firmware - added vocal playback of selected mavlink messages - added support fot serial and independent battery configurations with individual cell count override - added support for battery voltage > 51.1V - added new message alert silencing options - fix for quick flight mode switch - fix for rover modes vocal playback --- TARANIS/IMAGES/x7.png | Bin 2101 -> 2201 bytes TARANIS/IMAGES/x7_alt_displayinfo.PNG | Bin 0 -> 58058 bytes 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---------- TARANIS/SOURCES/PP/yaapu9.lua | 1962 ---------- TARANIS/SOURCES/README.md | 5 + TARANIS/SOURCES/SRC/yaapu/alt7_view.lua | 605 +++ TARANIS/SOURCES/SRC/yaapu/alt9_view.lua | 620 +++ TARANIS/SOURCES/SRC/yaapu/copter.lua | 58 + TARANIS/SOURCES/SRC/yaapu/copter_px4.lua | 29 + TARANIS/SOURCES/SRC/yaapu/draw7.lua | 377 ++ TARANIS/SOURCES/SRC/yaapu/draw9.lua | 380 ++ TARANIS/SOURCES/SRC/yaapu/hud7.lua | 425 ++ TARANIS/SOURCES/SRC/yaapu/hud9.lua | 424 ++ TARANIS/SOURCES/SRC/yaapu/left7.lua | 292 ++ TARANIS/SOURCES/SRC/yaapu/left7_m2f.lua | 307 ++ TARANIS/SOURCES/SRC/yaapu/left9.lua | 276 ++ TARANIS/SOURCES/SRC/yaapu/left9_m2f.lua | 293 ++ TARANIS/SOURCES/SRC/yaapu/menu7.lua | 442 +++ TARANIS/SOURCES/SRC/yaapu/menu9.lua | 441 +++ TARANIS/SOURCES/SRC/yaapu/plane.lua | 56 + TARANIS/SOURCES/SRC/yaapu/plane_px4.lua | 29 + TARANIS/SOURCES/SRC/yaapu/reset.lua | 270 ++ TARANIS/SOURCES/SRC/yaapu/right7.lua | 243 ++ TARANIS/SOURCES/SRC/yaapu/right9.lua | 260 ++ 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"-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 2 +[2]= { + "Celd", -- label + "Celd", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "Vdelta", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "+", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 0.2, -- warning level (nil is do not use feature) + 0.4, -- critical level (nil is do not use feature) + }, + + -- Sensor 3 +[3]= { + "Cel1", -- label + "Cel1", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V1", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 4 +[4]= { + "Cel2", -- label + "Cel2", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V2", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 5 +[5]= { + "Cel3", -- label + "Cel3", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V3", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 6 +[6]= { + "Cel4", -- label + "Cel4", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V4", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, +} +------------------------------------------------------ +-- the script can optionally look up values here +-- for each sensor and display the corresponding text instead +-- as an example to associate a lookup table to sensor 3 declare it like +-- +--local lookups = { +-- [3] = { +-- [-10] = "ERR", +-- [0] = "OK", +-- [10] = "CRIT", +-- } +-- } +-- this would display the sensor value except when the value corresponds to one +-- of entered above +-- +local lookups = { +} + +collectgarbage() + +return { + sensors=sensors,lookups=lookups +} diff --git a/TARANIS/SD/MODELS/yaapu/kerojet_example_sensors.lua b/TARANIS/SD/MODELS/yaapu/kerojet_example_sensors.lua new file mode 100644 index 00000000..618b8052 --- /dev/null +++ b/TARANIS/SD/MODELS/yaapu/kerojet_example_sensors.lua @@ -0,0 +1,131 @@ +---------------------------------------- +-- custom sensors configuration file +---------------------------------------- +--[[ +S1:Pump,A4,2,V,1,+,1, +S2:Fuel,Fuel,0,ml,1,+,1, +S3:ENG,RPM,0,krpm,100,+,1, +S4:EGT,Tmp1,0,C,1,+,1, +S5:THRO,Thro,0,%,1,+,1, +S6:Status,Tmp2,0,C,1,-,1 +--]] +local sensors = { + -- Sensor 1 +[1]= { + "Celm", -- label + "Celm", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "Vmin", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 2 +[2]= { + "Celd", -- label + "Celd", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "Vdelta", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "+", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 0.2, -- warning level (nil is do not use feature) + 0.4, -- critical level (nil is do not use feature) + }, + + -- Sensor 3 +[3]= { + "Cel1", -- label + "Cel1", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V1", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 2, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 4 +[4]= { + "Cel2", -- label + "Cel2", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V2", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 2, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 5 +[5]= { + "Cel3", -- label + "Cel3", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V3", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 2, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 6 +[6]= { + "Cel4", -- label + "Cel4", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V4", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 2, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, +} +------------------------------------------------------ +-- the script can optionally look up values here +-- for each sensor and display the corresponding text instead +-- as an example to associate a lookup table to sensor 3 declare it like +-- +-- [3] = { +-- [-10] = "ERR", +-- [0] = "OK", +-- [10] = "CRIT", +-- } +-- this would display the sensor value except when the value corresponds to one +-- of entered above +-- +local lookups = { + -- lookup 2 + --[[ + [6] = { + [-30] = "ERROR", + [-20] = "OFF", + [-10] = "COOL", + [-1] = "LOCK", + [0] = "STOP", + [10] = "RUN", + [20] = "REL", + [25] = "GLOW", + [30] = "SPIN", + [40] = "FIRE", + [45] = "IGNT", + [50] = "HEAT", + [60] = "ACCE", + [65] = "CAL", + [70] = "IDLE", + }, + --]] +} + +collectgarbage() + +return { + sensors=sensors,lookups=lookups +} \ No newline at end of file diff --git a/TARANIS/SD/MODELS/yaapu/yaapuprod_sensors.lua b/TARANIS/SD/MODELS/yaapu/yaapuprod_sensors.lua new file mode 100644 index 00000000..4ef74cf4 --- /dev/null +++ b/TARANIS/SD/MODELS/yaapu/yaapuprod_sensors.lua @@ -0,0 +1,105 @@ +---------------------------------------- +-- custom sensors configuration file +---------------------------------------- +local sensors = { + -- Sensor 1 +[1]= { + "Celm", -- label + "Celm", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "Vmin", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 2 +[2]= { + "Celd", -- label + "Celd", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "Vdelta", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "+", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 0.2, -- warning level (nil is do not use feature) + 0.4, -- critical level (nil is do not use feature) + }, + + -- Sensor 3 +[3]= { + "Cel1", -- label + "Cel1", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V1", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 4 +[4]= { + "Cel2", -- label + "Cel2", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V2", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 5 +[5]= { + "Cel3", -- label + "Cel3", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V3", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, + + -- Sensor 6 +[6]= { + "Cel4", -- label + "Cel4", -- OpenTX sensor name + 2, -- precision: number of decimals 0,1,2 + "V4", -- label for unit of measure + 1, -- multiplier if < 1 than divides + "-", -- "+" track max values, "-" track min values with + 1, -- font size 1=small, 2=big + 3.65, -- warning level (nil is do not use feature) + 3.30, -- critical level (nil is do not use feature) + }, +} +------------------------------------------------------ +-- the script can optionally look up values here +-- for each sensor and display the corresponding text instead +-- as an example to associate a lookup table to sensor 3 declare it like +-- +--local lookups = { +-- [3] = { +-- [-10] = "ERR", +-- [0] = "OK", +-- [10] = "CRIT", +-- } +-- } +-- this would display the sensor value except when the value corresponds to one +-- of entered above +-- +local lookups = { +} + +collectgarbage() + +return { + sensors=sensors,lookups=lookups +} diff --git a/TARANIS/SD/README.md b/TARANIS/SD/README.md new file mode 100644 index 00000000..5fadf553 --- /dev/null +++ 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U=oHW?pi@AnfKGw`A1Ltu001vE_y7O^ literal 0 HcmV?d00001 diff --git a/TARANIS/SOURCES/PP/includes/yaapu_inc.lua b/TARANIS/SOURCES/PP/includes/yaapu_inc.lua new file mode 100644 index 00000000..3789eaeb --- /dev/null +++ b/TARANIS/SOURCES/PP/includes/yaapu_inc.lua @@ -0,0 +1,516 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +#define X9 +--#define X7 +-- always use loadscript() instead of loadfile() +#define LOADSCRIPT +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +#ifdef COMPILE +#define LOAD_LUA +#endif +--------------------- +-- VERSION +--------------------- +#ifdef X9 + #define VERSION "Yaapu X9 telemetry script 1.8.0" +#else + #define VERSION "Yaapu X7 1.8.0" +#endif +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +#define RESET +-- always calculate FNV hash and play sound msg_.wav +#define FNV_HASH +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +#define NOTELEM_BLINK +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + +#ifdef TESTMODE +-- force cellcount +#define CELLCOUNT 12 +-- copy 1st battery data over 2nd battery data +--#define BATT2TEST +-- copy 1st FLVSS data over 2nd FLVSS data +#define FLVSS2TEST +-- generate sample messages to parse +--#define MESSAGES +-- put the script in demo mode for screenshots +--#define DEMO +#endif + +--------------------- +-- SENSORS +--------------------- +#define VFAS_ID 0x021F +#define VFAS_SUBID 0 +#define VFAS_INSTANCE 0 +#define VFAS_PRECISION 2 +#define VFAS_NAME "VFAS" + +#define CURR_ID 0x020F +#define CURR_SUBID 0 +#define CURR_INSTANCE 0 +#define CURR_PRECISION 1 +#define CURR_NAME "CURR" + +#define VSpd_ID 0x011F +#define VSpd_SUBID 0 +#define VSpd_INSTANCE 0 +#define VSpd_PRECISION 1 +#define VSpd_NAME "VSpd" + +#define GSpd_ID 0x083F +#define GSpd_SUBID 0 +#define GSpd_INSTANCE 0 +#define GSpd_PRECISION 0 +#define GSpd_NAME "GSpd" + +#define Alt_ID 0x010F +#define Alt_SUBID 0 +#define Alt_INSTANCE 0 +#define Alt_PRECISION 1 +#define Alt_NAME "Alt" + +#define GAlt_ID 0x082F +#define GAlt_SUBID 0 +#define GAlt_INSTANCE 0 +#define GAlt_PRECISION 0 +#define GAlt_NAME "GAlt" + +#define Hdg_ID 0x084F +#define Hdg_SUBID 0 +#define Hdg_INSTANCE 0 +#define Hdg_PRECISION 0 +#define Hdg_NAME "Hdg" + +#define Fuel_ID 0x060F +#define Fuel_SUBID 0 +#define Fuel_INSTANCE 0 +#define Fuel_PRECISION 0 +#define Fuel_NAME "Fuel" + +#define IMUTmp_ID 0x041F +#define IMUTmp_SUBID 0 +#define IMUTmp_INSTANCE 0 +#define IMUTmp_PRECISION 0 +#define IMUTmp_NAME "IMUt" + +#define ARM_ID 0x060F +#define ARM_SUBID 0 +#define ARM_INSTANCE 1 +#define ARM_PRECISION 0 +#define ARM_NAME "ARM" + +#define ASpd_ID 0x0AF +#define ASpd_SUBID 0 +#define ASpd_INSTANCE 0 +#define ASpd_PRECISION 0 +#define ASpd_NAME "ASpd" + +#define BAlt_ID 0x010F +#define BAlt_SUBID 0 +#define BAlt_INSTANCE 1 +#define BAlt_PRECISION 1 +#define BAlt_NAME "BAlt" + +-- Throttle and RC use RPM sensor IDs +#define Thr_ID 0x050F +#define Thr_SUBID 0 +#define Thr_INSTANCE 0 +#define Thr_PRECISION 0 +#define Thr_NAME "Thr" + +#define WPD_ID 0x082F +#define WPD_SUBID 0 +#define WPD_INSTANCE 10 +#define WPD_PRECISION 0 +#define WPD_NAME "WPD" + +#define WPX_ID 0x082F +#define WPX_SUBID 0 +#define WPX_INSTANCE 11 +#define WPX_PRECISION 0 +#define WPX_NAME "WPX" + +#define WPN_ID 0x050F +#define WPN_SUBID 0 +#define WPN_INSTANCE 10 +#define WPN_PRECISION 0 +#define WPN_NAME "WPN" + +#define WPB_ID 0x084F +#define WPB_SUBID 0 +#define WPB_INSTANCE 10 +#define WPB_PRECISION 0 +#define WPB_NAME "WPB" + +#define CELLFULL 4.36 +------------------------ +-- MIN MAX +------------------------ +-- min +#define MIN_BATT1_FC 1 +#define MIN_BATT2_FC 2 +#define MIN_CELL1_VS 3 +#define MIN_CELL2_VS 4 +#define MIN_BATT1_VS 5 +#define MIN_BATT2_VS 6 + +#define MAX_CURR 7 +#define MAX_CURR1 8 +#define MAX_CURR2 9 +#define MAX_POWER 10 +#define MINMAX_ALT 11 +#define MAX_GPSALT 12 +#define MAX_VSPEED 13 +#define MAX_HSPEED 14 +#define MAX_DIST 15 +#define MAX_RANGE 16 +------------------------ +-- LAYOUT +------------------------ +#ifdef X9 + +#define LCD_W 212 + +#define HUD_X 62 +#define HUD_WIDTH 88 +#define HUD_X_MID 33 + +#define LEFTPANE_X 1 +#define RIGHTPANE_X 152 + +#define TOPBAR_Y 0 +#define TOPBAR_HEIGHT 7 +#define TOPBAR_WIDTH 212 + +#define BOTTOMBAR_Y 56 +#define BOTTOMBAR_HEIGHT 9 +#define BOTTOMBAR_WIDTH 212 + +#define BOX1_X 0 +#define BOX1_Y 38 +#define BOX1_WIDTH 66 +#define BOX1_HEIGHT 8 + +#define BOX2_X 61 +#define BOX2_Y 46 +#define BOX2_WIDTH 17 +#define BOX2_HEIGHT 12 + +#define FLIGHTMODE_X 1 +#define FLIGHTMODE_Y 0 +#define FLIGHTMODE_FLAGS SMLSIZE+INVERS + +#define HOMEANGLE_X 60 +#define HOMEANGLE_Y 27 +#define HOMEANGLE_XLABEL 3 +#define HOMEANGLE_YLABEL 27 +#define HOMEANGLE_FLAGS SMLSIZE + +#define HSPEED_X 60 +#define HSPEED_Y 49 +#define HSPEED_XLABEL 12 +#define HSPEED_YLABEL 48 +#define HSPEED_XDIM 61 +#define HSPEED_YDIM 49 +#define HSPEED_FLAGS SMLSIZE +#define HSPEED_ARROW_WIDTH 10 + +#define HOMEDIR_X 133 +#define HOMEDIR_Y 47 +#define HOMEDIR_R 7 + +#define FLIGHTTIME_X 176 +#define FLIGHTTIME_Y 0 +#define FLIGHTTIME_FLAGS SMLSIZE+INVERS+TIMEHOUR + +#define RSSI_X 69 +#define RSSI_Y 0 +#define RSSI_FLAGS SMLSIZE+INVERS + +#define TXVOLTAGE_X 115 +#define TXVOLTAGE_Y 0 +#define TXVOLTAGE_FLAGS SMLSIZE+INVERS + +#else + +#define LCD_W 128 + +#define HUD_X 32 +#define HUD_WIDTH 64 +#define HUD_X_MID 33 + +#define LEFTPANE_X 0 +#define RIGHTPANE_X 97 + +#define TOPBAR_Y 0 +#define TOPBAR_HEIGHT 7 +#define TOPBAR_WIDTH 128 + +#define BOTTOMBAR_Y 57 +#define BOTTOMBAR_HEIGHT 8 +#define BOTTOMBAR_WIDTH 128 + +#define BOX1_X 65 +#define BOX1_Y 28 +#define BOX1_WIDTH 23 +#define BOX1_HEIGHT 15 + +#define BOX2_X 65 +#define BOX2_Y 7 +#define BOX2_WIDTH 38 +#define BOX2_HEIGHT 7 + +#define FLIGHTMODE_X 1 +#define FLIGHTMODE_Y 0 +#define FLIGHTMODE_FLAGS SMLSIZE+INVERS + +#define HOMEANGLE_X 0 +#define HOMEANGLE_Y 0 +#define HOMEANGLE_XLABEL 0 +#define HOMEANGLE_YLABEL 0 +#define HOMEANGLE_FLAGS SMLSIZE + +#define HSPEED_X 107 +#define HSPEED_Y 8 +#define HSPEED_XLABEL 66 +#define HSPEED_YLABEL 10 +#define HSPEED_XDIM 102 +#define HSPEED_YDIM 9 +#define HSPEED_FLAGS SMLSIZE +#define HSPEED_ARROW_WIDTH 6 + +--#define HOMEDIR_X 42 +#define HOMEDIR_X 82 +#define HOMEDIR_Y 48 +#define HOMEDIR_R 7 + +#define FLIGHTTIME_X 98 +#define FLIGHTTIME_Y 0 +#define FLIGHTTIME_FLAGS SMLSIZE+INVERS + +#define RSSI_X 70 +#define RSSI_Y 0 +#define RSSI_FLAGS SMLSIZE+INVERS + +#define TXVOLTAGE_X 104 +#define TXVOLTAGE_Y 21 +#define TXVOLTAGE_FLAGS SMLSIZE + +#endif --X7 +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- +#define TYPEVALUE 0 +#define TYPECOMBO 1 +#define MENU_Y 7 +#define MENU_PAGESIZE 7 + +#ifdef X9 +#define MENU_ITEM_X 150 +#else +#define MENU_ITEM_X 102 +#endif + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] +#define ALARM_NOTIFIED 1 +#define ALARM_START 2 +#define ALARM_ARMED 3 +#define ALARM_TYPE 4 +#define ALARM_GRACE 5 +#define ALARM_READY 6 +#define ALARM_LAST_ALARM 7 + +#define ALARMS_MIN_ALT 1 +#define ALARMS_MAX_ALT 2 +#define ALARMS_MAX_DIST 3 +#define ALARMS_FS_EKF 4 +#define ALARMS_FS_BATT 5 +#define ALARMS_TIMER 6 +#define ALARMS_BATT_L1 7 +#define ALARMS_BATT_L2 8 +#define ALARMS_MAX_HDOP 9 + +#define ALARM_TYPE_MIN 0 +#define ALARM_TYPE_MAX 1 +#define ALARM_TYPE_TIMER 2 +#define ALARM_TYPE_BATT 3 +#define ALARM_TYPE_BATT_CRT 4 + +#define ALARM_TYPE_BATT_GRACE 4 +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + +#define UNIT_ALT_SCALE unitScale +#define UNIT_ALT_LABEL unitLabel +#define UNIT_DIST_SCALE unitScale +#define UNIT_DIST_LABEL unitLabel +#define UNIT_DIST_LONG_LABEL unitLongLabel +#define UNIT_DIST_LONG_SCALE unitLongScale +#define UNIT_HSPEED_SCALE conf.horSpeedMultiplier +#define UNIT_VSPEED_SCALE conf.vertSpeedMultiplier +#define UNIT_HSPEED_LABEL conf.horSpeedLabel +#define UNIT_VSPEED_LABEL conf.vertSpeedLabel + +#define OPENTX_UNIT_METERS 9 +#define OPENTX_UNIT_FEET 10 + +----------------------- +-- HUD AND YAW +----------------------- +#define YAW_Y TOPBAR_Y+TOPBAR_HEIGHT +#ifdef X9 +#define YAW_STEPWIDTH 8 +#define YAW_X_MIN (LCD_W-HUD_WIDTH)/2 + 6 +#define YAW_X_MAX (LCD_W+HUD_WIDTH)/2 - 8 +#define YAW_WIDTH HUD_WIDTH-7 +#else +#define YAW_STEPWIDTH 6.2 +#define YAW_X_MIN 34 +#define YAW_X_MAX 26+HUD_WIDTH +#define YAW_WIDTH HUD_WIDTH-5 +#endif --X9 +-- vertical distance between roll horiz segments +#define HUD_R2 6 + +#define LEFTWIDTH 17 +#define RIGHTWIDTH 17 +-- vertical distance between roll horiz segments +#define R2 6 +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 +#define BATT_CELL 1 +#define BATT_VOLT 4 +#define BATT_CURR 7 +#define BATT_MAH 10 +#define BATT_CAP 13 + +#define BATT_IDALL 0 +#define BATT_ID1 1 +#define BATT_ID2 2 + +#define BATTCONF_PARALLEL 1 +#define BATTCONF_SERIAL 2 +#define BATTCONF_OTHER 3 + +-- X-Lite Support +#define XLITE_UP 36 +#define XLITE_UP_RPT 68 +#define XLITE_DOWN 35 +#define XLITE_DOWN_RPT 67 +#define XLITE_RTN 33 +#define XLITE_ENTER 34 +#define XLITE_MENU_LONG 128 +#define XLITE_MENU 32 + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- +#define TRANSITION_LASTVALUE 1 +#define TRANSITION_LASTCHANGED 2 +#define TRANSITION_DONE 3 +#define TRANSITION_DELAY 4 + +#define TRANSITIONS_FLIGHTMODE 1 + +#define MONITOR_ALTITUDE 1 +#define MONITOR_DISTANCE 2 + +#define LIB_BASE_PATH "/SCRIPTS/TELEMETRY/yaapu/" + +#define HAPTIC_DURATION 12 + +#define DRAWLIB_LOAD_CYCLE 0 +#define MENU_LOAD_CYCLE 4 +#define ALTVIEW_LOAD_CYCLE 2 +#define LEFT_LOAD_CYCLE 2 +#define CENTER_LOAD_CYCLE 4 +#define RIGHT_LOAD_CYCLE 6 +#define LOAD_CYCLE_MAX 8 diff --git a/TARANIS/SOURCES/PP/lib/alt_view.lua b/TARANIS/SOURCES/PP/lib/alt_view.lua new file mode 100644 index 00000000..8a2489c4 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/alt_view.lua @@ -0,0 +1,954 @@ +#include "includes/yaapu_inc.lua" + +#ifdef X9 +-------------------------------- +-- Layout 212x64 taranis X9D+ +-------------------------------- +#define LCD_W 212 + +#define ALT_HUD_X_CENTER 147 +#define ALT_HUD_X 116 +#define ALT_HUD_WIDTH 62 +#define ALT_HUD_X_MID 33 + +#define ALT_LEFTPANE_X 116 +#define ALT_RIGHTPANE_X 178 + +#define ALT_YAW_STEPWIDTH 6.2 +#define ALT_YAW_X_MIN 120 +#define ALT_YAW_X_MAX 174 +#define ALT_YAW_WIDTH ALT_HUD_WIDTH-5 + +#define BATTCELL_X 0 +#define BATTCELL_Y 7 +#define BATTCELL_YV 6 +#define BATTCELL_YS 12 +#define BATTCELL_FLAGS MIDSIZE + +#define BATTVOLT_X 33 +#define BATTVOLT_Y 19 +#define BATTVOLT_YV 19 +#define BATTVOLT_FLAGS SMLSIZE +#define BATTVOLT_FLAGSV SMLSIZE + +#define BATTCURR_X 33 +#define BATTCURR_Y 26 +#define BATTCURR_YA 26 +#define BATTCURR_FLAGS SMLSIZE +#define BATTCURR_FLAGSA SMLSIZE + +#define BATTPERC_X 0 +#define BATTPERC_Y 31 +#define BATTPERC_YPERC 35 +#define BATTPERC_FLAGS MIDSIZE +#define BATTPERC_FLAGSPERC SMLSIZE + +#define BATTMAH_X 0 +#define BATTMAH_Y 43 +#define BATTMAH_FLAGS SMLSIZE+PREC1 + +#define ALT_HOMEDIR_X 165 +#define ALT_HOMEDIR_Y 48 +#define ALT_HOMEDIR_R 7 + +#define GPS_X 70 +#define GPS_Y 8 + +#define ALTASL_X 31 +#define ALTASL_Y 43 +#define ALTASL_XLABEL 1 +#define ALTASL_YLABEL 43 +#define ALTASL_FLAGS SMLSIZE + +#define HOMEDIST_X 115 +#define HOMEDIST_Y 8 +#define HOMEDIST_XLABEL 73 +#define HOMEDIST_YLABEL 10 +#define HOMEDIST_FLAGS RIGHT +#define HOMEDIST_ARROW_WIDTH 7 + +#define TOTDIST_X 115 +#define TOTDIST_Y 17 +#define TOTDIST_XLABEL 0 +#define TOTDIST_YLABEL 17 +#define TOTDIST_FLAGS RIGHT+SMLSIZE +#define TOTDIST_ARROW_WIDTH 4 + +-------------------------- +-- CUSTOM SENSORS SUPPORT +-------------------------- +#define SENSOR_LABEL 1 +#define SENSOR_NAME 2 +#define SENSOR_PREC 3 +#define SENSOR_UNIT 4 +#define SENSOR_MULT 5 +#define SENSOR_MAX 6 +#define SENSOR_FONT 7 +#define SENSOR_WARN 8 +#define SENSOR_CRIT 9 + +#define SENSOR1_X 0 +#define SENSOR1_Y 26 + +#define SENSOR2_X 58 +#define SENSOR2_Y 26 + +#define SENSOR3_X 0 +#define SENSOR3_Y 33 + +#define SENSOR4_X 58 +#define SENSOR4_Y 33 + +#define SENSOR5_X 0 +#define SENSOR5_Y 44 + +#define SENSOR6_X 58 +#define SENSOR6_Y 44 + +#else --X9 +-------------------------------- +-- Layout 128x64 QX7/X-Lite +-------------------------------- +#define LCD_W 128 + +#define ALT_HUD_X_CENTER 65 +#define ALT_HUD_X 31 +#define ALT_HUD_WIDTH 64 +#define ALT_HUD_X_MID 19 + +#define ALT_LEFTPANE_X 116 +#define ALT_RIGHTPANE_X 178 + +#define ALT_YAW_STEPWIDTH 6.2 +#define ALT_YAW_X_MIN 120 +#define ALT_YAW_X_MAX 174 +#define ALT_YAW_WIDTH ALT_HUD_WIDTH-5 + +#define BATTCELL_X 0 +#define BATTCELL_Y 7 +#define BATTCELL_YV 6 +#define BATTCELL_YS 12 +#define BATTCELL_FLAGS MIDSIZE + +#define BATTVOLT_X 32 +#define BATTVOLT_Y 19 +#define BATTVOLT_YV 19 +#define BATTVOLT_FLAGS SMLSIZE +#define BATTVOLT_FLAGSV SMLSIZE + +#define BATTCURR_X 32 +#define BATTCURR_Y 26 +#define BATTCURR_YA 26 +#define BATTCURR_FLAGS SMLSIZE +#define BATTCURR_FLAGSA SMLSIZE + +#define BATTPERC_X 0 +#define BATTPERC_Y 32 +#define BATTPERC_YPERC 35 +#define BATTPERC_FLAGS MIDSIZE +#define BATTPERC_FLAGSPERC SMLSIZE + +#define BATTMAH_X 0 +#define BATTMAH_Y 44 +#define BATTMAH_FLAGS SMLSIZE+PREC1 + +#define ALT_HOMEDIR_X 25 +#define ALT_HOMEDIR_Y 14 +#define ALT_HOMEDIR_R 6 + +#define GPS_X 74 +#define GPS_Y 8 + +#define ALTASL_X 31 +#define ALTASL_Y 43 +#define ALTASL_XLABEL 1 +#define ALTASL_YLABEL 43 +#define ALTASL_FLAGS SMLSIZE + +#define HOMEDIST_X 32 +#define HOMEDIST_Y 22 +#define HOMEDIST_XLABEL 1 +#define HOMEDIST_YLABEL 25 +#define HOMEDIST_FLAGS RIGHT +#define HOMEDIST_ARROW_WIDTH 7 + +#define TOTDIST_X 32 +#define TOTDIST_Y 24 +#define TOTDIST_XLABEL 0 +#define TOTDIST_YLABEL 24 +#define TOTDIST_FLAGS RIGHT+SMLSIZE +#define TOTDIST_ARROW_WIDTH 4 + +#define ALT_ALT_X 94 +#define ALT_ALT_Y 7 + +#define ALT_HSPEED_X 94 +#define ALT_HSPEED_Y 19 + +-------------------------- +-- CUSTOM SENSORS SUPPORT +-------------------------- +#define SENSOR_LABEL 1 +#define SENSOR_NAME 2 +#define SENSOR_PREC 3 +#define SENSOR_UNIT 4 +#define SENSOR_MULT 5 +#define SENSOR_MAX 6 +#define SENSOR_FONT 7 +#define SENSOR_WARN 8 +#define SENSOR_CRIT 9 + +#define SENSOR1_X 0 +#define SENSOR1_Y 33 + +#define SENSOR2_X 47 +#define SENSOR2_Y 33 + +#define SENSOR3_X 0 +#define SENSOR3_Y 41 + +#define SENSOR4_X 47 +#define SENSOR4_Y 41 + +#define SENSOR5_X 0 +#define SENSOR5_Y 49 + +#define SENSOR6_X 47 +#define SENSOR6_Y 49 + +#endif --X9 + +local initSensors = true + + +#ifdef X9 + +local gpsLat = nil +local gpsLon = nil + +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawLeftPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawNumber(20,9, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + else + lcd.drawText(5, 8, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(2, 16, "GPS", SMLSIZE+INVERS+BLINK) + end + + if telemetry.gpsLat ~= nil then + lcd.drawText(GPS_X,GPS_Y,telemetry.gpsLat,RIGHT+SMLSIZE) + lcd.drawText(GPS_X,GPS_Y+8,telemetry.gpsLon,RIGHT+SMLSIZE) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+HOMEDIST_X, HOMEDIST_Y+1, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), HOMEDIST_Y, dist*UNIT_DIST_SCALE,HOMEDIST_FLAGS+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+HOMEDIST_XLABEL+1, HOMEDIST_YLABEL-2,5,true,false) + else + drawLib.drawHomeIcon(x+HOMEDIST_XLABEL, HOMEDIST_YLABEL) + end + -- total distance + lcd.drawText(TOTDIST_X, TOTDIST_Y, UNIT_DIST_LONG_LABEL, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), TOTDIST_Y, telemetry.totalDist*UNIT_DIST_LONG_SCALE*10, RIGHT+SMLSIZE+PREC1) + -- needs to be called often for strings created by decToDMSFull() fragment memory + collectgarbage() +end +#else --X9 +local function drawLeftPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawNumber(x+1, 7,telemetry.gpsHdopC*mult ,flags+MIDSIZE) + else + lcd.drawText(x+3, 7, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x, 15, "Gps", SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+HOMEDIST_X, HOMEDIST_Y+1, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), HOMEDIST_Y, dist*UNIT_DIST_SCALE,HOMEDIST_FLAGS+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+HOMEDIST_XLABEL+1, HOMEDIST_YLABEL-2,5,true,false) + else + drawLib.drawHomeIcon(x+HOMEDIST_XLABEL, HOMEDIST_YLABEL) + end + --[[ + -- altitude on right side + local alt = getMaxValue(telemetry.homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(ALT_ALT_X+1,ALT_ALT_Y,alt * 10,PREC1+RIGHT+MIDSIZE) + else + lcd.drawNumber(ALT_ALT_X+1,ALT_ALT_Y,alt,RIGHT+MIDSIZE) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE + + if math.abs(speed) > 99 then + lcd.drawNumber(ALT_HSPEED_X+1,ALT_HSPEED_Y,speed*0.1,RIGHT+MIDSIZE) + else + lcd.drawNumber(ALT_HSPEED_X+1,ALT_HSPEED_Y,speed,PREC1+RIGHT+MIDSIZE) + end + --]] + -- needs to be called ofter for strings created by decToDMSFull() fragment memory + collectgarbage() +end +#endif --X9 + +-- max 6 extra sensors +local customSensors = nil +-- {label,name,prec:0,1,2,unit,multiplier,mninmax,font} + +local function getSensorsConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "").."_sensors.lua") +end + +local function loadSensors() + local tmp = io.open(getSensorsConfigFilename(),"r") + if tmp == nil then + return + else + io.close(tmp) + end + local sensorScript = loadScript(getSensorsConfigFilename()) + collectgarbage() + customSensors = sensorScript() + sensorScript = nil + collectgarbage() + collectgarbage() +end + + +local customSensorXY = { + { SENSOR1_X, SENSOR1_Y }, + { SENSOR2_X, SENSOR2_Y }, + { SENSOR3_X, SENSOR3_Y }, + { SENSOR4_X, SENSOR4_Y }, + { SENSOR5_X, SENSOR5_Y }, + { SENSOR6_X, SENSOR6_Y }, +} + +local function drawCustomSensors(x,status) + if customSensors == nil then + --drawNoCustomSensors(x) + lcd.drawText(x+10,33, "NO CUSTOM SENSORS",0) + lcd.drawText(x+30,45, "DEFINED",0) + return + end + local label,data,prec,mult,flags,color,labelColor + for i=1,6 + do + -- default font attribute + color = 0 + labelColor = 0 + + if customSensors.sensors[i] ~= nil then + sensorConfig = customSensors.sensors[i] + + mult = sensorConfig[SENSOR_PREC] == 0 and 1 or ( sensorConfig[SENSOR_PREC] == 1 and 10 or 100 ) + prec = mult == 1 and 0 or (mult == 10 and 32 or 48) + + local sensorName = sensorConfig[SENSOR_NAME]..(status.showMinMaxValues == true and sensorConfig[SENSOR_MAX] or "") + local sensorValue = getValue(sensorName) + + local value = (sensorValue+(mult == 100 and 0.005 or 0))*mult*sensorConfig[SENSOR_MULT] + +#ifdef X9 + -- default font size + flags = i<=2 and 0 or (sensorConfig[SENSOR_FONT] == 1 and 0 or MIDSIZE) + + -- reduce font if necessary + if math.abs(value)/mult > 9999 then + flags = 0 + end + + local voffset = (i>2 and flags==0) and 3 or 0 +#else --X9 + flags = 0 + local voffset = 0 +#endif --X9 + local sign = sensorConfig[SENSOR_MAX] == "+" and 1 or -1 + + -- max tracking, high values are critical + if math.abs(value) ~= 0 and status.showMinMaxValues == false then + if sensorValue*sign > sensorConfig[SENSOR_CRIT]*sign then + color = BLINK + labelColor = 0 + elseif sensorValue*sign > sensorConfig[SENSOR_WARN]*sign then + color = 0 + labelColor = BLINK + end + end + + if customSensors.lookups[i] ~= nil and customSensors.lookups[i][sensorValue] ~= nil then + lcd.drawText(x+customSensorXY[i][1], voffset+customSensorXY[i][2], customSensors.lookups[i][sensorValue] or value, flags+color) + else + lcd.drawNumber(x+customSensorXY[i][1], voffset+customSensorXY[i][2], value, flags+prec+color) + end +#ifdef X9 + lcd.drawText(lcd.getLastRightPos()-(sensorConfig[SENSOR_FONT]==MIDSIZE and 1 or 0), customSensorXY[i][2]+(i>2 and 5 or 1),sensorConfig[SENSOR_UNIT],labelColor+SMLSIZE) +#else --X9 + lcd.drawText(lcd.getLastRightPos(), customSensorXY[i][2],sensorConfig[SENSOR_UNIT],labelColor+SMLSIZE) +#endif -- X9 + collectgarbage() + collectgarbage() + end + end +end + +#ifdef X9 +-- SYNTH VSPEED SUPPORT +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local function drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + -- HUD + local r = -telemetry.roll + local cx,cy,dx,dy,ccx,ccy + local yPos = TOPBAR_Y + TOPBAR_HEIGHT + 8 + ----------------------- + -- artificial horizon + ----------------------- + -- no roll ==> segments are vertical, offsets are multiples of R2 + if ( roll == 0) then + dx=0 + dy=telemetry.pitch + cx=0 + cy=HUD_R2 + ccx=0 + ccy=2*HUD_R2 + else + -- center line offsets + dx = math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * HUD_R2 + cy = math.sin(math.rad(90 - r)) * HUD_R2 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * HUD_R2 + ccy = math.sin(math.rad(90 - r)) * 2 * HUD_R2 + end + ----------------------- + -- dark color for "ground" + ----------------------- + local minY = 7 + local minX = ALT_HUD_X + 1 + local maxX = ALT_HUD_X + ALT_HUD_WIDTH - 6 + local maxY = 54 + local ox = ALT_HUD_X_CENTER + dx + local oy = ALT_HUD_X_MID + dy + local yy = 0 + local rollX = ALT_HUD_X_CENTER-1 + -- parallel lines above and below horizon line + drawLib.drawLineWithClipping(rollX + dx - ccx,dy + ALT_HUD_X_MID + ccy,r,20,DOTTED,ALT_HUD_X,ALT_HUD_X + ALT_HUD_WIDTH,8,maxY) + drawLib.drawLineWithClipping(rollX + dx - cx,dy + ALT_HUD_X_MID + cy,r,8,DOTTED,ALT_HUD_X,ALT_HUD_X + ALT_HUD_WIDTH,8,maxY) + drawLib.drawLineWithClipping(rollX + dx + cx,dy + ALT_HUD_X_MID - cy,r,8,DOTTED,ALT_HUD_X,ALT_HUD_X + ALT_HUD_WIDTH,8,maxY) + drawLib.drawLineWithClipping(rollX + dx + ccx,dy + ALT_HUD_X_MID - ccy,r,20,DOTTED,ALT_HUD_X,ALT_HUD_X + ALT_HUD_WIDTH,8,maxY) + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top draw vertical black + -- lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + +#ifdef SYNTHVSPEED + ------------------------------------ + -- synthetic vSpeed based on + -- home altitude when EKF is disabled + -- updated at 1Hz (i.e every 1000ms) + ------------------------------------- + if conf.enableSynthVSpeed == true then + if (synthVSpeedTime == 0) then + -- first time do nothing + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- dm + elseif (getTime() - synthVSpeedTime > 100) then + -- calc vspeed + vspd = 1000*(telemetry.homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s + -- update counters + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- m + end + else + vspd = telemetry.vSpeed + end +#else --SYNTHVSPEED + vspd = telemetry.vSpeed +#endif --SYNTHVSPEED + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 4, 7, ALT_HUD_X + ALT_HUD_WIDTH - 4, yPos + 40, SOLID, 0) + local varioMax = 10 + local varioSpeed = math.min(math.abs(0.1*vspd),10) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = ALT_HUD_X_MID - 4 - varioSpeed/varioMax*22 + else + varioY = ALT_HUD_X_MID + 7 + arrowY = 1 + end + lcd.drawFilledRectangle(ALT_HUD_X + ALT_HUD_WIDTH - 4, varioY, 4, varioSpeed/varioMax*22, FORCE, 0) + for i=0,16 + do + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 3, 9+i*3, ALT_HUD_X + ALT_HUD_WIDTH, 9+i*3, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 2, arrowY+9+i*3, ALT_HUD_X + ALT_HUD_WIDTH-2, arrowY+9+i*3, SOLID, ERASE) + end + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(ALT_HUD_X, ALT_HUD_X_MID - 5, LEFTWIDTH, 11, FORCE, 0) + lcd.drawRectangle(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 1, ALT_HUD_X_MID - 5, RIGHTWIDTH+1, 11, FORCE, 0) + -- erase area + lcd.drawFilledRectangle(ALT_HUD_X, ALT_HUD_X_MID - 4, LEFTWIDTH, 9, ERASE, 0) + lcd.drawFilledRectangle(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 1, ALT_HUD_X_MID - 4, RIGHTWIDTH+2, 9, ERASE, 0) + -- erase tips + lcd.drawLine(ALT_HUD_X + LEFTWIDTH,ALT_HUD_X_MID - 3,ALT_HUD_X + LEFTWIDTH,ALT_HUD_X_MID + 3, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + LEFTWIDTH+1,ALT_HUD_X_MID - 2,ALT_HUD_X + LEFTWIDTH+1,ALT_HUD_X_MID + 2, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 2,ALT_HUD_X_MID - 3,ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 2,ALT_HUD_X_MID + 3, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 3,ALT_HUD_X_MID - 2,ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 3,ALT_HUD_X_MID + 2, SOLID, ERASE) + -- left tip + lcd.drawLine(ALT_HUD_X + LEFTWIDTH+2,ALT_HUD_X_MID - 2,ALT_HUD_X + LEFTWIDTH+2,ALT_HUD_X_MID + 2, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X + LEFTWIDTH-1,ALT_HUD_X_MID - 5,ALT_HUD_X + LEFTWIDTH+1,ALT_HUD_X_MID - 3, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X + LEFTWIDTH-1,ALT_HUD_X_MID + 5,ALT_HUD_X + LEFTWIDTH+1,ALT_HUD_X_MID + 3, SOLID, FORCE) + -- right tip + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 4,ALT_HUD_X_MID - 2,ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 4,ALT_HUD_X_MID + 2, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 3,ALT_HUD_X_MID - 3,ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 1,ALT_HUD_X_MID - 5, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 3,ALT_HUD_X_MID + 3,ALT_HUD_X + ALT_HUD_WIDTH - RIGHTWIDTH - 1,ALT_HUD_X_MID + 5, SOLID, FORCE) + -- altitude + local alt = getMaxValue(telemetry.homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(ALT_HUD_X + ALT_HUD_WIDTH,ALT_HUD_X_MID - 3,alt * 10,SMLSIZE+PREC1+RIGHT) + else + lcd.drawNumber(ALT_HUD_X + ALT_HUD_WIDTH,ALT_HUD_X_MID - 3,alt,SMLSIZE+RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE + if math.abs(speed) > 99 then + lcd.drawNumber(ALT_HUD_X+1,ALT_HUD_X_MID - 3,speed*0.1,SMLSIZE) + else + lcd.drawNumber(ALT_HUD_X+1,ALT_HUD_X_MID - 3,speed,SMLSIZE+PREC1) + end + -- reference lines + lcd.drawLine(ALT_HUD_X_CENTER-9-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER-4-1,ALT_HUD_X_MID ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(ALT_HUD_X_CENTER-3-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER-3-1,ALT_HUD_X_MID+3 ,SOLID,0) + lcd.drawLine(ALT_HUD_X_CENTER+4-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER+9-1,ALT_HUD_X_MID ,SOLID,0) + lcd.drawLine(ALT_HUD_X_CENTER+3-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER+3-1,ALT_HUD_X_MID+3 ,SOLID,0) + -- vspeed box (dm/s) + local xx = math.abs(vspd*UNIT_VSPEED_SCALE) > 9999 and 4 or 3 + xx = xx + (vspd*UNIT_VSPEED_SCALE < 0 and 1 or 0) + lcd.drawFilledRectangle(ALT_HUD_X_CENTER - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, ERASE) + if math.abs(vspd*UNIT_VSPEED_SCALE) > 99 then -- + lcd.drawNumber(ALT_HUD_X_CENTER + (xx/2)*5, LCD_H - 15, vspd*0.1*UNIT_VSPEED_SCALE, HSPEED_FLAGS+RIGHT) + else + lcd.drawNumber(ALT_HUD_X_CENTER + (xx/2)*5, LCD_H - 15, vspd*UNIT_VSPEED_SCALE, HSPEED_FLAGS+RIGHT+PREC1) + end + lcd.drawRectangle(ALT_HUD_X_CENTER - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, FORCE) + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(ALT_HUD_X + ALT_HUD_WIDTH - 24, ALT_HUD_X_MID - 4,6,true,false) + drawLib.drawVArrow(ALT_HUD_X + LEFTWIDTH + 4, ALT_HUD_X_MID - 4,6,true,false) + end + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(ALT_HUD_X + ALT_HUD_WIDTH/2 - 15, 20, " ARMED ", SMLSIZE+INVERS) + else + lcd.drawText(ALT_HUD_X + ALT_HUD_WIDTH/2 - 21, 20, " DISARMED ", SMLSIZE+INVERS+BLINK) + end + end + -- yaw angle box + xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(ALT_HUD_X_CENTER + xx - 6, YAW_Y-1, telemetry.yaw, MIDSIZE+INVERS) +end + +#else --X9 + +#define MINIHUD_R2 6 +#define MINIHUD_R3 8 +#define ALT_LEFTWIDTH 16 +#define ALT_RIGHTWIDTH 18 + +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local function drawMiniHud(drawLib,conf,telemetry,status,battery,getMaxValue) + ---------------------- + -- MINI HUD TOP LEFT + ---------------------- + local r = -telemetry.roll + local dx,dy + local yPos = TOPBAR_Y + TOPBAR_HEIGHT + 8 + + if ( roll == 0) then + dx=0 + dy=telemetry.pitch + -- 1st line offsets + cx=0 + cy=MINIHUD_R2 + -- 2nd line offsets + ccx=0 + ccy=2*MINIHUD_R2 + else + -- for a smaller hud vertical movement has to be scaled down + dx = 0.4 * math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = 0.4 * math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * MINIHUD_R2 + cy = math.sin(math.rad(90 - r)) * MINIHUD_R2 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * MINIHUD_R3 + ccy = math.sin(math.rad(90 - r)) * 2 * MINIHUD_R3 + -- 3rd line offsets + cccx = math.cos(math.rad(90 - r)) * 3 * MINIHUD_R3 + cccy = math.sin(math.rad(90 - r)) * 3 * MINIHUD_R3 + end + + local minY = 7 + local maxY = 7 + 24 + local minX = ALT_HUD_X + 1 + local maxX = ALT_HUD_X + 64 + local ox = ALT_HUD_X + 31 + dx + + local oy = 7 + 12 + dy + local yy = 0 + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top + -- draw vertical black lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + -- parallel lines above and below horizon of increasing length 5,7,16,16,7,5 + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx - cccx,dy + 7 + 12 + cccy,r,16,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx - ccx,dy + 7 + 12 + ccy,r,10,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx - cx,dy + 7 + 12 + cy,r,16,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx + cx,dy + 7 + 12 - cy,r,16,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx + ccx,dy + 7 + 12 - ccy,r,10,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + drawLib.drawLineWithClipping(ALT_HUD_X + 31 + dx + cccx,dy + 7 + 12 - cccy,r,16,DOTTED,ALT_HUD_X,ALT_HUD_X + 64,7,7+24) + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawFilledRectangle(ALT_HUD_X + ALT_HUD_WIDTH - 5, 7, 5, 24, ERASE, 0) +#ifdef SYNTHVSPEED + ------------------------------------ + -- synthetic vSpeed based on + -- home altitude when EKF is disabled + -- updated at 1Hz (i.e every 1000ms) + ------------------------------------- + if conf.enableSynthVSpeed == true then + if (synthVSpeedTime == 0) then + -- first time do nothing + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- dm + elseif (getTime() - synthVSpeedTime > 100) then + -- calc vspeed + vspd = 1000*(telemetry.homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s + -- update counters + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- m + end + else + vspd = telemetry.vSpeed + end +#else --SYNTHVSPEED + vspd = telemetry.vSpeed +#endif --SYNTHVSPEED + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 6, 7, ALT_HUD_X + ALT_HUD_WIDTH - 6, 30, SOLID, FORCE) + local varioMax = 5 + local varioSpeed = math.min(math.abs(0.1*vspd),5) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = ALT_HUD_X_MID - varioSpeed/varioMax*9 - 3 + else + varioY = ALT_HUD_X_MID + 4 + arrowY = 1 + end + lcd.drawFilledRectangle(ALT_HUD_X + ALT_HUD_WIDTH - 4, varioY, 4, varioSpeed/varioMax*9, FORCE, 0) + --[[ + for i=0,8 + do + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 3, 8+i*3, ALT_HUD_X + ALT_HUD_WIDTH -1, 8+i*3, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 2, arrowY+8+i*3, ALT_HUD_X + ALT_HUD_WIDTH-2, arrowY+8+i*3, SOLID, ERASE) + end + --]] + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 5, 19, ALT_HUD_X + ALT_HUD_WIDTH, 19, SOLID, FORCE) + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(ALT_HUD_X+1, ALT_HUD_X_MID - 5, ALT_LEFTWIDTH, 10, FORCE, 0) + lcd.drawFilledRectangle(ALT_HUD_X+2, ALT_HUD_X_MID - 4, ALT_LEFTWIDTH, 8, ERASE, 0) + lcd.drawLine(ALT_HUD_X+ALT_LEFTWIDTH+2,ALT_HUD_X_MID - 3,ALT_HUD_X+ALT_LEFTWIDTH+2,ALT_HUD_X_MID +2,SOLID,FORCE) + lcd.drawPoint(ALT_HUD_X+ALT_LEFTWIDTH+1,ALT_HUD_X_MID - 4,SOLID+FORCE) + lcd.drawPoint(ALT_HUD_X+ALT_LEFTWIDTH+1,ALT_HUD_X_MID + 3,SOLID+FORCE) + + lcd.drawRectangle(ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH + 1, ALT_HUD_X_MID - 5, ALT_RIGHTWIDTH, 10, FORCE, 0) + lcd.drawFilledRectangle(ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH, ALT_HUD_X_MID - 4, ALT_RIGHTWIDTH, 8, ERASE, 0) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH - 1, ALT_HUD_X_MID - 3,ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH - 1, ALT_HUD_X_MID +2,SOLID,FORCE) + lcd.drawPoint(ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH, ALT_HUD_X_MID - 4,SOLID+FORCE) + lcd.drawPoint(ALT_HUD_X + ALT_HUD_WIDTH - ALT_RIGHTWIDTH, ALT_HUD_X_MID + 3,SOLID+FORCE) + + -- altitude + local alt = getMaxValue(telemetry.homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet + if math.abs(alt) < 10 then + lcd.drawNumber(ALT_HUD_X + ALT_HUD_WIDTH,ALT_HUD_X_MID - 3,alt * 10,SMLSIZE+PREC1+RIGHT) + else + lcd.drawNumber(ALT_HUD_X + ALT_HUD_WIDTH,ALT_HUD_X_MID - 3,alt,SMLSIZE+RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE + if math.abs(speed) > 99 then + lcd.drawNumber(ALT_HUD_X+2,ALT_HUD_X_MID - 3,speed*0.1,SMLSIZE) + else + lcd.drawNumber(ALT_HUD_X+2,ALT_HUD_X_MID - 3,speed,SMLSIZE+PREC1) + end + -- reference lines + lcd.drawLine(ALT_HUD_X_CENTER-11-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER-6-1,ALT_HUD_X_MID ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(ALT_HUD_X_CENTER-5-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER-5-1,ALT_HUD_X_MID+3 ,SOLID,0) + lcd.drawLine(ALT_HUD_X_CENTER+2-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER+7-1,ALT_HUD_X_MID ,SOLID,0) + lcd.drawLine(ALT_HUD_X_CENTER+1-1,ALT_HUD_X_MID,ALT_HUD_X_CENTER+1-1,ALT_HUD_X_MID+3 ,SOLID,0) + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(ALT_HUD_X + ALT_HUD_WIDTH - 24, ALT_HUD_X_MID - 4,6,true,false) + drawLib.drawVArrow(ALT_HUD_X + LEFTWIDTH + 4, ALT_HUD_X_MID - 4,6,true,false) + end + -- yaw angle box + local xx = telemetry.yaw < 10 and 0 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(ALT_HUD_X_CENTER + xx - 4, YAW_Y, telemetry.yaw, INVERS+SMLSIZE) +end +#endif --X7 + +local function drawRightPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[BATT_CAP+battId] > 0) then + perc = math.min(math.max((1 - (battery[BATT_MAH+battId]/battery[BATT_CAP+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+BATTCELL_X, BATTCELL_Y, (battery[BATT_CELL+battId] + 0.5)*(battery[BATT_CELL+battId] < 1000 and 1 or 0.1), BATTCELL_FLAGS+flags+(battery[BATT_CELL+battId] < 1000 and PREC2 or PREC1)) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+BATTCELL_X+26, BATTCELL_Y+2,6,false,true) + else + lcd.drawText(LCD_W, BATTCELL_YV, "V", dimFlags+SMLSIZE+RIGHT) + --local xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + local s = status.battsource == "a2" and "a" or (status.battsource == "vs" and "s" or "f") + lcd.drawText(LCD_W, BATTCELL_YS, s, SMLSIZE+RIGHT) + end + + -- battery voltage + lcd.drawText(x+BATTVOLT_X, BATTVOLT_YV, "V", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, BATTVOLT_Y, battery[BATT_VOLT+battId],SMLSIZE+PREC1+RIGHT) + -- battery current + lcd.drawText(x+BATTCURR_X, BATTCURR_YA, "A", SMLSIZE+RIGHT) + local mult = (battery[BATT_CURR+battId]*0.1 < 10) and 1 or 0.1 + lcd.drawNumber(lcd.getLastLeftPos()-1, BATTCURR_Y, battery[BATT_CURR+battId]*mult,SMLSIZE+RIGHT+(mult == 1 and PREC1 or 0)) + -- battery percentage + lcd.drawNumber(x+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) + lcd.drawText(lcd.getLastRightPos()+1, BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) + -- battery mah + lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y, battery[BATT_MAH+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "Ah", SMLSIZE) + -- battery cap + lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y+7, battery[BATT_CAP+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y+7, "Ah", SMLSIZE) +end + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +#ifdef X9 +local sensorDelayStart = getTime() + +local function drawView(drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + -- delay loading and compile of sensor conf file + if getTime() - sensorDelayStart > 20 then + if initSensors == true then + loadSensors() + initSensors = false + -- deallocate unused code + loadSensors = nil + getSensorsConfigFilename = nil + collectgarbage() + collectgarbage() + end + end + + drawCustomSensors(0,status) + + drawLib.drawRArrow(ALT_HOMEDIR_X,ALT_HOMEDIR_Y,ALT_HOMEDIR_R,telemetry.homeAngle - telemetry.yaw,1) + drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + + drawRightPane(LCD_W-32,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawLeftPane(0,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + lcd.drawLine(0,24 ,ALT_HUD_X-1, 24, SOLID, FORCE) + lcd.drawLine(20, 7 , 20, 23, SOLID, FORCE) + lcd.drawLine(70, 7 ,70, 23, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X - 1, 7 ,ALT_HUD_X - 1, 57, SOLID, FORCE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH, 7, ALT_HUD_X + ALT_HUD_WIDTH, 57, SOLID, FORCE) + + if telemetry.ekfFailsafe > 0 then + lcd.drawText(ALT_HUD_X + ALT_HUD_WIDTH/2 - 31, 20, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) + end + if telemetry.battFailsafe > 0 then + lcd.drawText(ALT_HUD_X + ALT_HUD_WIDTH/2 - 33, 20, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) + end +end + +#else +local sensorDelayStart = getTime() + +local function drawView(drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + -- delay loading and compile of sensor conf file + if getTime() - sensorDelayStart > 20 then + if initSensors == true then + loadSensors() + initSensors = false + -- deallocate unused code + loadSensors = nil + getSensorsConfigFilename = nil + collectgarbage() + collectgarbage() + end + end + + drawCustomSensors(0,status) + + drawRightPane(LCD_W-31,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawMiniHud(drawLib,conf,telemetry,status,battery,getMaxValue) + drawLeftPane(0,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawLib.drawRArrow(ALT_HOMEDIR_X,ALT_HOMEDIR_Y,ALT_HOMEDIR_R,telemetry.homeAngle - telemetry.yaw,FORCE) + + lcd.drawLine(95, 7 ,95, 56, SOLID, FORCE) + lcd.drawLine(0, 31 ,95, 31, SOLID, FORCE) + lcd.drawLine(32, 7 ,32, 31, SOLID, FORCE) + --lcd.drawLine(64, 7 ,64, 31, SOLID, FORCE) + + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(ALT_HUD_X + 20, 22, "ARMED", SMLSIZE+INVERS) + else + lcd.drawText(ALT_HUD_X+12, 22, "DISARMED", SMLSIZE+INVERS+BLINK) + end + end + if telemetry.ekfFailsafe > 0 then + lcd.drawText(ALT_HUD_X+14, 22, "EKF FAIL", SMLSIZE+INVERS+BLINK) + end + + if telemetry.battFailsafe > 0 then + lcd.drawText(ALT_HUD_X+14, 22, "BAT FAIL", SMLSIZE+INVERS+BLINK) + end +end +#endif + +#ifdef CUSTOM_BG_CALL +-- called at around 2Hz +local function background(conf,telemetry,status,getMaxValue,checkAlarm) +end +#endif --CUSTOM_BG_CALL + +return { + drawView=drawView, +#ifdef CUSTOM_BG_CALL + background=background, +#endif --CUSTOM_BG_CALL + customSensors=customSensors, + customSensorXY=customSensorXY +} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/copter.lua b/TARANIS/SOURCES/PP/lib/copter.lua new file mode 100644 index 00000000..224854f8 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/copter.lua @@ -0,0 +1,59 @@ + --[[ + // Auto Pilot Modes enumeration + enum control_mode_t { + STABILIZE = 0, // manual airframe angle with manual throttle + ACRO = 1, // manual body-frame angular rate with manual throttle + ALT_HOLD = 2, // manual airframe angle with automatic throttle + AUTO = 3, // fully automatic waypoint control using mission commands + GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands + LOITER = 5, // automatic horizontal acceleration with automatic throttle + RTL = 6, // automatic return to launching point + CIRCLE = 7, // automatic circular flight with automatic throttle + LAND = 9, // automatic landing with horizontal position control + DRIFT = 11, // semi-automous position, yaw and throttle control + SPORT = 13, // manual earth-frame angular rate control with manual throttle + FLIP = 14, // automatically flip the vehicle on the roll axis + AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains + POSHOLD = 16, // automatic position hold with manual override, with automatic throttle + BRAKE = 17, // full-brake using inertial/GPS system, no pilot input + THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input + AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft + GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude + SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps + FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder + FOLLOW = 23, // follow attempts to follow another vehicle or ground station + ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B + }; + --]] + local flightModes = {} + + -- copter flight modes + flightModes[0]="" + flightModes[1]="Stabilize" + flightModes[2]="Acro" + flightModes[3]="AltHold" + flightModes[4]="Auto" + flightModes[5]="Guided" + flightModes[6]="Loiter" + flightModes[7]="RTL" + flightModes[8]="Circle" + flightModes[9]="" + flightModes[10]="Land" + flightModes[11]="" + flightModes[12]="Drift" + flightModes[13]="" + flightModes[14]="Sport" + flightModes[15]="Flip" + flightModes[16]="AutoTune" + flightModes[17]="PosHold" + flightModes[18]="Brake" + flightModes[19]="Throw" + flightModes[20]="AvoidADSB" + flightModes[21]="GuidedNOGPS" + flightModes[22]="SmartRTL" + flightModes[23]="FlowHold" + flightModes[24]="Follow" + flightModes[25]="ZigZag" + flightModes[26]="Initializing" + +return {flightModes=flightModes} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/copter_px4.lua b/TARANIS/SOURCES/PP/lib/copter_px4.lua new file mode 100644 index 00000000..f1bb2c01 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/copter_px4.lua @@ -0,0 +1,28 @@ +local flightModes = {} +-- plane flight modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="AltCtl" --px4 specific +flightModes[3]="PosCtl" --px4 specific +flightModes[4]="Ready" --px4 specific +flightModes[5]="Takeoff" --px4 specific +flightModes[6]="Loiter" +flightModes[7]="Mission" --px4 specific +flightModes[8]="RTL" +flightModes[9]="Land" +flightModes[10]="RTGS" --px4 specific +flightModes[11]="Follow" +flightModes[12]="PrecLand" --px4 specific +flightModes[13]="" +flightModes[14]="Acro" +flightModes[15]="OffBoard" --px4 specific +flightModes[16]="Stabilize" +flightModes[17]="RAttitude" --px4 specific +flightModes[18]="Simple" --px4 specific +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +flightModes[23]="" +-- +return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/PP/lib/draw.lua b/TARANIS/SOURCES/PP/lib/draw.lua new file mode 100644 index 00000000..0199a2b4 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/draw.lua @@ -0,0 +1,281 @@ +#include "includes/yaapu_inc.lua" + +local function drawHArrow(x,y,width,left,right) + lcd.drawLine(x, y, x + width,y, SOLID, 0) + if left == true then + lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) + lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) + end + if right == true then + lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) + lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) + end +end + +local function drawVArrow(x,y,h,top,bottom) + lcd.drawLine(x,y,x,y + h, SOLID, 0) +#ifdef X9 + if top == true then + lcd.drawLine(x - 1,y + 1,x - 2,y + 2, SOLID, 0) + lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) + end + if bottom == true then + lcd.drawLine(x - 1,y + h - 1,x - 2,y + h - 2, SOLID, 0) + lcd.drawLine(x + 1,y + h - 1,x + 2,y + h - 2, SOLID, 0) + end +#else + if top == true then + lcd.drawPoint(x - 1,y + 1) + lcd.drawPoint(x + 1,y + 1) + end + if bottom == true then + lcd.drawPoint(x - 1,y + h - 1) + lcd.drawPoint(x + 1,y + h - 1) + end +#endif +end + + +#ifdef X9 +local function drawHomeIcon(x,y) + lcd.drawRectangle(x,y,5,5,SOLID) + lcd.drawLine(x+2,y+3,x+2,y+4,SOLID,FORCE) + lcd.drawPoint(x+2,y-1,FORCE) + lcd.drawLine(x,y+1,x+5,y+1,SOLID,FORCE) + lcd.drawLine(x-1,y+1,x+2,y-2,SOLID, FORCE) + lcd.drawLine(x+5,y+1,x+3,y-1,SOLID, FORCE) +end +#else --X9 +local function drawHomeIcon(x,y) + lcd.drawRectangle(x,y,3,4,SOLID) + lcd.drawFilledRectangle(x,y,3,4,SOLID) + lcd.drawPoint(x-1,y+1,FORCE) + lcd.drawPoint(x+3,y+1,FORCE) + lcd.drawPoint(x+1,y-1,FORCE) +end +#endif + +#define CS_INSIDE 0 +#define CS_LEFT 1 +#define CS_RIGHT 2 +#define CS_BOTTOM 4 +#define CS_TOP 8 + +local function computeOutCode(x,y,xmin,ymin,xmax,ymax) + local code = CS_INSIDE; --initialised as being inside of hud + -- + if x < xmin then --to the left of hud + code = bit32.bor(code,CS_LEFT); + elseif x > xmax then --to the right of hud + code = bit32.bor(code,CS_RIGHT); + end + if y < ymin then --below the hud + code = bit32.bor(code,CS_BOTTOM); + elseif y > ymax then --above the hud + code = bit32.bor(code,CS_TOP); + end + -- + return code; +end +-- Cohen–Sutherland clipping algorithm +-- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm +local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) + -- + local xx = math.cos(math.rad(angle)) * len * 0.5 + local yy = math.sin(math.rad(angle)) * len * 0.5 + -- + local x0 = ox - xx + local x1 = ox + xx + local y0 = oy - yy + local y1 = oy + yy + -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle + local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); + local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); + local accept = false; + while (true) do + if ( bit32.bor(outcode0,outcode1) == CS_INSIDE) then + -- bitwise OR is 0: both points inside window; trivially accept and exit loop + accept = true; + break; + elseif (bit32.band(outcode0,outcode1) ~= CS_INSIDE) then + -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) + -- both must be outside window; exit loop (accept is false) + break; + else + -- failed both tests, so calculate the line segment to clip + -- from an outside point to an intersection with clip edge + local x = 0 + local y = 0 + -- At least one endpoint is outside the clip rectangle; pick it. + local outcodeOut = outcode0 ~= CS_INSIDE and outcode0 or outcode1 + -- No need to worry about divide-by-zero because, in each case, the + -- outcode bit being tested guarantees the denominator is non-zero + if bit32.band(outcodeOut,CS_TOP) ~= CS_INSIDE then --point is above the clip window + x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) + y = ymax + elseif bit32.band(outcodeOut,CS_BOTTOM) ~= CS_INSIDE then --point is below the clip window + x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) + y = ymin + elseif bit32.band(outcodeOut,CS_RIGHT) ~= CS_INSIDE then --point is to the right of clip window + y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) + x = xmax + elseif bit32.band(outcodeOut,CS_LEFT) ~= CS_INSIDE then --point is to the left of clip window + y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) + x = xmin + end + -- Now we move outside point to intersection point to clip + -- and get ready for next pass. + if outcodeOut == outcode0 then + x0 = x + y0 = y + outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) + else + x1 = x + y1 = y + outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) + end + end + end + if accept then + lcd.drawLine(x0,y0,x1,y1, style,0) + end +end + +local function drawBottomBar(msg,lastMsgTime) + lcd.drawText(0,BOTTOMBAR_Y+1,msg,SMLSIZE+INVERS) +end + +#ifdef DEV +local function drawCircle(x0,y0,radius,delta) + local x = radius-1 + local y = 0 + local dx = delta + local dy = delta + local err = dx - bit32.lshift(radius,1) + while (x >= y) do + lcd.drawPoint(x0 + x, y0 + y); + lcd.drawPoint(x0 + y, y0 + x); + lcd.drawPoint(x0 - y, y0 + x); + lcd.drawPoint(x0 - x, y0 + y); + lcd.drawPoint(x0 - x, y0 - y); + lcd.drawPoint(x0 - y, y0 - x); + lcd.drawPoint(x0 + y, y0 - x); + lcd.drawPoint(x0 + x, y0 - y); + if err <= 0 then + y=y+1 + err = err + dy + dy = dy + 2 + end + if err > 0 then + + x=x-1 + dx = dx + 2 + err = err + dx - bit32.lshift(radius,1) + end + end +end +#endif --DEV + +local function drawGrid() + lcd.drawLine(HUD_X - 1, 7 ,HUD_X - 1, 57, SOLID, FORCE) + lcd.drawLine(HUD_X + HUD_WIDTH, 7, HUD_X + HUD_WIDTH, 55, SOLID, FORCE) +end + +local function drawTopBar(strMode,simpleMode,flightTime,telemetryEnabled) + -- flight mode + -- simplemode + if strMode ~= nil then + lcd.drawText(FLIGHTMODE_X, FLIGHTMODE_Y, strMode, FLIGHTMODE_FLAGS) + if ( simpleMode > 0) then + local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" + lcd.drawText(lcd.getLastRightPos(), FLIGHTMODE_Y, strSimpleMode, FLIGHTMODE_FLAGS) + end + end +#ifdef X9 + lcd.drawTimer(LCD_W-1, FLIGHTTIME_Y, flightTime, FLIGHTTIME_FLAGS+RIGHT) +#else + lcd.drawTimer(FLIGHTTIME_X, FLIGHTTIME_Y, flightTime, FLIGHTTIME_FLAGS) +#endif + -- RSSI + if (not telemetryEnabled()) then +#ifdef X9 + lcd.drawText(RSSI_X, RSSI_Y, "no telem!", SMLSIZE+BLINK+INVERS) +#else + lcd.drawText(RSSI_X-24, RSSI_Y, "no telem!", SMLSIZE+BLINK+INVERS) +#endif + else + lcd.drawText(RSSI_X, RSSI_Y, "RS:", RSSI_FLAGS) +#ifdef DEMO + lcd.drawText(lcd.getLastRightPos(), RSSI_Y, 87, RSSI_FLAGS) +#else --DEMO + lcd.drawText(lcd.getLastRightPos(), RSSI_Y, getRSSI(), RSSI_FLAGS) +#endif --DEMO + end +#ifdef X9 + -- tx voltage + local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) + lcd.drawText(TXVOLTAGE_X, TXVOLTAGE_Y, vTx, TXVOLTAGE_FLAGS) +#endif --X9 +end + +local function drawFailSafe(showDualBattery,ekfFailsafe,battFailsafe) + local xoffset = 0 + local yoffset = 0 + if ekfFailsafe > 0 then + lcd.drawText(xoffset + HUD_X + HUD_WIDTH/2 - 31, 20 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) + end + if battFailsafe > 0 then + lcd.drawText(xoffset + HUD_X + HUD_WIDTH/2 - 31, 20 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) + end +end + +#ifndef NOTELEM_POPUP +local function drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + -- no telemetry data +#ifdef X9 + if (not telemetryEnabled() and not hideNoTelemetry) then + lcd.drawFilledRectangle((212-130)/2,18, 130, 30, SOLID) + lcd.drawRectangle((212-130)/2,18, 130, 30, ERASE) + lcd.drawText(60, 29, "no telemetry data", INVERS) + return + end +#else + if (not telemetryEnabled() and not hideNoTelemetry) then + lcd.drawFilledRectangle(12,18, 105, 30, SOLID) + lcd.drawRectangle(12,18, 105, 30, ERASE) + lcd.drawText(30, 29, "no telemetry", INVERS) + return + end +#endif --X9 +end +#endif + +local function drawRArrow(x,y,rad,angle,flags) + local x1 = x + rad * math.cos(math.rad(angle - 90)) + local y1 = y + rad * math.sin(math.rad(angle - 90)) + local x2 = x + (rad-1) * math.cos(math.rad(angle - 90 + 140)) + local y2 = y + (rad-1) * math.sin(math.rad(angle - 90 + 140)) + local x3 = x + (rad-1) * math.cos(math.rad(angle - 90 - 140)) + local y3 = y + (rad-1) * math.sin(math.rad(angle - 90 - 140)) + local x4 = x + (rad-1) * 0.5 * math.cos(math.rad(angle - 270)) + local y4 = y + (rad-1) * 0.5 *math.sin(math.rad(angle - 270)) + -- + lcd.drawLine(x1,y1,x2,y2,SOLID,flags) + lcd.drawLine(x1,y1,x3,y3,SOLID,flags) + lcd.drawLine(x2,y2,x4,y4,SOLID,flags) + lcd.drawLine(x3,y3,x4,y4,SOLID,flags) + lcd.drawPoint(x1,y1,SOLID+flags) +end + +return { + drawFailSafe=drawFailSafe, + drawTopBar=drawTopBar, + drawHArrow=drawHArrow, + drawVArrow=drawVArrow, + drawRArrow=drawRArrow, + drawGrid=drawGrid, + drawBottomBar=drawBottomBar, + drawHomeIcon=drawHomeIcon, + drawLineWithClipping=drawLineWithClipping, + drawNoTelemetry=drawNoTelemetry + } \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/hud.lua b/TARANIS/SOURCES/PP/lib/hud.lua new file mode 100644 index 00000000..9c78adbd --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/hud.lua @@ -0,0 +1,283 @@ +#include "includes/yaapu_inc.lua" + +-- SYNTH VSPEED SUPPORT +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local yawRibbonPoints = {} + +yawRibbonPoints[0]="N" +yawRibbonPoints[1]="" +yawRibbonPoints[2]="NE" +yawRibbonPoints[3]="" +yawRibbonPoints[4]="E" +yawRibbonPoints[5]="" +yawRibbonPoints[6]="SE" +yawRibbonPoints[7]="" +yawRibbonPoints[8]="S" +yawRibbonPoints[9]="" +yawRibbonPoints[10]="SW" +yawRibbonPoints[11]="" +yawRibbonPoints[12]="W" +yawRibbonPoints[13]="" +yawRibbonPoints[14]="NW" +yawRibbonPoints[15]="" + +local function drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + -- compass ribbon centered +/- 90 on yaw +#ifdef X9 + local centerYaw = (telemetry.yaw+270)%360 +#else + local centerYaw = (telemetry.yaw+270+3)%360 -- +3 to center the ribbon on screen +#endif + -- this is the first point left to be drawn on the compass ribbon + local nextPoint = math.floor(centerYaw/22.5) * 22.5 + -- x coord of first ribbon letter + local nextPointX = 2 + YAW_X_MIN + (nextPoint - centerYaw)/22.5 * YAW_STEPWIDTH + + local i = (nextPoint / 22.5) % 16 + for idx=1,12 + do + local letterOffset = 0 + local lineOffset = 2 + if #yawRibbonPoints[i] > 1 then + letterOffset = -2 + lineOffset = 3 + end + if nextPointX >= YAW_X_MIN -3 and nextPointX < YAW_X_MAX then + if #yawRibbonPoints[i] == 0 then + lcd.drawLine(nextPointX + lineOffset, YAW_Y, nextPointX + lineOffset, YAW_Y + 2, SOLID, 0) + else + lcd.drawText(nextPointX + letterOffset,YAW_Y+1 ,yawRibbonPoints[i],SMLSIZE) + end + end + i = (i + 1) % 16 + nextPointX = nextPointX + YAW_STEPWIDTH + end + -- home icon + local homeOffset = 0 --YAW_WIDTH-14 + local angle = telemetry.homeAngle - telemetry.yaw + if angle < 0 then + angle = 360 + angle + end + if angle > 270 or angle < 90 then + homeOffset = ((angle + 90) % 180)/180 * (YAW_WIDTH-12) + elseif angle >= 90 and angle <= 180 then + homeOffset = YAW_WIDTH-10--0 + end + drawLib.drawHomeIcon(YAW_X_MIN + homeOffset,YAW_Y + 12) + -- clean right and left + lcd.drawFilledRectangle(HUD_X-2, YAW_Y, 5, 10, ERASE, 0) + lcd.drawFilledRectangle(HUD_X+HUD_WIDTH-7, YAW_Y, 8, 10, ERASE, 0) + -- HUD + local r = -telemetry.roll + local cx,cy,dx,dy,ccx,ccy + local yPos = TOPBAR_Y + TOPBAR_HEIGHT + 8 + ----------------------- + -- artificial horizon + ----------------------- + -- no roll ==> segments are vertical, offsets are multiples of R2 + if ( telemetry.roll == 0) then + dx=0 + dy=telemetry.pitch + cx=0 + cy=HUD_R2 + ccx=0 + ccy=2*HUD_R2 + else + -- center line offsets + dx = math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * HUD_R2 + cy = math.sin(math.rad(90 - r)) * HUD_R2 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * HUD_R2 + ccy = math.sin(math.rad(90 - r)) * 2 * HUD_R2 + end + local rollX = LCD_W/2 - 1 - 2 + -- parallel lines above and below horizon line + drawLib.drawLineWithClipping(rollX + dx - ccx,dy + HUD_X_MID + ccy,r,20,DOTTED,HUD_X,HUD_X + HUD_WIDTH,8,BOTTOMBAR_Y - 1) + drawLib.drawLineWithClipping(rollX + dx - cx,dy + HUD_X_MID + cy,r,8,DOTTED,HUD_X,HUD_X + HUD_WIDTH,8,BOTTOMBAR_Y - 1) + drawLib.drawLineWithClipping(rollX + dx + cx,dy + HUD_X_MID - cy,r,8,DOTTED,HUD_X,HUD_X + HUD_WIDTH,8,BOTTOMBAR_Y - 1) + drawLib.drawLineWithClipping(rollX + dx + ccx,dy + HUD_X_MID - ccy,r,20,DOTTED,HUD_X,HUD_X + HUD_WIDTH,8,BOTTOMBAR_Y - 1) + ----------------------- + -- dark color for "ground" + ----------------------- + local minY = 8 + local minX = HUD_X + 1 + -- vario width is 6 + local maxX = HUD_X + HUD_WIDTH - 8 +#ifdef X9 + local maxY = 54 + local ox = 106 + dx - 2 +#else --X9 + local maxY = 55 + local ox = 64 + dx - 2 +#endif --X7 + local oy = HUD_X_MID + dy + local yy = 0 + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top draw vertical black + -- lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end +#ifdef SYNTHVSPEED + ------------------------------------ + -- synthetic vSpeed based on + -- home altitude when EKF is disabled + -- updated at 1Hz (i.e every 1000ms) + ------------------------------------- + if conf.enableSynthVSpeed == true then + if (synthVSpeedTime == 0) then + -- first time do nothing + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- dm + elseif (getTime() - synthVSpeedTime > 100) then + -- calc vspeed + vspd = 1000*(telemetry.homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s + -- update counters + synthVSpeedTime = getTime() + prevHomeAlt = telemetry.homeAlt -- m + end + else + vspd = telemetry.vSpeed + end +#else + vspd = telemetry.vSpeed +#endif + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawLine(HUD_X + HUD_WIDTH - 6, 7, HUD_X + HUD_WIDTH - 6, yPos + 40, SOLID, 0) + + local varioMax = 10 + local varioSpeed = math.min(math.abs(0.1*vspd),10) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = HUD_X_MID - 4 - varioSpeed/varioMax*22 + else + varioY = HUD_X_MID + 6 + arrowY = 1 + end + lcd.drawFilledRectangle(HUD_X + HUD_WIDTH - 6, varioY, 6, varioSpeed/varioMax*22, FORCE, 0) + for i=0,16 + do + lcd.drawLine(HUD_X + HUD_WIDTH - 4, 9+i*3, HUD_X + HUD_WIDTH-2, 9+i*3, SOLID, ERASE) + lcd.drawLine(HUD_X + HUD_WIDTH - 3, arrowY+9+i*3, HUD_X + HUD_WIDTH-3, arrowY+9+i*3, SOLID, ERASE) + end + -- hashmarks + local offset = 0 + for i=0,5 + do + -- left hashmarks + offset = 48 - ((telemetry.hSpeed - i*8) % 46)/46 * 46 + lcd.drawLine(HUD_X+1, YAW_Y + offset, HUD_X + 2, YAW_Y + offset, SOLID, 0) + -- right hashmarks + offset = 48 - ((telemetry.homeAlt - i*8) % 46)/46 * 46 + lcd.drawLine(HUD_X + HUD_WIDTH - 9, YAW_Y + offset, HUD_X + HUD_WIDTH - 8, YAW_Y + offset, SOLID, 0) + end + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(HUD_X, HUD_X_MID - 5, LEFTWIDTH, 11, FORCE, 0) + lcd.drawRectangle(HUD_X + HUD_WIDTH - RIGHTWIDTH - 1, HUD_X_MID - 5, RIGHTWIDTH+1, 11, FORCE, 0) + -- erase area + lcd.drawFilledRectangle(HUD_X, HUD_X_MID - 4, LEFTWIDTH, 9, ERASE, 0) + lcd.drawFilledRectangle(HUD_X + HUD_WIDTH - RIGHTWIDTH - 1, HUD_X_MID - 4, RIGHTWIDTH+2, 9, ERASE, 0) + -- erase tips + lcd.drawLine(HUD_X + LEFTWIDTH,HUD_X_MID - 3,HUD_X + LEFTWIDTH,HUD_X_MID + 3, SOLID, ERASE) + lcd.drawLine(HUD_X + LEFTWIDTH+1,HUD_X_MID - 2,HUD_X + LEFTWIDTH+1,HUD_X_MID + 2, SOLID, ERASE) + lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 2,HUD_X_MID - 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 2,HUD_X_MID + 3, SOLID, ERASE) + lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID - 2,HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID + 2, SOLID, ERASE) + -- left tip + lcd.drawLine(HUD_X + LEFTWIDTH+2,HUD_X_MID - 2,HUD_X + LEFTWIDTH+2,HUD_X_MID + 2, SOLID, FORCE) + lcd.drawLine(HUD_X + LEFTWIDTH-1,HUD_X_MID - 5,HUD_X + LEFTWIDTH+1,HUD_X_MID - 3, SOLID, FORCE) + lcd.drawLine(HUD_X + LEFTWIDTH-1,HUD_X_MID + 5,HUD_X + LEFTWIDTH+1,HUD_X_MID + 3, SOLID, FORCE) + -- right tip + lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 4,HUD_X_MID - 2,HUD_X + HUD_WIDTH - RIGHTWIDTH - 4,HUD_X_MID + 2, SOLID, FORCE) + lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID - 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 1,HUD_X_MID - 5, SOLID, FORCE) + lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID + 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 1,HUD_X_MID + 5, SOLID, FORCE) + -- altitude + local alt = getMaxValue(telemetry.homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(HUD_X + HUD_WIDTH,HUD_X_MID - 3,alt * 10,PREC1+RIGHT) + else + lcd.drawNumber(HUD_X + HUD_WIDTH,HUD_X_MID - 3,alt,RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE + if math.abs(speed) > 99 then + lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,speed*0.1,0) + else + lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,speed,PREC1) + end + + lcd.drawLine(LCD_W/2-9-3,HUD_X_MID,LCD_W/2-4-3,HUD_X_MID ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(LCD_W/2-3-3,HUD_X_MID,LCD_W/2-3-3,HUD_X_MID+3 ,SOLID,0) + + lcd.drawLine(LCD_W/2+4-3,HUD_X_MID,LCD_W/2+9-3,HUD_X_MID ,SOLID,0) + lcd.drawLine(LCD_W/2+3-3,HUD_X_MID,LCD_W/2+3-3,HUD_X_MID+3 ,SOLID,0) + -- vspeed box (dm/s) + local xx = math.abs(vspd*UNIT_VSPEED_SCALE) > 9999 and 4 or 3 + xx = xx + (vspd*UNIT_VSPEED_SCALE < 0 and 1 or 0) + + lcd.drawFilledRectangle((LCD_W)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, ERASE) + + if math.abs(vspd*UNIT_VSPEED_SCALE) > 99 then -- + lcd.drawNumber((LCD_W)/2 + (xx/2)*5, LCD_H - 15, vspd*0.1*UNIT_VSPEED_SCALE, HSPEED_FLAGS+RIGHT) + else + lcd.drawNumber((LCD_W)/2 + (xx/2)*5, LCD_H - 15, vspd*UNIT_VSPEED_SCALE, HSPEED_FLAGS+RIGHT+PREC1) + end + lcd.drawRectangle((LCD_W)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, FORCE+SOLID) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(HUD_X + LEFTWIDTH + 4, HUD_X_MID - 4,6,true,false) + end + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(HUD_X + HUD_WIDTH - 24, HUD_X_MID - 4,6,true,false) + end + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(HUD_X + HUD_WIDTH/2 - 15, 20, " ARMED ", SMLSIZE+INVERS) + else + lcd.drawText(HUD_X + HUD_WIDTH/2 - 21, 20, " DISARMED ", SMLSIZE+INVERS+BLINK) + end + end + -- yaw angle box + xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(LCD_W/2 + xx - 8, YAW_Y-1, telemetry.yaw, MIDSIZE+INVERS) +end + +#ifdef CUSTOM_BG_CALL +local function background(conf,telemetry,status,getMaxValue,checkAlarm) +end +#endif --CUSTOM_BG_CALL + +return { + drawHud=drawHud, +#ifdef CUSTOM_BG_CALL + background=background, +#endif --CUSTOM_BG_CALL + yawRibbonPoints=yawRibbonPoints +} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/left.lua b/TARANIS/SOURCES/PP/lib/left.lua new file mode 100644 index 00000000..6c15d955 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/left.lua @@ -0,0 +1,252 @@ +#include "includes/yaapu_inc.lua" + +#ifdef X9 + +#define GPS_X 0 +#define GPS_Y 6 +#define GPS_BORDER 0 + +#define ALTASL_X 61 +#define ALTASL_Y 24 +#define ALTASL_XLABEL 4 +#define ALTASL_YLABEL 23 +#define ALTASL_FLAGS RIGHT + +#define HOMEDIST_X 60 +#define HOMEDIST_Y 34 +#define HOMEDIST_XLABEL 2 +#define HOMEDIST_YLABEL 37 +#define HOMEDIST_FLAGS RIGHT+MIDSIZE +#define HOMEDIST_ARROW_WIDTH 8 + +#define TOTDIST_X 61 +#define TOTDIST_Y 49 +#define TOTDIST_XLABEL 2 +#define TOTDIST_YLABEL 49 +#define TOTDIST_FLAGS RIGHT +#define TOTDIST_ARROW_WIDTH 8 + + +#else + +#define GPS_X 1 +#define GPS_Y 6 +#define GPS_BORDER 0 + +#define TOTDIST_X 32 +#define TOTDIST_Y 50 +#define TOTDIST_XLABEL 0 +#define TOTDIST_YLABEL 30 +#define TOTDIST_FLAGS RIGHT +#define TOTDIST_ARROW_WIDTH 4 + +#define ALTASL_X 31 +#define ALTASL_Y 30 +#define ALTASL_XLABEL 1 +#define ALTASL_YLABEL 30 +#define ALTASL_FLAGS SMLSIZE + +#define HOMEDIST_X 31 +#define HOMEDIST_Y 40 +#define HOMEDIST_XLABEL 1 +#define HOMEDIST_YLABEL 42 +#define HOMEDIST_FLAGS SMLSIZE+RIGHT +#define HOMEDIST_ARROW_WIDTH 7 + +#endif + +#ifdef X9 +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- gps status + local strStatus = gpsStatuses[telemetry.gpsStatus] + local strNumSats = "" + local flags = BLINK + local mult = 1 + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(GPS_X,GPS_Y + 2, strStatus, SMLSIZE) + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(GPS_X + 35, GPS_Y+1, strNumSats, MIDSIZE+RIGHT) + lcd.drawText(GPS_X + 37, GPS_Y + 2 , "H", SMLSIZE) + lcd.drawNumber(GPS_X + 60, GPS_Y+1, telemetry.gpsHdopC*mult , MIDSIZE+flags+RIGHT) + lcd.drawLine(GPS_X + 35,GPS_Y+1,GPS_X+35,GPS_Y + 12,SOLID,FORCE) + else + lcd.drawText(GPS_X + 10, GPS_Y+1, strStatus, MIDSIZE+INVERS+BLINK) + end + lcd.drawLine(GPS_X ,GPS_Y + 13,GPS_X+60,GPS_Y + 13,SOLID,FORCE) + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + if conf.rangeFinderMax > 0 then + -- rng finder + flags = 0 + local rng = telemetry.range + -- rng is centimeters, RANGE_MAX is feet + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + rng = getMaxValue(rng,MAX_RANGE) + lcd.drawText(ALTASL_XLABEL + 4, ALTASL_YLABEL, "Rng", SMLSIZE) + lcd.drawText(ALTASL_X, ALTASL_Y , UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, ALTASL_Y-1 , rng*0.01*UNIT_ALT_SCALE*100, PREC2+ALTASL_FLAGS+flags) + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 -- meters + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,MAX_GPSALT) + end + lcd.drawText(ALTASL_XLABEL + 4, ALTASL_YLABEL, "Asl", SMLSIZE) + lcd.drawText(ALTASL_X, ALTASL_Y, UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, ALTASL_Y-1 , alt*UNIT_ALT_SCALE, ALTASL_FLAGS+flags) + end + -- home distance + flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(HOMEDIST_X, HOMEDIST_Y+4, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, HOMEDIST_Y-1, dist*UNIT_DIST_SCALE, HOMEDIST_FLAGS+flags) + -- total distance + drawLib.drawHArrow(TOTDIST_XLABEL,TOTDIST_YLABEL + 2,TOTDIST_ARROW_WIDTH,true,true) + lcd.drawText(TOTDIST_X, TOTDIST_Y, UNIT_DIST_LONG_LABEL, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos()-1, TOTDIST_Y, telemetry.totalDist*UNIT_DIST_LONG_SCALE*100, RIGHT+SMLSIZE+PREC2) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(HOMEDIST_XLABEL + 1, HOMEDIST_Y+1,6,true,false) + drawLib.drawVArrow(ALTASL_XLABEL - 1, ALTASL_Y-2,6,true,false) + else + drawLib.drawVArrow(ALTASL_XLABEL,ALTASL_YLABEL - 1,7,true,true) + drawLib.drawHomeIcon(HOMEDIST_XLABEL + 1,HOMEDIST_YLABEL,7) + end +end +#endif --X9 + +#ifdef X7 +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + lcd.drawLine(x,GPS_Y + 20,GPS_X+30,GPS_Y + 20,SOLID,FORCE) + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+GPS_X, GPS_Y+13, strStatus, SMLSIZE) + local strNumSats + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+GPS_X + 29, GPS_Y + 13, strNumSats, SMLSIZE+RIGHT) + lcd.drawText(x+GPS_X, GPS_Y + 2 , "Hd", SMLSIZE) + lcd.drawNumber(x+GPS_X + 29, GPS_Y+1, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + + else + lcd.drawText(x+GPS_X + 8, GPS_Y+3, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x+GPS_X + 5, GPS_Y+12, strStatus, SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + if conf.rangeFinderMax > 0 then + -- rng finder + local rng = telemetry.range + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + -- update max only with 3d or better lock + rng = getMaxValue(rng,MAX_RANGE) + lcd.drawText(x+ALTASL_X, ALTASL_Y+1 , UNIT_ALT_LABEL, SMLSIZE+RIGHT) + + if rng*UNIT_ALT_SCALE*0.01 > 10 then + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, rng*UNIT_ALT_SCALE*0.1, flags+RIGHT+ALTASL_FLAGS+PREC1) + else + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, rng*UNIT_ALT_SCALE, flags+RIGHT+ALTASL_FLAGS+PREC2) + end + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+ALTASL_XLABEL+1, ALTASL_YLABEL,5,true,false) + else + lcd.drawText(x+ALTASL_XLABEL, ALTASL_YLABEL, "R", SMLSIZE) + end + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,MAX_GPSALT) + end + lcd.drawText(x+ALTASL_X, ALTASL_Y,UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, alt*UNIT_ALT_SCALE, flags+RIGHT+ALTASL_FLAGS) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+ALTASL_XLABEL+1, ALTASL_YLABEL + 1,5,true,false) + else + drawLib.drawVArrow(x+ALTASL_XLABEL+1,ALTASL_YLABEL,5,true,true) + end + end + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+HOMEDIST_X, HOMEDIST_Y, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), HOMEDIST_Y, dist*UNIT_DIST_SCALE,HOMEDIST_FLAGS+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+HOMEDIST_XLABEL+1, HOMEDIST_YLABEL-2,5,true,false) + else + drawLib.drawHomeIcon(x+HOMEDIST_XLABEL, HOMEDIST_YLABEL) + end + -- total distance + lcd.drawText(TOTDIST_X, TOTDIST_Y, UNIT_DIST_LONG_LABEL, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), TOTDIST_Y, telemetry.totalDist*UNIT_DIST_LONG_SCALE*10, RIGHT+SMLSIZE+PREC1) +end +#endif --X7 + +#ifdef CUSTOM_BG_CALL +local function background(conf,telemetry,status,getMaxValue,checkAlarm) +end +#endif + +return { + drawPane=drawPane, +#ifdef CUSTOM_BG_CALL + background=background +#endif --CUSTOM_BG_CALL +} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/left_m2f.lua b/TARANIS/SOURCES/PP/lib/left_m2f.lua new file mode 100644 index 00000000..df104160 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/left_m2f.lua @@ -0,0 +1,293 @@ +#include "includes/yaapu_inc.lua" + +#ifdef X9 + +#define GPS_X 0 +#define GPS_Y 6 +#define GPS_BORDER 0 + +#define ALTASL_X 60 +#define ALTASL_Y 31 +#define ALTASL_XLABEL 2 +#define ALTASL_YLABEL 30 +#define ALTASL_FLAGS RIGHT+SMLSIZE + +#define WPN_X 0 +#define WPN_Y 21 + +#define WPB_X 27 +#define WPB_Y 25 +#define WPB_R 5 + +#define WPD_X 60 +#define WPD_Y 21 + +#define HOMEDIST_X 60 +#define HOMEDIST_Y 37 +#define HOMEDIST_XLABEL 0 +#define HOMEDIST_YLABEL 41 +#define HOMEDIST_FLAGS RIGHT+MIDSIZE +#define HOMEDIST_ARROW_WIDTH 8 + +#define TOTDIST_X 60 +#define TOTDIST_Y 49 +#define TOTDIST_XLABEL 0 +#define TOTDIST_YLABEL 49 +#define TOTDIST_FLAGS RIGHT+SMLSIZE +#define TOTDIST_ARROW_WIDTH 8 + +#define THROTTLE_X 0 +#define THROTTLE_Y 49 + +#else + +#define GPS_X 1 +#define GPS_Y 6 +#define GPS_BORDER 0 + +#define ALTASL_X 31 +#define ALTASL_Y 43 +#define ALTASL_XLABEL 1 +#define ALTASL_YLABEL 43 +#define ALTASL_FLAGS SMLSIZE + +#define HOMEDIST_X 31 +#define HOMEDIST_Y 50 +#define HOMEDIST_XLABEL 1 +#define HOMEDIST_YLABEL 52 +#define HOMEDIST_FLAGS SMLSIZE+RIGHT +#define HOMEDIST_ARROW_WIDTH 7 + +#define WPB_X 5 +#define WPB_Y 32 +#define WPB_R 5 + +#define WPN_X 31 +#define WPN_Y 29 + +#define WPD_X 31 +#define WPD_Y 36 + + +#endif + +#ifdef X9 +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- gps status + local strStatus = gpsStatuses[telemetry.gpsStatus] + local strNumSats = "" + local flags = BLINK + local mult = 1 + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+GPS_X,GPS_Y + 2, strStatus, SMLSIZE) + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+GPS_X + 35, GPS_Y+1, strNumSats, MIDSIZE+RIGHT) + lcd.drawText(x+GPS_X + 37, GPS_Y + 2 , "H", SMLSIZE) + lcd.drawNumber(x+GPS_X + 60, GPS_Y+1, telemetry.gpsHdopC*mult , MIDSIZE+flags+RIGHT) + lcd.drawLine(x+GPS_X + 35,GPS_Y+1,x+GPS_X+35,GPS_Y + 12,SOLID,FORCE) + else + lcd.drawText(x+GPS_X + 10, GPS_Y+1, strStatus, MIDSIZE+INVERS+BLINK) + end + lcd.drawLine(x+GPS_X ,GPS_Y + 13,x+GPS_X+60,GPS_Y + 13,SOLID,FORCE) + if status.showMinMaxValues == true then + flags = 0 + end + if conf.rangeFinderMax > 0 then + -- rng finder + flags = 0 + local rng = telemetry.range + -- rng is centimeters, RANGE_MAX is feet + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + rng = getMaxValue(rng,MAX_RANGE) + lcd.drawText(x+ALTASL_XLABEL + 4, ALTASL_YLABEL, "Rng", SMLSIZE) + lcd.drawText(x+ALTASL_X, ALTASL_Y , UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y-1 , rng*0.01*UNIT_ALT_SCALE*100, PREC2+ALTASL_FLAGS+flags) + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 -- meters + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,MAX_GPSALT) + end + lcd.drawText(x+ALTASL_XLABEL + 4, ALTASL_YLABEL, "Asl", SMLSIZE) + lcd.drawText(x+ALTASL_X, ALTASL_Y, UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y-1 ,alt*UNIT_ALT_SCALE, ALTASL_FLAGS+flags) + end + flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + -- home distance + lcd.drawText(x+HOMEDIST_X, HOMEDIST_Y+5, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), HOMEDIST_Y, dist*UNIT_DIST_SCALE, HOMEDIST_FLAGS+flags) + -- waypoints + lcd.drawNumber(x+WPN_X, WPN_Y, telemetry.wpNumber, SMLSIZE) + drawLib.drawRArrow(lcd.getLastRightPos()+4,WPB_Y,WPB_R,telemetry.wpBearing*45,FORCE) + lcd.drawText(x+WPD_X, WPD_Y+1, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), WPD_Y, telemetry.wpDistance*UNIT_DIST_SCALE, RIGHT) + -- total distance + lcd.drawText(x+TOTDIST_X, TOTDIST_Y, UNIT_DIST_LONG_LABEL, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), TOTDIST_Y, telemetry.totalDist*UNIT_DIST_LONG_SCALE*10, RIGHT+SMLSIZE+PREC1) + -- throttle + lcd.drawNumber(x+THROTTLE_X, THROTTLE_Y, telemetry.throttle,SMLSIZE) + lcd.drawText(lcd.getLastRightPos(), THROTTLE_Y, "%", SMLSIZE) + -- minmax + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+HOMEDIST_XLABEL + 2, HOMEDIST_YLABEL-2,6,true,false) + drawLib.drawVArrow(x+ALTASL_XLABEL,ALTASL_YLABEL - 1,6,true,false) + else + drawLib.drawVArrow(x+ALTASL_XLABEL,ALTASL_YLABEL - 1,7,true,true) + drawLib.drawHomeIcon(x+HOMEDIST_XLABEL + 1,HOMEDIST_YLABEL,7) + end + -- airspeed + local speed = telemetry.airspeed*UNIT_HSPEED_SCALE + if math.abs(speed) > 99 then + lcd.drawNumber(HUD_X+6,HUD_X_MID + 10,speed*0.1,SMLSIZE) + else + lcd.drawNumber(HUD_X+6,HUD_X_MID + 10,speed,SMLSIZE+PREC1) + end +end +#endif --X9 + +#ifdef X7 +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + lcd.drawLine(x,GPS_Y + 20,GPS_X+30,GPS_Y + 20,SOLID,FORCE) + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+GPS_X, GPS_Y+13, strStatus, SMLSIZE) + local strNumSats + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+GPS_X + 29, GPS_Y + 13, strNumSats, SMLSIZE+RIGHT) + lcd.drawText(x+GPS_X, GPS_Y + 2 , "Hd", SMLSIZE) + lcd.drawNumber(x+GPS_X + 29, GPS_Y+1, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + + else + lcd.drawText(x+GPS_X + 8, GPS_Y+3, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x+GPS_X + 5, GPS_Y+12, strStatus, SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + if conf.rangeFinderMax > 0 then + -- rng finder + local rng = telemetry.range + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + -- update max only with 3d or better lock + rng = getMaxValue(rng,MAX_RANGE) + lcd.drawText(x+ALTASL_X, ALTASL_Y+1 , UNIT_ALT_LABEL, SMLSIZE+RIGHT) + + if rng*UNIT_ALT_SCALE*0.01 > 10 then + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, rng*UNIT_ALT_SCALE*0.1, flags+RIGHT+ALTASL_FLAGS+PREC1) + else + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, rng*UNIT_ALT_SCALE, flags+RIGHT+ALTASL_FLAGS+PREC2) + end + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+ALTASL_XLABEL, ALTASL_YLABEL,5,true,false) + else + lcd.drawText(x+ALTASL_XLABEL, ALTASL_YLABEL, "R", SMLSIZE) + end + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,MAX_GPSALT) + end + lcd.drawText(x+ALTASL_X, ALTASL_Y,UNIT_ALT_LABEL, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), ALTASL_Y, alt*UNIT_ALT_SCALE, flags+RIGHT+ALTASL_FLAGS) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+ALTASL_XLABEL+1, ALTASL_YLABEL + 1,5,true,false) + else + drawLib.drawVArrow(x+ALTASL_XLABEL+1,ALTASL_YLABEL,5,true,true) + end + end + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,MAX_DIST) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+HOMEDIST_X, HOMEDIST_Y, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), HOMEDIST_Y, dist*UNIT_DIST_SCALE,HOMEDIST_FLAGS+flags) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+HOMEDIST_XLABEL+1, HOMEDIST_YLABEL-2,5,true,false) + else + drawLib.drawHomeIcon(x+HOMEDIST_XLABEL, HOMEDIST_YLABEL) + end + -- WP + drawLib.drawRArrow(x+WPB_X,WPB_Y,WPB_R,telemetry.wpBearing*45,FORCE) + lcd.drawNumber(x+WPN_X, WPN_Y, telemetry.wpNumber, SMLSIZE+RIGHT) + + lcd.drawText(WPD_X, WPD_Y, UNIT_DIST_LABEL,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), WPD_Y, telemetry.wpDistance*UNIT_DIST_SCALE, SMLSIZE+RIGHT) + -- airspeed + local speed = telemetry.airspeed*UNIT_HSPEED_SCALE + if math.abs(speed) > 99 then + lcd.drawNumber(HUD_X+5,HUD_X_MID + 7,speed*0.1,SMLSIZE) + else + lcd.drawNumber(HUD_X+5,HUD_X_MID + 7,speed,SMLSIZE+PREC1) + end +end +#endif --X7 + + +#ifdef CUSTOM_BG_CALL +local function background(conf,telemetry,status,getMaxValue,checkAlarm) +end +#endif + +return { + drawPane=drawPane, +#ifdef CUSTOM_BG_CALL + background=background +#endif +} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/menu.lua b/TARANIS/SOURCES/PP/lib/menu.lua new file mode 100644 index 00000000..1323854e --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/menu.lua @@ -0,0 +1,382 @@ +#include "includes/yaapu_inc.lua" + +--[[ + +TYPEVALUE - menu option to select a numeric value +{description, type,name,default value,min,max,uit of measure,precision,increment step} +example {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5,"L2",350 }, + +TYPECOMBO - menu option to select a value from a list +{description, type, name, default, label list, value list} +example {"center pane layout:", TYPECOMBO, "CPANE", 1, { "hud","radar" }, { 1, 2 }}, + +--]] +#ifdef X9 +local menuItems = { + {"voice language:", TYPECOMBO, "L1", 1, { "english", "italian", "french", "german" } , {"en","it","fr","de"} }, + {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5 }, + {"batt alert level 2:", TYPEVALUE, "V2", 350, 0,5000,"V",PREC2,5 }, + {"batt[1] capacity override:", TYPEVALUE, "B1", 0, 0,5000,"Ah",PREC2,10 }, + {"batt[2] capacity override:", TYPEVALUE, "B2", 0, 0,5000,"Ah",PREC2,10 }, + {"disable all sounds:", TYPECOMBO, "S1", 1, { "no", "yes" }, { false, true } }, + {"disable msg beep:", TYPECOMBO, "S2", 1, { "no", "info", "all" }, { 1, 2, 3 } }, + {"enable haptic:", TYPECOMBO, "VIBR", 1, { "no", "yes" }, { false, true } }, + {"default voltage source:", TYPECOMBO, "VS", 1, { "auto", "FLVSS", "fc" }, { nil, "vs", "fc" } }, + {"dual battery config:", TYPECOMBO, "BC", 1, { "par", "ser", "other" }, { 1, 2, 3 } }, + {"batt[1] cell count override:", TYPEVALUE, "CC", 0, 0,12," cells",0,1 }, + {"batt[2] cell count override:", TYPEVALUE, "CC2", 0, 0,12," cells",0,1 }, + {"timer alert every:", TYPEVALUE, "T1", 0, 0,600,"min",PREC1,5 }, + {"min altitude alert:", TYPEVALUE, "A1", 0, 0,500,"m",PREC1,5 }, + {"max altitude alert:", TYPEVALUE, "A2", 0, 0,10000,"m",0,1 }, + {"max distance alert:", TYPEVALUE, "D1", 0, 0,100000,"m",0,10 }, +#ifdef HDOP_ALARM + {"max hdop alert:", TYPEVALUE, "HDOP", 20, 0,50,"m",PREC1,2 }, +#endif + {"repeat alerts every:", TYPEVALUE, "T2", 10, 5,600,"sec",0,5 }, +#ifdef MONITOR + {"altitude alert interval:", TYPEVALUE, "ALTM", 0, 0,1000,unitLabel,0,1 }, + {"distance alert interval:", TYPEVALUE, "DISTM", 0, 0,1000,unitLabel,0,1 }, +#endif --MONITOR + {"rangefinder max:", TYPEVALUE, "RM", 0, 0,10000," cm",0,10 }, +#ifdef SYNTHVSPEED + {"enable synthetic vspeed:", TYPECOMBO, "SVS", 1, { "no", "yes" }, { false, true } }, +#endif + {"air/groundspeed unit:", TYPECOMBO, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, + {"vertical speed unit:", TYPECOMBO, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, + {"center panel layout:", TYPECOMBO, "CPANE", 1, { "def" }, { 1 } }, + {"right panel layout:", TYPECOMBO, "RPANE", 1, { "def" }, { 1 } }, + {"left panel layout:", TYPECOMBO, "LPANE", 1, { "def","m2f" }, { 1, 2 } }, + {"second view layout:", TYPECOMBO, "AVIEW", 1, { "def" }, { 1 } }, +--[[ + {"gas rpm label:", TYPECOMBO, "GAS_RPM", 1, { "Eng","Head" }, { 1, 2 },"RPANE",2 }, +--]] +#ifdef LOGTELEMETRY + {"log messages to file:", TYPECOMBO, "LOG", 1, { "no","yes"}, { 1, 2 } }, +#endif + {"enable px4 flightmodes:", TYPECOMBO, "PX4", 1, { "no", "yes" }, { false, true } }, +} +#else +local menuItems = { + {"voice language:", TYPECOMBO, "L1", 1, { "eng", "ita", "fre", "ger" } , {"en","it","fr","de"} }, + {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5 }, + {"batt alert level 2:", TYPEVALUE, "V2", 350, 0,5000,"V",PREC2,5 }, + {"batt[1] cap override:", TYPEVALUE, "B1", 0, 0,5000,"Ah",PREC2,10 }, + {"batt[2] cap override:", TYPEVALUE, "B2", 0, 0,5000,"Ah",PREC2,10 }, + {"disable all sounds:", TYPECOMBO, "S1", 1, { "no", "yes" }, { false, true } }, + {"disable msg beep:", TYPECOMBO, "S2", 1, { "no", "info", "all" }, { 1, 2, 3 } }, + {"enable haptic:", TYPECOMBO, "VIBR", 1, { "no", "yes" }, { false, true } }, + {"def voltage source:", TYPECOMBO, "VS", 1, { "auto", "FLVSS", "fc" }, { nil, "vs", "fc" } }, + {"dual battery config:", TYPECOMBO, "BC", 1, { "par", "ser", "other" }, { 1, 2, 3 } }, + {"batt[1] cells override:", TYPEVALUE, "CC", 0, 0,12,"s",0,1 }, + {"batt[2] cells override:", TYPEVALUE, "CC2", 0, 0,12,"s",0,1 }, + {"timer alert every:", TYPEVALUE, "T1", 0, 0,600,"min",PREC1,5 }, + {"min altitude alert:", TYPEVALUE, "A1", 0, 0,500,"m",PREC1,5 }, + {"max altitude alert:", TYPEVALUE, "A2", 0, 0,10000,"m",0,1 }, + {"max distance alert:", TYPEVALUE, "D1", 0, 0,100000,"m",0,10 }, +#ifdef HDOP_ALARM + {"max hdop alert:", TYPEVALUE, "HDOP", 20, 0,50,"m",PREC1,2 }, +#endif + {"repeat alerts every:", TYPEVALUE, "T2", 10, 5,600,"sec",0,5 }, +#ifdef MONITOR + {"alt alert interval:", TYPEVALUE, "ALTM", 0, 0,1000,unitLabel,0,1 }, + {"dist alert interval:", TYPEVALUE, "DISTM", 0, 0,1000,unitLabel,0,1 }, +#endif --MONITOR + {"rangefinder max:", TYPEVALUE, "RM", 0, 0,10000," cm",0,10 }, +#ifdef SYNTHVSPEED + {"enable synth.vspeed:", TYPECOMBO, "SVS", 1, { "no", "yes" }, { false, true } }, +#endif + {"air/groundspd unit:", TYPECOMBO, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, + {"vert speed unit:", TYPECOMBO, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, + {"center panel layout:", TYPECOMBO, "CPANE", 1, { "def" }, { 1 } }, + {"right panel layout:", TYPECOMBO, "RPANE", 1, { "def" }, { 1 } }, + {"left panel layout:", TYPECOMBO, "LPANE", 1, { "def","m2f" }, { 1, 2 } }, + {"second view layout:", TYPECOMBO, "AVIEW", 1, { "def" }, { 1 } }, +--[[ + {"gas rpm label:", TYPECOMBO, "GAS_RPM", 1, { "eng","head" }, { 1, 2 },"RPANE",2 }, +--]] +#ifdef LOGTELEMETRY + {"enable message log:", TYPECOMBO, "LOG", 1, { "no","yes" }, { 1, 2 } }, +#endif + {"enable px4 modes:", TYPECOMBO, "PX4", 1, { "no", "yes" }, { false, true } }, +} +#endif --X9 + +local menu = { + selectedItem = 1, + editSelected = false, + offset = 0, +} + +#ifdef X9 +local centerPanelFiles = {"hud9"} +local rightPanelFiles = {"right9"} +local leftPanelFiles = {"left9","left9_m2f"} +local altViewFiles = {"alt9_view"} +#else +local centerPanelFiles = {"hud7"} +local rightPanelFiles = {"right7"} +local leftPanelFiles = {"left7","left7_m2f"} +local altViewFiles = {"alt7_view"} +#endif + +------------------------------------------ +-- returns item's VALUE,LABEL,IDX +------------------------------------------ +local function getMenuItemByName(items,name) + for idx=1,#items + do + -- items[idx][3] is the menu item's name as it appears in the config file + if items[idx][3] == name then + if items[idx][2] == TYPECOMBO then + -- return item's value, label and index + return items[idx][6][items[idx][4]], items[idx][5][items[idx][4]], idx + else + -- return item's value, label and index + return items[idx][4], name, idx + end + end + end + return nil +end + +local function getConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "")..".cfg") +end + +#ifdef LOGTELEMETRY +local function getLogFilename() + local date = getDateTime() + local info = model.getInfo() + local modelName = string.lower(string.gsub(info.name, "[%c%p%s%z]", "")) + return string.format("/LOGS/%s-%04d%02d%02d_%02d%02d%02d.ylog",modelName,date.year,date.mon,date.day,date.hour,date.min,date.sec) +end +#endif --LOGTELEMETRY + +local function applyConfigValues(items,conf) + conf.language = getMenuItemByName(items,"L1") + conf.battAlertLevel1 = getMenuItemByName(items,"V1") + conf.battAlertLevel2 = getMenuItemByName(items,"V2") + conf.battCapOverride1 = getMenuItemByName(items,"B1") + conf.battCapOverride2 = getMenuItemByName(items,"B2") + conf.disableAllSounds = getMenuItemByName(items,"S1") + conf.disableMsgBeep = getMenuItemByName(items,"S2") + conf.timerAlert = math.floor(getMenuItemByName(items,"T1")*0.1*60) + conf.minAltitudeAlert = getMenuItemByName(items,"A1")*0.1 + conf.maxAltitudeAlert = getMenuItemByName(items,"A2") + conf.maxDistanceAlert = getMenuItemByName(items,"D1") + conf.repeatAlertsPeriod = getMenuItemByName(items,"T2") + conf.battConf = getMenuItemByName(items,"BC") + conf.cell1Count = getMenuItemByName(items,"CC") + conf.cell2Count = getMenuItemByName(items,"CC2") + conf.rangeFinderMax = getMenuItemByName(items,"RM") + conf.horSpeedMultiplier, conf.horSpeedLabel = getMenuItemByName(items,"HSPD") + conf.vertSpeedMultiplier, conf.vertSpeedLabel = getMenuItemByName(items,"VSPD") + conf.enablePX4Modes = getMenuItemByName(items,"PX4") + + conf.centerPanel = centerPanelFiles[getMenuItemByName(items,"CPANE")] + conf.rightPanel = rightPanelFiles[getMenuItemByName(items,"RPANE")] + conf.leftPanel = leftPanelFiles[getMenuItemByName(items,"LPANE")] + conf.altView = altViewFiles[getMenuItemByName(items,"AVIEW")] + + if getMenuItemByName(items,"VS") ~= nil then + conf.defaultBattSource = getMenuItemByName(items,"VS") + end + +#ifdef SYNTHVSPEED + conf.enableSynthVSpeed = getMenuItemByName(items,"SVS") +#endif +#ifdef LOGTELEMETRY + conf.logLevel = getMenuItemByName(items,"LOG") + conf.logFilename = conf.logLevel > 1 and (conf.logFilename == nil and getLogFilename() or conf.logFilename) or nil +#endif --LOGTELEMETRY +#ifdef MONITOR + conf.altMonitorInterval = getMenuItemByName(items,"ALTM") + conf.distMonitorInterval = getMenuItemByName(items,"DISTM") +#endif +#ifdef HDOP_ALARM + conf.maxHdopAlert = getMenuItemByName(items,"HDOP") +#endif + conf.enableHaptic = getMenuItemByName(items,"VIBR") + menu.editSelected = false + collectgarbage() + collectgarbage() +end + +local function loadConfig(conf) + local cfg = io.open(getConfigFilename(),"r") + collectgarbage() + collectgarbage() + if cfg ~= nil then + local str = io.read(cfg,200) + io.close(cfg) + if string.len(str) > 0 then + for i=1,#menuItems + do + local value = string.match(str, menuItems[i][3]..":([-%d]+)") + collectgarbage() + if value ~= nil then + menuItems[i][4] = tonumber(value) + end + end + end + end + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function saveConfig(conf) + local myConfig = "" + for i=1,#menuItems + do + myConfig = myConfig..menuItems[i][3]..":"..menuItems[i][4] + if i < #menuItems then + myConfig = myConfig.."," + end + end + local cfg = assert(io.open(getConfigFilename(),"w")) + collectgarbage() + collectgarbage() + if cfg ~= nil then + io.write(cfg,myConfig) + io.close(cfg) + end + myConfig = nil + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function drawConfigMenuBars() + local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) +#ifdef X9 + lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) + lcd.drawText(0,0,VERSION,SMLSIZE+INVERS) + lcd.drawFilledRectangle(0,BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID) + lcd.drawText(0,BOTTOMBAR_Y+1,getConfigFilename(),SMLSIZE+INVERS) +#endif --X9 +#ifdef X7 + lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) + lcd.drawText(0,0,VERSION,SMLSIZE+INVERS) + lcd.drawFilledRectangle(0,BOTTOMBAR_Y-2, BOTTOMBAR_WIDTH, 9, SOLID) + lcd.drawText(0,BOTTOMBAR_Y-1,string.sub(getConfigFilename(),8),SMLSIZE+INVERS) +#endif --X7 + lcd.drawText(BOTTOMBAR_WIDTH,BOTTOMBAR_Y+1,itemIdx,SMLSIZE+INVERS+RIGHT) +end + +local function incMenuItem(idx) + if menuItems[idx][2] == TYPEVALUE then + menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] + if menuItems[idx][4] > menuItems[idx][6] then + menuItems[idx][4] = menuItems[idx][6] + end + else + menuItems[idx][4] = menuItems[idx][4] + 1 + if menuItems[idx][4] > #menuItems[idx][5] then + menuItems[idx][4] = 1 + end + end +end + +local function decMenuItem(idx) + if menuItems[idx][2] == TYPEVALUE then + menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] + if menuItems[idx][4] < menuItems[idx][5] then + menuItems[idx][4] = menuItems[idx][5] + end + else + menuItems[idx][4] = menuItems[idx][4] - 1 + if menuItems[idx][4] < 1 then + menuItems[idx][4] = #menuItems[idx][5] + end + end +end + +local function drawItem(idx,flags) + if menuItems[idx][2] == TYPEVALUE then + if menuItems[idx][4] == 0 then + lcd.drawText(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) + else + lcd.drawNumber(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) + lcd.drawText(lcd.getLastRightPos(),MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) + end + else + lcd.drawText(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) + end +end + +local function drawConfigMenu(event) + drawConfigMenuBars() + if event == EVT_ENTER_BREAK or event == XLITE_ENTER then + menu.editSelected = not menu.editSelected + menu.updated = true + elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == XLITE_UP) then + incMenuItem(menu.selectedItem) + elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == XLITE_DOWN) then + decMenuItem(menu.selectedItem) + elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == XLITE_UP) then + menu.selectedItem = (menu.selectedItem - 1) + if menu.offset >= menu.selectedItem then + menu.offset = menu.offset - 1 + end + elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_DOWN) then + menu.selectedItem = (menu.selectedItem + 1) + if menu.selectedItem - MENU_PAGESIZE > menu.offset then + menu.offset = menu.offset + 1 + end + end + --wrap + if menu.selectedItem > #menuItems then + menu.selectedItem = 1 + menu.offset = 0 + elseif menu.selectedItem < 1 then + menu.selectedItem = #menuItems + menu.offset = #menuItems - MENU_PAGESIZE + end + -- + for m=1+menu.offset,math.min(#menuItems,MENU_PAGESIZE+menu.offset) do + lcd.drawText(2,MENU_Y + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) + if m == menu.selectedItem then + if menu.editSelected then + drawItem(m,INVERS+BLINK) + else + drawItem(m,INVERS) + end + else + drawItem(m,0) + end + end +end + +#ifdef COMPILE +local function compilePanels() + -- compile all layouts for all panes + for i=1,#centerPanelFiles do + loadScript(LIB_BASE_PATH..centerPanelFiles[i]..".lua","c") + end + for i=1,#rightPanelFiles do + loadScript(LIB_BASE_PATH..rightPanelFiles[i]..".lua","c") + end + for i=1,#leftPanelFiles do + loadScript(LIB_BASE_PATH..leftPanelFiles[i]..".lua","c") + end + for i=1,#altViewFiles do + loadScript(LIB_BASE_PATH..altViewFiles[i]..".lua","c") + end +end +#endif + +return { + drawConfigMenu=drawConfigMenu, +#ifdef LOGTELEMETRY + getLogFilename=getLogFilename, +#endif --LOGTELEMETRY + loadConfig=loadConfig, + saveConfig=saveConfig, + menuItems=menuItems, + menu=menu, +#ifdef COMPILE + compilePanels=compilePanels +#endif +} \ No newline at end of file diff --git a/TARANIS/SOURCES/plane.lua b/TARANIS/SOURCES/PP/lib/plane.lua similarity index 51% rename from TARANIS/SOURCES/plane.lua rename to TARANIS/SOURCES/PP/lib/plane.lua index b00cea99..63a0340a 100644 --- a/TARANIS/SOURCES/plane.lua +++ b/TARANIS/SOURCES/PP/lib/plane.lua @@ -1,3 +1,30 @@ +--[[ +enum FlightMode { + MANUAL = 0, + CIRCLE = 1, + STABILIZE = 2, + TRAINING = 3, + ACRO = 4, + FLY_BY_WIRE_A = 5, + FLY_BY_WIRE_B = 6, + CRUISE = 7, + AUTOTUNE = 8, + AUTO = 10, + RTL = 11, + LOITER = 12, + AVOID_ADSB = 14, + GUIDED = 15, + INITIALISING = 16, + QSTABILIZE = 17, + QHOVER = 18, + QLOITER = 19, + QLAND = 20, + QRTL = 21, + QAUTOTUNE = 22, + QACRO = 23, +}; +--]] + local flightModes = {} -- plane flight modes flightModes[0]="" @@ -23,5 +50,7 @@ flightModes[19]="QHover" flightModes[20]="QLoiter" flightModes[21]="Qland" flightModes[22]="QRTL" +flightModes[23]="QAutotune" +flightModes[24]="QAcro" -- return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/PP/lib/plane_px4.lua b/TARANIS/SOURCES/PP/lib/plane_px4.lua new file mode 100644 index 00000000..f1bb2c01 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/plane_px4.lua @@ -0,0 +1,28 @@ +local flightModes = {} +-- plane flight modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="AltCtl" --px4 specific +flightModes[3]="PosCtl" --px4 specific +flightModes[4]="Ready" --px4 specific +flightModes[5]="Takeoff" --px4 specific +flightModes[6]="Loiter" +flightModes[7]="Mission" --px4 specific +flightModes[8]="RTL" +flightModes[9]="Land" +flightModes[10]="RTGS" --px4 specific +flightModes[11]="Follow" +flightModes[12]="PrecLand" --px4 specific +flightModes[13]="" +flightModes[14]="Acro" +flightModes[15]="OffBoard" --px4 specific +flightModes[16]="Stabilize" +flightModes[17]="RAttitude" --px4 specific +flightModes[18]="Simple" --px4 specific +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +flightModes[23]="" +-- +return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/PP/lib/reset.lua b/TARANIS/SOURCES/PP/lib/reset.lua new file mode 100644 index 00000000..c30ef728 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/reset.lua @@ -0,0 +1,89 @@ +#include "includes/yaapu_inc.lua" + +local function resetTelemetry(status,telemetry,battery,alarms,transitions) + ----------------------------- + -- TELEMETRY + ----------------------------- + telemetry.flightMode = 0 + telemetry.simpleMode = 0 + telemetry.landComplete = 0 + telemetry.statusArmed = 0 + telemetry.battFailsafe = 0 + telemetry.ekfFailsafe = 0 + telemetry.imuTemp = 0 + -- GPS + telemetry.numSats = 0 + telemetry.gpsStatus = 0 + telemetry.gpsHdopC = 100 + telemetry.gpsAlt = 0 + -- BATT 1 + telemetry.batt1volt = 0 + telemetry.batt1current = 0 + telemetry.batt1mah = 0 + -- BATT 2 + telemetry.batt2volt = 0 + telemetry.batt2current = 0 + telemetry.batt2mah = 0 + -- HOME + telemetry.homeDist = 0 + telemetry.homeAlt = 0 + telemetry.homeAngle = -1 + -- VELANDYAW + telemetry.vSpeed = 0 + telemetry.hSpeed = 0 + telemetry.yaw = 0 + -- ROLLPITCH + telemetry.roll = 0 + telemetry.pitch = 0 + telemetry.range = 0 + -- PARAMS + telemetry.frameType = -1 + telemetry.batt1Capacity = 0 + telemetry.batt2Capacity = 0 + -- WP + telemetry.wpNumber = 0 + telemetry.wpDistance = 0 + telemetry.wpXTError = 0 + telemetry.wpBearing = 0 + telemetry.wpCommands = 0 + -- VFR + telemetry.airspeed = 0 + telemetry.throttle = 0 + telemetry.baroAlt = 0 + -- TOTAL DISTANCE + telemetry.totalDist = 0 + + ----------------------------- + -- SCRIPT STATUS + ----------------------------- + status.battAlertLevel1 = false + status.battAlertLevel2 = false + status.flightTime = 0 -- updated from model timer 3 + status.timerRunning = 0 -- triggered by landcomplete from AP + + -- reset alarms + alarms = { + --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} + { false, 0 , false, ALARM_TYPE_MIN, 0, false, 0}, --MIN_ALT + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_ALT + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_DIST + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_EKF + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_BAT + { false, 0 , true, ALARM_TYPE_TIMER, 0, false, 0 }, --FLIGTH_TIME + { false, 0 , false, ALARM_TYPE_BATT, ALARM_TYPE_BATT_GRACE, false, 0 }, --BATT L1 + { false, 0 , false, ALARM_TYPE_BATT_CRT, ALARM_TYPE_BATT_GRACE, false, 0 } --BATT L2 + } + + transitions = { + --{ last_value, last_changed, transition_done, delay } + { 0, 0, false, 30 }, -- flightmode + } + + battery = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} + + -- stop and reset timer + model.setTimer(2,{mode=0}) + model.setTimer(2,{value=0}) +end + +return {resetTelemetry=resetTelemetry} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/right.lua b/TARANIS/SOURCES/PP/lib/right.lua new file mode 100644 index 00000000..0236bcf7 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/right.lua @@ -0,0 +1,200 @@ +#include "includes/yaapu_inc.lua" + +#ifdef X9 + +#define BATTVOLT_X 0 +#define BATTVOLT_Y 36 +#define BATTVOLT_YV 36 +#define BATTVOLT_FLAGS MIDSIZE+PREC1 +#define BATTVOLT_FLAGSV SMLSIZE + +#define BATTCELL_X 21 +#define BATTCELL_Y 7 +#define BATTCELL_YV 8 +#define BATTCELL_YS 17 +#define BATTCELL_FLAGS DBLSIZE + +#define BATTCURR_X 61 +#define BATTCURR_Y 36 +#define BATTCURR_YA 36 +#define BATTCURR_FLAGS MIDSIZE+PREC1 +#define BATTCURR_FLAGSA SMLSIZE + +#define BATTPERC_X 0 +#define BATTPERC_Y 11 +#define BATTPERC_YPERC 16 +#define BATTPERC_FLAGS MIDSIZE +#define BATTPERC_FLAGSPERC SMLSIZE + +#define BATTGAUGE_X 5 +#define BATTGAUGE_Y 24 +#define BATTGAUGE_WIDTH 50 +#define BATTGAUGE_HEIGHT 3 +#define BATTGAUGE_STEPS 10 + +#define BATTMAH_X 5 +#define BATTMAH_Y 29 +#define BATTMAH_FLAGS SMLSIZE+PREC1 + +-- power and efficiency +#define BATTPOWER_X 61 +#define BATTPOWER_Y 49 +#define BATTPOWER_XLABEL 0 +#define BATTPOWER_YLABEL 49 +#define BATTPOWER_FLAGS SMLSIZE+RIGHT + +#else + +#define BATTCELL_X 1 +#define BATTCELL_Y 7 +#define BATTCELL_YV 7 +#define BATTCELL_YS 13 +#define BATTCELL_FLAGS MIDSIZE + +#define BATTVOLT_X 30 +#define BATTVOLT_Y 19 +#define BATTVOLT_YV 19 +#define BATTVOLT_FLAGS SMLSIZE +#define BATTVOLT_FLAGSV SMLSIZE + +#define BATTCURR_X 30 +#define BATTCURR_Y 26 +#define BATTCURR_YA 26 +#define BATTCURR_FLAGS SMLSIZE +#define BATTCURR_FLAGSA SMLSIZE + +#define BATTPERC_X 1 +#define BATTPERC_Y 32 +#define BATTPERC_YPERC 36 +#define BATTPERC_FLAGS MIDSIZE +#define BATTPERC_FLAGSPERC SMLSIZE + +#define BATTMAH_X 1 +#define BATTMAH_Y 44 +#define BATTMAH_FLAGS SMLSIZE+PREC1 + +#endif + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +#ifdef X9 +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[BATT_CAP+battId] > 0) then + perc = math.min(math.max((1 - (battery[BATT_MAH+battId]/battery[BATT_CAP+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- cell voltage + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+BATTCELL_X, BATTCELL_Y, (battery[BATT_CELL+battId] + 0.5)*(battery[BATT_CELL+battId] < 1000 and 1 or 0.1), BATTCELL_FLAGS+flags+(battery[BATT_CELL+battId] < 1000 and PREC2 or PREC1)) + -- save pos to print source and V + local lx = lcd.getLastRightPos() + -- battery voltage + lcd.drawNumber(x+BATTVOLT_X, BATTVOLT_Y, battery[BATT_VOLT+battId]/10,MIDSIZE) + lcd.drawText(lcd.getLastRightPos() - 1, BATTVOLT_Y, ".",MIDSIZE) + lcd.drawNumber(lcd.getLastRightPos() - 1, BATTVOLT_Y+4, battery[BATT_VOLT+battId]%10,0) + lcd.drawText(lcd.getLastRightPos()-1, BATTVOLT_YV, "V", SMLSIZE) + -- battery current + lcd.drawText(x+BATTCURR_X, BATTCURR_YA, "A", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, BATTCURR_Y+4, battery[BATT_CURR+battId]%10,RIGHT) + lcd.drawText(lcd.getLastLeftPos(), BATTCURR_Y, ".",MIDSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), BATTCURR_Y, battery[BATT_CURR+battId]/10,MIDSIZE+RIGHT) + -- battery percentage + lcd.drawNumber(x+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) + lcd.drawText(lcd.getLastRightPos(), BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) + -- display capacity bar % + lcd.drawFilledRectangle(x+BATTGAUGE_X, BATTGAUGE_Y, perc/100*BATTGAUGE_WIDTH, BATTGAUGE_HEIGHT, SOLID+FORCE) + local step = BATTGAUGE_WIDTH/BATTGAUGE_STEPS + for s=1,BATTGAUGE_STEPS - 1 do + lcd.drawLine(x+BATTGAUGE_X + s*step - 1,BATTGAUGE_Y, x+BATTGAUGE_X + s*step - 1, BATTGAUGE_Y + BATTGAUGE_HEIGHT - 1,SOLID,0) + end + -- battery mah + lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y, battery[BATT_MAH+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "/", SMLSIZE) + lcd.drawNumber(lcd.getLastRightPos(), BATTMAH_Y, battery[BATT_CAP+battId]/100, BATTMAH_FLAGS) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "Ah", SMLSIZE) + -- efficiency + local eff = telemetry.hSpeed*0.1 > 2 and 1000*battery[BATT_CURR+battId]*0.1/(telemetry.hSpeed*0.1*UNIT_HSPEED_SCALE) or 0 + lcd.drawText(x+BATTPOWER_XLABEL, BATTPOWER_YLABEL, "Eff", SMLSIZE) + lcd.drawText(x+BATTPOWER_X,BATTPOWER_Y,string.format("%d mAh",eff),BATTPOWER_FLAGS) + --minmax + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+BATTVOLT_X+23,BATTVOLT_Y + 8, 4,false,true) + drawLib.drawVArrow(x+BATTCURR_X-3,BATTCURR_Y + 8,4,true,false) + drawLib.drawVArrow(x+BATTCELL_X+33, BATTCELL_Y + 2 ,6,false,true) + else + lcd.drawText(lx, BATTCELL_YV, "V", dimFlags) + lcd.drawText(lx, BATTCELL_YS, status.battsource, SMLSIZE) + end +end +#endif + +#ifdef X7 +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[BATT_CAP+battId] > 0) then + perc = math.min(math.max((1 - (battery[BATT_MAH+battId]/battery[BATT_CAP+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+BATTCELL_X, BATTCELL_Y, (battery[BATT_CELL+battId] + 0.5)*(battery[BATT_CELL+battId] < 1000 and 1 or 0.1), BATTCELL_FLAGS+flags+(battery[BATT_CELL+battId] < 1000 and PREC2 or PREC1)) + -- + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+BATTCELL_X+26, BATTCELL_Y+2,6,false,true) + else + local lx = lcd.getLastRightPos() + lcd.drawText(lx-1, BATTCELL_YV, "V", dimFlags+SMLSIZE) + --local xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + local s = status.battsource == "a2" and "a" or (status.battsource == "vs" and "s" or "f") + lcd.drawText(lx, BATTCELL_YS, s, SMLSIZE) + end + -- battery voltage + lcd.drawText(x+BATTVOLT_X, BATTVOLT_YV, "V", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), BATTVOLT_Y, battery[BATT_VOLT+battId],SMLSIZE+PREC1+RIGHT) + -- battery current + lcd.drawText(x+BATTCURR_X, BATTCURR_YA, "A", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), BATTCURR_Y, battery[BATT_CURR+battId],PREC1+SMLSIZE+RIGHT) + -- battery percentage + lcd.drawNumber(x+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) + lcd.drawText(lcd.getLastRightPos()+1, BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) + -- battery mah + lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y, battery[BATT_MAH+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "Ah", SMLSIZE) + -- battery cap + lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y+7, battery[BATT_CAP+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y+7, "Ah", SMLSIZE) +end +#endif + +#ifdef CUSTOM_BG_CALL +local function background(conf,telemetry,status,getMaxValue,checkAlarm) +end +#endif + +return { + drawPane=drawPane, +#ifdef CUSTOM_BG_CALL + background=background +#endif +} \ No newline at end of file diff --git a/TARANIS/SOURCES/PP/lib/rover.lua b/TARANIS/SOURCES/PP/lib/rover.lua new file mode 100644 index 00000000..1abb7481 --- /dev/null +++ b/TARANIS/SOURCES/PP/lib/rover.lua @@ -0,0 +1,47 @@ +--[[ + // Auto Pilot modes + // ---------------- + enum Number { + MANUAL = 0, + ACRO = 1, + STEERING = 3, + HOLD = 4, + LOITER = 5, + FOLLOW = 6, + SIMPLE = 7, + AUTO = 10, + RTL = 11, + SMART_RTL = 12, + GUIDED = 15, + INITIALISING = 16 + }; +--]] + +local flightModes = {} + +-- rover modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="Acro" +flightModes[3]="" +flightModes[4]="Steering" +flightModes[5]="Hold" +flightModes[6]="Loiter" +flightModes[7]="Follow" +flightModes[8]="Simple" +flightModes[9]="" +flightModes[10]="" +flightModes[11]="Auto" +flightModes[12]="RTL" +flightModes[13]="SmartRTL" +flightModes[14]="" +flightModes[15]="" +flightModes[16]="Guided" +flightModes[17]="Initializing" +flightModes[18]="" +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +-- +return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/PP/yaapu.lua b/TARANIS/SOURCES/PP/yaapu.lua new file mode 100644 index 00000000..9bf66b36 --- /dev/null +++ b/TARANIS/SOURCES/PP/yaapu.lua @@ -0,0 +1,2083 @@ +#include "includes/yaapu_inc.lua" + +local frameTypes = {} +-- copter +frameTypes[0] = "c" +frameTypes[2] = "c" +frameTypes[3] = "c" +frameTypes[4] = "c" +frameTypes[13] = "c" +frameTypes[14] = "c" +frameTypes[15] = "c" +frameTypes[29] = "c" +-- plane +frameTypes[1] = "p" +frameTypes[16] = "p" +frameTypes[19] = "p" +frameTypes[20] = "p" +frameTypes[21] = "p" +frameTypes[22] = "p" +frameTypes[23] = "p" +frameTypes[24] = "p" +frameTypes[25] = "p" +frameTypes[28] = "p" +-- rover +frameTypes[10] = "r" +-- boat +frameTypes[11] = "b" + +#ifdef TESTMODE +-- undefined +frameTypes[5] = "" +frameTypes[6] = "" +frameTypes[7] = "" +frameTypes[8] = "" +frameTypes[9] = "" +frameTypes[12] = "" +frameTypes[17] = "" +frameTypes[18] = "" +frameTypes[26] = "" +frameTypes[27] = "" +frameTypes[30] = "" +#endif --TESTMODE + +local frame = {} +local frameType = nil + +local soundFileBasePath = "/SOUNDS/yaapu0" + +#ifdef X9 +local gpsStatuses = { + [0]="NoGPS", + [1]="NoLock", + [2]="2D", + [3]="3D", + [4]="DGP", + [5]="RTK", + [6]="RTK", +} +#else --X9 +local gpsStatuses = { + [0]="GPS", + [1]="Lock", + [2]="2D", + [3]="3D", + [4]="DG", + [5]="RT", + [6]="RT", +} +#endif --X9 + +-- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG +local mavSeverity = { + [0] = "EMR", + [1] = "ALR", + [2] = "CRT", + [3] = "ERR", + [4] = "WRN", + [5] = "NOT", + [6] = "INF", + [7] = "DBG", +} + +#define CELLFULL 4.36 +-------------------------------- +-- FLVSS 1 +local cell1min = 0 +local cell1sum = 0 +-- FLVSS 2 +local cell2min = 0 +local cell2sum = 0 +-- FC 1 +local cell1sumFC = 0 +-- used to calculate cellcount +local cell1maxFC = 0 +local cell2maxFC = 0 +-- FC 2 +local cell2sumFC = 0 +-------------------------------- +-- BATT +local battery = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +local cell1count = 0 +local cell2count = 0 + +local batt1sources = { + vs = false, + fc = false +} +local batt2sources = { + vs = false, + fc = false +} +-- TELEMETRY +local noTelemetryData = 1 +local hideNoTelemetry = false +local telemetry = {} +-- STATUS +telemetry.flightMode = 0 +telemetry.simpleMode = 0 +telemetry.landComplete = 0 +telemetry.statusArmed = 0 +telemetry.battFailsafe = 0 +telemetry.ekfFailsafe = 0 +telemetry.imuTemp = 0 +-- GPS +telemetry.numSats = 0 +telemetry.gpsStatus = 0 +telemetry.gpsHdopC = 100 +telemetry.gpsAlt = 0 +telemetry.gpsLat = nil +telemetry.gpsLon = nil +-- BATT 1 +telemetry.batt1volt = 0 +telemetry.batt1current = 0 +telemetry.batt1mah = 0 +-- BATT 2 +telemetry.batt2volt = 0 +telemetry.batt2current = 0 +telemetry.batt2mah = 0 +-- HOME +telemetry.homeDist = 0 +telemetry.homeAlt = 0 +telemetry.homeAngle = -1 +-- VELANDYAW +telemetry.vSpeed = 0 +telemetry.hSpeed = 0 +telemetry.yaw = 0 +-- ROLLPITCH +telemetry.roll = 0 +telemetry.pitch = 0 +telemetry.range = 0 +-- PARAMS +telemetry.frameType = -1 +telemetry.batt1Capacity = 0 +telemetry.batt2Capacity = 0 +-- WP +telemetry.wpNumber = 0 +telemetry.wpDistance = 0 +telemetry.wpXTError = 0 +telemetry.wpBearing = 0 +telemetry.wpCommands = 0 +-- VFR +telemetry.airspeed = 0 +telemetry.throttle = 0 +telemetry.baroAlt = 0 +-- TOTAL DISTANCE +telemetry.totalDist = 0 + +-- FLIGHT TIME +local lastTimerStart = 0 +-- MESSAGES +local msgBuffer = "" +local lastMsgValue = 0 +local lastMsgTime = 0 +local lastMessage +local lastMessageSeverity = 0 +local lastMessageCount = 1 +local messageCount = 0 +local messages = {} +-- EVENTS +local lastStatusArmed = 0 +local lastGpsStatus = 0 +local lastFlightMode = 0 +local lastSimpleMode = 0 +-- BATTERY LEVELS +local batLevel = 99 +local lastBattLevel = 13 +-- TOTAL DISTANCE +local lastUpdateTotDist = 0 +local lastSpeed = 0 +-- STATUS +local status = {} +-- BLINK SUPPORT +local blinktime = getTime() +local blinkon = false + + +status.showDualBattery = false +status.battAlertLevel1 = false +status.battAlertLevel2 = false +status.battsource = "na" +status.flightTime = 0 -- updated from model timer 3 +status.timerRunning = 0 -- triggered by landcomplete from AP +status.showMinMaxValues = false + +-- 00 05 10 15 20 25 30 40 50 60 70 80 90 +#define batLevels(idx) tonumber(string.sub("00051015202530405060708090",idx*2+1,idx*2+2)) +-- MIN MAX +local minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +-- LIBRARY LOADING +local libBasePath = LIB_BASE_PATH +#ifdef X9 +local menuLibFile = "menu9" +local drawLibFile = "draw9" +#else --X9 +local menuLibFile = "menu7" +local drawLibFile = "draw7" +#endif --X9 + +local drawLib = nil +local menuLib = nil +#ifdef RESET +local resetLib = nil +#endif + +local centerPanel = nil +local rightPanel = nil +local leftPanel = nil +local altView = nil + +#ifdef MEMDEBUG +local maxmem = 0 +#endif +#ifdef TESTMODE +local thrOut = 0 +#endif --TESTMODE +------------------------ +-- CONFIGURATION +------------------------ +local conf = { + language = "en", + battAlertLevel1 = 0, + battAlertLevel2 = 0, + battCapOverride1 = 0, + battCapOverride2 = 0, + disableAllSounds = false, + disableMsgBeep = 1, + timerAlert = 0, + minAltitudeAlert = 0, + maxAltitudeAlert = 0, + maxDistanceAlert = 0, + repeatAlertsPeriod = 10, + battConf = BATTCONF_PARALLEL, -- 1=parallel,2=other + cell1Count = 0, + cell2Count = 0, + rangeFinderMax = 0, + horSpeedMultiplier = 1, + vertSpeedMultiplier = 1, + horSpeedLabel = "m", + vertSpeedLabel = "m/s", + centerPanel = nil, + rightPanel = nil, + leftPanel = nil, + altView = nil, + defaultBattSource = "na", + enablePX4Modes = false, +#ifdef SYNTHVSPEED + enableSynthVSpeed = false, +#endif --SYNTHVSPEED +#ifdef LOGTELEMETRY + logLevel = false, + logFilename = nil, +#endif --LOGTELEMETRY +#ifdef MONITOR + altMonitorInterval = 0, + distMonitorInterval = 0, +#endif + enableHaptic = false, +#ifdef HDOP_ALARM + maxHdopAlert = 0, +#endif +} +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] +------------------------- +-- alarms +------------------------- +local alarms = { + --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} + { false, 0 , false, ALARM_TYPE_MIN, 0, false, 0}, --MIN_ALT + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_ALT + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_DIST + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_EKF + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_BAT + { false, 0 , true, ALARM_TYPE_TIMER, 0, false, 0 }, --FLIGTH_TIME + { false, 0 , false, ALARM_TYPE_BATT, ALARM_TYPE_BATT_GRACE, false, 0 }, --BATT L1 + { false, 0 , false, ALARM_TYPE_BATT_CRT, ALARM_TYPE_BATT_GRACE, false, 0 }, --BATT L2 +#ifdef HDOP_ALARM + { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 } --MAX_HDOP +#endif +} + +------------------------- +-- value transitions +------------------------- +local transitions = { + --{ last_value, last_changed, transition_done, delay } + { 0, 0, false, 30 }, -- flightmode +} + +#ifdef MONITOR +------------------------- +-- sensor monitoring +------------------------- +local monitors = { -1, -1} +#endif + +#ifdef FNV_HASH +------------------------- +-- message hash support, uses 312 bytes +------------------------- +local shortHashes = { + -- 16 bytes hashes, requires 88 bytes + {554623408}, -- "554623408.wav", "Takeoff complete" + {3025044912}, -- "3025044912.wav", "SmartRTL deactiv" + {3956583920}, -- "3956583920.wav", "EKF2 IMU0 is usi" + {1309405592}, -- "1309405592.wav", "EKF3 IMU0 is usi" + {4091124880,true}, -- "4091124880.wav", "Reached command " + {3311875476,true}, -- "3311875476.wav", "Reached waypoint" + {1997782032,true}, -- "1997782032.wav", "Passed waypoint " +} + +local shortHash = nil +local parseShortHash = false +local hashByteIndex = 0 +local hash = 2166136261 +#endif --FNV_HASH + +#ifdef TELEMETRY_STATS +---------------- +-- TELEMETRY STATS +---------------- +local packetCount = { + [0x5000] = 0, + [0x5001] = 0, + [0x5002] = 0, + [0x5003] = 0, + [0x5004] = 0, + [0x5005] = 0, + [0x5006] = 0, + [0x5007] = 0, + [0x5008] = 0, + [0x5009] = 0 +} + +local packetStats = { + [0x5000] = 0, + [0x5001] = 0, + [0x5002] = 0, + [0x5003] = 0, + [0x5004] = 0, + [0x5005] = 0, + [0x5006] = 0, + [0x5007] = 0, + [0x5008] = 0, + [0x5009] = 0 +} +local lastPacketCountReset = getTime() +#endif --TELEMETRY_STATS + +local showMessages = false +local showConfigMenu = false +local showAltView = false +local loadCycle = 0 +#ifdef MEMDEBUG +local errorCounter = 0 +#endif + +----------------------------- +-- clears the loaded table +-- and recovers memory +----------------------------- +local function clearTable(t) + if type(t)=="table" then + for i,v in pairs(t) do + if type(v) == "table" then + clearTable(v) + end + t[i] = nil + end + end + t = nil + -- call collectgarbage twice + collectgarbage() + collectgarbage() +#ifdef MEMDEBUG + maxmem = 0 +#endif +end + +local function doLibrary(filename) +#ifdef LOADSCRIPT + local success,f = pcall(loadScript,libBasePath..filename..".lua") +#else --LOADSCRIPT +#ifdef LOAD_LUA + local success,f = pcall(loadfile,libBasePath..filename..".lua") +#else --LOAD_LUA + local success,f = pcall(loadfile,libBasePath..filename..".luac") +#endif --LOAD_LUA +#endif --LOADSCRIPT + if success then + local ret = f() + collectgarbage() + collectgarbage() + return ret + else +#ifdef MEMDEBUG + errorCounter = errorCounter+1 +#endif + collectgarbage() + collectgarbage() + return nil + end +end + +local function unloadPanels() + clearTable(centerPanel) + clearTable(rightPanel) + clearTable(leftPanel) + + centerPanel = nil + rightPanel = nil + leftPanel = nil + + collectgarbage() + collectgarbage() +end + +local function loadPanels() + if centerPanel == nil and loadCycle == CENTER_LOAD_CYCLE then + centerPanel = doLibrary(conf.centerPanel) + end + + if rightPanel == nil and loadCycle == RIGHT_LOAD_CYCLE then + rightPanel = doLibrary(conf.rightPanel) + end + + if leftPanel == nil and loadCycle == LEFT_LOAD_CYCLE then + leftPanel = doLibrary(conf.leftPanel) + end + + collectgarbage() + collectgarbage() +end + +-- prevent same file from beeing played too fast +local lastSoundTime = 0 + +local function playSound(soundFile,skipHaptic) + if conf.enableHaptic and skipHaptic == nil then + playHaptic(HAPTIC_DURATION,0) + end + if conf.disableAllSounds then + return + end + -- prevent OpenTX play queue from getting too big + if soundFile == "../inf" then + if getTime() - lastSoundTime > 65 then + lastSoundTime = getTime() + else + return + end + end + + playFile(soundFileBasePath .."/"..conf.language.."/".. soundFile..".wav") +end + +---------------------------------------------- +-- sound file has same name as flightmode all lowercase with .wav extension +---------------------------------------------- +local function playFlightMode(flightMode) + if conf.enableHaptic then + playHaptic(HAPTIC_DURATION,0) + end + if conf.disableAllSounds then + return + end + if frame.flightModes then + if frame.flightModes[flightMode] ~= nil then + playFile(soundFileBasePath.."/"..conf.language.."/".. string.lower(frame.flightModes[flightMode]) .. (frameType=="r" and "_r.wav" or ".wav")) + end + end +end + +#ifdef X9 +local function formatMessage(severity,msg) + local shortMsg = msg + if lastMessageCount > 1 then + if #msg > 36 then + shortMsg = string.sub(msg,1,36) + collectgarbage() + end + local pmsg = string.format("%02d:%s %s (x%d)", messageCount, mavSeverity[severity], shortMsg, lastMessageCount) + msg=nil + shortMsg = nil + collectgarbage() + return pmsg + else + if #msg > 40 then + shortMsg = string.sub(msg,1,40) + collectgarbage() + end + local pmsg = string.format("%02d:%s %s", messageCount, mavSeverity[severity], shortMsg) + msg=nil + shortMsg = nil + collectgarbage() + return pmsg + end +end +#else --X9 +local function formatMessage(severity,msg) + local shortMsg = msg + if lastMessageCount > 1 then + if #msg > 16 then + shortMsg = string.sub(msg,1,16) + collectgarbage() + end + local pmsg = string.format("%d:%s %s (x%d)", messageCount, mavSeverity[severity], shortMsg, lastMessageCount) + msg=nil + collectgarbage() + return pmsg + else + if #msg > 23 then + shortMsg = string.sub(msg,1,23) + collectgarbage() + end + local pmsg = string.format("%d:%s %s", messageCount, mavSeverity[severity], shortMsg) + msg=nil + collectgarbage() + return pmsg + end +end +#endif --X9 + +--[[ +-------------------- +-- FNV HASH +-------------------- +function fnv(str) + local hash = 2166136261 + for char in string.gmatch(str, ".") do + hash = bit32.bxor(hash, string.byte(char)) + hash = (hash * 16777619) % 2^32 + end + return hash +end +--]] + +#define MAX_MESSAGES 9 + +local function pushMessage(severity, msg) + if conf.enableHaptic then + playHaptic(HAPTIC_DURATION,0) + end + if conf.disableAllSounds == false then + if ( severity < 5 and conf.disableMsgBeep < 3 ) then + playSound("../err",true) + else + if conf.disableMsgBeep < 2 then + playSound("../inf",true) + end + end + end + if msg == lastMessage then + lastMessageCount = lastMessageCount + 1 + else + lastMessageCount = 1 + messageCount = messageCount + 1 + end + messages[(messageCount-1) % MAX_MESSAGES] = formatMessage(severity,msg) + --print("count=",messageCount,"pos=%",(messageCount-1) % MAX_MESSAGES,msg,"#messages",#messages) + lastMessage = msg + lastMessageSeverity = severity + collectgarbage() + collectgarbage() +end + +local function startTimer() + lastTimerStart = getTime()/100 + model.setTimer(2,{mode=1}) +end + +local function stopTimer() + model.setTimer(2,{mode=0}) + lastTimerStart = 0 +end + +#ifdef RESET +local function reset() + --------------- + -- BATT + --------------- + cell1min = 0 + cell1sum = 0 + cell2min = 0 + cell2sum = 0 + cell1sumFC = 0 + cell1maxFC = 0 + cell2sumFC = 0 + cell1count = 0 + cell2count = 0 + clearTable(minmaxValues) + minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} + --------------- + -- TELEMETRY + --------------- + noTelemetryData = 1 + hideNoTelemetry = false + --------------- + -- FLIGHT TIME + --------------- + lastTimerStart = 0 + --------------- + -- MESSAGES + --------------- + msgBuffer = "" + lastMsgValue = 0 + lastMsgTime = 0 + lastMessage = nil + lastMessageSeverity = 0 + lastMessageCount = 1 + messageCount = 0 + clearTable(messages) + messages = {} + --------------- + -- EVENTS + --------------- + lastStatusArmed = 0 + lastGpsStatus = 0 + lastFlightMode = 0 + lastSimpleMode = 0 + --------------- + -- BATTERY LEVELS + --------------- + batLevel = 99 + lastBattLevel = 13 + --------------- + -- TOTAL DISTANCE + --------------- + lastUpdateTotDist = 0 + lastSpeed = 0 + + -- unload DRAW + clearTable(drawLib) + drawLib = nil + + if resetLib == nil then + resetLib = doLibrary("reset") + end + -- reset all + resetLib.resetTelemetry(status,telemetry,battery,alarms,transitions) + -- release resources + clearTable(resetLib) + resetLib = nil + -- recover memory + collectgarbage() + collectgarbage() + -- done + pushMessage(6,"Telemetry reset done.") + playSound("yaapu") +end +#endif --RESET + +#ifdef TESTMODE +----------------------------------------------------- +-- TEST MODE +----------------------------------------------------- +local function symTimer() +#ifdef DEMO + seconds = 60 * 9 + 30 +#endif --DEMO + thrOut = getValue("thr") + if (thrOut > -500 ) then + telemetry.landComplete = 1 + else + telemetry.landComplete = 0 + end +end + +local function symGPS() + thrOut = getValue("thr") + if thrOut > 500 then + telemetry.numSats = 17 + telemetry.gpsStatus = 4 + telemetry.gpsHdopC = 6 + telemetry.ekfFailsafe = 0 + telemetry.battFailsafe = 0 + telemetry.statusArmed = 1 + noTelemetryData = 0 + elseif thrOut < 500 and thrOut > 0 then + telemetry.numSats = 13 + telemetry.gpsStatus = 5 + telemetry.gpsHdopC = 6 + telemetry.ekfFailsafe = 1 + telemetry.battFailsafe = 0 + telemetry.statusArmed = 1 + noTelemetryData = 0 + elseif thrOut > -500 then + telemetry.numSats = 6 + telemetry.gpsStatus = 3 + telemetry.gpsHdopC = 120 + telemetry.ekfFailsafe = 0 + telemetry.battFailsafe = 1 + telemetry.statusArmed = 0 + noTelemetryData = 0 + else + telemetry.numSats = 0 + telemetry.gpsStatus = 0 + telemetry.gpsHdopC = 100 + telemetry.ekfFailsafe = 0 + telemetry.battFailsafe = 0 + telemetry.statusArmed = 0 + noTelemetryData = 1 + end +end + +local function symFrameType() + local ch11 = getValue("ch11") + if ch11 < -300 then + telemetry.frameType = 2 + telemetry.simpleMode = 0 + elseif ch11 < 300 then + telemetry.frameType = 1 + telemetry.simpleMode = 1 + else + telemetry.frameType = 10 + telemetry.simpleMode = 2 + end +end + +local function symBatt() + thrOut = getValue("thr") + if (thrOut > -500 ) then +#ifdef DEMO + if battFailsafe == 1 then + minmaxValues[MIN_BATT1_FC] = CELLCOUNT * 3.40 * 10 + minmaxValues[MIN_BATT2_FC] = CELLCOUNT * 3.43 * 10 + minmaxValues[MAX_CURR] = 341 + 335 + minmaxValues[MAX_CURR1] = 341 + minmaxValues[MAX_CURR2] = 335 + minmaxValues[MAX_POWER] = (CELLCOUNT * 3.43)*(34.1 + 33.5) + -- battery voltage + telemetry.batt1current = 235 + telemetry.batt1volt = CELLCOUNT * 3.43 * 10 + telemetry.batt1Capacity = 5200 + telemetry.batt1mah = 4400 +#ifdef BATT2TEST + telemetry.batt2current = 238 + telemetry.batt2volt = CELLCOUNT * 3.44 * 10 + telemetry.batt2Capacity = 5200 + telemetry.batt2mah = 4500 +#endif --BATT2TEST + else + minmaxValues[MIN_BATT1_FC] = CELLCOUNT * 3.75 * 10 + minmaxValues[MIN_BATT2_FC] = CELLCOUNT * 3.77 * 10 + minmaxValues[MAX_CURR] = 341+335 + minmaxValues[MAX_CURR1] = 341 + minmaxValues[MAX_CURR2] = 335 + minmaxValues[MAX_POWER] = (CELLCOUNT * 3.89)*(34.1+33.5) + -- battery voltage + telemetry.batt1current = 235 + telemetry.batt1volt = CELLCOUNT * 3.87 * 10 + telemetry.batt1Capacity = 5200 + telemetry.batt1mah = 2800 +#ifdef BATT2TEST + telemetry.batt2current = 238 + telemetry.batt2volt = CELLCOUNT * 3.89 * 10 + telemetry.batt2Capacity = 5200 + telemetry.batt2mah = 2700 +#endif --BATT2TEST + end +#else --DEMO + -- battery voltage + telemetry.batt1current = 2*(100 + ((thrOut)*0.01 * 30)) + telemetry.batt1volt = CELLCOUNT * (32 + 10*math.abs(thrOut)*0.001) + telemetry.batt1Capacity = 5200 + telemetry.batt1mah = math.abs(1000*(thrOut/200)) +#ifdef BATT2TEST + telemetry.batt2current = 2*(100 + ((thrOut)*0.01 * 30)) + telemetry.batt2volt = CELLCOUNT * (32 + 10*math.abs(thrOut)*0.001) + telemetry.batt2Capacity = 5200 + telemetry.batt2mah = math.abs(1000*(thrOut/200)) +#endif --BATT2TEST +#endif --DEMO + -- flightmode +#ifdef DEMO + telemetry.flightMode = 1 + minmaxValues[MAX_GPSALT] = 270*0.1 + minmaxValues[MAX_DIST] = 130 + telemetry.gpsAlt = 200 + telemetry.homeDist = 95 +#else --DEMO + telemetry.flightMode = math.floor(20 * math.abs(thrOut)*0.001) + telemetry.gpsAlt = math.floor(10 * math.abs(thrOut)*0.1) + telemetry.homeDist = math.floor(15 * math.abs(thrOut)*0.1) +#endif --DEMO + else + telemetry.batt1mah = 0 + end +end + +-- simulates attitude by using channel 1 for roll, channel 2 for pitch and channel 4 for yaw +local function symAttitude() +#ifdef DEMO + telemetry.roll = 14 + telemetry.pitch = -0.8 + telemetry.yaw = 33 +#else --DEMO + local rollCh = 0 + local pitchCh = 0 + local yawCh = 0 + -- roll [-1024,1024] ==> [-180,180] + rollCh = getValue("ch1") * 0.5 + -- pitch [1024,-1024] ==> [-90,90] + pitchCh = getValue("ch2") * 0.0878 + -- yaw [-1024,1024] ==> [0,360] + yawCh = getValue("ch10") + if ( yawCh >= 0) then + yawCh = yawCh * 0.175 + else + yawCh = 360 + (yawCh * 0.175) + end + telemetry.roll = rollCh/3 + telemetry.pitch = pitchCh/2 + telemetry.yaw = yawCh + telemetry.throttle = math.abs(getValue("ch3"))/10 +#endif --DEMO +end + +local function symHome() + local yawCh = 0 + local S2Ch = 0 + -- home angle in deg [0-360] + S2Ch = getValue("ch12") + yawCh = getValue("ch4") +#ifdef DEMO + minmaxValues[MINMAX_ALT] = 45 + minmaxValues[MAX_VSPEED] = 4 + minmaxValues[MAX_HSPEED] = 77 + telemetry.homeAlt = 24 + telemetry.vSpeed = 55 + telemetry.hSpeed = 88 + telemetry.airspeed = 83 +#else --DEMO + telemetry.homeAlt = yawCh * 0.01 + telemetry.range = 10 * yawCh * 0.1 + telemetry.vSpeed = yawCh * 0.1 * -1 + telemetry.hSpeed = telemetry.vSpeed + telemetry.airspeed = telemetry.vSpeed +#endif --DEMO + if ( yawCh >= 0) then + yawCh = yawCh * 0.175 + else + yawCh = 360 + (yawCh * 0.175) + end + telemetry.yaw = yawCh + if ( S2Ch >= 0) then + S2Ch = S2Ch * 0.175 + else + S2Ch = 360 + (S2Ch * 0.175) + end + if (thrOut > 0 ) then + telemetry.homeAngle = S2Ch + else + telemetry.homeAngle = -1 + end + telemetry.wpNumber = math.min(telemetry.homeDist,1023) + telemetry.wpDistance = telemetry.homeDist + telemetry.totalDist = telemetry.homeDist * 100 + telemetry.wpBearing = (telemetry.yaw / 45) % 8 +end + +local function symMode() + symGPS() + symAttitude() + symTimer() + symHome() + symBatt() + symFrameType() +end +#endif --TESTMODE + +local function processTelemetry(telemetry,DATA_ID,VALUE) + if DATA_ID == 0x5006 then -- ROLLPITCH + -- roll [0,1800] ==> [-180,180] + telemetry.roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 + -- pitch [0,900] ==> [-90,90] + telemetry.pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 + -- #define ATTIANDRNG_RNGFND_OFFSET 21 + -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power + telemetry.range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm + elseif DATA_ID == 0x5005 then -- VELANDYAW + telemetry.vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) + telemetry.hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.yaw = bit32.extract(VALUE,17,11) * 0.2 + elseif DATA_ID == 0x5001 then -- AP STATUS + telemetry.flightMode = bit32.extract(VALUE,0,5) + telemetry.simpleMode = bit32.extract(VALUE,5,2) + telemetry.landComplete = bit32.extract(VALUE,7,1) + telemetry.statusArmed = bit32.extract(VALUE,8,1) + telemetry.battFailsafe = bit32.extract(VALUE,9,1) + telemetry.ekfFailsafe = bit32.extract(VALUE,10,2) + -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° + telemetry.imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° + elseif DATA_ID == 0x5002 then -- GPS STATUS + telemetry.numSats = bit32.extract(VALUE,0,4) + -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 + -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED + telemetry.gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) + telemetry.gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm + telemetry.gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm + elseif DATA_ID == 0x5003 then -- BATT + telemetry.batt1volt = bit32.extract(VALUE,0,9) -- dV + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell1Count == 12 and telemetry.batt1volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt1volt = 512 + telemetry.batt1volt + end + telemetry.batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) --dA + telemetry.batt1mah = bit32.extract(VALUE,17,15) +#ifdef BATT2TEST + telemetry.batt2volt = bit32.extract(VALUE,0,9) + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell2Count == 12 and telemetry.batt2volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt2volt = 512 + telemetry.batt2volt + end + telemetry.batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.batt2mah = bit32.extract(VALUE,17,15) +#endif --BATT2TEST + elseif DATA_ID == 0x5008 then -- BATT2 + telemetry.batt2volt = bit32.extract(VALUE,0,9) + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell2Count == 12 and telemetry.batt2volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt2volt = 512 + telemetry.batt2volt + end + telemetry.batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.batt2mah = bit32.extract(VALUE,17,15) + elseif DATA_ID == 0x5004 then -- HOME + telemetry.homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) + telemetry.homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m + telemetry.homeAngle = bit32.extract(VALUE, 25, 7) * 3 + elseif DATA_ID == 0x5000 then -- MESSAGES + if VALUE ~= lastMsgValue then + lastMsgValue = VALUE + local c + local msgEnd = false + for i=3,0,-1 + do + c = bit32.extract(VALUE,i*8,7) + if c ~= 0 then + msgBuffer = msgBuffer .. string.char(c) + collectgarbage() + collectgarbage() +#ifdef FNV_HASH + hash = bit32.bxor(hash, c) + hash = (hash * 16777619) % 2^32 + hashByteIndex = hashByteIndex+1 + -- check if this hash matches any 16bytes prefix hash + if hashByteIndex == 16 then + for i=1,#shortHashes + do + if hash == shortHashes[i][1] then + -- ok found + shortHash = hash + -- check if needs parsing + parseShortHash = shortHashes[i][2] == nil and false or true + break; + end + end + end +#endif --FNV_HASH + else + msgEnd = true; + break; + end + end + if msgEnd then + -- push and display message + local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) + pushMessage( severity, msgBuffer) +#ifdef LOGTELEMETRY + -- log message to file + if conf.logLevel > 1 then + -- calling this in protected mode + -- io error should not block the script + local success,logfile = pcall(io.open,conf.logFilename,"a") + if success and logfile ~= nil then + io.write(logfile,getTime(),";",status.flightTime,";",mavSeverity[severity],";",msgBuffer,"\r\n") + io.close(logfile) + end + end +#endif +#ifdef FNV_HASH + -- play shortHash if found otherwise "try" the full hash + -- if it does not exist OpenTX will gracefully ignore it + playSound(tostring(shortHash == nil and hash or shortHash),true) + -- if required parse parameter and play it! + if parseShortHash then + local param = string.match(msgBuffer, ".*#(%d+).*") + collectgarbage() + collectgarbage() + if param ~= nil then + playNumber(tonumber(param),0) + collectgarbage() + collectgarbage() + end + end + -- reset hash for next string + parseShortHash = false + shortHash = nil + hash = 2166136261 + hashByteIndex = 0 +#endif --FNV_HASH + msgBuffer = nil + -- recover memory + collectgarbage() + collectgarbage() + msgBuffer = "" + end + end + elseif DATA_ID == 0x5007 then -- PARAMS + local paramId = bit32.extract(VALUE,24,4) + local paramValue = bit32.extract(VALUE,0,24) + if paramId == 1 then + telemetry.frameType = paramValue + elseif paramId == 4 then + telemetry.batt1Capacity = paramValue +#ifdef BATT2TEST + telemetry.batt2Capacity = paramValue +#endif --BATT2TEST + elseif paramId == 5 then + telemetry.batt2Capacity = paramValue + end + elseif DATA_ID == 0x5009 then -- WAYPOINTS @1Hz + telemetry.wpNumber = bit32.extract(VALUE,0,10) -- wp index + telemetry.wpDistance = bit32.extract(VALUE,12,10) * (10^bit32.extract(VALUE,10,2)) -- meters + telemetry.wpXTError = bit32.extract(VALUE,23,4) * (10^bit32.extract(VALUE,22,1)) * (bit32.extract(VALUE,27,1) == 1 and -1 or 1)-- meters + telemetry.wpBearing = bit32.extract(VALUE,29,3) -- offset from cog with 45° resolution +--[[ + elseif DATA_ID == 0x50F1 then -- RC CHANNELS + -- channels 1 - 32 + local offset = bit32.extract(VALUE,0,4) * 4 + rcchannels[1 + offset] = 100 * (bit32.extract(VALUE,4,6)/63) * (bit32.extract(VALUE,10,1) == 1 and -1 or 1) + rcchannels[2 + offset] = 100 * (bit32.extract(VALUE,11,6)/63) * (bit32.extract(VALUE,17,1) == 1 and -1 or 1) + rcchannels[3 + offset] = 100 * (bit32.extract(VALUE,18,6)/63) * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) + rcchannels[4 + offset] = 100 * (bit32.extract(VALUE,25,6)/63) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) +--]] + elseif DATA_ID == 0x50F2 then -- VFR + telemetry.airspeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) -- dm/s + telemetry.throttle = bit32.extract(VALUE,8,7) + telemetry.baroAlt = bit32.extract(VALUE,17,10) * (10^bit32.extract(VALUE,15,2)) * 0.1 * (bit32.extract(VALUE,27,1) == 1 and -1 or 1) + end +end + +#ifdef TESTMODE +local function telemetryEnabled() + return true +end +#else --TESTMODE +local function telemetryEnabled() + if getRSSI() == 0 then + noTelemetryData = 1 + end + return noTelemetryData == 0 +end +#endif --TESTMODE + +local function getMaxValue(value,idx) + minmaxValues[idx] = math.max(value,minmaxValues[idx]) + return status.showMinMaxValues and minmaxValues[idx] or value +end + +local function calcMinValue(value,min) + return min == 0 and value or math.min( value, min ) +end + +-- returns the actual minimun only if both are > 0 +local function getNonZeroMin(v1,v2) + return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) +end + +local function calcCellCount() + -- cellcount override from menu + local c1 = 0 + local c2 = 0 + + if conf.cell1Count ~= nil and conf.cell1Count > 0 then + c1 = conf.cell1Count + elseif batt1sources.vs == true and cell1count > 1 then + c1 = cell1count + else + c1 = math.floor( ((cell1maxFC*0.1) / CELLFULL) + 1) + end + + if conf.cell2Count ~= nil and conf.cell2Count > 0 then + c2 = conf.cell2Count + elseif batt2sources.vs == true and cell2count > 1 then + c2 = cell2count + else + c2 = math.floor(((cell2maxFC*0.1)/CELLFULL) + 1) + end + + return c1,c2 +end + +-- gets the voltage based on source and min value, battId = [1|2] +local function getMinVoltageBySource(source, cell, cellFC, battId) + -- offset 0 for cell voltage, 2 for pack voltage + local offset = 0 + -- + if cell > CELLFULL*2 or cellFC > CELLFULL*2 then + offset = 2 + end + -- + if source == "vs" then + return status.showMinMaxValues == true and minmaxValues[2+offset+battId] or cell + elseif source == "fc" then + -- FC only tracks batt1 and batt2 no cell voltage tracking + local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/calcCellCount()) + return status.showMinMaxValues == true and minmax or cellFC + end + -- + return 0 +end + +local function getBatt1Capacity() + return conf.battCapOverride1 > 0 and conf.battCapOverride1*10 or telemetry.batt1Capacity +end + +local function getBatt2Capacity() + return conf.battCapOverride2 > 0 and conf.battCapOverride2*10 or telemetry.batt2Capacity +end + +local function calcFLVSSBatt(battIdx) + local cellMin,cellSum,cellCount + local battSources = battIdx == 1 and batt1sources or batt2sources +#ifdef FLVSS2TEST + local cellResult = battIdx == 1 and getValue("Cels") or getValue("Cels") +#else + local cellResult = battIdx == 1 and getValue("Cels") or getValue("Cel2") +#endif + if type(cellResult) == "table" then + cellMin = CELLFULL + cellSum = 0 + -- cellcount is global and shared + cellCount = #cellResult + for i, v in pairs(cellResult) do + cellSum = cellSum + v + if cellMin > v then + cellMin = v + end + end + -- if connected after script started + if battSources.vs == false then + status.battsource = "na" + end + if status.battsource == "na" then + status.battsource = "vs" + end + battSources.vs = true + else + battSources.vs = false + cellMin = 0 + cellSum = 0 + end + return cellMin,cellSum,cellCount,battSources +end + +local function calcBattery() + ------------ + -- FLVSS 1 + ------------ + cell1min, cell1sum, cell1count = calcFLVSSBatt(1) --1 = Cels + + ------------ + -- FLVSS 2 + ------------ + cell2min, cell2sum, cell2count = calcFLVSSBatt(2) --2 = Cel2 + + -------------------------------- + -- flight controller battery 1 + -------------------------------- + if telemetry.batt1volt > 0 then + -- needed to calculate cell count + cell1maxFC = math.max(telemetry.batt1volt,cell1maxFC) + cell1sumFC = telemetry.batt1volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt1sources.fc = true + else + batt1sources.fc = false + cell1sumFC = 0 + end + -------------------------------- + -- flight controller battery 2 + -------------------------------- + if telemetry.batt2volt > 0 then + cell2maxFC = math.max(telemetry.batt2volt,cell2maxFC) + cell2sumFC = telemetry.batt2volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt2sources.fc = true + else + batt2sources.fc = false + cell2sumFC = 0 + end + -- batt fc + minmaxValues[MIN_BATT1_FC] = calcMinValue(cell1sumFC,minmaxValues[MIN_BATT1_FC]) + minmaxValues[MIN_BATT2_FC] = calcMinValue(cell2sumFC,minmaxValues[MIN_BATT2_FC]) + -- cell flvss + minmaxValues[MIN_CELL1_VS] = calcMinValue(cell1min,minmaxValues[MIN_CELL1_VS]) + minmaxValues[MIN_CELL2_VS] = calcMinValue(cell2min,minmaxValues[MIN_CELL2_VS]) + -- batt flvss + minmaxValues[MIN_BATT1_VS] = calcMinValue(cell1sum,minmaxValues[MIN_BATT1_VS]) + minmaxValues[MIN_BATT2_VS] = calcMinValue(cell2sum,minmaxValues[MIN_BATT2_VS]) + ------------------------------------------ + -- table to pass battery info to panels + -- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + -- value = offset + [0 aggregate|1 for batt 1| 2 for batt2] + -- batt2 = 4 + 2 = 6 + ------------------------------------------ + -- Note: these can be calculated. not necessary to track them as min/max + -- cell1minFC = cell1sumFC/calcCellCount() + -- cell2minFC = cell2sumFC/calcCellCount() + -- cell1minA2 = cell1sumA2/calcCellCount() + + local count1,count2 = calcCellCount() + -- 3 cases here + -- 1) parallel => all values depend on both batteries + -- 2) other => all values depend on battery 1 + -- 3) serial => celm(vs) and vbatt(vs) depend on both batteries, all other values on PM battery 1 (this is not supported: 1 PM + 2xFLVSS) + + battery[BATT_CELL+1] = getMinVoltageBySource(status.battsource, cell1min, cell1sumFC/count1, 1)*100 --cel1m + battery[BATT_CELL+2] = getMinVoltageBySource(status.battsource, cell2min, cell2sumFC/count2, 2)*100 --cel2m + battery[BATT_CELL] = (conf.battConf == BATTCONF_OTHER and battery[2] or getNonZeroMin(battery[2],battery[3]) ) + + battery[BATT_VOLT+1] = getMinVoltageBySource(status.battsource, cell1sum, cell1sumFC, 1)*10 --batt1 + battery[BATT_VOLT+2] = getMinVoltageBySource(status.battsource, cell2sum, cell2sumFC, 2)*10 --batt2 + battery[BATT_VOLT] = (conf.battConf == BATTCONF_OTHER and battery[5] or (conf.battConf == BATTCONF_SERIAL and battery[5]+battery[6] or getNonZeroMin(battery[5],battery[6]))) + + battery[BATT_CURR] = getMaxValue((conf.battConf == BATTCONF_OTHER and telemetry.batt1current or telemetry.batt1current + telemetry.batt2current),MAX_CURR) + battery[BATT_CURR+1] = getMaxValue(telemetry.batt1current,MAX_CURR1) --curr1 + battery[BATT_CURR+2] = getMaxValue(telemetry.batt2current,MAX_CURR2) --curr2 + + battery[BATT_MAH] = (conf.battConf == BATTCONF_OTHER and telemetry.batt1mah or telemetry.batt1mah + telemetry.batt2mah) + battery[BATT_MAH+1] = telemetry.batt1mah --mah1 + battery[BATT_MAH+2] = telemetry.batt2mah --mah2 + + battery[BATT_CAP] = (conf.battConf == BATTCONF_OTHER and getBatt1Capacity() or getBatt1Capacity() + getBatt2Capacity()) + battery[BATT_CAP+1] = getBatt1Capacity() --cap1 + battery[BATT_CAP+2] = getBatt2Capacity() --cap2 + + if status.showDualBattery == true and conf.battConf == BATTCONF_PARALLEL then + -- dual parallel battery: do I have also dual current monitor? + if battery[BATT_CURR+1] > 0 and battery[BATT_CURR+2] == 0 then + -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel + battery[BATT_CURR+1] = battery[BATT_CURR+1]/2 --curr1 + battery[BATT_CURR+2] = battery[BATT_CURR+1] --curr2 + -- + battery[BATT_MAH+1] = battery[BATT_MAH+1]/2 --mah1 + battery[BATT_MAH+2] = battery[BATT_MAH+1] --mah2 + -- + battery[BATT_CAP+1] = battery[BATT_CAP+1]/2 --cap1 + battery[BATT_CAP+2] = battery[BATT_CAP+1] --cap2 + end + end +end + +local function checkLandingStatus() + if ( status.timerRunning == 0 and telemetry.landComplete == 1 and lastTimerStart == 0) then + startTimer() + end + if (status.timerRunning == 1 and telemetry.landComplete == 0 and lastTimerStart ~= 0) then + stopTimer() + -- play landing complete only if motorts are armed + if telemetry.statusArmed == 1 then + playSound("landing") + end + end + status.timerRunning = telemetry.landComplete +end + +local function calcFlightTime() +#ifdef RESET + if model.getTimer(2).value < status.flightTime then + if telemetry.statusArmed == 0 then + reset() + else + model.setTimer(2,{value=status.flightTime}) + pushMessage(4,"Reset ignored while armed") + end + end +#endif --RESET + -- update local variable with timer 3 value + status.flightTime = model.getTimer(2).value +end + +local function setSensorValues() + if (not telemetryEnabled()) then + return + end + local battmah = telemetry.batt1mah + local battcapacity = getBatt1Capacity() + if telemetry.batt2mah > 0 then + battcapacity = getBatt1Capacity() + getBatt2Capacity() + battmah = telemetry.batt1mah + telemetry.batt2mah + end + local perc = 0 + if (battcapacity > 0) then + perc = math.min(math.max((1 - (battmah/battcapacity))*100,0),99) + end + + setTelemetryValue(Fuel_ID, Fuel_SUBID, Fuel_INSTANCE, perc, 13 , Fuel_PRECISION , Fuel_NAME) + setTelemetryValue(VFAS_ID, VFAS_SUBID, VFAS_INSTANCE, getNonZeroMin(telemetry.batt1volt,telemetry.batt2volt)*10, 1 , VFAS_PRECISION , VFAS_NAME) + setTelemetryValue(CURR_ID, CURR_SUBID, CURR_INSTANCE, telemetry.batt1current+telemetry.batt2current, 2 , CURR_PRECISION , CURR_NAME) + setTelemetryValue(VSpd_ID, VSpd_SUBID, VSpd_INSTANCE, telemetry.vSpeed, 5 , VSpd_PRECISION , VSpd_NAME) + setTelemetryValue(GSpd_ID, GSpd_SUBID, GSpd_INSTANCE, telemetry.hSpeed*0.1, 4 , GSpd_PRECISION , GSpd_NAME) + setTelemetryValue(Alt_ID, Alt_SUBID, Alt_INSTANCE, telemetry.homeAlt*10, 9 , Alt_PRECISION , Alt_NAME) + setTelemetryValue(GAlt_ID, GAlt_SUBID, GAlt_INSTANCE, math.floor(telemetry.gpsAlt*0.1), 9 , GAlt_PRECISION , GAlt_NAME) + setTelemetryValue(Hdg_ID, Hdg_SUBID, Hdg_INSTANCE, math.floor(telemetry.yaw), 20 , Hdg_PRECISION , Hdg_NAME) + setTelemetryValue(IMUTmp_ID, IMUTmp_SUBID, IMUTmp_INSTANCE, telemetry.imuTemp, 11 , IMUTmp_PRECISION , IMUTmp_NAME) + setTelemetryValue(ARM_ID, ARM_SUBID, ARM_INSTANCE, telemetry.statusArmed*100, 0 , ARM_PRECISION , ARM_NAME) +end + +local function drawAllMessages() + for i=0,#messages do + lcd.drawText(1,1+7*i, messages[(messageCount + i) % (#messages+1)],SMLSIZE) + end +end +--------------------------------- +-- This function checks alarm condition and as long as the condition persists it plays +-- a warning sound. +--------------------------------- +local function checkAlarm(level,value,idx,sign,sound,delay) + -- once landed reset all alarms except battery alerts + if status.timerRunning == 0 then + if alarms[idx][ALARM_TYPE] == ALARM_TYPE_MIN then + alarms[idx] = { false, 0, false, ALARM_TYPE_MIN, 0, false, 0} + elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_MAX then + alarms[idx] = { false, 0, true, ALARM_TYPE_MAX, 0, false, 0} + elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_TIMER then + alarms[idx] = { false, 0, true, ALARM_TYPE_TIMER, 0, false, 0} + elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_BATT then + alarms[idx] = { false, 0 , false, ALARM_TYPE_BATT, ALARM_TYPE_BATT_GRACE, false, 0} + elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_BATT_CRT then + alarms[idx] = { false, 0 , false, ALARM_TYPE_BATT_CRT, ALARM_TYPE_BATT_GRACE, false, 0} + end + -- reset done + return + end + -- if needed arm the alarm only after value has reached level + if alarms[idx][ALARM_ARMED] == false and level > 0 and -1 * sign*value > -1 * sign*level then + alarms[idx][ALARM_ARMED] = true + end + -- + if alarms[idx][ALARM_TYPE] == ALARM_TYPE_TIMER then + if status.flightTime > 0 and math.floor(status.flightTime) % delay == 0 then + if alarms[idx][ALARM_NOTIFIED] == false then + alarms[idx][ALARM_NOTIFIED] = true + playSound(sound) + playDuration(status.flightTime,(status.flightTime > 3600 and 1 or 0)) -- minutes,seconds + end + else + alarms[idx][ALARM_NOTIFIED] = false + end + else + if alarms[idx][ALARM_ARMED] == true then + if level > 0 and sign*value > sign*level then + -- value is outside level + if alarms[idx][ALARM_START] == 0 then + -- first time outside level after last reset + alarms[idx][ALARM_START] = status.flightTime + -- status: START + end + else + -- value back to normal ==> reset + alarms[idx][ALARM_START] = 0 + alarms[idx][ALARM_NOTIFIED] = false + alarms[idx][ALARM_READY] = false + -- status: RESET + end + if alarms[idx][ALARM_START] > 0 and (status.flightTime ~= alarms[idx][ALARM_START]) and (status.flightTime - alarms[idx][ALARM_START]) >= alarms[idx][ALARM_GRACE] then + -- enough time has passed after START + alarms[idx][ALARM_READY] = true + -- status: READY + end + -- + if alarms[idx][ALARM_READY] == true and alarms[idx][ALARM_NOTIFIED] == false then + playSound(sound) + alarms[idx][ALARM_NOTIFIED] = true + alarms[idx][ALARM_LAST_ALARM] = status.flightTime + -- status: BEEP + end + -- all but battery alarms + if alarms[idx][ALARM_TYPE] ~= ALARM_TYPE_BATT then + if alarms[idx][ALARM_READY] == true and status.flightTime ~= alarms[idx][ALARM_LAST_ALARM] and (status.flightTime - alarms[idx][ALARM_LAST_ALARM]) % delay == 0 then + alarms[idx][ALARM_NOTIFIED] = false + -- status: REPEAT + end + end + end + end +end + +local function loadFlightModes() + if frame.flightModes then + return + end + if telemetry.frameType ~= -1 then +#ifdef COMPILE + if frameTypes[telemetry.frameType] == "c" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "copter_px4.lua" or "copter.lua")) + elseif frameTypes[telemetry.frameType] == "p" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "plane_px4.lua" or "plane.lua")) + elseif frameTypes[telemetry.frameType] == "r" then + frame = dofile(libBasePath.."rover.lua") + end +#else + if frameTypes[telemetry.frameType] == "c" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "copter_px4.luac" or "copter.luac")) + elseif frameTypes[telemetry.frameType] == "p" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "plane_px4.luac" or "plane.luac")) + elseif frameTypes[telemetry.frameType] == "r" then + frame = dofile(libBasePath.."rover.luac") + end +#endif + if frame.flightModes then + frameType = frameTypes[telemetry.frameType] + -- recover some memory + clearTable(frameTypes) + end + end +end + +local function getFlightMode() + if frame.flightModes then + return frame.flightModes[telemetry.flightMode] + else + return nil + end +end + +--------------------------------- +-- This function checks state transitions and only returns true if a specific delay has passed +-- new transitions reset the delay timer +--------------------------------- +local function checkTransition(idx,value) + if value ~= transitions[idx][TRANSITION_LASTVALUE] then + -- value has changed + transitions[idx][TRANSITION_LASTVALUE] = value + transitions[idx][TRANSITION_LASTCHANGED] = getTime() + transitions[idx][TRANSITION_DONE] = false + -- status: RESET + return false + end + if transitions[idx][TRANSITION_DONE] == false and (getTime() - transitions[idx][TRANSITION_LASTCHANGED]) >= transitions[idx][TRANSITION_DELAY] then + -- enough time has passed after RESET + transitions[idx][TRANSITION_DONE] = true + -- status: FIRE + return true; + end +end + +#ifdef MONITOR +local function monitorValue(idx,value,unit,multiple,sound) + if multiple == 0 then + return + end + + --{ last_value, last_changed, transition_done, delay } + if math.floor(value) > 0 and math.floor(value) % multiple == 0 then + if monitors[idx] ~= math.floor(value) then + monitors[idx] = math.floor(value) + playSound(sound) + playNumber(math.floor(value), unit, 0) + end + end +end +#endif --MONITOR + +local function checkEvents() + loadFlightModes() + + checkAlarm(conf.minAltitudeAlert,telemetry.homeAlt,ALARMS_MIN_ALT,-1,"minalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxAltitudeAlert,telemetry.homeAlt,ALARMS_MAX_ALT,1,"maxalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxDistanceAlert,telemetry.homeDist,ALARMS_MAX_DIST,1,"maxdist",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.ekfFailsafe,ALARMS_FS_EKF,1,"ekf",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.battFailsafe,ALARMS_FS_BATT,1,"lowbat",conf.repeatAlertsPeriod) + checkAlarm(math.floor(conf.timerAlert),status.flightTime,ALARMS_TIMER,1,"timealert",math.floor(conf.timerAlert)) +#ifdef HDOP_ALARM + if telemetry.gpsStatus > 2 and conf.maxHdopAlert > 0 then + checkAlarm(conf.maxHdopAlert,telemetry.gpsHdopC,ALARMS_MAX_HDOP,1,"badgps",conf.repeatAlertsPeriod) + end +#endif + + local capacity = getBatt1Capacity() + local mah = telemetry.batt1mah + + -- only if dual battery has been detected + if (batt2sources.fc or batt2sources.vs) and conf.battConf == BATTCONF_PARALLEL then + capacity = capacity + getBatt2Capacity() + mah = mah + telemetry.batt2mah + end + + if (capacity > 0) then + batLevel = (1 - (mah/capacity))*100 + else + batLevel = 99 + end + + for l=0,12 do + -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) + local level = batLevels(l) + if batLevel <= level + 1 and l < lastBattLevel then + lastBattLevel = l + playSound("bat"..level) + break + end + end + + if telemetry.statusArmed ~= lastStatusArmed then + if telemetry.statusArmed == 1 then playSound("armed") else playSound("disarmed") end + lastStatusArmed = telemetry.statusArmed + end + + if telemetry.gpsStatus > 2 and lastGpsStatus <= 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsfix") + elseif telemetry.gpsStatus <= 2 and lastGpsStatus > 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsnofix") + end + + -- flightmode transitions have a grace period to prevent unwanted flightmode call out + -- on quick radio mode switches + if frame.flightModes ~= nil and checkTransition(TRANSITIONS_FLIGHTMODE,telemetry.flightMode) then + playFlightMode(telemetry.flightMode) + end + + if telemetry.simpleMode ~= lastSimpleMode then + if telemetry.simpleMode == 0 then + playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) + else + playSound( telemetry.simpleMode == 1 and "simpleon" or "ssimpleon" ) + end + lastSimpleMode = telemetry.simpleMode + end +#ifdef MONITOR + -- monitor altitude and distance for changes, play vocal alert if required + local feetOrMeters = getGeneralSettings().imperial == 0 and OPENTX_UNIT_METERS or OPENTX_UNIT_FEET + monitorValue(MONITOR_ALTITUDE, telemetry.homeAlt*UNIT_ALT_SCALE, feetOrMeters, conf.altMonitorInterval, "alt") + monitorValue(MONITOR_DISTANCE, telemetry.homeDist*UNIT_DIST_SCALE, feetOrMeters, conf.distMonitorInterval, "dist") +#endif --MONITOR +end + +local function checkCellVoltage(celm) + -- check alarms + checkAlarm(conf.battAlertLevel1,celm,ALARMS_BATT_L1,-1,"batalert1",conf.repeatAlertsPeriod) + checkAlarm(conf.battAlertLevel2,celm,ALARMS_BATT_L2,-1,"batalert2",conf.repeatAlertsPeriod) + + if status.battAlertLevel1 == false then status.battAlertLevel1 = alarms[ALARMS_BATT_L1][ALARM_NOTIFIED] end + if status.battAlertLevel2 == false then status.battAlertLevel2 = alarms[ALARMS_BATT_L2][ALARM_NOTIFIED] end +end + +local function cycleBatteryInfo() + if status.showDualBattery == false and (batt2sources.fc or batt2sources.vs) and conf.battConf ~= BATTCONF_SERIAL then + status.showDualBattery = true + return + end + status.battsource = status.battsource == "vs" and "fc" or "vs" +end + +local function updateTotalDist() + if telemetry.armingStatus == 0 then + lastUpdateTotDist = getTime() + return + end + local delta = getTime() - lastUpdateTotDist + local avgSpeed = (telemetry.hSpeed + lastSpeed)/2 + lastUpdateTotDist = getTime() + lastSpeed = telemetry.hSpeed + if avgSpeed * 0.1 > 1 then + telemetry.totalDist = telemetry.totalDist + (avgSpeed * 0.1 * delta * 0.01) --hSpeed dm/s, getTime()/100 secs + end +end + +-------------------------------------------------------------------------------- +-- MAIN LOOP +-------------------------------------------------------------------------------- +local bgclock = 0 +#ifdef BGRATE +local counter = 0 +local bgrate = 0 +local bgstart = 0 +#endif --BGRATE +#ifdef FGRATE +local fgcounter = 0 +local fgrate = 0 +local fgstart = 0 +#endif --FGRATE +#ifdef HUDRATE +local hudcounter = 0 +local hudrate = 0 +local hudstart = 0 +#endif --HUDRATE +#ifdef BGTELERATE +local bgtelecounter = 0 +local bgtelerate = 0 +local bgtelestart = 0 +#endif --BGTELERATE +------------------------------- +-- running at 20Hz (every 50ms) +------------------------------- +local function background() +#ifdef BGRATE + ------------------------ + -- CALC BG LOOP RATE + ------------------------ + -- skip first iteration + local now = getTime()/100 + if counter == 0 then + bgstart = now + else + bgrate = counter / (now - bgstart) + end + -- + counter=counter+1 +#endif --BGRATE + -- FAST: this runs at 60Hz (every 16ms) + for i=1,3 + do + local sensor_id,frame_id,data_id,value = sportTelemetryPop() + + if frame_id == 0x10 then + processTelemetry(telemetry,data_id,value) +#ifdef TELEMETRY_STATS + -- update packet stats + if getTime() - lastPacketCountReset > 200 then + lastPacketCountReset = getTime() + for i=0,9 do + packetStats[0x5000+i] = packetCount[0x5000+i]/2 + packetCount[0x5000+i] = 0 + end + end + if packetCount[data_id] ~= nil then + packetCount[data_id] = packetCount[data_id] + 1 + end +#endif --TELEMETRY_STATS + -- update telemetry status + noTelemetryData = 0 + hideNoTelemetry = true + end +#ifdef BGTELERATE + ------------------------ + -- CALC BG TELE PROCESSING RATE + ------------------------ + -- skip first iteration + local now = getTime()/100 + if bgtelecounter == 0 then + bgtelestart = now + else + bgtelerate = bgtelecounter / (now - bgtelestart) + end + -- + bgtelecounter=bgtelecounter+1 +#endif --BGTELERATE + end + -- SLOW: this runs at 4Hz (every 250ms) + if (bgclock % 4 == 0) then + setSensorValues() + updateTotalDist() + end + -- SLOWER: this runs at 2Hz (every 500ms) + if (bgclock % 8 == 0) then + calcBattery() + calcFlightTime() + -- prepare celm based on status.battsource + local count1,count2 = calcCellCount() + local cellVoltage = 0 + + if conf.battConf == BATTCONF_OTHER then + -- alarms are based on battery 1 + cellVoltage = 100*(status.battsource == "vs" and cell1min or cell1sumFC/count1) + else + -- alarms are based on battery 1 and battery 2 + cellVoltage = 100*(status.battsource == "vs" and getNonZeroMin(cell1min,cell2min) or getNonZeroMin(cell1sumFC/count1,cell2sumFC/count2)) + end + -- + checkEvents() + checkLandingStatus() + -- no need for alarms if reported voltage is 0 + if cellVoltage > 0 then + checkCellVoltage(cellVoltage) + end + -- aggregate value + minmaxValues[MAX_CURR] = math.max((conf.battConf == BATTCONF_OTHER and telemetry.batt1current or telemetry.batt1current+telemetry.batt2current), minmaxValues[MAX_CURR]) + + -- indipendent values + minmaxValues[MAX_CURR1] = math.max(telemetry.batt1current,minmaxValues[MAX_CURR1]) + minmaxValues[MAX_CURR2] = math.max(telemetry.batt2current,minmaxValues[MAX_CURR2]) + +#ifdef CUSTOM_BG_CALL + -- call custom panel background functions + if leftPanel ~= nil then + leftPanel.background(conf,telemetry,status,getMaxValue,checkAlarm) + end + if centerPanel ~= nil then + centerPanel.background(conf,telemetry,status,getMaxValue,checkAlarm) + end + if rightPanel ~= nil then + rightPanel.background(conf,telemetry,status,getMaxValue,checkAlarm) + end + if altView ~= nil then + altView.background(conf,telemetry,status,getMaxValue,checkAlarm) + end +#endif --CUSTOM_BG_CALL + + -- update GPS coordinates + local gpsData = getValue("GPS") + + if type(gpsData) == "table" and gpsData.lat ~= nil and gpsData.lon ~= nil then + telemetry.gpsLat = math.floor(gpsData.lat * 100000) / 100000 + telemetry.gpsLon = math.floor(gpsData.lon * 100000) / 100000 + collectgarbage() + collectgarbage() + end + + bgclock=0 + end + -- blinking support + if (getTime() - blinktime) > 65 then + blinkon = not blinkon + blinktime = getTime() + end + bgclock = bgclock+1 + collectgarbage() + collectgarbage() +end + +local function run(event) + lcd.clear() +#ifdef DEBUGEVT + if event > 0 then + pushMessage(7,tostring(event)) + end +#endif +#ifdef FGRATE + ------------------------ + -- CALC FG LOOP RATE + ------------------------ + -- skip first iteration + local now = getTime()/100 + if fgcounter == 0 then + fgstart = now + else + fgrate = fgcounter / (now - fgstart) + end + -- + fgcounter=fgcounter+1 +#endif --FGRATE + +#ifdef HUDRATE + ------------------------ + -- CALC HUD REFRESH RATE + ------------------------ + -- skip first iteration + local hudnow = getTime()/100 + if hudcounter == 0 then + hudstart = hudnow + else + hudrate = hudcounter / (hudnow - hudstart) + end + hudcounter=hudcounter+1 +#endif --HUDRATE + +#ifdef TESTMODE + symMode() +#endif --TESTMODE + + if showMessages then + --------------------- + -- MESSAGES + --------------------- + drawAllMessages() + + if event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == XLITE_DOWN or event == EVT_EXIT_BREAK or event == XLITE_RTN then + showMessages = false + elseif event == EVT_ENTER_BREAK or event == XLITE_ENTER then + if showAltView == false then + -- main --> altview + unloadPanels() + showAltView = true + else + -- altview --> main + clearTable(altView) + altView = nil + showAltView = false + end + showMessages = false + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_UP then + showMessages = false + end + elseif showConfigMenu then + --------------------- + -- CONFIG MENU + --------------------- + -- top bars + lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID+FORCE) + -- bottom bar + lcd.drawFilledRectangle(0,BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID+FORCE) + + if menuLib == nil and loadCycle == MENU_LOAD_CYCLE then + menuLib = doLibrary(menuLibFile) + if menuLib ~= nil then + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() + end + end + + if menuLib ~= nil then + menuLib.drawConfigMenu(event) + end + + + if event == EVT_EXIT_BREAK then + showConfigMenu = false + -- unload MENU + menuLib.saveConfig(conf) + clearTable(menuLib) + menuLib = nil +#ifdef LOGTELEMETRY + pushMessage(7,conf.logLevel > 1 and "msg logging enabled" or "msg logging disabled") +#endif --LOGTELEMETRY + collectgarbage() + collectgarbage() + end + else + --------------------- + -- MAIN VIEW + --------------------- + if event == EVT_ENTER_BREAK or event == XLITE_ENTER then + cycleBatteryInfo() + end + if event == EVT_MENU_BREAK or event == XLITE_MENU then + status.showMinMaxValues = not status.showMinMaxValues + end + + if status.showDualBattery == true and (event == EVT_EXIT_BREAK or event == XLITE_RTN) then + status.showDualBattery = false + end + + if drawLib == nil and loadCycle == DRAWLIB_LOAD_CYCLE then + -- load draw library + drawLib = doLibrary(drawLibFile) + collectgarbage() + collectgarbage() + end + + -- top bars + lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, FORCE) + + if showAltView then + if altView == nil and loadCycle == ALTVIEW_LOAD_CYCLE then + -- load ALTVIEW + altView = doLibrary(conf.altView) + collectgarbage() + collectgarbage() + end + + if drawLib ~= nil and altView ~= nil then + altView.drawView(drawLib,conf,telemetry,status,battery,(batt2sources.fc or batt2sources.vs) and BATT_IDALL or BATT_ID1,getMaxValue,gpsStatuses) + end + + if event == EVT_EXIT_BREAK or event == XLITE_RTN then + showMessages = false + showAltView = false + + clearTable(altView) + altView = nil + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_UP then + showMessages = true + end + else + -- draw PANELS + loadPanels() + + if centerPanel ~= nil and rightPanel ~= nil and leftPanel ~= nil and drawLib ~= nil then + -- with dual battery default is to show aggregate view + if batt2sources.fc or batt2sources.vs then + if status.showDualBattery == false then + -- dual battery: aggregate view + rightPanel.drawPane(RIGHTPANE_X,drawLib,conf,telemetry,status,battery,BATT_IDALL,getMaxValue,gpsStatuses) -- 0=aggregate view + #ifdef X9 + lcd.drawText(RIGHTPANE_X-5, 0, "2B", SMLSIZE+INVERS) + #else --X9 + lcd.drawText(HUD_X+5, LCD_H-16, "2B", SMLSIZE) + #endif --X9 + else + -- dual battery:battery 1 right pane + rightPanel.drawPane(RIGHTPANE_X,drawLib,conf,telemetry,status,battery,BATT_ID1,getMaxValue,gpsStatuses) -- 1=battery 1 + -- dual battery:battery 2 left pane + rightPanel.drawPane(LEFTPANE_X,drawLib,conf,telemetry,status,battery,BATT_ID2,getMaxValue,gpsStatuses) -- 2=battery 2 + end + else + -- battery 1 right pane in single battery mode + rightPanel.drawPane(RIGHTPANE_X,drawLib,conf,telemetry,status,battery,BATT_ID1,getMaxValue,gpsStatuses) -- 1=battery 1 + end + -- left pane info when not in dual battery mode + if status.showDualBattery == false then + leftPanel.drawPane(LEFTPANE_X,drawLib,conf,telemetry,status,battery,BATT_IDALL,getMaxValue,gpsStatuses) -- 0=aggregate view + end + + centerPanel.drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + + drawLib.drawGrid() + drawLib.drawRArrow(HOMEDIR_X,HOMEDIR_Y,HOMEDIR_R,telemetry.homeAngle - telemetry.yaw,1) + drawLib.drawFailSafe(status.showDualBattery,telemetry.ekfFailsafe,telemetry.battFailsafe) + end + end + -- bottom bar + lcd.drawFilledRectangle(0,BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, FORCE) + + if drawLib ~= nil then + drawLib.drawTopBar(getFlightMode(),telemetry.simpleMode,status.flightTime,telemetryEnabled) + drawLib.drawBottomBar(messages[(messageCount + #messages) % (#messages+1)],lastMsgTime) + drawLib.drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + end + -- event handler + if event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_UP then + --------------------- + -- SHOW MESSAGES + --------------------- + showMessages = true + elseif event == EVT_MENU_LONG or event == XLITE_MENU_LONG then + --------------------- + -- SHOW CONFIG MENU + --------------------- + clearTable(drawLib) + clearTable(altView) + unloadPanels() + altView = nil + drawLib = nil + collectgarbage() + collectgarbage() + showConfigMenu = true + end + end +#ifdef BGRATE + lcd.drawNumber(0,39,bgrate*10,PREC1+SMLSIZE+INVERS) + lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) +#endif --BGRATE +#ifdef FGRATE + lcd.drawNumber(0,39,fgrate*10,PREC1+SMLSIZE+INVERS) + lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) +#endif --FGRATE +#ifdef HUDRATE + lcd.drawNumber(0,39,hudrate*10,PREC1+SMLSIZE+INVERS) + lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) +#endif --HUDRATE +#ifdef BGTELERATE + lcd.drawNumber(20,39,bgtelerate,SMLSIZE+INVERS) +#endif --BGTELERATE +#ifdef MEMDEBUG + -- debug info, allocated memory + maxmem = math.max(maxmem,collectgarbage("count")*1024) + lcd.drawNumber(LCD_W,LCD_H-6,maxmem,SMLSIZE+RIGHT+INVERS) + lcd.drawNumber(LCD_W,LCD_H-14,errorCounter,SMLSIZE+RIGHT+INVERS) +#endif +#ifdef TELEMETRY_STATS + for i=0,8 do + lcd.drawText(1,1+7*(i),string.format("%s%d: %.01f","500",i,packetStats[0x5000+i]),INVERS+SMLSIZE) + end +#endif +#ifdef NOTELEM_BLINK + if not telemetryEnabled() and blinkon then + lcd.drawRectangle(0,0,LCD_W,LCD_H,showMessages and SOLID or ERASE) + end +#endif + loadCycle=(loadCycle+1)%LOAD_CYCLE_MAX + collectgarbage() + collectgarbage() +end + +local function init() +-- initialize flight timer + model.setTimer(2,{mode=0}) + model.setTimer(2,{value=0}) +#ifdef COMPILE + loadScript(libBasePath.."copter.lua","c") + loadScript(libBasePath.."plane.lua","c") + loadScript(libBasePath.."copter_px4.lua","c") + loadScript(libBasePath.."plane_px4.lua","c") + loadScript(libBasePath.."rover.lua","c") + loadScript(libBasePath.."reset.lua","c") + loadScript(libBasePath..menuLibFile..".lua","c") + loadScript(libBasePath..drawLibFile..".lua","c") +#endif + -- load menu library + menuLib = doLibrary(menuLibFile) + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() +#ifdef COMPILE + menuLib.compilePanels() +#endif + -- ok configuration loaded + status.battsource = conf.defaultBattSource + -- configuration loaded, releasing menu library memory + clearTable(menuLib) + menuLib = nil +#ifdef X9 + pushMessage(7,VERSION) +#endif --X9 +#ifdef X7 + pushMessage(7,VERSION) +#endif --X7 +#ifdef TESTMODE +#ifdef DEMO + pushMessage(6,"APM:Copter V3.5.4 (284349c3) QUAD") + pushMessage(6,"Calibrating barometer") + pushMessage(6,"Initialising APM") + pushMessage(6,"Barometer calibration complete") + pushMessage(6,"EKF2 IMU0 initial yaw alignment complete") + pushMessage(6,"EKF2 IMU1 initial yaw alignment complete") + pushMessage(4,"Bad AHRS") + pushMessage(6,"GPS 1: detected as u-blox at 115200 baud") + pushMessage(6,"EKF2 IMU0 tilt alignment complete") + pushMessage(6,"EKF2 IMU1 tilt alignment complete") + pushMessage(6,"u-blox 1 HW: 00080000 SW: 2.01 (75331)") + pushMessage(4,"Bad AHRS") + pushMessage(4,"Bad AHRS") + pushMessage(4,"Bad AHRS") + --]] +#endif --DEMO +#endif --TESTMODE +#ifdef LOGTELEMETRY + if conf.logLevel > 1 then + pushMessage(7,"msg logging enabled") + end +#endif + collectgarbage() + collectgarbage() + playSound("yaapu") +end + +-------------------------------------------------------------------------------- +-- SCRIPT END +-------------------------------------------------------------------------------- +return {run=run, background=background, init=init} diff --git a/TARANIS/SOURCES/PP/yaapu7.lua b/TARANIS/SOURCES/PP/yaapu7.lua deleted file mode 100644 index 58888db6..00000000 --- a/TARANIS/SOURCES/PP/yaapu7.lua +++ /dev/null @@ -1,2010 +0,0 @@ --- --- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios --- --- Copyright (C) 2018. Alessandro Apostoli --- https://github.com/yaapu --- --- This program is free software; you can redistribute it and/or modify --- it under the terms of the GNU General Public License as published by --- the Free Software Foundation; either version 3 of the License, or --- (at your option) any later version. --- --- This program is distributed in the hope that it will be useful, --- but WITHOUT ANY WARRANTY, without even the implied warranty of --- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the --- GNU General Public License for more details. --- --- You should have received a copy of the GNU General Public License --- along with this program; if not, see . --- --- Passthrough protocol reference: --- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx --- --- Borrowed some code from the LI-xx BATTCHECK v3.30 script --- http://frskytaranis.forumactif.org/t2800-lua-download-un-testeur-de-batterie-sur-la-radio - ---[[ - MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - MAV_TYPE_QUADROTOR=2, /* Quadrotor | */ - MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */ - MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */ - MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - MAV_TYPE_ROCKET=9, /* Rocket | */ - MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */ - MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - MAV_TYPE_SUBMARINE=12, /* Submarine | */ - MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */ - MAV_TYPE_OCTOROTOR=14, /* Octorotor | */ - MAV_TYPE_TRICOPTER=15, /* Tricopter | */ - MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - MAV_TYPE_KITE=17, /* Kite | */ - MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ - MAV_TYPE_VTOL_DUOROTOR=19, /* Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. | */ - MAV_TYPE_VTOL_QUADROTOR=20, /* Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. | */ - MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL | */ - MAV_TYPE_VTOL_RESERVED2=22, /* VTOL reserved 2 | */ - MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */ - MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */ - MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */ - MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */ - MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */ - MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */ - MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */ -]] ------------------------------------------------------------------------------------- --- X9D+ OpenTX 2.2.2 memory increase +4Kb https://github.com/opentx/opentx/pull/5579 ------------------------------------------------------------------------------------- - ---------------------- --- radio model ---------------------- ---#define X9 --- to compile lua in luac files ---#define COMPILE --- force loading of .lua files even after compilation --- usefull if you rename .luac in .lua ---#define LOAD_LUA - ---------------------- --- script version ---------------------- - ---------------------- --- features ---------------------- ---#define FRAMETYPE ---------------------- --- dev features ---------------------- ---#define LOGTELEMETRY ---#define MEMDEBUG ---#define DEBUG ---#define TESTMODE ---#define DEMO ---#define DEV ---#define DEBUGEVT - --- calc and show background function rate ---#define BGRATE --- calc and show run function rate ---#define FGRATE --- calc and show hud refresh rate ---#define HUDRATE --- calc and show telemetry process rate ---#define BGTELERATE --- calc and show actual incoming telemetry rate ---#define TELERATE - -------------------------------------- --- UNITS Scales from Ardupilot OSD code /ardupilot/libraries/AP_OSD/AP_OSD_Screen.cpp -------------------------------------- ---[[ - static const float scale_metric[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 3.6, //SPEED km/hr - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_imperial[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE ft - 2.23694, //SPEED mph - 3.28084, //VSPEED ft/s - 3.28084, //DISTANCE ft - 1.0/1609.34, //DISTANCE_LONG miles - 1.8, //TEMPERATURE F - }; - static const float scale_SI[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 1.0, //SPEED m/s - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_aviation[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE Ft - 1.94384, //SPEED Knots - 196.85, //VSPEED ft/min - 3.28084, //DISTANCE ft - 0.000539957, //DISTANCE_LONG Nm - 1.0, //TEMPERATURE C - }; ---]]-- - - - - - - - - - - - -local frameTypes = {} --- copter -frameTypes[0] = "c" -frameTypes[2] = "c" -frameTypes[3] = "c" -frameTypes[4] = "c" -frameTypes[13] = "c" -frameTypes[14] = "c" -frameTypes[15] = "c" -frameTypes[29] = "c" --- plane -frameTypes[1] = "p" -frameTypes[16] = "p" -frameTypes[19] = "p" -frameTypes[20] = "p" -frameTypes[21] = "p" -frameTypes[22] = "p" -frameTypes[23] = "p" -frameTypes[24] = "p" -frameTypes[25] = "p" -frameTypes[28] = "p" --- rover -frameTypes[10] = "r" --- boat -frameTypes[11] = "b" - --- -local frame = {} --- -local soundFileBasePath = "/SOUNDS/yaapu0" -local gpsStatuses = {} --- - -gpsStatuses[0]="GPS" -gpsStatuses[1]="Lock" -gpsStatuses[2]="2D" -gpsStatuses[3]="3D" -gpsStatuses[4]="DG" -gpsStatuses[5]="RT" -gpsStatuses[6]="RT" --- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG --- --------------------------------- --- FLVSS 1 -local cell1min = 0 -local cell1sum = 0 --- FLVSS 2 -local cell2min = 0 -local cell2sum = 0 --- FC 1 -local cell1sumFC = 0 --- used to calculate cellcount -local cell1maxFC = 0 --- FC 2 -local cell2sumFC = 0 --- A2 -local cellsumA2 = 0 --- used to calculate cellcount -local cellmaxA2 = 0 --------------------------------- --- STATUS -local flightMode = 0 -local simpleMode = 0 -local landComplete = 0 -local statusArmed = 0 -local battFailsafe = 0 -local ekfFailsafe = 0 -local imuTemp = 0 --- GPS -local numSats = 0 -local gpsStatus = 0 -local gpsHdopC = 100 -local gpsAlt = 0 --- BATT -local cellcount = 0 -local battsource = "na" --- BATT 1 -local batt1volt = 0 -local batt1current = 0 -local batt1mah = 0 -local batt1sources = { - a2 = false, - vs = false, - fc = false -} --- BATT 2 -local batt2volt = 0 -local batt2current = 0 -local batt2mah = 0 -local batt2sources = { - a2 = false, - vs = false, - fc = false -} --- TELEMETRY -local noTelemetryData = 1 --- HOME -local homeDist = 0 -local homeAlt = 0 -local homeAngle = -1 --- MESSAGES -local msgBuffer = "" -local lastMsgValue = 0 -local lastMsgTime = 0 --- VELANDYAW -local vSpeed = 0 -local hSpeed = 0 -local yaw = 0 --- SYNTH VSPEED SUPPORT -local vspd = 0 -local synthVSpeedTime = 0 -local prevHomeAlt = 0 --- ROLLPITCH -local roll = 0 -local pitch = 0 -local range = 0 --- PARAMS -local frameType = -1 -local batt1Capacity = 0 -local batt2Capacity = 0 --- FLIGHT TIME ---[[ migrated to model.timer(2) -local seconds = 0 ---]]local lastTimerStart = 0 -local timerRunning = 0 -local flightTime = 0 --- EVENTS -local lastStatusArmed = 0 -local lastGpsStatus = 0 -local lastFlightMode = 0 -local lastSimpleMode = 0 --- battery levels -local batLevel = 99 -local battLevel1 = false -local battLevel2 = false --- -local lastBattLevel = 13 --- --- 00 05 10 15 20 25 30 40 50 60 70 80 90 --- dual battery -local showDualBattery = false --- - - --- -local minmaxValues = {} --- min -minmaxValues[1] = 0 -minmaxValues[2] = 0 -minmaxValues[3] = 0 -minmaxValues[4] = 0 -minmaxValues[5] = 0 -minmaxValues[6] = 0 -minmaxValues[7] = 0 --- max -minmaxValues[8] = 0 -minmaxValues[9] = 0 -minmaxValues[10] = 0 -minmaxValues[11] = 0 -minmaxValues[12] = 0 -minmaxValues[13] = 0 -minmaxValues[14] = 0 -minmaxValues[15] = 0 -minmaxValues[16] = 0 -minmaxValues[17] = 0 - -local showMinMaxValues = false --- messages -local lastMessage -local lastMessageSeverity = 0 -local lastMessageCount = 1 -local messageCount = 0 -local messages = {} --- --- --- - - - - - - - - - - - - - - - - - - - - - - - - - - - - --------------------------------------------------------------------------------- --- ALARMS --------------------------------------------------------------------------------- ---[[ - ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing - ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing - ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing - ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing -{ - 1 = notified, - 2 = alarm start, - 3 = armed, - 4 = type(0=min,1=max,2=timer,3=batt), - 5 = grace duration - 6 = ready - 7 = last alarm -} ---]]-- --- --- --- -local alarms = { - --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} - { false, 0 , false, 0, 0, false, 0}, --MIN_ALT - { false, 0 , true, 1 , 0, false, 0 }, --MAX_ALT - { false, 0 , true, 1 , 0, false, 0 }, --16 - { false, 0 , true, 1 , 0, false, 0 }, --FS_EKF - { false, 0 , true, 1 , 0, false, 0 }, --FS_BAT - { false, 0 , true, 2, 0, false, 0 }, --FLIGTH_TIME - { false, 0 , false, 3, 4, false, 0 }, --BATT L1 - { false, 0 , false, 4, 4, false, 0 } --BATT L2 -} - --------------------------------------------------------------------------------- --- MENU VALUE,COMBO --------------------------------------------------------------------------------- --- X-Lite Support - - - - - -local menu = { - selectedItem = 1, - editSelected = false, - offset = 0 -} - - -local menuItems = { - {"voice language:", 1, "L1", 1, { "eng", "ita", "fre", "ger" } , {"en","it","fr","de"} }, - {"batt alert level 1:", 0, "V1", 375, 0,5000,"V",PREC2,5 }, - {"batt alert level 2:", 0, "V2", 350, 0,5000,"V",PREC2,5 }, - {"batt[1] mAh override:", 0, "B1", 0, 0,5000,"Ah",PREC2,10 }, - {"batt[2] mAh override:", 0, "B2", 0, 0,5000,"Ah",PREC2,10 }, - {"disable all sounds:", 1, "S1", 1, { "no", "yes" }, { false, true } }, - {"disable msg beep:", 1, "S2", 1, { "no", "yes" }, { false, true } }, - {"disable msg blink:", 1, "S3", 1, { "no", "yes" }, { false, true } }, - {"def voltage source:", 1, "VS", 1, { "auto", "FLVSS", "A2", "fc" }, { nil, "vs", "a2", "fc" } }, - {"timer alert every:", 0, "T1", 0, 0,600,"min",PREC1,5 }, - {"min altitude alert:", 0, "A1", 0, 0,500,"m",PREC1,5 }, - {"max altitude alert:", 0, "A2", 0, 0,10000,"m",0,1 }, - {"max distance alert:", 0, "D1", 0, 0,100000,"m",0,10 }, - {"repeat alerts every:", 0, "T2", 10, 5,600,"sec",0,5 }, - {"cell count override:", 0, "CC", 0, 0,12,"s",0,1 }, - {"rangefinder max:", 0, "RM", 0, 0,10000," cm",0,10 }, - {"enable synth.vspeed:", 1, "SVS", 1, { "no", "yes" }, { false, true } }, - {"air/groundspd unit:", 1, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, - {"vert speed unit:", 1, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, -} - -local modelInfo = model.getInfo() -local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 - - -local unitLabel = getGeneralSettings().imperial == 0 and "m" or "f" - -local function getConfigFilename() - return "/MODELS/yaapu/" .. string.lower(string.gsub(modelInfo.name, "[%c%p%s%z]", "")..".cfg") -end - -local function applyConfigValues() - if menuItems[9][6][menuItems[9][4]] ~= nil then - battsource = menuItems[9][6][menuItems[9][4]] - end - collectgarbage() -end - -local function loadConfig() - local cfg = io.open(getConfigFilename(),"r") - if cfg == nil then - return - end - local str = io.read(cfg,200) - if string.len(str) > 0 then - for i=1,#menuItems - do - local value = string.match(str, menuItems[i][3]..":(%d+)") - if value ~= nil then - menuItems[i][4] = tonumber(value) - end - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function saveConfig() - local cfg = assert(io.open(getConfigFilename(),"w")) - if cfg == nil then - return - end - for i=1,#menuItems - do - io.write(cfg,menuItems[i][3],":",menuItems[i][4]) - if i < #menuItems then - io.write(cfg,",") - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function drawConfigMenuBars() - local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) - lcd.drawFilledRectangle(0,0, 128, 7, SOLID) - lcd.drawRectangle(0, 0, 128, 7, SOLID) - lcd.drawText(0,0,"Yaapu X7 1.7.2",SMLSIZE+INVERS) - lcd.drawFilledRectangle(0,57-1, 128, 9, SOLID) - lcd.drawRectangle(0, 57-1, 128, 9, SOLID) - lcd.drawText(0,57,string.sub(getConfigFilename(),8),SMLSIZE+INVERS) - lcd.drawText(128,57+1,itemIdx,SMLSIZE+INVERS+RIGHT) -end - -local function incMenuItem(idx) - if menuItems[idx][2] == 0 then - menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] - if menuItems[idx][4] > menuItems[idx][6] then - menuItems[idx][4] = menuItems[idx][6] - end - else - menuItems[idx][4] = menuItems[idx][4] + 1 - if menuItems[idx][4] > #menuItems[idx][5] then - menuItems[idx][4] = 1 - end - end -end - -local function decMenuItem(idx) - if menuItems[idx][2] == 0 then - menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] - if menuItems[idx][4] < menuItems[idx][5] then - menuItems[idx][4] = menuItems[idx][5] - end - else - menuItems[idx][4] = menuItems[idx][4] - 1 - if menuItems[idx][4] < 1 then - menuItems[idx][4] = #menuItems[idx][5] - end - end -end - -local function drawItem(idx,flags) - if menuItems[idx][2] == 0 then - if menuItems[idx][4] == 0 then - lcd.drawText(99,7 + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) - else - lcd.drawNumber(99,7 + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) - lcd.drawText(lcd.getLastRightPos(),7 + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) - end - else - lcd.drawText(99,7 + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) - end -end - -local function drawConfigMenu(event) - drawConfigMenuBars() - if event == EVT_ENTER_BREAK or event == 34 then - menu.editSelected = not menu.editSelected - elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == 36 or event == 68) then - incMenuItem(menu.selectedItem) - elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == 35 or event == 67) then - decMenuItem(menu.selectedItem) - elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == 36) then - menu.selectedItem = (menu.selectedItem - 1) - if menu.offset >= menu.selectedItem then - menu.offset = menu.offset - 1 - end - elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == 35) then - menu.selectedItem = (menu.selectedItem + 1) - if menu.selectedItem - 7 > menu.offset then - menu.offset = menu.offset + 1 - end - end - --wrap - if menu.selectedItem > #menuItems then - menu.selectedItem = 1 - menu.offset = 0 - elseif menu.selectedItem < 1 then - menu.selectedItem = #menuItems - -- - menu.offset = 12 - end - -- - for m=1+menu.offset,math.min(#menuItems,7+menu.offset) do - lcd.drawText(2,7 + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) - if m == menu.selectedItem then - if menu.editSelected then - drawItem(m,INVERS+BLINK) - else - drawItem(m,INVERS) - end - else - drawItem(m,0) - end - end -end ------------------------ --- SOUNDS ------------------------ -local function playSound(soundFile) - if menuItems[6][6][menuItems[6][4]] then - return - end - playFile(soundFileBasePath .."/"..menuItems[1][6][menuItems[1][4]].."/".. soundFile..".wav") -end ----------------------------------------------- --- NOTE: sound file has same name as flightmode all lowercase with .wav extension ----------------------------------------------- -local function playSoundByFrameTypeAndFlightMode(frameType,flightMode) - if menuItems[6][6][menuItems[6][4]] then - return - end - if frame.flightModes then - if frame.flightModes[flightMode] ~= nil then - playFile(soundFileBasePath.."/"..menuItems[1][6][menuItems[1][4]].."/".. string.lower(frame.flightModes[flightMode])..".wav") - end - end -end - -local function drawHArrow(x,y,width,left,right) - lcd.drawLine(x, y, x + width,y, SOLID, 0) - if left == true then - lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if right == true then - lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) - lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) - end -end - -local function drawVArrow(x,y,h,top,bottom) - lcd.drawLine(x,y,x,y + h, SOLID, 0) - if top == true then - lcd.drawLine(x - 1,y + 1,x - 2,y + 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if bottom == true then - lcd.drawLine(x - 1,y + h - 1,x - 2,y + h - 2, SOLID, 0) - lcd.drawLine(x + 1,y + h - 1,x + 2,y + h - 2, SOLID, 0) - end -end --- -local function drawHomeIcon(x,y) - lcd.drawRectangle(x,y,5,5,SOLID) - lcd.drawLine(x+2,y+3,x+2,y+4,SOLID,FORCE) - lcd.drawPoint(x+2,y-1,FORCE) - lcd.drawLine(x,y+1,x+5,y+1,SOLID,FORCE) - lcd.drawLine(x-1,y+1,x+2,y-2,SOLID, FORCE) - lcd.drawLine(x+5,y+1,x+3,y-1,SOLID, FORCE) -end - - -local function computeOutCode(x,y,xmin,ymin,xmax,ymax) - local code = 0; --initialised as being inside of hud - -- - if x < xmin then --to the left of hud - code = bit32.bor(code,1); - elseif x > xmax then --to the right of hud - code = bit32.bor(code,2); - end - if y < ymin then --below the hud - code = bit32.bor(code,4); - elseif y > ymax then --above the hud - code = bit32.bor(code,8); - end - -- - return code; -end - --- Cohen–Sutherland clipping algorithm --- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm -local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) - -- - local xx = math.cos(math.rad(angle)) * len * 0.5 - local yy = math.sin(math.rad(angle)) * len * 0.5 - -- - local x0 = ox - xx - local x1 = ox + xx - local y0 = oy - yy - local y1 = oy + yy - -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle - local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); - local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); - local accept = false; - - while (true) do - if ( bit32.bor(outcode0,outcode1) == 0) then - -- bitwise OR is 0: both points inside window; trivially accept and exit loop - accept = true; - break; - elseif (bit32.band(outcode0,outcode1) ~= 0) then - -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) - -- both must be outside window; exit loop (accept is false) - break; - else - -- failed both tests, so calculate the line segment to clip - -- from an outside point to an intersection with clip edge - local x = 0 - local y = 0 - -- At least one endpoint is outside the clip rectangle; pick it. - local outcodeOut = outcode0 ~= 0 and outcode0 or outcode1 - -- No need to worry about divide-by-zero because, in each case, the - -- outcode bit being tested guarantees the denominator is non-zero - if bit32.band(outcodeOut,8) ~= 0 then --point is above the clip window - x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) - y = ymax - elseif bit32.band(outcodeOut,4) ~= 0 then --point is below the clip window - x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) - y = ymin - elseif bit32.band(outcodeOut,2) ~= 0 then --point is to the right of clip window - y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) - x = xmax - elseif bit32.band(outcodeOut,1) ~= 0 then --point is to the left of clip window - y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) - x = xmin - end - -- Now we move outside point to intersection point to clip - -- and get ready for next pass. - if outcodeOut == outcode0 then - x0 = x - y0 = y - outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) - else - x1 = x - y1 = y - outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) - end - end - end - if accept then - lcd.drawLine(x0,y0,x1,y1, style,0) - end -end - - -local function drawNumberWithTwoDims(x,y,yTop,yBottom,number,topDim,bottomDim,flags,topFlags,bottomFlags) - -- +0.5 because PREC2 does a math.floor() and not a math.round() - lcd.drawNumber(x, y, number + 0.5, flags) - local lx = lcd.getLastRightPos() - lcd.drawText(lx, yTop, topDim, topFlags) - lcd.drawText(lx, yBottom, bottomDim, bottomFlags) -end - -local function drawNumberWithDim(x,y,yDim,number,dim,flags,dimFlags) - lcd.drawNumber(x, y, number,flags) - lcd.drawText(lcd.getLastRightPos(), yDim, dim, dimFlags) -end - - - -local function formatMessage(severity,msg) - if lastMessageCount > 1 then - if #msg > 16 then - msg = string.sub(msg,1,16) - end - return string.format("%d:%s %s (x%d)", messageCount, string.sub("EMRALRCRTERRWRNNOTINFDBG",severity*3+1,severity*3+3), msg, lastMessageCount) - else - if #msg > 23 then - msg = string.sub(msg,1,23) - end - return string.format("%d:%s %s", messageCount, string.sub("EMRALRCRTERRWRNNOTINFDBG",severity*3+1,severity*3+3), msg) - end -end - - -local function pushMessage(severity, msg) - if menuItems[7][6][menuItems[7][4]] == false and menuItems[6][6][menuItems[6][4]] == false then - if ( severity < 5) then - playSound("../err") - else - playSound("../inf") - end - end - -- check if wrapping is needed - if #messages == 9 and msg ~= lastMessage then - for i=1,9-1 do - messages[i]=messages[i+1] - end - -- trunc at 9 - messages[9] = nil - end - -- is it a duplicate? - if msg == lastMessage then - lastMessageCount = lastMessageCount + 1 - messages[#messages] = formatMessage(severity,msg) - else - lastMessageCount = 1 - messageCount = messageCount + 1 - messages[#messages+1] = formatMessage(severity,msg) - end - lastMessage = msg - lastMessageSeverity = severity - collectgarbage() - maxmem = 0 -end --- -local function startTimer() - lastTimerStart = getTime()/100 - model.setTimer(2,{mode=1}) -end - -local function stopTimer() - model.setTimer(2,{mode=0}) - lastTimerStart = 0 -end - - ------------------------------------------------------------------ --- TELEMETRY ------------------------------------------------------------------ --- -local function processTelemetry() - local SENSOR_ID,FRAME_ID,DATA_ID,VALUE - SENSOR_ID,FRAME_ID,DATA_ID,VALUE = sportTelemetryPop() - if ( FRAME_ID == 0x10) then - noTelemetryData = 0 - if ( DATA_ID == 0x5006) then -- ROLLPITCH - -- roll [0,1800] ==> [-180,180] - roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 - -- pitch [0,900] ==> [-90,90] - pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 - -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power - range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm - elseif ( DATA_ID == 0x5005) then -- VELANDYAW - vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) - hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - yaw = bit32.extract(VALUE,17,11) * 0.2 - elseif ( DATA_ID == 0x5001) then -- AP STATUS - flightMode = bit32.extract(VALUE,0,5) - simpleMode = bit32.extract(VALUE,5,2) - landComplete = bit32.extract(VALUE,7,1) - statusArmed = bit32.extract(VALUE,8,1) - battFailsafe = bit32.extract(VALUE,9,1) - ekfFailsafe = bit32.extract(VALUE,10,2) - -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° - imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° - elseif ( DATA_ID == 0x5002) then -- GPS STATUS - numSats = bit32.extract(VALUE,0,4) - -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 - -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED - gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) - gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm - gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm - elseif ( DATA_ID == 0x5003) then -- BATT - batt1volt = bit32.extract(VALUE,0,9) - batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt1mah = bit32.extract(VALUE,17,15) - elseif ( DATA_ID == 0x5008) then -- BATT2 - batt2volt = bit32.extract(VALUE,0,9) - batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt2mah = bit32.extract(VALUE,17,15) - elseif ( DATA_ID == 0x5004) then -- HOME - homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) - homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m - homeAngle = bit32.extract(VALUE, 25, 7) * 3 - elseif ( DATA_ID == 0x5000) then -- MESSAGES - if (VALUE ~= lastMsgValue) then - lastMsgValue = VALUE - local c1 = bit32.extract(VALUE,0,7) - local c2 = bit32.extract(VALUE,8,7) - local c3 = bit32.extract(VALUE,16,7) - local c4 = bit32.extract(VALUE,24,7) - -- - local msgEnd = false - if (c4 ~= 0) then - msgBuffer = msgBuffer .. string.char(c4) - else - msgEnd = true; - end - if (c3 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c3) - else - msgEnd = true; - end - if (c2 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c2) - else - msgEnd = true; - end - if (c1 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c1) - else - msgEnd = true; - end - --[[ - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x4)<<21; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x2)<<14; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x1)<<7; - --]] if (msgEnd) then - local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) - pushMessage( severity, msgBuffer) - msgBuffer = "" - end - end - elseif ( DATA_ID == 0x5007) then -- PARAMS - paramId = bit32.extract(VALUE,24,4) - paramValue = bit32.extract(VALUE,0,24) - if paramId == 1 then - frameType = paramValue - elseif paramId == 4 then - batt1Capacity = paramValue - elseif paramId == 5 then - batt2Capacity = paramValue - end - end - end -end - -local function telemetryEnabled() - if getRSSI() == 0 then - noTelemetryData = 1 - end - return noTelemetryData == 0 -end - -local function getMaxValue(value,idx) - minmaxValues[idx] = math.max(value,minmaxValues[idx]) - return showMinMaxValues == true and minmaxValues[idx] or value -end - -local function calcMinValue(value,min) - return min == 0 and value or math.min(value,min) -end - --- returns the actual minimun only if both are > 0 -local function getNonZeroMin(v1,v2) - return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) -end - -local function calcCellCount() - -- cellcount override from menu - if menuItems[15][4] ~= nil and menuItems[15][4] > 0 then - return menuItems[15][4] - end - -- cellcount is cached only for FLVSS - if batt1sources.vs == true and cellcount > 1 then - return cellcount - end - -- round in excess and return - -- Note: cellcount is not cached because max voltage can rise during initialization) - return math.floor( (( math.max(cell1maxFC,cellmaxA2)*0.1 ) / 4.36) + 1) -end - -local function calcBattery() - ------------ - -- FLVSS 1 - ------------ - local cellResult = getValue("Cels") - if type(cellResult) == "table" then - cell1min = 4.36 - cell1sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell1sum = cell1sum + v - if cell1min > v then - cell1min = v - end - end - -- if connected after scritp started - if batt1sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt1sources.vs = true - else - batt1sources.vs = false - cell1min = 0 - cell1sum = 0 - end - ------------ - -- FLVSS 2 - ------------ - cellResult = getValue("Cel2") - if type(cellResult) == "table" then - cell2min = 4.36 - cell2sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell2sum = cell2sum + v - if cell2min > v then - cell2min = v - end - end - -- if connected after scritp started - if batt2sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt2sources.vs = true - else - batt2sources.vs = false - cell2min = 0 - cell2sum = 0 - end - -------------------------------- - -- flight controller battery 1 - -------------------------------- - if batt1volt > 0 then - cell1sumFC = batt1volt*0.1 - cell1maxFC = math.max(batt1volt,cell1maxFC) - if battsource == "na" then - battsource = "fc" - end - batt1sources.fc = true - else - batt1sources.fc = false - cell1sumFC = 0 - end - -------------------------------- - -- flight controller battery 2 - -------------------------------- - if batt2volt > 0 then - cell2sumFC = batt2volt*0.1 - if battsource == "na" then - battsource = "fc" - end - batt2sources.fc = true - else - batt2sources.fc = false - cell2sumFC = 0 - end - ---------------------------------- - -- 12 analog voltage only 1 supported - ---------------------------------- - local battA2 = getValue("A2") - -- - if battA2 > 0 then - cellsumA2 = battA2 - cellmaxA2 = math.max(battA2*10,cellmaxA2) - -- don't force a2, only way to display it - -- is by user selection from menu - --[[ - if battsource == "na" then - battsource = "a2" - end - --]] batt1sources.a2 = true - else - batt1sources.a2 = false - cellsumA2 = 0 - end - -- batt fc - minmaxValues[1] = calcMinValue(cell1sumFC,minmaxValues[1]) - minmaxValues[2] = calcMinValue(cell2sumFC,minmaxValues[2]) - -- cell flvss - minmaxValues[3] = calcMinValue(cell1min,minmaxValues[3]) - minmaxValues[4] = calcMinValue(cell2min,minmaxValues[4]) - -- batt flvss - minmaxValues[5] = calcMinValue(cell1sum,minmaxValues[5]) - minmaxValues[6] = calcMinValue(cell2sum,minmaxValues[6]) - -- batt 12 - minmaxValues[7] = calcMinValue(cellsumA2,minmaxValues[7]) -end - -local function checkLandingStatus() - if ( timerRunning == 0 and landComplete == 1 and lastTimerStart == 0) then - startTimer() - end - if (timerRunning == 1 and landComplete == 0 and lastTimerStart ~= 0) then - stopTimer() - -- play landing complete only if motorts are armed - if statusArmed == 1 then - playSound("landing") - end - end - timerRunning = landComplete -end - -local function calcFlightTime() - -- update local variable with timer 3 value - flightTime = model.getTimer(2).value -end - -local function getBatt1Capacity() - return menuItems[4][4]*0.1 > 0 and menuItems[4][4]*0.1*100 or batt1Capacity -end - -local function getBatt2Capacity() - return menuItems[5][4]*0.1 > 0 and menuItems[5][4]*0.1*100 or batt2Capacity -end - --- gets the voltage based on source and min value, battId = [1|2] -local function getMinVoltageBySource(source,cell,cellFC,cellA2,battId,count) - -- offset 0 for cell voltage, 2 for pack voltage - local offset = 0 - -- - if cell > 4.36*2 or cellFC > 4.36*2 or cellA2 > 4.36*2 then - offset = 2 - end - -- - if source == "vs" then - return showMinMaxValues == true and minmaxValues[2+offset+battId] or cell - elseif source == "fc" then - -- FC only tracks batt1 and batt2 no cell voltage tracking - local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/count) - return showMinMaxValues == true and minmax or cellFC - elseif source == "a2" then - -- 12 does not depend on battery id - local minmax = (offset == 2 and minmaxValues[7] or minmaxValues[7]/count) - return showMinMaxValues == true and minmax or cellA2 - end - -- - return 0 -end - -local function setSensorValues() - if (not telemetryEnabled()) then - return - end - local battmah = batt1mah - local battcapacity = getBatt1Capacity() - if batt2mah > 0 then - battcapacity = getBatt1Capacity() + getBatt2Capacity() - battmah = batt1mah + batt2mah - end - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - setTelemetryValue(0x060F, 0, 0, perc, 13 , 0 , "Fuel") - setTelemetryValue(0x021F, 0, 0, getNonZeroMin(batt1volt,batt2volt)*10, 1 , 2 , "VFAS") - setTelemetryValue(0x020F, 0, 0, batt1current+batt2current, 2 , 1 , "CURR") - setTelemetryValue(0x011F, 0, 0, vSpeed, 5 , 1 , "VSpd") - setTelemetryValue(0x083F, 0, 0, hSpeed*0.1, 5 , 0 , "GSpd") - setTelemetryValue(0x010F, 0, 0, homeAlt*10, 9 , 1 , "Alt") - setTelemetryValue(0x082F, 0, 0, math.floor(gpsAlt*0.1), 9 , 0 , "GAlt") - setTelemetryValue(0x084F, 0, 0, math.floor(yaw), 20 , 0 , "Hdg") - setTelemetryValue(0x041F, 0, 0, imuTemp, 11 , 0 , "IMUt") - setTelemetryValue(0x060F, 0, 1, statusArmed*100, 0 , 0 , "ARM") -end --------------------- --- Single long function much more memory efficient than many little functions ---------------------- - -local function drawX7RightPane(x,battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if battLevel2 == true then - flags = BLINK - dimFlags = BLINK - elseif battLevel1 == true then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(x+24, 27, 28, 36,cellVolt,"V",battsource,DBLSIZE+PREC2+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(x+1,29,29, battVolt,"V",INVERS+PREC1+SMLSIZE,INVERS+SMLSIZE) - -- battery current - drawNumberWithDim(x+1,36,36,current,"A",INVERS+SMLSIZE+PREC1,INVERS+SMLSIZE) - -- battery percentage - lcd.drawNumber(x+5, 44, perc, MIDSIZE) - lcd.drawText(lcd.getLastRightPos(), 48, "%", SMLSIZE) - -- battery mah - lcd.drawText(x+64, 43, "Ah", SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, 43, battmah/10, SMLSIZE+PREC2+RIGHT) - lcd.drawText(x+64, 43+8, "Ah", SMLSIZE+RIGHT+INVERS) - lcd.drawNumber(lcd.getLastLeftPos()-1, 43+8, battcapacity/10, SMLSIZE+PREC2+RIGHT+INVERS) - -- tx voltage - --local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) - --lcd.drawText(104, 21, vTx, SMLSIZE) - -- - -- GPS status - local strStatus = gpsStatuses[gpsStatus] - flags = BLINK+PREC1 - local mult = 1 - lcd.drawLine(65 + 38,6+1,65+38,6+19,SOLID,FORCE) - lcd.drawLine(65 + 38,6 + 20,65+63,6 + 20,SOLID,FORCE) - if gpsStatus > 2 then - if homeAngle ~= -1 then - flags = PREC1 - end - if gpsHdopC > 99 then - flags = 0 - mult=0.1 - end - lcd.drawText(65 + 40,6+13, strStatus, SMLSIZE) - local strNumSats = string.format("%d",math.min(15,numSats)) - --if numSats >= 15 then - -- strNumSats = strNumSats.."+" - --end - lcd.drawText(65 + 63, 6 + 13, strNumSats, SMLSIZE+RIGHT) - lcd.drawText(65 + 40, 6 + 2 , "H", SMLSIZE) - lcd.drawNumber(65 + 63, 6+1, gpsHdopC*mult ,MIDSIZE+flags+RIGHT) - - else - lcd.drawText(65 + 46, 6+3, "No", SMLSIZE+INVERS+BLINK) - lcd.drawText(65 + 43, 6+12, strStatus, SMLSIZE+INVERS+BLINK) - end - -- alt asl/rng - if showMinMaxValues == true then - flags = 0 - end - -- varrow is shared - flags = 0 - if menuItems[16][4] > 0 then - -- rng finder - local rng = range - -- rng is cm - if rng > menuItems[16][4] then - flags = BLINK+INVERS - end - rng = getMaxValue(rng,17) - -- - if showMinMaxValues == true then - drawVArrow(67 + 1, 9,5,true,false) - else - lcd.drawText(67 - 1, 9, "Rn", SMLSIZE) - end - lcd.drawText(103, 8+1 , unitLabel, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), 8 , string.format("%.1f",rng*0.01*unitScale), flags + RIGHT) - else - -- alt asl, always display gps altitude even without 3d lock - local alt = gpsAlt/10 - flags = BLINK - if gpsStatus > 2 then - flags = 0 - -- update max only with 3d or better lock - alt = getMaxValue(alt,13) - end - if showMinMaxValues == true then - drawVArrow(67 + 1, 9 + 1,5,true,false) - else - drawVArrow(67 + 1,9,6,true,true) - end - lcd.drawText(103, 8+1 ,unitLabel, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), 8 , string.format("%d",alt*unitScale), flags+RIGHT) - end - -- home dist - local flags = 0 - if homeAngle == -1 then - flags = BLINK - end - local dist = getMaxValue(homeDist,16) - if showMinMaxValues == true then - flags = 0 - end - lcd.drawText(103, 19+1, unitLabel,SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), 19, string.format("%d",dist*unitScale),RIGHT+flags) - if showMinMaxValues == true then - drawVArrow(66 + 2, 19,5,true,false) - drawVArrow(x+24+36, 27+2,6,false,true) - else - drawHArrow(66,19 + 3,7,true,true) - end -end - ---------------------- --- Single long function much more memory efficient than many little functions ---------------------- -local function drawX7LeftPane(battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - else - perc = 0 - end - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if cellVolt < menuItems[3][4] then - flags = BLINK - dimFlags = BLINK - elseif cellVolt < menuItems[2][4] then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(0, 27, 28, 36,cellVolt,"V",battsource,DBLSIZE+PREC2+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(41+1,29,29, battVolt,"V",INVERS+PREC1+SMLSIZE,INVERS+SMLSIZE) - -- battery current - drawNumberWithDim(41+1,36,36,current,"A",INVERS+SMLSIZE+PREC1,INVERS+SMLSIZE) - -- battery percentage - lcd.drawNumber(38+5, 44, perc, MIDSIZE) - lcd.drawText(lcd.getLastRightPos(), 48, "%", SMLSIZE) - -- box - lcd.drawRectangle(0,43 + 7,6,7,SOLID) - lcd.drawFilledRectangle(0,43 + 7,6,7,SOLID) - -- battery mah - lcd.drawText(-30+64, 43, "Ah", SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, 43, battmah/10, SMLSIZE+PREC2+RIGHT) - lcd.drawText(-30+64, 43+8, "Ah", SMLSIZE+RIGHT+INVERS) - lcd.drawNumber(lcd.getLastLeftPos()-1, 43+8, battcapacity/10, SMLSIZE+PREC2+RIGHT+INVERS) - if showMinMaxValues == true then - drawVArrow(36, 27+2,6,false,true) - end -end - -local function drawNoTelemetryData() - -- no telemetry data - if (not telemetryEnabled()) then - lcd.drawFilledRectangle(12,18, 105, 30, SOLID) - lcd.drawRectangle(12,18, 105, 30, ERASE) - lcd.drawText(30, 29, "no telemetry", INVERS) - return - end -end - -local function drawTopBar() - -- black bar - lcd.drawFilledRectangle(0,0, 128, 7, SOLID) - lcd.drawRectangle(0, 0, 128, 7, SOLID) - -- flight mode - if frame.flightModes then - local strMode = frame.flightModes[flightMode] - if strMode ~= nil then - lcd.drawText(1, 0, strMode, SMLSIZE+INVERS) - if ( simpleMode > 0 ) then - local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" - lcd.drawText(lcd.getLastRightPos(), 0, strSimpleMode, SMLSIZE+INVERS) - end - end - end - -- flight time - lcd.drawText(96, 0, "T:", SMLSIZE+INVERS) - lcd.drawTimer(lcd.getLastRightPos(), 0, flightTime, SMLSIZE+INVERS) - -- RSSI - lcd.drawText(70, 0, "RS:", SMLSIZE+INVERS ) - lcd.drawText(lcd.getLastRightPos(), 0, getRSSI(), SMLSIZE+INVERS ) -end - -local function drawBottomBar() - -- black bar - lcd.drawFilledRectangle(0,57, 128, 8, SOLID) - lcd.drawRectangle(0, 57, 128, 8, SOLID) - -- message text - local now = getTime() - local msg = messages[#messages] - if (now - lastMsgTime ) > 150 or menuItems[8][6][menuItems[8][4]] then - lcd.drawText(0, 57 + 1, msg,SMLSIZE+INVERS) - else - lcd.drawText(0, 57 + 1, msg,SMLSIZE+INVERS+BLINK) - end -end - -local function drawAllMessages() - for i=1,#messages do - lcd.drawText(1, 1 + 7*(i-1), messages[i],SMLSIZE) - end -end - - -local function drawFailsafe() - local xoffset = 0 - local yoffset = 0 - if showDualBattery == true and (ekfFailsafe > 0 or battFailsafe >0) then - xoffset = 36 - yoffset = -10 - lcd.drawFilledRectangle(xoffset - 8, 18 + yoffset, 80, 15, ERASE) - lcd.drawRectangle(xoffset - 8, 18 + yoffset, 80, 15, SOLID) - end - if ekfFailsafe > 0 then - lcd.drawText(xoffset + 0 + 64/2 - 31, 22 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) - end - if battFailsafe > 0 then - lcd.drawText(xoffset + 0 + 64/2 - 33, 22 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) - end -end - - -local yawRibbonPoints = {} --- -yawRibbonPoints[0]={"N",0} -yawRibbonPoints[1]={"NE",-3} -yawRibbonPoints[2]={"E",0} -yawRibbonPoints[3]={"SE",-3} -yawRibbonPoints[4]={"S",0} -yawRibbonPoints[5]={"SW",-3} -yawRibbonPoints[6]={"W",0} -yawRibbonPoints[7]={"NW",-3} - --- optimized yaw ribbon drawing -local function drawCompassRibbon() - -- ribbon centered +/- 90 on yaw - local centerYaw = (yaw+270)%360 - -- this is the first point left to be drawn on the compass ribbon - local nextPoint = math.floor(centerYaw/45) * 45 --roundTo(centerYaw,45) - -- distance in degrees between leftmost ribbon point and first 45° multiple normalized to YAW_WIDTH/8 - local yawMinX = 2 - local yawMaxX = 64 - 3 - -- x coord of first ribbon letter - local nextPointX = yawMinX + (nextPoint - centerYaw)/45 * 13.2 - local yawY = 0 + 7 - -- - local i = (nextPoint / 45) % 8 - for idx=1,6 - do - if nextPointX >= yawMinX and nextPointX < yawMaxX then - lcd.drawText(nextPointX+yawRibbonPoints[i][2],yawY,yawRibbonPoints[i][1],SMLSIZE) - end - i = (i + 1) % 8 - nextPointX = nextPointX + 13.2 - end - -- home icon - local leftYaw = (yaw + 180)%360 - local rightYaw = yaw%360 - local centerHome = (homeAngle+270)%360 - -- - local homeIconX = yawMinX - local homeIconY = yawY + 10 - if rightYaw >= leftYaw then - if centerHome > leftYaw and centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome - leftYaw)/180)*64,yawMaxX - 2),homeIconY) - end - else - if centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + (((360-leftYaw) + centerHome)/180)*64,yawMaxX-2),homeIconY) - elseif centerHome >= leftYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome-leftYaw)/180)*64,yawMaxX-2),homeIconY) - end - end - -- when abs(home angle) > 90 draw home icon close to left/right border - local angle = homeAngle - yaw - local cos = math.cos(math.rad(angle - 90)) - local sin = math.sin(math.rad(angle - 90)) - if sin > 0 then - drawHomeIcon(( cos > 0 and yawMaxX or yawMinX ) - 2, yawY + 10) - end - -- - lcd.drawLine(yawMinX - 2, yawY + 7, yawMaxX + 2, yawY + 7, SOLID, 0) - local xx = yaw < 10 and 1 or ( yaw < 100 and -2 or -5 ) - lcd.drawNumber(64/2 + xx - 4, yawY, yaw, MIDSIZE+INVERS) -end - --- vertical distance between roll horiz segments --- -local function drawHud() - local r = -roll - local cx,cy,dx,dy,ccx,ccy,cccx,cccy - local yPos = 0 + 7 + 8 - ----------------------- - -- artificial horizon - ----------------------- - -- no roll ==> segments are vertical, offsets are multiples of 6 - if ( roll == 0) then - dx=0 - dy=pitch - cx=0 - cy=6 - ccx=0 - ccy=2*6 - cccx=0 - cccy=3*6 - else - -- center line offsets - dx = math.cos(math.rad(90 - r)) * -pitch - dy = math.sin(math.rad(90 - r)) * pitch - -- 1st line offsets - cx = math.cos(math.rad(90 - r)) * 6 - cy = math.sin(math.rad(90 - r)) * 6 - -- 2nd line offsets - ccx = math.cos(math.rad(90 - r)) * 2 * 6 - ccy = math.sin(math.rad(90 - r)) * 2 * 6 - -- 3rd line offsets - cccx = math.cos(math.rad(90 - r)) * 3 * 6 - cccy = math.sin(math.rad(90 - r)) * 3 * 6 - end - local rollX = math.floor(0 + 64/2) - -- parallel lines above and below horizon of increasing length 5,7,16,16,7,5 - drawLineWithClipping(rollX + dx - cccx,dy + 35 + cccy,r,16,DOTTED,0,0 + 64,yPos,57 - 1) - drawLineWithClipping(rollX + dx - ccx,dy + 35 + ccy,r,7,DOTTED,0,0 + 64,yPos,57 - 1) - drawLineWithClipping(rollX + dx - cx,dy + 35 + cy,r,16,DOTTED,0,0 + 64,yPos,57 - 1) - drawLineWithClipping(rollX + dx + cx,dy + 35 - cy,r,16,DOTTED,0,0 + 64,yPos,57 - 1) - drawLineWithClipping(rollX + dx + ccx,dy + 35 - ccy,r,7,DOTTED,0,0 + 64,yPos,57 - 1) - drawLineWithClipping(rollX + dx + cccx,dy + 35 - cccy,r,16,DOTTED,0,0 + 64,yPos,57 - 1) - ----------------------- - -- dark color for "ground" - ----------------------- - local minY = 16 - local maxY = 55 - local minX = 0 + 1 - local maxX = 0 + 64 - 2 - -- - local ox = (0 + 64)/2 + dx - -- - local oy = 35 + dy - local yy = 0 - -- angle of the line passing on point(ox,oy) - local angle = math.tan(math.rad(-roll)) - -- for each pixel of the hud base/top draw vertical black - -- lines from hud border to horizon line - -- horizon line moves with pitch/roll - for xx= minX,maxX - do - if roll > 90 or roll < -90 then - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - elseif yy > minY + 1 and yy < maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + yy,SOLID,0) - elseif yy >= maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - end - else - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - elseif yy >= maxY then - else - lcd.drawLine(0 + xx, 0 + yy, 0 + xx, 0 + maxY,SOLID,0) - end - end - end - ------------------------------------ - -- synthetic vSpeed based on - -- home altitude when EKF is disabled - -- updated at 1Hz (i.e every 1000ms) - ------------------------------------- - if menuItems[17][6][menuItems[17][4]] == true then - if (synthVSpeedTime == 0) then - -- first time do nothing - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- dm - elseif (getTime() - synthVSpeedTime > 100) then - -- calc vspeed - vspd = 1000*(homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s - -- update counters - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- m - end - else - vspd = vSpeed - end - ------------------------------------- - -- vario indicator on left - ------------------------------------- - lcd.drawFilledRectangle(0, yPos, 7, 50, ERASE, 0) - lcd.drawLine(0 + 5, yPos, 0 + 5, yPos + 40, SOLID, FORCE) - local varioMax = math.log(10) - local varioSpeed = math.log(1+math.min(math.abs(0.1*vspd),10)) - local varioY = 0 - if vspd > 0 then - varioY = 35 - 4 - varioSpeed/varioMax*15 - else - varioY = 35 + 6 - end - lcd.drawFilledRectangle(0, varioY, 5, varioSpeed/varioMax*15, FORCE, 0) - ------------------------------------- - -- left and right indicators on HUD - ------------------------------------- - -- lets erase to hide the artificial horizon lines - -- black borders - lcd.drawRectangle(0, 35 - 5, 20, 11, FORCE, 0) - lcd.drawRectangle(0 + 64 - 17 - 1, 35 - 5, 17+1, 11, FORCE, 0) - -- erase area - lcd.drawFilledRectangle(0, 35 - 4, 20, 9, ERASE, 0) - lcd.drawFilledRectangle(0 + 64 - 17 - 1, 35 - 4, 17+2, 9, ERASE, 0) - -- erase tips - lcd.drawLine(0 + 20,35 - 3,0 + 20,35 + 3, SOLID, ERASE) - lcd.drawLine(0 + 20+1,35 - 2,0 + 20+1,35 + 2, SOLID, ERASE) - lcd.drawLine(0 + 64 - 17 - 2,35 - 3,0 + 64 - 17 - 2,35 + 3, SOLID, ERASE) - lcd.drawLine(0 + 64 - 17 - 3,35 - 2,0 + 64 - 17 - 3,35 + 2, SOLID, ERASE) - -- left tip - lcd.drawLine(0 + 20+2,35 - 2,0 + 20+2,35 + 2, SOLID, FORCE) - lcd.drawLine(0 + 20-1,35 - 5,0 + 20+1,35 - 3, SOLID, FORCE) - lcd.drawLine(0 + 20-1,35 + 5,0 + 20+1,35 + 3, SOLID, FORCE) - -- right tip - lcd.drawLine(0 + 64 - 17 - 4,35 - 2,0 + 64 - 17 - 4,35 + 2, SOLID, FORCE) - lcd.drawLine(0 + 64 - 17 - 3,35 - 3,0 + 64 - 17 - 1,35 - 5, SOLID, FORCE) - lcd.drawLine(0 + 64 - 17 - 3,35 + 3,0 + 64 - 17 - 1,35 + 5, SOLID, FORCE) - -- altitude - local alt = getMaxValue(homeAlt,12) * unitScale -- homeAlt is meters*3.28 = feet - -- - if math.abs(alt) < 10 then - lcd.drawNumber(0 + 64,35 - 3,alt * 10,SMLSIZE+PREC1+RIGHT) - else - lcd.drawNumber(0 + 64,35 - 3,alt,SMLSIZE+RIGHT) - end - -- vertical speed - if math.abs(vspd*3.28*60) > 99 then - lcd.drawNumber(0+1,35 - 3,vspd*0.1*menuItems[19][6][menuItems[19][4]],SMLSIZE) - else - lcd.drawNumber(0+1,35 - 3,vspd*menuItems[19][6][menuItems[19][4]],SMLSIZE+PREC1) - end - -- center arrow - local arrowX = math.floor(0 + 64/2) - lcd.drawLine(arrowX - 4,35 + 4,arrowX ,35 ,SOLID,0) - lcd.drawLine(arrowX + 1,35 + 1,arrowX + 4, 35 + 4,SOLID,0) - lcd.drawLine(0 + 25,35,0 + 28,35 ,SOLID,0) - lcd.drawLine(0 + 64 - 23,35,0 + 64 - 28,35 ,SOLID,0) - -- hspeed - local speed = getMaxValue(hSpeed,15) * menuItems[18][6][menuItems[18][4]] --- - lcd.drawFilledRectangle((64)/2 - 10, LCD_H - 16, 20, 10, ERASE, 0) - if math.abs(speed) > 99 then -- - lcd.drawNumber((64)/2 + 9, LCD_H - 14, speed*0.1, SMLSIZE+RIGHT) - else - lcd.drawNumber((64)/2 + 9, LCD_H - 14, speed, SMLSIZE+RIGHT+PREC1) - end - -- hspeed box - lcd.drawRectangle((64)/2 - 10, LCD_H - 16, 20, 10, SOLID, FORCE) - if showMinMaxValues == true then - drawVArrow((64)/2 + 12,LCD_H - 15,6,true,false) - end - -- min/max arrows - if showMinMaxValues == true then - drawVArrow(0 + 64 - 24, 35 - 4,6,true,false) - end - -- arming status, show only if timer is not running, hide otherwise - if ekfFailsafe == 0 and battFailsafe == 0 and timerRunning == 0 then - if (statusArmed == 1) then - lcd.drawText(0 + 64/2 - 15, 22, " ARMED ", SMLSIZE+INVERS) - else - lcd.drawText(0 + 64/2 - 21, 22, " DISARMED ", SMLSIZE+INVERS+BLINK) - end - end -end - -local function drawGrid() - lcd.drawLine(0 - 1, 7 ,0 - 1, 57, SOLID, 0) - lcd.drawLine(0 + 64, 7, 0 + 64, 57, SOLID, 0) -end - -local function drawHomeDirection() - local angle = math.floor(homeAngle - yaw) - local x1 = 54 + 7 * math.cos(math.rad(angle - 90)) - local y1 = 48 + 7 * math.sin(math.rad(angle - 90)) - local x2 = 54 + 7 * math.cos(math.rad(angle - 90 + 150)) - local y2 = 48 + 7 * math.sin(math.rad(angle - 90 + 150)) - local x3 = 54 + 7 * math.cos(math.rad(angle - 90 - 150)) - local y3 = 48 + 7 * math.sin(math.rad(angle - 90 - 150)) - local x4 = 54 + 7 * 0.5 * math.cos(math.rad(angle - 270)) - local y4 = 48 + 7 * 0.5 *math.sin(math.rad(angle - 270)) - -- - lcd.drawLine(x1,y1,x2,y2,SOLID,1) - lcd.drawLine(x1,y1,x3,y3,SOLID,1) - lcd.drawLine(x2,y2,x4,y4,SOLID,1) - lcd.drawLine(x3,y3,x4,y4,SOLID,1) -end - -local function drawCustomBoxes() - lcd.drawRectangle(65,28,23 ,15,SOLID) - lcd.drawFilledRectangle(65,28,23 ,15,SOLID) -end - ---------------------------------- --- This function checks alarm condition and as long as the condition persists it plays --- a warning sound. ---------------------------------- -local function checkAlarm(level,value,idx,sign,sound,delay) - -- once landed reset all alarms except battery alerts - if timerRunning == 0 then - if alarms[idx][4] == 0 then - alarms[idx] = { false, 0, false, 0, 0, false, 0} - elseif alarms[idx][4] == 1 then - alarms[idx] = { false, 0, true, 1 , 0, false, 0} - elseif alarms[idx][4] == 2 then - alarms[idx] = { false, 0, true, 2, 0, false, 0} - elseif alarms[idx][4] == 3 then - alarms[idx] = { false, 0 , false, 3, 4, false, 0} - elseif alarms[idx][4] == 4 then - alarms[idx] = { false, 0 , false, 4, 4, false, 0} - end - -- reset done - return - end - -- if needed arm the alarm only after value has reached level - if alarms[idx][3] == false and level > 0 and -1 * sign*value > -1 * sign*level then - alarms[idx][3] = true - end - -- - if alarms[idx][4] == 2 then - if flightTime > 0 and math.floor(flightTime) % delay == 0 then - if alarms[idx][1] == false then - alarms[idx][1] = true - playSound(sound) - -- flightime is a multiple of 1 minute - if (flightTime % 60 == 0 ) then - -- minutes - playNumber(flightTime / 60,25) --25=minutes,26=seconds - else - -- minutes - if (flightTime > 60) then playNumber(flightTime / 60,25) end - -- seconds - playNumber(flightTime % 60,26) - end - end - else - alarms[idx][1] = false - end - else - if alarms[idx][3] == true then - if level > 0 and sign*value > sign*level then - -- value is outside level - if alarms[idx][2] == 0 then - -- first time outside level after last reset - alarms[idx][2] = flightTime - -- status: START - end - else - -- value back to normal ==> reset - alarms[idx][2] = 0 - alarms[idx][1] = false - alarms[idx][6] = false - -- status: RESET - end - if alarms[idx][2] > 0 and (flightTime ~= alarms[idx][2]) and (flightTime - alarms[idx][2]) >= alarms[idx][5] then - -- enough time has passed after START - alarms[idx][6] = true - -- status: READY - end - -- - if alarms[idx][6] == true and alarms[idx][1] == false then - playSound(sound) - alarms[idx][1] = true - alarms[idx][7] = flightTime - -- status: BEEP - end - -- all but battery alarms - if alarms[idx][4] ~= 3 then - if alarms[idx][6] == true and flightTime ~= alarms[idx][7] and (flightTime - alarms[idx][7]) % delay == 0 then - alarms[idx][1] = false - -- status: REPEAT - end - end - end - end -end - -local function loadFlightModes() - if frame.flightModes then - return - end - if frameType ~= -1 then - if frameTypes[frameType] == "c" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/copter.luac") - elseif frameTypes[frameType] == "p" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/plane.luac") - elseif frameTypes[frameType] == "r" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/rover.luac") - end - if frame.flightModes then - for i,v in pairs(frameTypes) do - frameTypes[i] = nil - end - frameTypes = nil - end - collectgarbage() - maxmem=0 - end -end - -local function checkEvents() - loadFlightModes() - checkAlarm(menuItems[11][4]*0.1,homeAlt,1,-1,"minalt",menuItems[14][4]) - checkAlarm(menuItems[12][4],homeAlt,2,1,"maxalt",menuItems[14][4]) - checkAlarm(menuItems[13][4],homeDist,3,1,"maxdist",menuItems[14][4]) - checkAlarm(1,2*ekfFailsafe,4,1,"ekf",menuItems[14][4]) - checkAlarm(1,2*battFailsafe,5,1,"lowbat",menuItems[14][4]) - checkAlarm(math.floor(menuItems[10][4]*0.1*60),flightTime,6,1,"timealert",math.floor(menuItems[10][4]*0.1*60)) - -- - local capacity = getBatt1Capacity() - local mah = batt1mah - -- only if dual battery has been detected - if batt2sources.fc or batt2sources.vs then - capacity = capacity + getBatt2Capacity() - mah = mah + batt2mah - end - if (capacity > 0) then - batLevel = (1 - (mah/capacity))*100 - else - batLevel = 99 - end - - for l=0,12 do - -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) - local level = tonumber(string.sub("00051015202530405060708090",l*2+1,l*2+2)) - if batLevel <= level + 1 and l < lastBattLevel then - lastBattLevel = l - playSound("bat"..level) - break - end - end - -- - if statusArmed ~= lastStatusArmed then - if statusArmed == 1 then playSound("armed") else playSound("disarmed") end - lastStatusArmed = statusArmed - end - -- - if gpsStatus > 2 and lastGpsStatus <= 2 then - lastGpsStatus = gpsStatus - playSound("gpsfix") - elseif gpsStatus <= 2 and lastGpsStatus > 2 then - lastGpsStatus = gpsStatus - playSound("gpsnofix") - end - -- - if frame.flightModes ~= nil and flightMode ~= lastFlightMode then - lastFlightMode = flightMode - playSoundByFrameTypeAndFlightMode(frameType,flightMode) - end - -- - if simpleMode ~= lastSimpleMode then - if simpleMode == 0 then - playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) - else - playSound( simpleMode == 1 and "simpleon" or "ssimpleon" ) - end - lastSimpleMode = simpleMode - end -end - -local function checkCellVoltage(celm) - -- check alarms - checkAlarm(menuItems[2][4],celm,7,-1,"batalert1",menuItems[14][4]) - checkAlarm(menuItems[3][4],celm,8,-1,"batalert2",menuItems[14][4]) - -- cell bgcolor is sticky but gets triggered with alarms - if battLevel1 == false then battLevel1 = alarms[7][1] end - if battLevel2 == false then battLevel2 = alarms[8][1] end -end - -local function cycleBatteryInfo() - if showDualBattery == false and (batt2sources.fc or batt2sources.vs) then - showDualBattery = true - return - end - if battsource == "vs" then - battsource = "fc" - elseif battsource == "fc" then - battsource = "a2" - elseif battsource == "a2" then - battsource = "vs" - end -end --------------------------------------------------------------------------------- --- MAIN LOOP --------------------------------------------------------------------------------- -local showMessages = false -local showConfigMenu = false -local bgclock = 0 - -------------------------------- --- running at 20Hz (every 50ms) -------------------------------- -local function background() - -- FAST: this runs at 60Hz (every 16ms) - for i=1,3 - do - processTelemetry() -end - --[[ - -- NORMAL: this runs at 10Hz (every 100ms) - if telemetryEnabled() and (bgclock % 2 == 0) then - setTelemetryValue(VSpd_ID, VSpd_SUBID, VSpd_INSTANCE, vSpeed, 5 , VSpd_PRECISION , VSpd_NAME) - end - --]] -- SLOW: this runs at 4Hz (every 250ms) - if (bgclock % 4 == 0) then - setSensorValues() - end - -- SLOWER: this runs at 2Hz (every 500ms) - if (bgclock % 8 == 0) then - calcBattery() - calcFlightTime() - -- prepare celm based on battsource - local count = calcCellCount() - local cellVoltage = 0 - -- - if battsource == "vs" then - cellVoltage = getNonZeroMin(cell1min,cell2min)*100 --FLVSS - elseif battsource == "fc" then - cellVoltage = getNonZeroMin(cell1sumFC/count,cell2sumFC/count)*100 --FC - elseif battsource == "a2" then - cellVoltage = (cellsumA2/count)*100 --12 - end - -- - checkEvents() - checkLandingStatus() - -- no need for alarms if reported voltage is 0 - if cellVoltage > 0 then - checkCellVoltage(cellVoltage) - end - -- aggregate value - minmaxValues[8] = math.max(batt1current+batt2current,minmaxValues[8]) - -- indipendent values - minmaxValues[9] = math.max(batt1current,minmaxValues[9]) - minmaxValues[10] = math.max(batt2current,minmaxValues[10]) - bgclock=0 - end - bgclock = bgclock+1 -end - -local function run(event) - lcd.clear() - --------------------- - -- SHOW MESSAGES - --------------------- - if showConfigMenu == false and (event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36) then - showMessages = true - collectgarbage() - end - --------------------- - -- SHOW CONFIG MENU - --------------------- - if showMessages == false and (event == EVT_MENU_LONG or event == 128) then - showConfigMenu = true - collectgarbage() - end - if showMessages then - --------------------- - -- MESSAGES - --------------------- - if event == EVT_EXIT_BREAK or event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == 35 or event == 33 then - showMessages = false - end - drawAllMessages() - elseif showConfigMenu then - --------------------- - -- CONFIG MENU - --------------------- - drawConfigMenu(event) - -- - if event == EVT_EXIT_BREAK or event == 33 then - menu.editSelected = false - showConfigMenu = false - saveConfig() - end - else - --------------------- - -- MAIN VIEW - --------------------- - if event == EVT_ENTER_BREAK or event == 34 then - cycleBatteryInfo() - end - if event == EVT_MENU_BREAK or event == 32 then - showMinMaxValues = not showMinMaxValues - end - if showDualBattery == true and event == EVT_EXIT_BREAK or event == 33 then - showDualBattery = false - end - -- on the HUD is replaced with 2nd battery details - if showDualBattery == false then - drawHud() - end - drawCompassRibbon() - drawGrid() - drawCustomBoxes() - --drawGPSStatus() - -- - -- Note: these can be calculated. not necessary to track them as min/max - -- cell1minFC = cell1sumFC/calcCellCount() - -- cell2minFC = cell2sumFC/calcCellCount() - -- cell1minA2 = cell1sumA2/calcCellCount() - local count = calcCellCount() - local cel1m = getMinVoltageBySource(battsource,cell1min,cell1sumFC/count,cellsumA2/count,1,count)*100 - local cel2m = getMinVoltageBySource(battsource,cell2min,cell2sumFC/count,cellsumA2/count,2,count)*100 - local batt1 = getMinVoltageBySource(battsource,cell1sum,cell1sumFC,cellsumA2,1,count)*10 - local batt2 = getMinVoltageBySource(battsource,cell2sum,cell2sumFC,cellsumA2,2,count)*10 - local curr = getMaxValue(batt1current+batt2current,8) - local curr1 = getMaxValue(batt1current,9) - local curr2 = getMaxValue(batt2current,10) - local mah1 = batt1mah - local mah2 = batt2mah - local cap1 = getBatt1Capacity() - local cap2 = getBatt2Capacity() - -- with dual battery default is to show aggregate view - if batt2sources.fc or batt2sources.vs then - if showDualBattery == false then - -- dual battery: aggregate view - lcd.drawText(0+8,57 - 8,"2B",SMLSIZE+INVERS) - drawX7RightPane(0+64+1,getNonZeroMin(batt1,batt2),getNonZeroMin(cel1m,cel2m),curr,mah1+mah2,cap1+cap2) - else - -- dual battery: do I have also dual current monitor? - if curr1 > 0 and curr2 == 0 then - -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel - curr1 = curr1/2 - curr2 = curr1 - -- - mah1 = mah1/2 - mah2 = mah1 - -- - cap1 = cap1/2 - cap2 = cap1 - end - -- dual battery:battery 1 right pane - drawX7RightPane(0+64+1,batt1,cel1m,curr1,mah1,cap1) - -- dual battery:battery 2 left pane - drawX7LeftPane(batt2,cel2m,curr2,mah2,cap2) - end - else - --- battery 1 right pane in single battery mode - drawX7RightPane(0+64+1,batt1,cel1m,curr1,mah1,cap1) - end - if showDualBattery == false then - drawHomeDirection() - end - drawTopBar() - drawBottomBar() - drawFailsafe() - drawNoTelemetryData() - end -end - -local function init() --- initialize flight timer - model.setTimer(2,{mode=0}) - model.setTimer(2,{value=0}) - loadConfig() - pushMessage(6,"Yaapu X7 1.7.2") - playSound("yaapu") -end - --------------------------------------------------------------------------------- --- SCRIPT END --------------------------------------------------------------------------------- -return {run=run, background=background, init=init} - diff --git a/TARANIS/SOURCES/PP/yaapu9.lua b/TARANIS/SOURCES/PP/yaapu9.lua deleted file mode 100644 index 9ddfaee2..00000000 --- a/TARANIS/SOURCES/PP/yaapu9.lua +++ /dev/null @@ -1,1962 +0,0 @@ --- --- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios --- --- Copyright (C) 2018. Alessandro Apostoli --- https://github.com/yaapu --- --- This program is free software; you can redistribute it and/or modify --- it under the terms of the GNU General Public License as published by --- the Free Software Foundation; either version 3 of the License, or --- (at your option) any later version. --- --- This program is distributed in the hope that it will be useful, --- but WITHOUT ANY WARRANTY, without even the implied warranty of --- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the --- GNU General Public License for more details. --- --- You should have received a copy of the GNU General Public License --- along with this program; if not, see . --- --- Passthrough protocol reference: --- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx --- --- Borrowed some code from the LI-xx BATTCHECK v3.30 script --- http://frskytaranis.forumactif.org/t2800-lua-download-un-testeur-de-batterie-sur-la-radio - ---[[ - MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - MAV_TYPE_QUADROTOR=2, /* Quadrotor | */ - MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */ - MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */ - MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - MAV_TYPE_ROCKET=9, /* Rocket | */ - MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */ - MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - MAV_TYPE_SUBMARINE=12, /* Submarine | */ - MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */ - MAV_TYPE_OCTOROTOR=14, /* Octorotor | */ - MAV_TYPE_TRICOPTER=15, /* Tricopter | */ - MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - MAV_TYPE_KITE=17, /* Kite | */ - MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ - MAV_TYPE_VTOL_DUOROTOR=19, /* Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. | */ - MAV_TYPE_VTOL_QUADROTOR=20, /* Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. | */ - MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL | */ - MAV_TYPE_VTOL_RESERVED2=22, /* VTOL reserved 2 | */ - MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */ - MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */ - MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */ - MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */ - MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */ - MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */ - MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */ -]] ------------------------------------------------------------------------------------- --- X9D+ OpenTX 2.2.2 memory increase +4Kb https://github.com/opentx/opentx/pull/5579 ------------------------------------------------------------------------------------- - ---------------------- --- radio model ---------------------- ---#define X7 --- to compile lua in luac files ---#define COMPILE --- force loading of .lua files even after compilation --- usefull if you rename .luac in .lua ---#define LOAD_LUA - ---------------------- --- script version ---------------------- - ---------------------- --- features ---------------------- ---#define FRAMETYPE ---------------------- --- dev features ---------------------- ---#define LOGTELEMETRY ---#define MEMDEBUG ---#define DEBUG ---#define TESTMODE ---#define DEMO ---#define DEV ---#define DEBUGEVT - --- calc and show background function rate ---#define BGRATE --- calc and show run function rate ---#define FGRATE --- calc and show hud refresh rate ---#define HUDRATE --- calc and show telemetry process rate ---#define BGTELERATE --- calc and show actual incoming telemetry rate ---#define TELERATE - -------------------------------------- --- UNITS Scales from Ardupilot OSD code /ardupilot/libraries/AP_OSD/AP_OSD_Screen.cpp -------------------------------------- ---[[ - static const float scale_metric[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 3.6, //SPEED km/hr - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_imperial[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE ft - 2.23694, //SPEED mph - 3.28084, //VSPEED ft/s - 3.28084, //DISTANCE ft - 1.0/1609.34, //DISTANCE_LONG miles - 1.8, //TEMPERATURE F - }; - static const float scale_SI[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 1.0, //SPEED m/s - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_aviation[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE Ft - 1.94384, //SPEED Knots - 196.85, //VSPEED ft/min - 3.28084, //DISTANCE ft - 0.000539957, //DISTANCE_LONG Nm - 1.0, //TEMPERATURE C - }; ---]]-- - - - - - - - - - - - -local frameTypes = {} --- copter -frameTypes[0] = "c" -frameTypes[2] = "c" -frameTypes[3] = "c" -frameTypes[4] = "c" -frameTypes[13] = "c" -frameTypes[14] = "c" -frameTypes[15] = "c" -frameTypes[29] = "c" --- plane -frameTypes[1] = "p" -frameTypes[16] = "p" -frameTypes[19] = "p" -frameTypes[20] = "p" -frameTypes[21] = "p" -frameTypes[22] = "p" -frameTypes[23] = "p" -frameTypes[24] = "p" -frameTypes[25] = "p" -frameTypes[28] = "p" --- rover -frameTypes[10] = "r" --- boat -frameTypes[11] = "b" - --- -local frame = {} --- -local soundFileBasePath = "/SOUNDS/yaapu0" -local gpsStatuses = {} --- -gpsStatuses[0]="NoGPS" -gpsStatuses[1]="NoLock" -gpsStatuses[2]="2D" -gpsStatuses[3]="3D" -gpsStatuses[4]="DGPS" -gpsStatuses[5]="RTK" -gpsStatuses[6]="RTK" - --- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG --- --------------------------------- --- FLVSS 1 -local cell1min = 0 -local cell1sum = 0 --- FLVSS 2 -local cell2min = 0 -local cell2sum = 0 --- FC 1 -local cell1sumFC = 0 --- used to calculate cellcount -local cell1maxFC = 0 --- FC 2 -local cell2sumFC = 0 --- A2 -local cellsumA2 = 0 --- used to calculate cellcount -local cellmaxA2 = 0 --------------------------------- --- STATUS -local flightMode = 0 -local simpleMode = 0 -local landComplete = 0 -local statusArmed = 0 -local battFailsafe = 0 -local ekfFailsafe = 0 -local imuTemp = 0 --- GPS -local numSats = 0 -local gpsStatus = 0 -local gpsHdopC = 100 -local gpsAlt = 0 --- BATT -local cellcount = 0 -local battsource = "na" --- BATT 1 -local batt1volt = 0 -local batt1current = 0 -local batt1mah = 0 -local batt1sources = { - a2 = false, - vs = false, - fc = false -} --- BATT 2 -local batt2volt = 0 -local batt2current = 0 -local batt2mah = 0 -local batt2sources = { - a2 = false, - vs = false, - fc = false -} --- TELEMETRY -local noTelemetryData = 1 --- HOME -local homeDist = 0 -local homeAlt = 0 -local homeAngle = -1 --- MESSAGES -local msgBuffer = "" -local lastMsgValue = 0 -local lastMsgTime = 0 --- VELANDYAW -local vSpeed = 0 -local hSpeed = 0 -local yaw = 0 --- SYNTH VSPEED SUPPORT -local vspd = 0 -local synthVSpeedTime = 0 -local prevHomeAlt = 0 --- ROLLPITCH -local roll = 0 -local pitch = 0 -local range = 0 --- PARAMS -local frameType = -1 -local batt1Capacity = 0 -local batt2Capacity = 0 --- FLIGHT TIME ---[[ migrated to model.timer(2) -local seconds = 0 ---]]local lastTimerStart = 0 -local timerRunning = 0 -local flightTime = 0 --- EVENTS -local lastStatusArmed = 0 -local lastGpsStatus = 0 -local lastFlightMode = 0 -local lastSimpleMode = 0 --- battery levels -local batLevel = 99 -local battLevel1 = false -local battLevel2 = false --- -local lastBattLevel = 13 --- --- 00 05 10 15 20 25 30 40 50 60 70 80 90 --- dual battery -local showDualBattery = false --- - - --- -local minmaxValues = {} --- min -minmaxValues[1] = 0 -minmaxValues[2] = 0 -minmaxValues[3] = 0 -minmaxValues[4] = 0 -minmaxValues[5] = 0 -minmaxValues[6] = 0 -minmaxValues[7] = 0 --- max -minmaxValues[8] = 0 -minmaxValues[9] = 0 -minmaxValues[10] = 0 -minmaxValues[11] = 0 -minmaxValues[12] = 0 -minmaxValues[13] = 0 -minmaxValues[14] = 0 -minmaxValues[15] = 0 -minmaxValues[16] = 0 -minmaxValues[17] = 0 - -local showMinMaxValues = false --- messages -local lastMessage -local lastMessageSeverity = 0 -local lastMessageCount = 1 -local messageCount = 0 -local messages = {} --- --- --- - - - - - - - - - - - - - - - - - - - - - - - - - - - --------------------------------------------------------------------------------- --- ALARMS --------------------------------------------------------------------------------- ---[[ - ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing - ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing - ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing - ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing -{ - 1 = notified, - 2 = alarm start, - 3 = armed, - 4 = type(0=min,1=max,2=timer,3=batt), - 5 = grace duration - 6 = ready - 7 = last alarm -} ---]]-- --- --- --- -local alarms = { - --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} - { false, 0 , false, 0, 0, false, 0}, --MIN_ALT - { false, 0 , true, 1 , 0, false, 0 }, --MAX_ALT - { false, 0 , true, 1 , 0, false, 0 }, --16 - { false, 0 , true, 1 , 0, false, 0 }, --FS_EKF - { false, 0 , true, 1 , 0, false, 0 }, --FS_BAT - { false, 0 , true, 2, 0, false, 0 }, --FLIGTH_TIME - { false, 0 , false, 3, 4, false, 0 }, --BATT L1 - { false, 0 , false, 4, 4, false, 0 } --BATT L2 -} - --------------------------------------------------------------------------------- --- MENU VALUE,COMBO --------------------------------------------------------------------------------- --- X-Lite Support - - - - - -local menu = { - selectedItem = 1, - editSelected = false, - offset = 0 -} - -local menuItems = { - {"voice language:", 1, "L1", 1, { "english", "italian", "french", "german" } , {"en","it","fr","de"} }, - {"batt alert level 1:", 0, "V1", 375, 0,5000,"V",PREC2,5 }, - {"batt alert level 2:", 0, "V2", 350, 0,5000,"V",PREC2,5 }, - {"batt[1] capacity override:", 0, "B1", 0, 0,5000,"Ah",PREC2,10 }, - {"batt[2] capacity override:", 0, "B2", 0, 0,5000,"Ah",PREC2,10 }, - {"disable all sounds:", 1, "S1", 1, { "no", "yes" }, { false, true } }, - {"disable msg beep:", 1, "S2", 1, { "no", "yes" }, { false, true } }, - {"disable msg blink:", 1, "S3", 1, { "no", "yes" }, { false, true } }, - {"default voltage source:", 1, "VS", 1, { "auto", "FLVSS", "A2", "fc" }, { nil, "vs", "a2", "fc" } }, - {"timer alert every:", 0, "T1", 0, 0,600,"min",PREC1,5 }, - {"min altitude alert:", 0, "A1", 0, 0,500,"m",PREC1,5 }, - {"max altitude alert:", 0, "A2", 0, 0,10000,"m",0,1 }, - {"max distance alert:", 0, "D1", 0, 0,100000,"m",0,10 }, - {"repeat alerts every:", 0, "T2", 10, 5,600,"sec",0,5 }, - {"cell count override:", 0, "CC", 0, 0,12," cells",0,1 }, - {"rangefinder max:", 0, "RM", 0, 0,10000," cm",0,10 }, - {"enable synthetic vspeed:", 1, "SVS", 1, { "no", "yes" }, { false, true } }, - {"air/groundspeed unit:", 1, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, - {"vert speed unit:", 1, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, -} - - -local modelInfo = model.getInfo() -local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 - - -local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" - -local function getConfigFilename() - return "/MODELS/yaapu/" .. string.lower(string.gsub(modelInfo.name, "[%c%p%s%z]", "")..".cfg") -end - -local function applyConfigValues() - if menuItems[9][6][menuItems[9][4]] ~= nil then - battsource = menuItems[9][6][menuItems[9][4]] - end - collectgarbage() -end - -local function loadConfig() - local cfg = io.open(getConfigFilename(),"r") - if cfg == nil then - return - end - local str = io.read(cfg,200) - if string.len(str) > 0 then - for i=1,#menuItems - do - local value = string.match(str, menuItems[i][3]..":(%d+)") - if value ~= nil then - menuItems[i][4] = tonumber(value) - end - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function saveConfig() - local cfg = assert(io.open(getConfigFilename(),"w")) - if cfg == nil then - return - end - for i=1,#menuItems - do - io.write(cfg,menuItems[i][3],":",menuItems[i][4]) - if i < #menuItems then - io.write(cfg,",") - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function drawConfigMenuBars() - local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) - lcd.drawFilledRectangle(0,0, 212, 7, SOLID) - lcd.drawRectangle(0, 0, 212, 7, SOLID) - lcd.drawText(0,0,"Yaapu X9 telemetry script 1.7.2",SMLSIZE+INVERS) - lcd.drawFilledRectangle(0,56, 212, 8, SOLID) - lcd.drawRectangle(0, 56, 212, 8, SOLID) - lcd.drawText(0,56+1,getConfigFilename(),SMLSIZE+INVERS) - lcd.drawText(212,56+1,itemIdx,SMLSIZE+INVERS+RIGHT) -end - -local function incMenuItem(idx) - if menuItems[idx][2] == 0 then - menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] - if menuItems[idx][4] > menuItems[idx][6] then - menuItems[idx][4] = menuItems[idx][6] - end - else - menuItems[idx][4] = menuItems[idx][4] + 1 - if menuItems[idx][4] > #menuItems[idx][5] then - menuItems[idx][4] = 1 - end - end -end - -local function decMenuItem(idx) - if menuItems[idx][2] == 0 then - menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] - if menuItems[idx][4] < menuItems[idx][5] then - menuItems[idx][4] = menuItems[idx][5] - end - else - menuItems[idx][4] = menuItems[idx][4] - 1 - if menuItems[idx][4] < 1 then - menuItems[idx][4] = #menuItems[idx][5] - end - end -end - -local function drawItem(idx,flags) - if menuItems[idx][2] == 0 then - if menuItems[idx][4] == 0 then - lcd.drawText(150,7 + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) - else - lcd.drawNumber(150,7 + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) - lcd.drawText(lcd.getLastRightPos(),7 + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) - end - else - lcd.drawText(150,7 + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) - end -end - -local function drawConfigMenu(event) - drawConfigMenuBars() - if event == EVT_ENTER_BREAK or event == 34 then - menu.editSelected = not menu.editSelected - elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == 36 or event == 68) then - incMenuItem(menu.selectedItem) - elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == 35 or event == 67) then - decMenuItem(menu.selectedItem) - elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == 36) then - menu.selectedItem = (menu.selectedItem - 1) - if menu.offset >= menu.selectedItem then - menu.offset = menu.offset - 1 - end - elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == 35) then - menu.selectedItem = (menu.selectedItem + 1) - if menu.selectedItem - 7 > menu.offset then - menu.offset = menu.offset + 1 - end - end - --wrap - if menu.selectedItem > #menuItems then - menu.selectedItem = 1 - menu.offset = 0 - elseif menu.selectedItem < 1 then - menu.selectedItem = #menuItems - -- - menu.offset = 12 - end - -- - for m=1+menu.offset,math.min(#menuItems,7+menu.offset) do - lcd.drawText(2,7 + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) - if m == menu.selectedItem then - if menu.editSelected then - drawItem(m,INVERS+BLINK) - else - drawItem(m,INVERS) - end - else - drawItem(m,0) - end - end -end ------------------------ --- SOUNDS ------------------------ -local function playSound(soundFile) - if menuItems[6][6][menuItems[6][4]] then - return - end - playFile(soundFileBasePath .."/"..menuItems[1][6][menuItems[1][4]].."/".. soundFile..".wav") -end ----------------------------------------------- --- NOTE: sound file has same name as flightmode all lowercase with .wav extension ----------------------------------------------- -local function playSoundByFrameTypeAndFlightMode(frameType,flightMode) - if menuItems[6][6][menuItems[6][4]] then - return - end - if frame.flightModes then - if frame.flightModes[flightMode] ~= nil then - playFile(soundFileBasePath.."/"..menuItems[1][6][menuItems[1][4]].."/".. string.lower(frame.flightModes[flightMode])..".wav") - end - end -end - -local function drawHArrow(x,y,width,left,right) - lcd.drawLine(x, y, x + width,y, SOLID, 0) - if left == true then - lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if right == true then - lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) - lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) - end -end - -local function drawVArrow(x,y,h,top,bottom) - lcd.drawLine(x,y,x,y + h, SOLID, 0) - if top == true then - lcd.drawLine(x - 1,y + 1,x - 2,y + 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if bottom == true then - lcd.drawLine(x - 1,y + h - 1,x - 2,y + h - 2, SOLID, 0) - lcd.drawLine(x + 1,y + h - 1,x + 2,y + h - 2, SOLID, 0) - end -end --- -local function drawHomeIcon(x,y) - lcd.drawRectangle(x,y,5,5,SOLID) - lcd.drawLine(x+2,y+3,x+2,y+4,SOLID,FORCE) - lcd.drawPoint(x+2,y-1,FORCE) - lcd.drawLine(x,y+1,x+5,y+1,SOLID,FORCE) - lcd.drawLine(x-1,y+1,x+2,y-2,SOLID, FORCE) - lcd.drawLine(x+5,y+1,x+3,y-1,SOLID, FORCE) -end - - -local function computeOutCode(x,y,xmin,ymin,xmax,ymax) - local code = 0; --initialised as being inside of hud - -- - if x < xmin then --to the left of hud - code = bit32.bor(code,1); - elseif x > xmax then --to the right of hud - code = bit32.bor(code,2); - end - if y < ymin then --below the hud - code = bit32.bor(code,4); - elseif y > ymax then --above the hud - code = bit32.bor(code,8); - end - -- - return code; -end - --- Cohen–Sutherland clipping algorithm --- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm -local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) - -- - local xx = math.cos(math.rad(angle)) * len * 0.5 - local yy = math.sin(math.rad(angle)) * len * 0.5 - -- - local x0 = ox - xx - local x1 = ox + xx - local y0 = oy - yy - local y1 = oy + yy - -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle - local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); - local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); - local accept = false; - - while (true) do - if ( bit32.bor(outcode0,outcode1) == 0) then - -- bitwise OR is 0: both points inside window; trivially accept and exit loop - accept = true; - break; - elseif (bit32.band(outcode0,outcode1) ~= 0) then - -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) - -- both must be outside window; exit loop (accept is false) - break; - else - -- failed both tests, so calculate the line segment to clip - -- from an outside point to an intersection with clip edge - local x = 0 - local y = 0 - -- At least one endpoint is outside the clip rectangle; pick it. - local outcodeOut = outcode0 ~= 0 and outcode0 or outcode1 - -- No need to worry about divide-by-zero because, in each case, the - -- outcode bit being tested guarantees the denominator is non-zero - if bit32.band(outcodeOut,8) ~= 0 then --point is above the clip window - x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) - y = ymax - elseif bit32.band(outcodeOut,4) ~= 0 then --point is below the clip window - x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) - y = ymin - elseif bit32.band(outcodeOut,2) ~= 0 then --point is to the right of clip window - y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) - x = xmax - elseif bit32.band(outcodeOut,1) ~= 0 then --point is to the left of clip window - y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) - x = xmin - end - -- Now we move outside point to intersection point to clip - -- and get ready for next pass. - if outcodeOut == outcode0 then - x0 = x - y0 = y - outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) - else - x1 = x - y1 = y - outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) - end - end - end - if accept then - lcd.drawLine(x0,y0,x1,y1, style,0) - end -end - - -local function drawNumberWithTwoDims(x,y,yTop,yBottom,number,topDim,bottomDim,flags,topFlags,bottomFlags) - -- +0.5 because PREC2 does a math.floor() and not a math.round() - lcd.drawNumber(x, y, number + 0.5, flags) - local lx = lcd.getLastRightPos() - lcd.drawText(lx, yTop, topDim, topFlags) - lcd.drawText(lx, yBottom, bottomDim, bottomFlags) -end - -local function drawNumberWithDim(x,y,yDim,number,dim,flags,dimFlags) - lcd.drawNumber(x, y, number,flags) - lcd.drawText(lcd.getLastRightPos(), yDim, dim, dimFlags) -end - - - -local function formatMessage(severity,msg) - if lastMessageCount > 1 then - if #msg > 36 then - msg = string.sub(msg,1,36) - end - return string.format("%02d:%s %s (x%d)", messageCount, string.sub("EMRALRCRTERRWRNNOTINFDBG",severity*3+1,severity*3+3), msg, lastMessageCount) - else - if #msg > 40 then - msg = string.sub(msg,1,40) - end - return string.format("%02d:%s %s", messageCount, string.sub("EMRALRCRTERRWRNNOTINFDBG",severity*3+1,severity*3+3), msg) - end -end - - -local function pushMessage(severity, msg) - if menuItems[7][6][menuItems[7][4]] == false and menuItems[6][6][menuItems[6][4]] == false then - if ( severity < 5) then - playSound("../err") - else - playSound("../inf") - end - end - -- check if wrapping is needed - if #messages == 9 and msg ~= lastMessage then - for i=1,9-1 do - messages[i]=messages[i+1] - end - -- trunc at 9 - messages[9] = nil - end - -- is it a duplicate? - if msg == lastMessage then - lastMessageCount = lastMessageCount + 1 - messages[#messages] = formatMessage(severity,msg) - else - lastMessageCount = 1 - messageCount = messageCount + 1 - messages[#messages+1] = formatMessage(severity,msg) - end - lastMessage = msg - lastMessageSeverity = severity - collectgarbage() - maxmem = 0 -end --- -local function startTimer() - lastTimerStart = getTime()/100 - model.setTimer(2,{mode=1}) -end - -local function stopTimer() - model.setTimer(2,{mode=0}) - lastTimerStart = 0 -end - - ------------------------------------------------------------------ --- TELEMETRY ------------------------------------------------------------------ --- -local function processTelemetry() - local SENSOR_ID,FRAME_ID,DATA_ID,VALUE - SENSOR_ID,FRAME_ID,DATA_ID,VALUE = sportTelemetryPop() - if ( FRAME_ID == 0x10) then - noTelemetryData = 0 - if ( DATA_ID == 0x5006) then -- ROLLPITCH - -- roll [0,1800] ==> [-180,180] - roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 - -- pitch [0,900] ==> [-90,90] - pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 - -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power - range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm - elseif ( DATA_ID == 0x5005) then -- VELANDYAW - vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) - hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - yaw = bit32.extract(VALUE,17,11) * 0.2 - elseif ( DATA_ID == 0x5001) then -- AP STATUS - flightMode = bit32.extract(VALUE,0,5) - simpleMode = bit32.extract(VALUE,5,2) - landComplete = bit32.extract(VALUE,7,1) - statusArmed = bit32.extract(VALUE,8,1) - battFailsafe = bit32.extract(VALUE,9,1) - ekfFailsafe = bit32.extract(VALUE,10,2) - -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° - imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° - elseif ( DATA_ID == 0x5002) then -- GPS STATUS - numSats = bit32.extract(VALUE,0,4) - -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 - -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED - gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) - gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm - gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm - elseif ( DATA_ID == 0x5003) then -- BATT - batt1volt = bit32.extract(VALUE,0,9) - batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt1mah = bit32.extract(VALUE,17,15) - elseif ( DATA_ID == 0x5008) then -- BATT2 - batt2volt = bit32.extract(VALUE,0,9) - batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt2mah = bit32.extract(VALUE,17,15) - elseif ( DATA_ID == 0x5004) then -- HOME - homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) - homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m - homeAngle = bit32.extract(VALUE, 25, 7) * 3 - elseif ( DATA_ID == 0x5000) then -- MESSAGES - if (VALUE ~= lastMsgValue) then - lastMsgValue = VALUE - local c1 = bit32.extract(VALUE,0,7) - local c2 = bit32.extract(VALUE,8,7) - local c3 = bit32.extract(VALUE,16,7) - local c4 = bit32.extract(VALUE,24,7) - -- - local msgEnd = false - if (c4 ~= 0) then - msgBuffer = msgBuffer .. string.char(c4) - else - msgEnd = true; - end - if (c3 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c3) - else - msgEnd = true; - end - if (c2 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c2) - else - msgEnd = true; - end - if (c1 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c1) - else - msgEnd = true; - end - --[[ - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x4)<<21; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x2)<<14; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x1)<<7; - --]] if (msgEnd) then - local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) - pushMessage( severity, msgBuffer) - msgBuffer = "" - end - end - elseif ( DATA_ID == 0x5007) then -- PARAMS - paramId = bit32.extract(VALUE,24,4) - paramValue = bit32.extract(VALUE,0,24) - if paramId == 1 then - frameType = paramValue - elseif paramId == 4 then - batt1Capacity = paramValue - elseif paramId == 5 then - batt2Capacity = paramValue - end - end - end -end - -local function telemetryEnabled() - if getRSSI() == 0 then - noTelemetryData = 1 - end - return noTelemetryData == 0 -end - -local function getMaxValue(value,idx) - minmaxValues[idx] = math.max(value,minmaxValues[idx]) - return showMinMaxValues == true and minmaxValues[idx] or value -end - -local function calcMinValue(value,min) - return min == 0 and value or math.min(value,min) -end - --- returns the actual minimun only if both are > 0 -local function getNonZeroMin(v1,v2) - return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) -end - -local function calcCellCount() - -- cellcount override from menu - if menuItems[15][4] ~= nil and menuItems[15][4] > 0 then - return menuItems[15][4] - end - -- cellcount is cached only for FLVSS - if batt1sources.vs == true and cellcount > 1 then - return cellcount - end - -- round in excess and return - -- Note: cellcount is not cached because max voltage can rise during initialization) - return math.floor( (( math.max(cell1maxFC,cellmaxA2)*0.1 ) / 4.36) + 1) -end - -local function calcBattery() - ------------ - -- FLVSS 1 - ------------ - local cellResult = getValue("Cels") - if type(cellResult) == "table" then - cell1min = 4.36 - cell1sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell1sum = cell1sum + v - if cell1min > v then - cell1min = v - end - end - -- if connected after scritp started - if batt1sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt1sources.vs = true - else - batt1sources.vs = false - cell1min = 0 - cell1sum = 0 - end - ------------ - -- FLVSS 2 - ------------ - cellResult = getValue("Cel2") - if type(cellResult) == "table" then - cell2min = 4.36 - cell2sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell2sum = cell2sum + v - if cell2min > v then - cell2min = v - end - end - -- if connected after scritp started - if batt2sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt2sources.vs = true - else - batt2sources.vs = false - cell2min = 0 - cell2sum = 0 - end - -------------------------------- - -- flight controller battery 1 - -------------------------------- - if batt1volt > 0 then - cell1sumFC = batt1volt*0.1 - cell1maxFC = math.max(batt1volt,cell1maxFC) - if battsource == "na" then - battsource = "fc" - end - batt1sources.fc = true - else - batt1sources.fc = false - cell1sumFC = 0 - end - -------------------------------- - -- flight controller battery 2 - -------------------------------- - if batt2volt > 0 then - cell2sumFC = batt2volt*0.1 - if battsource == "na" then - battsource = "fc" - end - batt2sources.fc = true - else - batt2sources.fc = false - cell2sumFC = 0 - end - ---------------------------------- - -- 12 analog voltage only 1 supported - ---------------------------------- - local battA2 = getValue("A2") - -- - if battA2 > 0 then - cellsumA2 = battA2 - cellmaxA2 = math.max(battA2*10,cellmaxA2) - -- don't force a2, only way to display it - -- is by user selection from menu - --[[ - if battsource == "na" then - battsource = "a2" - end - --]] batt1sources.a2 = true - else - batt1sources.a2 = false - cellsumA2 = 0 - end - -- batt fc - minmaxValues[1] = calcMinValue(cell1sumFC,minmaxValues[1]) - minmaxValues[2] = calcMinValue(cell2sumFC,minmaxValues[2]) - -- cell flvss - minmaxValues[3] = calcMinValue(cell1min,minmaxValues[3]) - minmaxValues[4] = calcMinValue(cell2min,minmaxValues[4]) - -- batt flvss - minmaxValues[5] = calcMinValue(cell1sum,minmaxValues[5]) - minmaxValues[6] = calcMinValue(cell2sum,minmaxValues[6]) - -- batt 12 - minmaxValues[7] = calcMinValue(cellsumA2,minmaxValues[7]) -end - -local function checkLandingStatus() - if ( timerRunning == 0 and landComplete == 1 and lastTimerStart == 0) then - startTimer() - end - if (timerRunning == 1 and landComplete == 0 and lastTimerStart ~= 0) then - stopTimer() - -- play landing complete only if motorts are armed - if statusArmed == 1 then - playSound("landing") - end - end - timerRunning = landComplete -end - -local function calcFlightTime() - -- update local variable with timer 3 value - flightTime = model.getTimer(2).value -end - -local function getBatt1Capacity() - return menuItems[4][4]*0.1 > 0 and menuItems[4][4]*0.1*100 or batt1Capacity -end - -local function getBatt2Capacity() - return menuItems[5][4]*0.1 > 0 and menuItems[5][4]*0.1*100 or batt2Capacity -end - --- gets the voltage based on source and min value, battId = [1|2] -local function getMinVoltageBySource(source,cell,cellFC,cellA2,battId,count) - -- offset 0 for cell voltage, 2 for pack voltage - local offset = 0 - -- - if cell > 4.36*2 or cellFC > 4.36*2 or cellA2 > 4.36*2 then - offset = 2 - end - -- - if source == "vs" then - return showMinMaxValues == true and minmaxValues[2+offset+battId] or cell - elseif source == "fc" then - -- FC only tracks batt1 and batt2 no cell voltage tracking - local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/count) - return showMinMaxValues == true and minmax or cellFC - elseif source == "a2" then - -- 12 does not depend on battery id - local minmax = (offset == 2 and minmaxValues[7] or minmaxValues[7]/count) - return showMinMaxValues == true and minmax or cellA2 - end - -- - return 0 -end - -local function setSensorValues() - if (not telemetryEnabled()) then - return - end - local battmah = batt1mah - local battcapacity = getBatt1Capacity() - if batt2mah > 0 then - battcapacity = getBatt1Capacity() + getBatt2Capacity() - battmah = batt1mah + batt2mah - end - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - setTelemetryValue(0x060F, 0, 0, perc, 13 , 0 , "Fuel") - setTelemetryValue(0x021F, 0, 0, getNonZeroMin(batt1volt,batt2volt)*10, 1 , 2 , "VFAS") - setTelemetryValue(0x020F, 0, 0, batt1current+batt2current, 2 , 1 , "CURR") - setTelemetryValue(0x011F, 0, 0, vSpeed, 5 , 1 , "VSpd") - setTelemetryValue(0x083F, 0, 0, hSpeed*0.1, 5 , 0 , "GSpd") - setTelemetryValue(0x010F, 0, 0, homeAlt*10, 9 , 1 , "Alt") - setTelemetryValue(0x082F, 0, 0, math.floor(gpsAlt*0.1), 9 , 0 , "GAlt") - setTelemetryValue(0x084F, 0, 0, math.floor(yaw), 20 , 0 , "Hdg") - setTelemetryValue(0x041F, 0, 0, imuTemp, 11 , 0 , "IMUt") - setTelemetryValue(0x060F, 0, 1, statusArmed*100, 0 , 0 , "ARM") -end --------------------- --- Single long function much more memory efficient than many little functions ---------------------- -local function drawX9BatteryPane(x,battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if battLevel2 == true then - flags = BLINK - dimFlags = BLINK - elseif battLevel1 == true then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(x+27, 11, 12, 21,cellVolt,"V",battsource,DBLSIZE+PREC2+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(x+2,43,43, battVolt,"V",MIDSIZE+PREC1,SMLSIZE) - -- battery current - drawNumberWithDim(x+37,43,43,current,"A",MIDSIZE+PREC1,SMLSIZE) - -- battery percentage - lcd.drawNumber(x+4, 15, perc, MIDSIZE) - lcd.drawText(lcd.getLastRightPos(), 20, "%", SMLSIZE) - -- display capacity bar % - lcd.drawFilledRectangle(x+5, 28, 2 + math.floor(perc * 0.01 * (59 - 3)), 5, SOLID) - lcd.drawRectangle(x+5, 28, 2 + math.floor(perc * 0.01 * (59 - 3)), 5, SOLID) - local step = 59/10 - for s=1,10 - 1 do - lcd.drawLine(x+5 + s*step - 1,28, x+5 + s*step - 1, 28 + 5 - 1,SOLID,0) - end - -- battery mah - lcd.drawNumber(x+10, 35, battmah/10, SMLSIZE+PREC2) - lcd.drawText(lcd.getLastRightPos(), 35, "/", SMLSIZE) - lcd.drawNumber(lcd.getLastRightPos(), 35, battcapacity/100, SMLSIZE+PREC1) - lcd.drawText(lcd.getLastRightPos(), 35, "Ah", SMLSIZE) - if showMinMaxValues == true then - drawVArrow(x+2+29,43 + 6, 5,false,true) - drawVArrow(x+37+27,43 + 6,5,true,false) - drawVArrow(x+27+37, 11 + 3,6,false,true) - end -end - - - -local function drawNoTelemetryData() - -- no telemetry data - if (not telemetryEnabled()) then - lcd.drawFilledRectangle((212-130)/2,18, 130, 30, SOLID) - lcd.drawRectangle((212-130)/2,18, 130, 30, ERASE) - lcd.drawText(60, 29, "no telemetry data", INVERS) - return - end -end - -local function drawTopBar() - -- black bar - lcd.drawFilledRectangle(0,0, 212, 7, SOLID) - lcd.drawRectangle(0, 0, 212, 7, SOLID) - -- flight mode - if frame.flightModes then - local strMode = frame.flightModes[flightMode] - if strMode ~= nil then - lcd.drawText(1, 0, strMode, SMLSIZE+INVERS) - if ( simpleMode > 0 ) then - local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" - lcd.drawText(lcd.getLastRightPos(), 0, strSimpleMode, SMLSIZE+INVERS) - end - end - end - -- flight time - lcd.drawText(179, 0, "T:", SMLSIZE+INVERS) - lcd.drawTimer(lcd.getLastRightPos(), 0, flightTime, SMLSIZE+INVERS) - -- RSSI - lcd.drawText(69, 0, "RS:", SMLSIZE+INVERS ) - lcd.drawText(lcd.getLastRightPos(), 0, getRSSI(), SMLSIZE+INVERS ) - -- tx voltage - local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) - lcd.drawText(116, 0, vTx, SMLSIZE+INVERS) -end - -local function drawBottomBar() - -- black bar - lcd.drawFilledRectangle(0,56, 212, 8, SOLID) - lcd.drawRectangle(0, 56, 212, 8, SOLID) - -- message text - local now = getTime() - local msg = messages[#messages] - if (now - lastMsgTime ) > 150 or menuItems[8][6][menuItems[8][4]] then - lcd.drawText(0, 56+1, msg,SMLSIZE+INVERS) - else - lcd.drawText(0, 56+1, msg,SMLSIZE+INVERS+BLINK) - end -end - -local function drawAllMessages() - for i=1,#messages do - lcd.drawText(1, 1 + 7*(i-1), messages[i],SMLSIZE) - end -end - -local function drawX9LeftPane(battcurrent,cellsumFC) - -- gps status - local strStatus = gpsStatuses[gpsStatus] - local strNumSats = "" - local flags = BLINK - local mult = 1 - if gpsStatus > 2 then - if homeAngle ~= -1 then - flags = PREC1 - end - if gpsHdopC > 99 then - flags = 0 - mult=0.1 - end - lcd.drawText(0,6 + 2, strStatus, SMLSIZE) - lcd.drawText(0,6 + 8, "fix", SMLSIZE) - if numSats >= 15 then - strNumSats = string.format("%d+",15) - else - strNumSats = string.format("%d",numSats) - end - lcd.drawText(0 + 40, 6 + 2, strNumSats, MIDSIZE+RIGHT) - lcd.drawText(0 + 42, 6 + 2 , "H", SMLSIZE) - lcd.drawNumber(0 + 66, 6 + 2, gpsHdopC*mult , MIDSIZE+flags+RIGHT) - lcd.drawLine(0 + 40,6+1,0+40,6 + 14,SOLID,FORCE) - else - lcd.drawText(0 + 10, 6 + 2, strStatus, MIDSIZE+INVERS+BLINK) - end - lcd.drawLine(0 ,6 + 15,0+66,6 + 15,SOLID,FORCE) - if showMinMaxValues == true then - flags = 0 - end - -- varrow is shared - drawVArrow(4,25 - 1,7,true,true) - if menuItems[16][4] > 0 then - -- rng finder - flags = 0 - local rng = range - -- rng is centimeters, RANGE_MAX is feet - if rng > menuItems[16][4] then - flags = BLINK+INVERS - end - rng = getMaxValue(rng,17) - lcd.drawText(4 + 4, 25, "Rng", SMLSIZE) - lcd.drawText(65, 26 , unitLabel, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, 26-1 , string.format("%.2f",rng*0.01*unitScale), RIGHT+flags) - else - -- alt asl, always display gps altitude even without 3d lock - local alt = gpsAlt/10 -- meters - flags = BLINK - if gpsStatus > 2 then - flags = 0 - -- update max only with 3d or better lock - alt = getMaxValue(alt,13) - end - lcd.drawText(4 + 4, 25, "Asl", SMLSIZE) - lcd.drawText(65, 26, unitLabel, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, 26-1 , string.format("%d",alt*unitScale), RIGHT+flags) - end - -- home distance - drawHomeIcon(2 + 1,36,7) - drawHArrow(2 + 10,36 + 2,8,true,true) - flags = 0 - if homeAngle == -1 then - flags = BLINK - end - local dist = getMaxValue(homeDist,16) - if showMinMaxValues == true then - flags = 0 - end - lcd.drawText(65, 36-1, unitLabel,SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, 36-1, dist*unitScale, RIGHT+flags) - -- efficiency - local eff = hSpeed*0.1 > 2 and 1000*battcurrent*0.1/(hSpeed*0.1*menuItems[18][6][menuItems[18][4]]) or 0 - lcd.drawText(2, 45, "Eff", SMLSIZE) - lcd.drawText(65,45,string.format("%d mAh",eff),SMLSIZE+RIGHT) - if showMinMaxValues == true then - drawVArrow(2 + 23, 36 - 2,6,true,false) - drawVArrow(4 + 21, 26 - 2,6,true,false) - end -end - -local function drawFailsafe() - local xoffset = 0 - local yoffset = 0 - if ekfFailsafe > 0 then - lcd.drawText(xoffset + 68 + 76/2 - 31, 22 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) - end - if battFailsafe > 0 then - lcd.drawText(xoffset + 68 + 76/2 - 33, 22 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) - end -end - - -local yawRibbonPoints = {} --- -yawRibbonPoints[0]={"N",0} -yawRibbonPoints[1]={"NE",-3} -yawRibbonPoints[2]={"E",0} -yawRibbonPoints[3]={"SE",-3} -yawRibbonPoints[4]={"S",0} -yawRibbonPoints[5]={"SW",-3} -yawRibbonPoints[6]={"W",0} -yawRibbonPoints[7]={"NW",-3} - --- optimized yaw ribbon drawing -local function drawCompassRibbon() - -- ribbon centered +/- 90 on yaw - local centerYaw = (yaw+270)%360 - -- this is the first point left to be drawn on the compass ribbon - local nextPoint = math.floor(centerYaw/45) * 45 --roundTo(centerYaw,45) - -- distance in degrees between leftmost ribbon point and first 45° multiple normalized to YAW_WIDTH/8 - local yawMinX = (LCD_W - 76)/2 + 2 - local yawMaxX = (LCD_W + 76)/2 - 3 - -- x coord of first ribbon letter - local nextPointX = yawMinX + (nextPoint - centerYaw)/45 * 17 - local yawY = 0 + 7 - -- - local i = (nextPoint / 45) % 8 - for idx=1,6 - do - if nextPointX >= yawMinX and nextPointX < yawMaxX then - lcd.drawText(nextPointX+yawRibbonPoints[i][2],yawY,yawRibbonPoints[i][1],SMLSIZE) - end - i = (i + 1) % 8 - nextPointX = nextPointX + 17 - end - -- home icon - local leftYaw = (yaw + 180)%360 - local rightYaw = yaw%360 - local centerHome = (homeAngle+270)%360 - -- - local homeIconX = yawMinX - local homeIconY = yawY + 10 - if rightYaw >= leftYaw then - if centerHome > leftYaw and centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome - leftYaw)/180)*76,yawMaxX - 2),homeIconY) - end - else - if centerHome < rightYaw then - drawHomeIcon(yawMinX + (((360-leftYaw) + centerHome)/180)*76,homeIconY) - elseif centerHome >= leftYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome-leftYaw)/180)*76,yawMaxX-2),homeIconY) - end - end - -- when abs(home angle) > 90 draw home icon close to left/right border - local angle = homeAngle - yaw - local cos = math.cos(math.rad(angle - 90)) - local sin = math.sin(math.rad(angle - 90)) - if sin > 0 then - drawHomeIcon(( cos > 0 and yawMaxX or yawMinX ) - 2, yawY + 10) - end - -- - lcd.drawLine(yawMinX - 2, yawY + 7, yawMaxX + 2, yawY + 7, SOLID, 0) - local xx = yaw < 10 and 1 or ( yaw < 100 and -2 or -5 ) - lcd.drawNumber(LCD_W/2 + xx - 4, yawY, yaw, MIDSIZE+INVERS) -end - --- vertical distance between roll horiz segments --- -local function drawHud() - local r = -roll - local cx,cy,dx,dy,ccx,ccy,cccx,cccy - local yPos = 0 + 7 + 8 - ----------------------- - -- artificial horizon - ----------------------- - -- no roll ==> segments are vertical, offsets are multiples of 6 - if ( roll == 0) then - dx=0 - dy=pitch - cx=0 - cy=6 - ccx=0 - ccy=2*6 - cccx=0 - cccy=3*6 - else - -- center line offsets - dx = math.cos(math.rad(90 - r)) * -pitch - dy = math.sin(math.rad(90 - r)) * pitch - -- 1st line offsets - cx = math.cos(math.rad(90 - r)) * 6 - cy = math.sin(math.rad(90 - r)) * 6 - -- 2nd line offsets - ccx = math.cos(math.rad(90 - r)) * 2 * 6 - ccy = math.sin(math.rad(90 - r)) * 2 * 6 - -- 3rd line offsets - cccx = math.cos(math.rad(90 - r)) * 3 * 6 - cccy = math.sin(math.rad(90 - r)) * 3 * 6 - end - local rollX = math.floor(68 + 76/2) - -- parallel lines above and below horizon of increasing length 5,7,16,16,7,5 - drawLineWithClipping(rollX + dx - cccx,dy + 35 + cccy,r,16,DOTTED,68,68 + 76,yPos,56 - 1) - drawLineWithClipping(rollX + dx - ccx,dy + 35 + ccy,r,7,DOTTED,68,68 + 76,yPos,56 - 1) - drawLineWithClipping(rollX + dx - cx,dy + 35 + cy,r,16,DOTTED,68,68 + 76,yPos,56 - 1) - drawLineWithClipping(rollX + dx + cx,dy + 35 - cy,r,16,DOTTED,68,68 + 76,yPos,56 - 1) - drawLineWithClipping(rollX + dx + ccx,dy + 35 - ccy,r,7,DOTTED,68,68 + 76,yPos,56 - 1) - drawLineWithClipping(rollX + dx + cccx,dy + 35 - cccy,r,16,DOTTED,68,68 + 76,yPos,56 - 1) - ----------------------- - -- dark color for "ground" - ----------------------- - local minY = 16 - local maxY = 54 - local minX = 68 + 1 - local maxX = 68 + 76 - 2 - -- - local ox = 106 + dx - -- - local oy = 35 + dy - local yy = 0 - -- angle of the line passing on point(ox,oy) - local angle = math.tan(math.rad(-roll)) - -- for each pixel of the hud base/top draw vertical black - -- lines from hud border to horizon line - -- horizon line moves with pitch/roll - for xx= minX,maxX - do - if roll > 90 or roll < -90 then - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - elseif yy > minY + 1 and yy < maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + yy,SOLID,0) - elseif yy >= maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - end - else - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - elseif yy >= maxY then - else - lcd.drawLine(0 + xx, 0 + yy, 0 + xx, 0 + maxY,SOLID,0) - end - end - end - ------------------------------------ - -- synthetic vSpeed based on - -- home altitude when EKF is disabled - -- updated at 1Hz (i.e every 1000ms) - ------------------------------------- - if menuItems[17][6][menuItems[17][4]] == true then - if (synthVSpeedTime == 0) then - -- first time do nothing - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- dm - elseif (getTime() - synthVSpeedTime > 100) then - -- calc vspeed - vspd = 1000*(homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s - -- update counters - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- m - end - else - vspd = vSpeed - end - ------------------------------------- - -- vario indicator on left - ------------------------------------- - lcd.drawFilledRectangle(68, yPos, 7, 50, ERASE, 0) - lcd.drawLine(68 + 5, yPos, 68 + 5, yPos + 40, SOLID, FORCE) - local varioMax = math.log(10) - local varioSpeed = math.log(1+math.min(math.abs(0.1*vspd),10)) - local varioY = 0 - if vspd > 0 then - varioY = 35 - 4 - varioSpeed/varioMax*15 - else - varioY = 35 + 6 - end - lcd.drawFilledRectangle(68, varioY, 5, varioSpeed/varioMax*15, FORCE, 0) - ------------------------------------- - -- left and right indicators on HUD - ------------------------------------- - -- lets erase to hide the artificial horizon lines - -- black borders - lcd.drawRectangle(68, 35 - 5, 20, 11, FORCE, 0) - lcd.drawRectangle(68 + 76 - 17 - 1, 35 - 5, 17+1, 11, FORCE, 0) - -- erase area - lcd.drawFilledRectangle(68, 35 - 4, 20, 9, ERASE, 0) - lcd.drawFilledRectangle(68 + 76 - 17 - 1, 35 - 4, 17+2, 9, ERASE, 0) - -- erase tips - lcd.drawLine(68 + 20,35 - 3,68 + 20,35 + 3, SOLID, ERASE) - lcd.drawLine(68 + 20+1,35 - 2,68 + 20+1,35 + 2, SOLID, ERASE) - lcd.drawLine(68 + 76 - 17 - 2,35 - 3,68 + 76 - 17 - 2,35 + 3, SOLID, ERASE) - lcd.drawLine(68 + 76 - 17 - 3,35 - 2,68 + 76 - 17 - 3,35 + 2, SOLID, ERASE) - -- left tip - lcd.drawLine(68 + 20+2,35 - 2,68 + 20+2,35 + 2, SOLID, FORCE) - lcd.drawLine(68 + 20-1,35 - 5,68 + 20+1,35 - 3, SOLID, FORCE) - lcd.drawLine(68 + 20-1,35 + 5,68 + 20+1,35 + 3, SOLID, FORCE) - -- right tip - lcd.drawLine(68 + 76 - 17 - 4,35 - 2,68 + 76 - 17 - 4,35 + 2, SOLID, FORCE) - lcd.drawLine(68 + 76 - 17 - 3,35 - 3,68 + 76 - 17 - 1,35 - 5, SOLID, FORCE) - lcd.drawLine(68 + 76 - 17 - 3,35 + 3,68 + 76 - 17 - 1,35 + 5, SOLID, FORCE) - -- altitude - local alt = getMaxValue(homeAlt,12) * unitScale -- homeAlt is meters*3.28 = feet - -- - if math.abs(alt) < 10 then - lcd.drawNumber(68 + 76,35 - 3,alt * 10,SMLSIZE+PREC1+RIGHT) - else - lcd.drawNumber(68 + 76,35 - 3,alt,SMLSIZE+RIGHT) - end - -- vertical speed - if math.abs(vspd*3.28*60) > 99 then - lcd.drawNumber(68+1,35 - 3,vspd*0.1*menuItems[19][6][menuItems[19][4]],SMLSIZE) - else - lcd.drawNumber(68+1,35 - 3,vspd*menuItems[19][6][menuItems[19][4]],SMLSIZE+PREC1) - end - -- center arrow - local arrowX = math.floor(68 + 76/2) - lcd.drawLine(arrowX - 4,35 + 4,arrowX ,35 ,SOLID,0) - lcd.drawLine(arrowX + 1,35 + 1,arrowX + 4, 35 + 4,SOLID,0) - lcd.drawLine(68 + 25,35,68 + 30,35 ,SOLID,0) - lcd.drawLine(68 + 76 - 24,35,68 + 76 - 31,35 ,SOLID,0) - -- hspeed - local speed = getMaxValue(hSpeed,15) * menuItems[18][6][menuItems[18][4]] --- - lcd.drawFilledRectangle((LCD_W)/2 - 10, LCD_H - 17, 20, 10, ERASE, 0) - if math.abs(speed) > 99 then -- - lcd.drawNumber((LCD_W)/2 + 9, LCD_H - 15, speed*0.1, SMLSIZE+RIGHT) - else - lcd.drawNumber((LCD_W)/2 + 9, LCD_H - 15, speed, SMLSIZE+RIGHT+PREC1) - end - -- hspeed box - lcd.drawRectangle((LCD_W)/2 - 10, LCD_H - 17, 20, 10, SOLID, FORCE) - if showMinMaxValues == true then - drawVArrow((LCD_W)/2 + 12,LCD_H - 16,6,true,false) - end - -- min/max arrows - if showMinMaxValues == true then - drawVArrow(68 + 76 - 24, 35 - 4,6,true,false) - end - -- arming status, show only if timer is not running, hide otherwise - if ekfFailsafe == 0 and battFailsafe == 0 and timerRunning == 0 then - if (statusArmed == 1) then - lcd.drawText(68 + 76/2 - 15, 22, " ARMED ", SMLSIZE+INVERS) - else - lcd.drawText(68 + 76/2 - 21, 22, " DISARMED ", SMLSIZE+INVERS+BLINK) - end - end -end - -local function drawGrid() - lcd.drawLine(68 - 1, 7 ,68 - 1, 57, SOLID, 0) - lcd.drawLine(68 + 76, 7, 68 + 76, 57, SOLID, 0) -end - -local function drawHomeDirection() - local angle = math.floor(homeAngle - yaw) - local x1 = 82 + 7 * math.cos(math.rad(angle - 90)) - local y1 = 48 + 7 * math.sin(math.rad(angle - 90)) - local x2 = 82 + 7 * math.cos(math.rad(angle - 90 + 150)) - local y2 = 48 + 7 * math.sin(math.rad(angle - 90 + 150)) - local x3 = 82 + 7 * math.cos(math.rad(angle - 90 - 150)) - local y3 = 48 + 7 * math.sin(math.rad(angle - 90 - 150)) - local x4 = 82 + 7 * 0.5 * math.cos(math.rad(angle - 270)) - local y4 = 48 + 7 * 0.5 *math.sin(math.rad(angle - 270)) - -- - lcd.drawLine(x1,y1,x2,y2,SOLID,1) - lcd.drawLine(x1,y1,x3,y3,SOLID,1) - lcd.drawLine(x2,y2,x4,y4,SOLID,1) - lcd.drawLine(x3,y3,x4,y4,SOLID,1) -end - - ---------------------------------- --- This function checks alarm condition and as long as the condition persists it plays --- a warning sound. ---------------------------------- -local function checkAlarm(level,value,idx,sign,sound,delay) - -- once landed reset all alarms except battery alerts - if timerRunning == 0 then - if alarms[idx][4] == 0 then - alarms[idx] = { false, 0, false, 0, 0, false, 0} - elseif alarms[idx][4] == 1 then - alarms[idx] = { false, 0, true, 1 , 0, false, 0} - elseif alarms[idx][4] == 2 then - alarms[idx] = { false, 0, true, 2, 0, false, 0} - elseif alarms[idx][4] == 3 then - alarms[idx] = { false, 0 , false, 3, 4, false, 0} - elseif alarms[idx][4] == 4 then - alarms[idx] = { false, 0 , false, 4, 4, false, 0} - end - -- reset done - return - end - -- if needed arm the alarm only after value has reached level - if alarms[idx][3] == false and level > 0 and -1 * sign*value > -1 * sign*level then - alarms[idx][3] = true - end - -- - if alarms[idx][4] == 2 then - if flightTime > 0 and math.floor(flightTime) % delay == 0 then - if alarms[idx][1] == false then - alarms[idx][1] = true - playSound(sound) - -- flightime is a multiple of 1 minute - if (flightTime % 60 == 0 ) then - -- minutes - playNumber(flightTime / 60,25) --25=minutes,26=seconds - else - -- minutes - if (flightTime > 60) then playNumber(flightTime / 60,25) end - -- seconds - playNumber(flightTime % 60,26) - end - end - else - alarms[idx][1] = false - end - else - if alarms[idx][3] == true then - if level > 0 and sign*value > sign*level then - -- value is outside level - if alarms[idx][2] == 0 then - -- first time outside level after last reset - alarms[idx][2] = flightTime - -- status: START - end - else - -- value back to normal ==> reset - alarms[idx][2] = 0 - alarms[idx][1] = false - alarms[idx][6] = false - -- status: RESET - end - if alarms[idx][2] > 0 and (flightTime ~= alarms[idx][2]) and (flightTime - alarms[idx][2]) >= alarms[idx][5] then - -- enough time has passed after START - alarms[idx][6] = true - -- status: READY - end - -- - if alarms[idx][6] == true and alarms[idx][1] == false then - playSound(sound) - alarms[idx][1] = true - alarms[idx][7] = flightTime - -- status: BEEP - end - -- all but battery alarms - if alarms[idx][4] ~= 3 then - if alarms[idx][6] == true and flightTime ~= alarms[idx][7] and (flightTime - alarms[idx][7]) % delay == 0 then - alarms[idx][1] = false - -- status: REPEAT - end - end - end - end -end - -local function loadFlightModes() - if frame.flightModes then - return - end - if frameType ~= -1 then - if frameTypes[frameType] == "c" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/copter.luac") - elseif frameTypes[frameType] == "p" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/plane.luac") - elseif frameTypes[frameType] == "r" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/rover.luac") - end - if frame.flightModes then - for i,v in pairs(frameTypes) do - frameTypes[i] = nil - end - frameTypes = nil - end - collectgarbage() - maxmem=0 - end -end - -local function checkEvents() - loadFlightModes() - checkAlarm(menuItems[11][4]*0.1,homeAlt,1,-1,"minalt",menuItems[14][4]) - checkAlarm(menuItems[12][4],homeAlt,2,1,"maxalt",menuItems[14][4]) - checkAlarm(menuItems[13][4],homeDist,3,1,"maxdist",menuItems[14][4]) - checkAlarm(1,2*ekfFailsafe,4,1,"ekf",menuItems[14][4]) - checkAlarm(1,2*battFailsafe,5,1,"lowbat",menuItems[14][4]) - checkAlarm(math.floor(menuItems[10][4]*0.1*60),flightTime,6,1,"timealert",math.floor(menuItems[10][4]*0.1*60)) - -- - local capacity = getBatt1Capacity() - local mah = batt1mah - -- only if dual battery has been detected - if batt2sources.fc or batt2sources.vs then - capacity = capacity + getBatt2Capacity() - mah = mah + batt2mah - end - if (capacity > 0) then - batLevel = (1 - (mah/capacity))*100 - else - batLevel = 99 - end - - for l=0,12 do - -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) - local level = tonumber(string.sub("00051015202530405060708090",l*2+1,l*2+2)) - if batLevel <= level + 1 and l < lastBattLevel then - lastBattLevel = l - playSound("bat"..level) - break - end - end - -- - if statusArmed ~= lastStatusArmed then - if statusArmed == 1 then playSound("armed") else playSound("disarmed") end - lastStatusArmed = statusArmed - end - -- - if gpsStatus > 2 and lastGpsStatus <= 2 then - lastGpsStatus = gpsStatus - playSound("gpsfix") - elseif gpsStatus <= 2 and lastGpsStatus > 2 then - lastGpsStatus = gpsStatus - playSound("gpsnofix") - end - -- - if frame.flightModes ~= nil and flightMode ~= lastFlightMode then - lastFlightMode = flightMode - playSoundByFrameTypeAndFlightMode(frameType,flightMode) - end - -- - if simpleMode ~= lastSimpleMode then - if simpleMode == 0 then - playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) - else - playSound( simpleMode == 1 and "simpleon" or "ssimpleon" ) - end - lastSimpleMode = simpleMode - end -end - -local function checkCellVoltage(celm) - -- check alarms - checkAlarm(menuItems[2][4],celm,7,-1,"batalert1",menuItems[14][4]) - checkAlarm(menuItems[3][4],celm,8,-1,"batalert2",menuItems[14][4]) - -- cell bgcolor is sticky but gets triggered with alarms - if battLevel1 == false then battLevel1 = alarms[7][1] end - if battLevel2 == false then battLevel2 = alarms[8][1] end -end - -local function cycleBatteryInfo() - if showDualBattery == false and (batt2sources.fc or batt2sources.vs) then - showDualBattery = true - return - end - if battsource == "vs" then - battsource = "fc" - elseif battsource == "fc" then - battsource = "a2" - elseif battsource == "a2" then - battsource = "vs" - end -end --------------------------------------------------------------------------------- --- MAIN LOOP --------------------------------------------------------------------------------- -local showMessages = false -local showConfigMenu = false -local bgclock = 0 - -------------------------------- --- running at 20Hz (every 50ms) -------------------------------- -local function background() - -- FAST: this runs at 60Hz (every 16ms) - for i=1,3 - do - processTelemetry() -end - --[[ - -- NORMAL: this runs at 10Hz (every 100ms) - if telemetryEnabled() and (bgclock % 2 == 0) then - setTelemetryValue(VSpd_ID, VSpd_SUBID, VSpd_INSTANCE, vSpeed, 5 , VSpd_PRECISION , VSpd_NAME) - end - --]] -- SLOW: this runs at 4Hz (every 250ms) - if (bgclock % 4 == 0) then - setSensorValues() - end - -- SLOWER: this runs at 2Hz (every 500ms) - if (bgclock % 8 == 0) then - calcBattery() - calcFlightTime() - -- prepare celm based on battsource - local count = calcCellCount() - local cellVoltage = 0 - -- - if battsource == "vs" then - cellVoltage = getNonZeroMin(cell1min,cell2min)*100 --FLVSS - elseif battsource == "fc" then - cellVoltage = getNonZeroMin(cell1sumFC/count,cell2sumFC/count)*100 --FC - elseif battsource == "a2" then - cellVoltage = (cellsumA2/count)*100 --12 - end - -- - checkEvents() - checkLandingStatus() - -- no need for alarms if reported voltage is 0 - if cellVoltage > 0 then - checkCellVoltage(cellVoltage) - end - -- aggregate value - minmaxValues[8] = math.max(batt1current+batt2current,minmaxValues[8]) - -- indipendent values - minmaxValues[9] = math.max(batt1current,minmaxValues[9]) - minmaxValues[10] = math.max(batt2current,minmaxValues[10]) - bgclock=0 - end - bgclock = bgclock+1 -end - -local function run(event) - lcd.clear() - --------------------- - -- SHOW MESSAGES - --------------------- - if showConfigMenu == false and (event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36) then - showMessages = true - collectgarbage() - end - --------------------- - -- SHOW CONFIG MENU - --------------------- - if showMessages == false and (event == EVT_MENU_LONG or event == 128) then - showConfigMenu = true - collectgarbage() - end - if showMessages then - --------------------- - -- MESSAGES - --------------------- - if event == EVT_EXIT_BREAK or event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == 35 or event == 33 then - showMessages = false - end - drawAllMessages() - elseif showConfigMenu then - --------------------- - -- CONFIG MENU - --------------------- - drawConfigMenu(event) - -- - if event == EVT_EXIT_BREAK or event == 33 then - menu.editSelected = false - showConfigMenu = false - saveConfig() - end - else - --------------------- - -- MAIN VIEW - --------------------- - if event == EVT_ENTER_BREAK or event == 34 then - cycleBatteryInfo() - end - if event == EVT_MENU_BREAK or event == 32 then - showMinMaxValues = not showMinMaxValues - end - if showDualBattery == true and event == EVT_EXIT_BREAK or event == 33 then - showDualBattery = false - end - drawHud() - drawCompassRibbon() - drawGrid() - -- - -- Note: these can be calculated. not necessary to track them as min/max - -- cell1minFC = cell1sumFC/calcCellCount() - -- cell2minFC = cell2sumFC/calcCellCount() - -- cell1minA2 = cell1sumA2/calcCellCount() - local count = calcCellCount() - local cel1m = getMinVoltageBySource(battsource,cell1min,cell1sumFC/count,cellsumA2/count,1,count)*100 - local cel2m = getMinVoltageBySource(battsource,cell2min,cell2sumFC/count,cellsumA2/count,2,count)*100 - local batt1 = getMinVoltageBySource(battsource,cell1sum,cell1sumFC,cellsumA2,1,count)*10 - local batt2 = getMinVoltageBySource(battsource,cell2sum,cell2sumFC,cellsumA2,2,count)*10 - local curr = getMaxValue(batt1current+batt2current,8) - local curr1 = getMaxValue(batt1current,9) - local curr2 = getMaxValue(batt2current,10) - local mah1 = batt1mah - local mah2 = batt2mah - local cap1 = getBatt1Capacity() - local cap2 = getBatt2Capacity() - -- with dual battery default is to show aggregate view - if batt2sources.fc or batt2sources.vs then - if showDualBattery == false then - -- dual battery: aggregate view - lcd.drawText(68+76+1,7,"B1+B2",SMLSIZE+INVERS) - drawX9BatteryPane(68+76+1,getNonZeroMin(batt1,batt2),getNonZeroMin(cel1m,cel2m),curr,mah1+mah2,cap1+cap2) - else - -- dual battery: do I have also dual current monitor? - if curr1 > 0 and curr2 == 0 then - -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel - curr1 = curr1/2 - curr2 = curr1 - -- - mah1 = mah1/2 - mah2 = mah1 - -- - cap1 = cap1/2 - cap2 = cap1 - end - -- dual battery:battery 1 right pane - lcd.drawText(68+76+1,7,"B1",SMLSIZE+INVERS) - drawX9BatteryPane(68+76+1,batt1,cel1m,curr1,mah1,cap1) - -- dual battery:battery 2 left pane - lcd.drawText(0,7,"B2",SMLSIZE+INVERS) - drawX9BatteryPane(0,batt2,cel2m,curr2,mah2,cap2) - end - else - -- battery 1 right pane in single battery mode - drawX9BatteryPane(68+76+1,batt1,cel1m,curr1,mah1,cap1) - end - -- left pane info when not in dual battery mode - if showDualBattery == false then - -- power is always based on FC current+voltage - drawX9LeftPane(curr1+curr2,getNonZeroMin(cell1sumFC,cell2sumFC)) - end - drawHomeDirection() - drawTopBar() - drawBottomBar() - drawFailsafe() - drawNoTelemetryData() - end -end - -local function init() --- initialize flight timer - model.setTimer(2,{mode=0}) - model.setTimer(2,{value=0}) - loadConfig() - pushMessage(6,"Yaapu X9 telemetry script 1.7.2") - playSound("yaapu") -end - --------------------------------------------------------------------------------- --- SCRIPT END --------------------------------------------------------------------------------- -return {run=run, background=background, init=init} - diff --git a/TARANIS/SOURCES/README.md b/TARANIS/SOURCES/README.md new file mode 100644 index 00000000..dec124ee --- /dev/null +++ b/TARANIS/SOURCES/README.md @@ -0,0 +1,5 @@ +Note +- files in the PP folder have to be preprocessed first with /TOOLS/pp.lua prior to compiling in OpenTX companion +- files in the SRC folder are ready to be copied to the /SCRIPTS/TELEMETRY folder of the virtual SD Card in OpenTX companion for compilation + + diff --git a/TARANIS/SOURCES/SRC/yaapu/alt7_view.lua b/TARANIS/SOURCES/SRC/yaapu/alt7_view.lua new file mode 100644 index 00000000..13edbdff --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/alt7_view.lua @@ -0,0 +1,605 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +-------------------------------- +-- Layout 128x64 QX7/X-Lite +-------------------------------- + + + + + + + + + + + + + + + + +-------------------------- +-- CUSTOM SENSORS SUPPORT +-------------------------- + + + + + + + + +local initSensors = true + + +local function drawLeftPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawNumber(x+1, 7,telemetry.gpsHdopC*mult ,flags+MIDSIZE) + else + lcd.drawText(x+3, 7, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x, 15, "Gps", SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+32, 22+1, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 22, dist*unitScale,RIGHT+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 25-2,5,true,false) + else + drawLib.drawHomeIcon(x+1, 25) + end + --[[ + -- altitude on right side + local alt = getMaxValue(telemetry.homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(ALT_ALT_X+1,ALT_ALT_Y,alt * 10,PREC1+RIGHT+MIDSIZE) + else + lcd.drawNumber(ALT_ALT_X+1,ALT_ALT_Y,alt,RIGHT+MIDSIZE) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE + + if math.abs(speed) > 99 then + lcd.drawNumber(ALT_HSPEED_X+1,ALT_HSPEED_Y,speed*0.1,RIGHT+MIDSIZE) + else + lcd.drawNumber(ALT_HSPEED_X+1,ALT_HSPEED_Y,speed,PREC1+RIGHT+MIDSIZE) + end + --]] -- needs to be called ofter for strings created by decToDMSFull() fragment memory + collectgarbage() +end + +-- max 6 extra sensors +local customSensors = nil +-- {label,name,prec:0,1,2,unit,multiplier,mninmax,font} + +local function getSensorsConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "").."_sensors.lua") +end + +local function loadSensors() + local tmp = io.open(getSensorsConfigFilename(),"r") + if tmp == nil then + return + else + io.close(tmp) + end + local sensorScript = loadScript(getSensorsConfigFilename()) + collectgarbage() + customSensors = sensorScript() + sensorScript = nil + collectgarbage() + collectgarbage() +end + + +local customSensorXY = { + { 0, 33 }, + { 47, 33 }, + { 0, 41 }, + { 47, 41 }, + { 0, 49 }, + { 47, 49 }, +} + +local function drawCustomSensors(x,status) + if customSensors == nil then + --drawNoCustomSensors(x) + lcd.drawText(x+10,33, "NO CUSTOM SENSORS",0) + lcd.drawText(x+30,45, "DEFINED",0) + return + end + local label,data,prec,mult,flags,color,labelColor + for i=1,6 + do + -- default font attribute + color = 0 + labelColor = 0 + + if customSensors.sensors[i] ~= nil then + sensorConfig = customSensors.sensors[i] + + mult = sensorConfig[3] == 0 and 1 or ( sensorConfig[3] == 1 and 10 or 100 ) + prec = mult == 1 and 0 or (mult == 10 and 32 or 48) + + local sensorName = sensorConfig[2]..(status.showMinMaxValues == true and sensorConfig[6] or "") + local sensorValue = getValue(sensorName) + + local value = (sensorValue+(mult == 100 and 0.005 or 0))*mult*sensorConfig[5] + + flags = 0 + local voffset = 0 + local sign = sensorConfig[6] == "+" and 1 or -1 + + -- max tracking, high values are critical + if math.abs(value) ~= 0 and status.showMinMaxValues == false then + if sensorValue*sign > sensorConfig[9]*sign then + color = BLINK + labelColor = 0 + elseif sensorValue*sign > sensorConfig[8]*sign then + color = 0 + labelColor = BLINK + end + end + + if customSensors.lookups[i] ~= nil and customSensors.lookups[i][sensorValue] ~= nil then + lcd.drawText(x+customSensorXY[i][1], voffset+customSensorXY[i][2], customSensors.lookups[i][sensorValue] or value, flags+color) + else + lcd.drawNumber(x+customSensorXY[i][1], voffset+customSensorXY[i][2], value, flags+prec+color) + end + lcd.drawText(lcd.getLastRightPos(), customSensorXY[i][2],sensorConfig[4],labelColor+SMLSIZE) + collectgarbage() + collectgarbage() + end + end +end + + + +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local function drawMiniHud(drawLib,conf,telemetry,status,battery,getMaxValue) + ---------------------- + -- MINI HUD TOP LEFT + ---------------------- + local r = -telemetry.roll + local dx,dy + local yPos = 0 + 7 + 8 + + if ( roll == 0) then + dx=0 + dy=telemetry.pitch + -- 1st line offsets + cx=0 + cy=6 + -- 2nd line offsets + ccx=0 + ccy=2*6 + else + -- for a smaller hud vertical movement has to be scaled down + dx = 0.4 * math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = 0.4 * math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * 6 + cy = math.sin(math.rad(90 - r)) * 6 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * 8 + ccy = math.sin(math.rad(90 - r)) * 2 * 8 + -- 3rd line offsets + cccx = math.cos(math.rad(90 - r)) * 3 * 8 + cccy = math.sin(math.rad(90 - r)) * 3 * 8 + end + + local minY = 7 + local maxY = 7 + 24 + local minX = 31 + 1 + local maxX = 31 + 64 + local ox = 31 + 31 + dx + + local oy = 7 + 12 + dy + local yy = 0 + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top + -- draw vertical black lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + -- parallel lines above and below horizon of increasing length 5,7,16,16,7,5 + drawLib.drawLineWithClipping(31 + 31 + dx - cccx,dy + 7 + 12 + cccy,r,16,DOTTED,31,31 + 64,7,7+24) + drawLib.drawLineWithClipping(31 + 31 + dx - ccx,dy + 7 + 12 + ccy,r,10,DOTTED,31,31 + 64,7,7+24) + drawLib.drawLineWithClipping(31 + 31 + dx - cx,dy + 7 + 12 + cy,r,16,DOTTED,31,31 + 64,7,7+24) + drawLib.drawLineWithClipping(31 + 31 + dx + cx,dy + 7 + 12 - cy,r,16,DOTTED,31,31 + 64,7,7+24) + drawLib.drawLineWithClipping(31 + 31 + dx + ccx,dy + 7 + 12 - ccy,r,10,DOTTED,31,31 + 64,7,7+24) + drawLib.drawLineWithClipping(31 + 31 + dx + cccx,dy + 7 + 12 - cccy,r,16,DOTTED,31,31 + 64,7,7+24) + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawFilledRectangle(31 + 64 - 5, 7, 5, 24, ERASE, 0) + vspd = telemetry.vSpeed + lcd.drawLine(31 + 64 - 6, 7, 31 + 64 - 6, 30, SOLID, FORCE) + local varioMax = 5 + local varioSpeed = math.min(math.abs(0.1*vspd),5) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = 19 - varioSpeed/varioMax*9 - 3 + else + varioY = 19 + 4 + arrowY = 1 + end + lcd.drawFilledRectangle(31 + 64 - 4, varioY, 4, varioSpeed/varioMax*9, FORCE, 0) + --[[ + for i=0,8 + do + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 3, 8+i*3, ALT_HUD_X + ALT_HUD_WIDTH -1, 8+i*3, SOLID, ERASE) + lcd.drawLine(ALT_HUD_X + ALT_HUD_WIDTH - 2, arrowY+8+i*3, ALT_HUD_X + ALT_HUD_WIDTH-2, arrowY+8+i*3, SOLID, ERASE) + end + --]] lcd.drawLine(31 + 64 - 5, 19, 31 + 64, 19, SOLID, FORCE) + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(31+1, 19 - 5, 16, 10, FORCE, 0) + lcd.drawFilledRectangle(31+2, 19 - 4, 16, 8, ERASE, 0) + lcd.drawLine(31+16+2,19 - 3,31+16+2,19 +2,SOLID,FORCE) + lcd.drawPoint(31+16+1,19 - 4,SOLID+FORCE) + lcd.drawPoint(31+16+1,19 + 3,SOLID+FORCE) + + lcd.drawRectangle(31 + 64 - 18 + 1, 19 - 5, 18, 10, FORCE, 0) + lcd.drawFilledRectangle(31 + 64 - 18, 19 - 4, 18, 8, ERASE, 0) + lcd.drawLine(31 + 64 - 18 - 1, 19 - 3,31 + 64 - 18 - 1, 19 +2,SOLID,FORCE) + lcd.drawPoint(31 + 64 - 18, 19 - 4,SOLID+FORCE) + lcd.drawPoint(31 + 64 - 18, 19 + 3,SOLID+FORCE) + + -- altitude + local alt = getMaxValue(telemetry.homeAlt,11) * unitScale -- homeAlt is meters*3.28 = feet + if math.abs(alt) < 10 then + lcd.drawNumber(31 + 64,19 - 3,alt * 10,SMLSIZE+PREC1+RIGHT) + else + lcd.drawNumber(31 + 64,19 - 3,alt,SMLSIZE+RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,14) * conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(31+2,19 - 3,speed*0.1,SMLSIZE) + else + lcd.drawNumber(31+2,19 - 3,speed,SMLSIZE+PREC1) + end + -- reference lines + lcd.drawLine(65-11-1,19,65-6-1,19 ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(65-5-1,19,65-5-1,19+3 ,SOLID,0) + lcd.drawLine(65+2-1,19,65+7-1,19 ,SOLID,0) + lcd.drawLine(65+1-1,19,65+1-1,19+3 ,SOLID,0) + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(31 + 64 - 24, 19 - 4,6,true,false) + drawLib.drawVArrow(31 + 17 + 4, 19 - 4,6,true,false) + end + -- yaw angle box + local xx = telemetry.yaw < 10 and 0 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(65 + xx - 4, 0+7, telemetry.yaw, INVERS+SMLSIZE) +end + +local function drawRightPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[13+battId] > 0) then + perc = math.min(math.max((1 - (battery[10+battId]/battery[13+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+0, 7, (battery[1+battId] + 0.5)*(battery[1+battId] < 1000 and 1 or 0.1), MIDSIZE+flags+(battery[1+battId] < 1000 and PREC2 or PREC1)) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+0+26, 7+2,6,false,true) + else + lcd.drawText(128, 6, "V", dimFlags+SMLSIZE+RIGHT) + --local xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + local s = status.battsource == "a2" and "a" or (status.battsource == "vs" and "s" or "f") + lcd.drawText(128, 12, s, SMLSIZE+RIGHT) + end + + -- battery voltage + lcd.drawText(x+32, 19, "V", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 19, battery[4+battId],SMLSIZE+PREC1+RIGHT) + -- battery current + lcd.drawText(x+32, 26, "A", SMLSIZE+RIGHT) + local mult = (battery[7+battId]*0.1 < 10) and 1 or 0.1 + lcd.drawNumber(lcd.getLastLeftPos()-1, 26, battery[7+battId]*mult,SMLSIZE+RIGHT+(mult == 1 and PREC1 or 0)) + -- battery percentage + lcd.drawNumber(x+0, 32, perc, MIDSIZE) + lcd.drawText(lcd.getLastRightPos()+1, 35, "%", SMLSIZE) + -- battery mah + lcd.drawNumber(x+0, 44, battery[10+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 44, "Ah", SMLSIZE) + -- battery cap + lcd.drawNumber(x+0, 44+7, battery[13+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 44+7, "Ah", SMLSIZE) +end + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local sensorDelayStart = getTime() + +local function drawView(drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + -- delay loading and compile of sensor conf file + if getTime() - sensorDelayStart > 20 then + if initSensors == true then + loadSensors() + initSensors = false + -- deallocate unused code + loadSensors = nil + getSensorsConfigFilename = nil + collectgarbage() + collectgarbage() + end + end + + drawCustomSensors(0,status) + + drawRightPane(128-31,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawMiniHud(drawLib,conf,telemetry,status,battery,getMaxValue) + drawLeftPane(0,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawLib.drawRArrow(25,14,6,telemetry.homeAngle - telemetry.yaw,FORCE) + + lcd.drawLine(95, 7 ,95, 56, SOLID, FORCE) + lcd.drawLine(0, 31 ,95, 31, SOLID, FORCE) + lcd.drawLine(32, 7 ,32, 31, SOLID, FORCE) + --lcd.drawLine(64, 7 ,64, 31, SOLID, FORCE) + + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(31 + 20, 22, "ARMED", SMLSIZE+INVERS) + else + lcd.drawText(31+12, 22, "DISARMED", SMLSIZE+INVERS+BLINK) + end + end + if telemetry.ekfFailsafe > 0 then + lcd.drawText(31+14, 22, "EKF FAIL", SMLSIZE+INVERS+BLINK) + end + + if telemetry.battFailsafe > 0 then + lcd.drawText(31+14, 22, "BAT FAIL", SMLSIZE+INVERS+BLINK) + end +end + + +return { + drawView=drawView, + customSensors=customSensors, + customSensorXY=customSensorXY +} diff --git a/TARANIS/SOURCES/SRC/yaapu/alt9_view.lua b/TARANIS/SOURCES/SRC/yaapu/alt9_view.lua new file mode 100644 index 00000000..230a8330 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/alt9_view.lua @@ -0,0 +1,620 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +-------------------------------- +-- Layout 212x64 taranis X9D+ +-------------------------------- + + + + + + + + + + + + + + +-------------------------- +-- CUSTOM SENSORS SUPPORT +-------------------------- + + + + + + + + +local initSensors = true + + + +local gpsLat = nil +local gpsLon = nil + +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawLeftPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawNumber(20,9, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + else + lcd.drawText(5, 8, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(2, 16, "GPS", SMLSIZE+INVERS+BLINK) + end + + if telemetry.gpsLat ~= nil then + lcd.drawText(70,8,telemetry.gpsLat,RIGHT+SMLSIZE) + lcd.drawText(70,8+8,telemetry.gpsLon,RIGHT+SMLSIZE) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+115, 8+1, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 8, dist*unitScale,RIGHT+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+73+1, 10-2,5,true,false) + else + drawLib.drawHomeIcon(x+73, 10) + end + -- total distance + lcd.drawText(115, 17, unitLongLabel, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), 17, telemetry.totalDist*unitLongScale*10, RIGHT+SMLSIZE+PREC1) + -- needs to be called often for strings created by decToDMSFull() fragment memory + collectgarbage() +end + +-- max 6 extra sensors +local customSensors = nil +-- {label,name,prec:0,1,2,unit,multiplier,mninmax,font} + +local function getSensorsConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "").."_sensors.lua") +end + +local function loadSensors() + local tmp = io.open(getSensorsConfigFilename(),"r") + if tmp == nil then + return + else + io.close(tmp) + end + local sensorScript = loadScript(getSensorsConfigFilename()) + collectgarbage() + customSensors = sensorScript() + sensorScript = nil + collectgarbage() + collectgarbage() +end + + +local customSensorXY = { + { 0, 26 }, + { 58, 26 }, + { 0, 33 }, + { 58, 33 }, + { 0, 44 }, + { 58, 44 }, +} + +local function drawCustomSensors(x,status) + if customSensors == nil then + --drawNoCustomSensors(x) + lcd.drawText(x+10,33, "NO CUSTOM SENSORS",0) + lcd.drawText(x+30,45, "DEFINED",0) + return + end + local label,data,prec,mult,flags,color,labelColor + for i=1,6 + do + -- default font attribute + color = 0 + labelColor = 0 + + if customSensors.sensors[i] ~= nil then + sensorConfig = customSensors.sensors[i] + + mult = sensorConfig[3] == 0 and 1 or ( sensorConfig[3] == 1 and 10 or 100 ) + prec = mult == 1 and 0 or (mult == 10 and 32 or 48) + + local sensorName = sensorConfig[2]..(status.showMinMaxValues == true and sensorConfig[6] or "") + local sensorValue = getValue(sensorName) + + local value = (sensorValue+(mult == 100 and 0.005 or 0))*mult*sensorConfig[5] + + -- default font size + flags = i<=2 and 0 or (sensorConfig[7] == 1 and 0 or MIDSIZE) + + -- reduce font if necessary + if math.abs(value)/mult > 9999 then + flags = 0 + end + + local voffset = (i>2 and flags==0) and 3 or 0 + local sign = sensorConfig[6] == "+" and 1 or -1 + + -- max tracking, high values are critical + if math.abs(value) ~= 0 and status.showMinMaxValues == false then + if sensorValue*sign > sensorConfig[9]*sign then + color = BLINK + labelColor = 0 + elseif sensorValue*sign > sensorConfig[8]*sign then + color = 0 + labelColor = BLINK + end + end + + if customSensors.lookups[i] ~= nil and customSensors.lookups[i][sensorValue] ~= nil then + lcd.drawText(x+customSensorXY[i][1], voffset+customSensorXY[i][2], customSensors.lookups[i][sensorValue] or value, flags+color) + else + lcd.drawNumber(x+customSensorXY[i][1], voffset+customSensorXY[i][2], value, flags+prec+color) + end + lcd.drawText(lcd.getLastRightPos()-(sensorConfig[7]==MIDSIZE and 1 or 0), customSensorXY[i][2]+(i>2 and 5 or 1),sensorConfig[4],labelColor+SMLSIZE) + collectgarbage() + collectgarbage() + end + end +end + +-- SYNTH VSPEED SUPPORT +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local function drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + -- HUD + local r = -telemetry.roll + local cx,cy,dx,dy,ccx,ccy + local yPos = 0 + 7 + 8 + ----------------------- + -- artificial horizon + ----------------------- + -- no roll ==> segments are vertical, offsets are multiples of 6 + if ( roll == 0) then + dx=0 + dy=telemetry.pitch + cx=0 + cy=6 + ccx=0 + ccy=2*6 + else + -- center line offsets + dx = math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * 6 + cy = math.sin(math.rad(90 - r)) * 6 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * 6 + ccy = math.sin(math.rad(90 - r)) * 2 * 6 + end + ----------------------- + -- dark color for "ground" + ----------------------- + local minY = 7 + local minX = 116 + 1 + local maxX = 116 + 62 - 6 + local maxY = 54 + local ox = 147 + dx + local oy = 33 + dy + local yy = 0 + local rollX = 147-1 + -- parallel lines above and below horizon line + drawLib.drawLineWithClipping(rollX + dx - ccx,dy + 33 + ccy,r,20,DOTTED,116,116 + 62,8,maxY) + drawLib.drawLineWithClipping(rollX + dx - cx,dy + 33 + cy,r,8,DOTTED,116,116 + 62,8,maxY) + drawLib.drawLineWithClipping(rollX + dx + cx,dy + 33 - cy,r,8,DOTTED,116,116 + 62,8,maxY) + drawLib.drawLineWithClipping(rollX + dx + ccx,dy + 33 - ccy,r,20,DOTTED,116,116 + 62,8,maxY) + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top draw vertical black + -- lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + + vspd = telemetry.vSpeed + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawLine(116 + 62 - 4, 7, 116 + 62 - 4, yPos + 40, SOLID, 0) + local varioMax = 10 + local varioSpeed = math.min(math.abs(0.1*vspd),10) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = 33 - 4 - varioSpeed/varioMax*22 + else + varioY = 33 + 7 + arrowY = 1 + end + lcd.drawFilledRectangle(116 + 62 - 4, varioY, 4, varioSpeed/varioMax*22, FORCE, 0) + for i=0,16 + do + lcd.drawLine(116 + 62 - 3, 9+i*3, 116 + 62, 9+i*3, SOLID, ERASE) + lcd.drawLine(116 + 62 - 2, arrowY+9+i*3, 116 + 62-2, arrowY+9+i*3, SOLID, ERASE) + end + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(116, 33 - 5, 17, 11, FORCE, 0) + lcd.drawRectangle(116 + 62 - 17 - 1, 33 - 5, 17+1, 11, FORCE, 0) + -- erase area + lcd.drawFilledRectangle(116, 33 - 4, 17, 9, ERASE, 0) + lcd.drawFilledRectangle(116 + 62 - 17 - 1, 33 - 4, 17+2, 9, ERASE, 0) + -- erase tips + lcd.drawLine(116 + 17,33 - 3,116 + 17,33 + 3, SOLID, ERASE) + lcd.drawLine(116 + 17+1,33 - 2,116 + 17+1,33 + 2, SOLID, ERASE) + lcd.drawLine(116 + 62 - 17 - 2,33 - 3,116 + 62 - 17 - 2,33 + 3, SOLID, ERASE) + lcd.drawLine(116 + 62 - 17 - 3,33 - 2,116 + 62 - 17 - 3,33 + 2, SOLID, ERASE) + -- left tip + lcd.drawLine(116 + 17+2,33 - 2,116 + 17+2,33 + 2, SOLID, FORCE) + lcd.drawLine(116 + 17-1,33 - 5,116 + 17+1,33 - 3, SOLID, FORCE) + lcd.drawLine(116 + 17-1,33 + 5,116 + 17+1,33 + 3, SOLID, FORCE) + -- right tip + lcd.drawLine(116 + 62 - 17 - 4,33 - 2,116 + 62 - 17 - 4,33 + 2, SOLID, FORCE) + lcd.drawLine(116 + 62 - 17 - 3,33 - 3,116 + 62 - 17 - 1,33 - 5, SOLID, FORCE) + lcd.drawLine(116 + 62 - 17 - 3,33 + 3,116 + 62 - 17 - 1,33 + 5, SOLID, FORCE) + -- altitude + local alt = getMaxValue(telemetry.homeAlt,11) * unitScale -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(116 + 62,33 - 3,alt * 10,SMLSIZE+PREC1+RIGHT) + else + lcd.drawNumber(116 + 62,33 - 3,alt,SMLSIZE+RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,14) * conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(116+1,33 - 3,speed*0.1,SMLSIZE) + else + lcd.drawNumber(116+1,33 - 3,speed,SMLSIZE+PREC1) + end + -- reference lines + lcd.drawLine(147-9-1,33,147-4-1,33 ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(147-3-1,33,147-3-1,33+3 ,SOLID,0) + lcd.drawLine(147+4-1,33,147+9-1,33 ,SOLID,0) + lcd.drawLine(147+3-1,33,147+3-1,33+3 ,SOLID,0) + -- vspeed box (dm/s) + local xx = math.abs(vspd*conf.vertSpeedMultiplier) > 9999 and 4 or 3 + xx = xx + (vspd*conf.vertSpeedMultiplier < 0 and 1 or 0) + lcd.drawFilledRectangle(147 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, ERASE) + if math.abs(vspd*conf.vertSpeedMultiplier) > 99 then -- + lcd.drawNumber(147 + (xx/2)*5, LCD_H - 15, vspd*0.1*conf.vertSpeedMultiplier, SMLSIZE+RIGHT) + else + lcd.drawNumber(147 + (xx/2)*5, LCD_H - 15, vspd*conf.vertSpeedMultiplier, SMLSIZE+RIGHT+PREC1) + end + lcd.drawRectangle(147 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, FORCE) + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(116 + 62 - 24, 33 - 4,6,true,false) + drawLib.drawVArrow(116 + 17 + 4, 33 - 4,6,true,false) + end + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(116 + 62/2 - 15, 20, " ARMED ", SMLSIZE+INVERS) + else + lcd.drawText(116 + 62/2 - 21, 20, " DISARMED ", SMLSIZE+INVERS+BLINK) + end + end + -- yaw angle box + xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(147 + xx - 6, 0+7-1, telemetry.yaw, MIDSIZE+INVERS) +end + + +local function drawRightPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[13+battId] > 0) then + perc = math.min(math.max((1 - (battery[10+battId]/battery[13+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+0, 7, (battery[1+battId] + 0.5)*(battery[1+battId] < 1000 and 1 or 0.1), MIDSIZE+flags+(battery[1+battId] < 1000 and PREC2 or PREC1)) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+0+26, 7+2,6,false,true) + else + lcd.drawText(212, 6, "V", dimFlags+SMLSIZE+RIGHT) + --local xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + local s = status.battsource == "a2" and "a" or (status.battsource == "vs" and "s" or "f") + lcd.drawText(212, 12, s, SMLSIZE+RIGHT) + end + + -- battery voltage + lcd.drawText(x+33, 19, "V", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 19, battery[4+battId],SMLSIZE+PREC1+RIGHT) + -- battery current + lcd.drawText(x+33, 26, "A", SMLSIZE+RIGHT) + local mult = (battery[7+battId]*0.1 < 10) and 1 or 0.1 + lcd.drawNumber(lcd.getLastLeftPos()-1, 26, battery[7+battId]*mult,SMLSIZE+RIGHT+(mult == 1 and PREC1 or 0)) + -- battery percentage + lcd.drawNumber(x+0, 31, perc, MIDSIZE) + lcd.drawText(lcd.getLastRightPos()+1, 35, "%", SMLSIZE) + -- battery mah + lcd.drawNumber(x+0, 43, battery[10+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 43, "Ah", SMLSIZE) + -- battery cap + lcd.drawNumber(x+0, 43+7, battery[13+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 43+7, "Ah", SMLSIZE) +end + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local sensorDelayStart = getTime() + +local function drawView(drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + -- delay loading and compile of sensor conf file + if getTime() - sensorDelayStart > 20 then + if initSensors == true then + loadSensors() + initSensors = false + -- deallocate unused code + loadSensors = nil + getSensorsConfigFilename = nil + collectgarbage() + collectgarbage() + end + end + + drawCustomSensors(0,status) + + drawLib.drawRArrow(165,48,7,telemetry.homeAngle - telemetry.yaw,1) + drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + + drawRightPane(212-32,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + drawLeftPane(0,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + + lcd.drawLine(0,24 ,116-1, 24, SOLID, FORCE) + lcd.drawLine(20, 7 , 20, 23, SOLID, FORCE) + lcd.drawLine(70, 7 ,70, 23, SOLID, FORCE) + lcd.drawLine(116 - 1, 7 ,116 - 1, 57, SOLID, FORCE) + lcd.drawLine(116 + 62, 7, 116 + 62, 57, SOLID, FORCE) + + if telemetry.ekfFailsafe > 0 then + lcd.drawText(116 + 62/2 - 31, 20, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) + end + if telemetry.battFailsafe > 0 then + lcd.drawText(116 + 62/2 - 33, 20, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) + end +end + + + +return { + drawView=drawView, + customSensors=customSensors, + customSensorXY=customSensorXY +} diff --git a/TARANIS/SOURCES/SRC/yaapu/copter.lua b/TARANIS/SOURCES/SRC/yaapu/copter.lua new file mode 100644 index 00000000..cf18a422 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/copter.lua @@ -0,0 +1,58 @@ + --[[ + // Auto Pilot Modes enumeration + enum control_mode_t { + STABILIZE = 0, // manual airframe angle with manual throttle + ACRO = 1, // manual body-frame angular rate with manual throttle + ALT_HOLD = 2, // manual airframe angle with automatic throttle + AUTO = 3, // fully automatic waypoint control using mission commands + GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands + LOITER = 5, // automatic horizontal acceleration with automatic throttle + RTL = 6, // automatic return to launching point + CIRCLE = 7, // automatic circular flight with automatic throttle + LAND = 9, // automatic landing with horizontal position control + DRIFT = 11, // semi-automous position, yaw and throttle control + SPORT = 13, // manual earth-frame angular rate control with manual throttle + FLIP = 14, // automatically flip the vehicle on the roll axis + AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains + POSHOLD = 16, // automatic position hold with manual override, with automatic throttle + BRAKE = 17, // full-brake using inertial/GPS system, no pilot input + THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input + AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft + GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude + SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps + FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder + FOLLOW = 23, // follow attempts to follow another vehicle or ground station + ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B + }; + --]] local flightModes = {} + + -- copter flight modes + flightModes[0]="" + flightModes[1]="Stabilize" + flightModes[2]="Acro" + flightModes[3]="AltHold" + flightModes[4]="Auto" + flightModes[5]="Guided" + flightModes[6]="Loiter" + flightModes[7]="RTL" + flightModes[8]="Circle" + flightModes[9]="" + flightModes[10]="Land" + flightModes[11]="" + flightModes[12]="Drift" + flightModes[13]="" + flightModes[14]="Sport" + flightModes[15]="Flip" + flightModes[16]="AutoTune" + flightModes[17]="PosHold" + flightModes[18]="Brake" + flightModes[19]="Throw" + flightModes[20]="AvoidADSB" + flightModes[21]="GuidedNOGPS" + flightModes[22]="SmartRTL" + flightModes[23]="FlowHold" + flightModes[24]="Follow" + flightModes[25]="ZigZag" + flightModes[26]="Initializing" + +return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/SRC/yaapu/copter_px4.lua b/TARANIS/SOURCES/SRC/yaapu/copter_px4.lua new file mode 100644 index 00000000..d143e236 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/copter_px4.lua @@ -0,0 +1,29 @@ +local flightModes = {} +-- plane flight modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="AltCtl" --px4 specific +flightModes[3]="PosCtl" --px4 specific +flightModes[4]="Ready" --px4 specific +flightModes[5]="Takeoff" --px4 specific +flightModes[6]="Loiter" +flightModes[7]="Mission" --px4 specific +flightModes[8]="RTL" +flightModes[9]="Land" +flightModes[10]="RTGS" --px4 specific +flightModes[11]="Follow" +flightModes[12]="PrecLand" --px4 specific +flightModes[13]="" +flightModes[14]="Acro" +flightModes[15]="OffBoard" --px4 specific +flightModes[16]="Stabilize" +flightModes[17]="RAttitude" --px4 specific +flightModes[18]="Simple" --px4 specific +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +flightModes[23]="" +-- +return {flightModes=flightModes} + diff --git a/TARANIS/SOURCES/SRC/yaapu/draw7.lua b/TARANIS/SOURCES/SRC/yaapu/draw7.lua new file mode 100644 index 00000000..4d215590 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/draw7.lua @@ -0,0 +1,377 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +local function drawHArrow(x,y,width,left,right) + lcd.drawLine(x, y, x + width,y, SOLID, 0) + if left == true then + lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) + lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) + end + if right == true then + lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) + lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) + end +end + +local function drawVArrow(x,y,h,top,bottom) + lcd.drawLine(x,y,x,y + h, SOLID, 0) + if top == true then + lcd.drawPoint(x - 1,y + 1) + lcd.drawPoint(x + 1,y + 1) + end + if bottom == true then + lcd.drawPoint(x - 1,y + h - 1) + lcd.drawPoint(x + 1,y + h - 1) + end +end + + +local function drawHomeIcon(x,y) + lcd.drawRectangle(x,y,3,4,SOLID) + lcd.drawFilledRectangle(x,y,3,4,SOLID) + lcd.drawPoint(x-1,y+1,FORCE) + lcd.drawPoint(x+3,y+1,FORCE) + lcd.drawPoint(x+1,y-1,FORCE) +end + + +local function computeOutCode(x,y,xmin,ymin,xmax,ymax) + local code = 0; --initialised as being inside of hud + -- + if x < xmin then --to the left of hud + code = bit32.bor(code,1); + elseif x > xmax then --to the right of hud + code = bit32.bor(code,2); + end + if y < ymin then --below the hud + code = bit32.bor(code,4); + elseif y > ymax then --above the hud + code = bit32.bor(code,8); + end + -- + return code; +end +-- Cohen–Sutherland clipping algorithm +-- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm +local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) + -- + local xx = math.cos(math.rad(angle)) * len * 0.5 + local yy = math.sin(math.rad(angle)) * len * 0.5 + -- + local x0 = ox - xx + local x1 = ox + xx + local y0 = oy - yy + local y1 = oy + yy + -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle + local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); + local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); + local accept = false; + while (true) do + if ( bit32.bor(outcode0,outcode1) == 0) then + -- bitwise OR is 0: both points inside window; trivially accept and exit loop + accept = true; + break; + elseif (bit32.band(outcode0,outcode1) ~= 0) then + -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) + -- both must be outside window; exit loop (accept is false) + break; + else + -- failed both tests, so calculate the line segment to clip + -- from an outside point to an intersection with clip edge + local x = 0 + local y = 0 + -- At least one endpoint is outside the clip rectangle; pick it. + local outcodeOut = outcode0 ~= 0 and outcode0 or outcode1 + -- No need to worry about divide-by-zero because, in each case, the + -- outcode bit being tested guarantees the denominator is non-zero + if bit32.band(outcodeOut,8) ~= 0 then --point is above the clip window + x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) + y = ymax + elseif bit32.band(outcodeOut,4) ~= 0 then --point is below the clip window + x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) + y = ymin + elseif bit32.band(outcodeOut,2) ~= 0 then --point is to the right of clip window + y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) + x = xmax + elseif bit32.band(outcodeOut,1) ~= 0 then --point is to the left of clip window + y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) + x = xmin + end + -- Now we move outside point to intersection point to clip + -- and get ready for next pass. + if outcodeOut == outcode0 then + x0 = x + y0 = y + outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) + else + x1 = x + y1 = y + outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) + end + end + end + if accept then + lcd.drawLine(x0,y0,x1,y1, style,0) + end +end + +local function drawBottomBar(msg,lastMsgTime) + lcd.drawText(0,57+1,msg,SMLSIZE+INVERS) +end + + +local function drawGrid() + lcd.drawLine(32 - 1, 7 ,32 - 1, 57, SOLID, FORCE) + lcd.drawLine(32 + 64, 7, 32 + 64, 55, SOLID, FORCE) +end + +local function drawTopBar(strMode,simpleMode,flightTime,telemetryEnabled) + -- flight mode + -- simplemode + if strMode ~= nil then + lcd.drawText(1, 0, strMode, SMLSIZE+INVERS) + if ( simpleMode > 0) then + local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" + lcd.drawText(lcd.getLastRightPos(), 0, strSimpleMode, SMLSIZE+INVERS) + end + end + lcd.drawTimer(98, 0, flightTime, SMLSIZE+INVERS) + -- RSSI + if (not telemetryEnabled()) then + lcd.drawText(70-24, 0, "no telem!", SMLSIZE+BLINK+INVERS) + else + lcd.drawText(70, 0, "RS:", SMLSIZE+INVERS ) + lcd.drawText(lcd.getLastRightPos(), 0, getRSSI(), SMLSIZE+INVERS ) + end +end + +local function drawFailSafe(showDualBattery,ekfFailsafe,battFailsafe) + local xoffset = 0 + local yoffset = 0 + if ekfFailsafe > 0 then + lcd.drawText(xoffset + 32 + 64/2 - 31, 20 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) + end + if battFailsafe > 0 then + lcd.drawText(xoffset + 32 + 64/2 - 31, 20 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) + end +end + +local function drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + -- no telemetry data + if (not telemetryEnabled() and not hideNoTelemetry) then + lcd.drawFilledRectangle(12,18, 105, 30, SOLID) + lcd.drawRectangle(12,18, 105, 30, ERASE) + lcd.drawText(30, 29, "no telemetry", INVERS) + return + end +end + +local function drawRArrow(x,y,rad,angle,flags) + local x1 = x + rad * math.cos(math.rad(angle - 90)) + local y1 = y + rad * math.sin(math.rad(angle - 90)) + local x2 = x + (rad-1) * math.cos(math.rad(angle - 90 + 140)) + local y2 = y + (rad-1) * math.sin(math.rad(angle - 90 + 140)) + local x3 = x + (rad-1) * math.cos(math.rad(angle - 90 - 140)) + local y3 = y + (rad-1) * math.sin(math.rad(angle - 90 - 140)) + local x4 = x + (rad-1) * 0.5 * math.cos(math.rad(angle - 270)) + local y4 = y + (rad-1) * 0.5 *math.sin(math.rad(angle - 270)) + -- + lcd.drawLine(x1,y1,x2,y2,SOLID,flags) + lcd.drawLine(x1,y1,x3,y3,SOLID,flags) + lcd.drawLine(x2,y2,x4,y4,SOLID,flags) + lcd.drawLine(x3,y3,x4,y4,SOLID,flags) + lcd.drawPoint(x1,y1,SOLID+flags) +end + +return { + drawFailSafe=drawFailSafe, + drawTopBar=drawTopBar, + drawHArrow=drawHArrow, + drawVArrow=drawVArrow, + drawRArrow=drawRArrow, + drawGrid=drawGrid, + drawBottomBar=drawBottomBar, + drawHomeIcon=drawHomeIcon, + drawLineWithClipping=drawLineWithClipping, + drawNoTelemetry=drawNoTelemetry + } diff --git a/TARANIS/SOURCES/SRC/yaapu/draw9.lua b/TARANIS/SOURCES/SRC/yaapu/draw9.lua new file mode 100644 index 00000000..7f45a872 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/draw9.lua @@ -0,0 +1,380 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +local function drawHArrow(x,y,width,left,right) + lcd.drawLine(x, y, x + width,y, SOLID, 0) + if left == true then + lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) + lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) + end + if right == true then + lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) + lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) + end +end + +local function drawVArrow(x,y,h,top,bottom) + lcd.drawLine(x,y,x,y + h, SOLID, 0) + if top == true then + lcd.drawLine(x - 1,y + 1,x - 2,y + 2, SOLID, 0) + lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) + end + if bottom == true then + lcd.drawLine(x - 1,y + h - 1,x - 2,y + h - 2, SOLID, 0) + lcd.drawLine(x + 1,y + h - 1,x + 2,y + h - 2, SOLID, 0) + end +end + + +local function drawHomeIcon(x,y) + lcd.drawRectangle(x,y,5,5,SOLID) + lcd.drawLine(x+2,y+3,x+2,y+4,SOLID,FORCE) + lcd.drawPoint(x+2,y-1,FORCE) + lcd.drawLine(x,y+1,x+5,y+1,SOLID,FORCE) + lcd.drawLine(x-1,y+1,x+2,y-2,SOLID, FORCE) + lcd.drawLine(x+5,y+1,x+3,y-1,SOLID, FORCE) +end + + +local function computeOutCode(x,y,xmin,ymin,xmax,ymax) + local code = 0; --initialised as being inside of hud + -- + if x < xmin then --to the left of hud + code = bit32.bor(code,1); + elseif x > xmax then --to the right of hud + code = bit32.bor(code,2); + end + if y < ymin then --below the hud + code = bit32.bor(code,4); + elseif y > ymax then --above the hud + code = bit32.bor(code,8); + end + -- + return code; +end +-- Cohen–Sutherland clipping algorithm +-- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm +local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) + -- + local xx = math.cos(math.rad(angle)) * len * 0.5 + local yy = math.sin(math.rad(angle)) * len * 0.5 + -- + local x0 = ox - xx + local x1 = ox + xx + local y0 = oy - yy + local y1 = oy + yy + -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle + local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); + local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); + local accept = false; + while (true) do + if ( bit32.bor(outcode0,outcode1) == 0) then + -- bitwise OR is 0: both points inside window; trivially accept and exit loop + accept = true; + break; + elseif (bit32.band(outcode0,outcode1) ~= 0) then + -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) + -- both must be outside window; exit loop (accept is false) + break; + else + -- failed both tests, so calculate the line segment to clip + -- from an outside point to an intersection with clip edge + local x = 0 + local y = 0 + -- At least one endpoint is outside the clip rectangle; pick it. + local outcodeOut = outcode0 ~= 0 and outcode0 or outcode1 + -- No need to worry about divide-by-zero because, in each case, the + -- outcode bit being tested guarantees the denominator is non-zero + if bit32.band(outcodeOut,8) ~= 0 then --point is above the clip window + x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) + y = ymax + elseif bit32.band(outcodeOut,4) ~= 0 then --point is below the clip window + x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) + y = ymin + elseif bit32.band(outcodeOut,2) ~= 0 then --point is to the right of clip window + y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) + x = xmax + elseif bit32.band(outcodeOut,1) ~= 0 then --point is to the left of clip window + y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) + x = xmin + end + -- Now we move outside point to intersection point to clip + -- and get ready for next pass. + if outcodeOut == outcode0 then + x0 = x + y0 = y + outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) + else + x1 = x + y1 = y + outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) + end + end + end + if accept then + lcd.drawLine(x0,y0,x1,y1, style,0) + end +end + +local function drawBottomBar(msg,lastMsgTime) + lcd.drawText(0,56+1,msg,SMLSIZE+INVERS) +end + + +local function drawGrid() + lcd.drawLine(62 - 1, 7 ,62 - 1, 57, SOLID, FORCE) + lcd.drawLine(62 + 88, 7, 62 + 88, 55, SOLID, FORCE) +end + +local function drawTopBar(strMode,simpleMode,flightTime,telemetryEnabled) + -- flight mode + -- simplemode + if strMode ~= nil then + lcd.drawText(1, 0, strMode, SMLSIZE+INVERS) + if ( simpleMode > 0) then + local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" + lcd.drawText(lcd.getLastRightPos(), 0, strSimpleMode, SMLSIZE+INVERS) + end + end + lcd.drawTimer(212-1, 0, flightTime, SMLSIZE+INVERS+TIMEHOUR+RIGHT) + -- RSSI + if (not telemetryEnabled()) then + lcd.drawText(69, 0, "no telem!", SMLSIZE+BLINK+INVERS) + else + lcd.drawText(69, 0, "RS:", SMLSIZE+INVERS ) + lcd.drawText(lcd.getLastRightPos(), 0, getRSSI(), SMLSIZE+INVERS ) + end + -- tx voltage + local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) + lcd.drawText(115, 0, vTx, SMLSIZE+INVERS) +end + +local function drawFailSafe(showDualBattery,ekfFailsafe,battFailsafe) + local xoffset = 0 + local yoffset = 0 + if ekfFailsafe > 0 then + lcd.drawText(xoffset + 62 + 88/2 - 31, 20 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) + end + if battFailsafe > 0 then + lcd.drawText(xoffset + 62 + 88/2 - 31, 20 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) + end +end + +local function drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + -- no telemetry data + if (not telemetryEnabled() and not hideNoTelemetry) then + lcd.drawFilledRectangle((212-130)/2,18, 130, 30, SOLID) + lcd.drawRectangle((212-130)/2,18, 130, 30, ERASE) + lcd.drawText(60, 29, "no telemetry data", INVERS) + return + end +end + +local function drawRArrow(x,y,rad,angle,flags) + local x1 = x + rad * math.cos(math.rad(angle - 90)) + local y1 = y + rad * math.sin(math.rad(angle - 90)) + local x2 = x + (rad-1) * math.cos(math.rad(angle - 90 + 140)) + local y2 = y + (rad-1) * math.sin(math.rad(angle - 90 + 140)) + local x3 = x + (rad-1) * math.cos(math.rad(angle - 90 - 140)) + local y3 = y + (rad-1) * math.sin(math.rad(angle - 90 - 140)) + local x4 = x + (rad-1) * 0.5 * math.cos(math.rad(angle - 270)) + local y4 = y + (rad-1) * 0.5 *math.sin(math.rad(angle - 270)) + -- + lcd.drawLine(x1,y1,x2,y2,SOLID,flags) + lcd.drawLine(x1,y1,x3,y3,SOLID,flags) + lcd.drawLine(x2,y2,x4,y4,SOLID,flags) + lcd.drawLine(x3,y3,x4,y4,SOLID,flags) + lcd.drawPoint(x1,y1,SOLID+flags) +end + +return { + drawFailSafe=drawFailSafe, + drawTopBar=drawTopBar, + drawHArrow=drawHArrow, + drawVArrow=drawVArrow, + drawRArrow=drawRArrow, + drawGrid=drawGrid, + drawBottomBar=drawBottomBar, + drawHomeIcon=drawHomeIcon, + drawLineWithClipping=drawLineWithClipping, + drawNoTelemetry=drawNoTelemetry + } diff --git a/TARANIS/SOURCES/SRC/yaapu/hud7.lua b/TARANIS/SOURCES/SRC/yaapu/hud7.lua new file mode 100644 index 00000000..69e9975c --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/hud7.lua @@ -0,0 +1,425 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +-- SYNTH VSPEED SUPPORT +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local yawRibbonPoints = {} + +yawRibbonPoints[0]="N" +yawRibbonPoints[1]="" +yawRibbonPoints[2]="NE" +yawRibbonPoints[3]="" +yawRibbonPoints[4]="E" +yawRibbonPoints[5]="" +yawRibbonPoints[6]="SE" +yawRibbonPoints[7]="" +yawRibbonPoints[8]="S" +yawRibbonPoints[9]="" +yawRibbonPoints[10]="SW" +yawRibbonPoints[11]="" +yawRibbonPoints[12]="W" +yawRibbonPoints[13]="" +yawRibbonPoints[14]="NW" +yawRibbonPoints[15]="" + +local function drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + -- compass ribbon centered +/- 90 on yaw + local centerYaw = (telemetry.yaw+270+3)%360 -- +3 to center the ribbon on screen + -- this is the first point left to be drawn on the compass ribbon + local nextPoint = math.floor(centerYaw/22.5) * 22.5 + -- x coord of first ribbon letter + local nextPointX = 2 + 34 + (nextPoint - centerYaw)/22.5 * 6.2 + + local i = (nextPoint / 22.5) % 16 + for idx=1,12 + do + local letterOffset = 0 + local lineOffset = 2 + if #yawRibbonPoints[i] > 1 then + letterOffset = -2 + lineOffset = 3 + end + if nextPointX >= 34 -3 and nextPointX < 26+64 then + if #yawRibbonPoints[i] == 0 then + lcd.drawLine(nextPointX + lineOffset, 0+7, nextPointX + lineOffset, 0+7 + 2, SOLID, 0) + else + lcd.drawText(nextPointX + letterOffset,0+7+1 ,yawRibbonPoints[i],SMLSIZE) + end + end + i = (i + 1) % 16 + nextPointX = nextPointX + 6.2 + end + -- home icon + local homeOffset = 0 --64-5-14 + local angle = telemetry.homeAngle - telemetry.yaw + if angle < 0 then + angle = 360 + angle + end + if angle > 270 or angle < 90 then + homeOffset = ((angle + 90) % 180)/180 * (64-5-12) + elseif angle >= 90 and angle <= 180 then + homeOffset = 64-5-10--0 + end + drawLib.drawHomeIcon(34 + homeOffset,0+7 + 12) + -- clean right and left + lcd.drawFilledRectangle(32-2, 0+7, 5, 10, ERASE, 0) + lcd.drawFilledRectangle(32+64-7, 0+7, 8, 10, ERASE, 0) + -- HUD + local r = -telemetry.roll + local cx,cy,dx,dy,ccx,ccy + local yPos = 0 + 7 + 8 + ----------------------- + -- artificial horizon + ----------------------- + -- no roll ==> segments are vertical, offsets are multiples of 6 + if ( telemetry.roll == 0) then + dx=0 + dy=telemetry.pitch + cx=0 + cy=6 + ccx=0 + ccy=2*6 + else + -- center line offsets + dx = math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * 6 + cy = math.sin(math.rad(90 - r)) * 6 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * 6 + ccy = math.sin(math.rad(90 - r)) * 2 * 6 + end + local rollX = 128/2 - 1 - 2 + -- parallel lines above and below horizon line + drawLib.drawLineWithClipping(rollX + dx - ccx,dy + 33 + ccy,r,20,DOTTED,32,32 + 64,8,57 - 1) + drawLib.drawLineWithClipping(rollX + dx - cx,dy + 33 + cy,r,8,DOTTED,32,32 + 64,8,57 - 1) + drawLib.drawLineWithClipping(rollX + dx + cx,dy + 33 - cy,r,8,DOTTED,32,32 + 64,8,57 - 1) + drawLib.drawLineWithClipping(rollX + dx + ccx,dy + 33 - ccy,r,20,DOTTED,32,32 + 64,8,57 - 1) + ----------------------- + -- dark color for "ground" + ----------------------- + local minY = 8 + local minX = 32 + 1 + -- vario width is 6 + local maxX = 32 + 64 - 8 + local maxY = 55 + local ox = 64 + dx - 2 + local oy = 33 + dy + local yy = 0 + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top draw vertical black + -- lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + vspd = telemetry.vSpeed + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawLine(32 + 64 - 6, 7, 32 + 64 - 6, yPos + 40, SOLID, 0) + + local varioMax = 10 + local varioSpeed = math.min(math.abs(0.1*vspd),10) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = 33 - 4 - varioSpeed/varioMax*22 + else + varioY = 33 + 6 + arrowY = 1 + end + lcd.drawFilledRectangle(32 + 64 - 6, varioY, 6, varioSpeed/varioMax*22, FORCE, 0) + for i=0,16 + do + lcd.drawLine(32 + 64 - 4, 9+i*3, 32 + 64-2, 9+i*3, SOLID, ERASE) + lcd.drawLine(32 + 64 - 3, arrowY+9+i*3, 32 + 64-3, arrowY+9+i*3, SOLID, ERASE) + end + -- hashmarks + local offset = 0 + for i=0,5 + do + -- left hashmarks + offset = 48 - ((telemetry.hSpeed - i*8) % 46)/46 * 46 + lcd.drawLine(32+1, 0+7 + offset, 32 + 2, 0+7 + offset, SOLID, 0) + -- right hashmarks + offset = 48 - ((telemetry.homeAlt - i*8) % 46)/46 * 46 + lcd.drawLine(32 + 64 - 9, 0+7 + offset, 32 + 64 - 8, 0+7 + offset, SOLID, 0) + end + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(32, 33 - 5, 17, 11, FORCE, 0) + lcd.drawRectangle(32 + 64 - 17 - 1, 33 - 5, 17+1, 11, FORCE, 0) + -- erase area + lcd.drawFilledRectangle(32, 33 - 4, 17, 9, ERASE, 0) + lcd.drawFilledRectangle(32 + 64 - 17 - 1, 33 - 4, 17+2, 9, ERASE, 0) + -- erase tips + lcd.drawLine(32 + 17,33 - 3,32 + 17,33 + 3, SOLID, ERASE) + lcd.drawLine(32 + 17+1,33 - 2,32 + 17+1,33 + 2, SOLID, ERASE) + lcd.drawLine(32 + 64 - 17 - 2,33 - 3,32 + 64 - 17 - 2,33 + 3, SOLID, ERASE) + lcd.drawLine(32 + 64 - 17 - 3,33 - 2,32 + 64 - 17 - 3,33 + 2, SOLID, ERASE) + -- left tip + lcd.drawLine(32 + 17+2,33 - 2,32 + 17+2,33 + 2, SOLID, FORCE) + lcd.drawLine(32 + 17-1,33 - 5,32 + 17+1,33 - 3, SOLID, FORCE) + lcd.drawLine(32 + 17-1,33 + 5,32 + 17+1,33 + 3, SOLID, FORCE) + -- right tip + lcd.drawLine(32 + 64 - 17 - 4,33 - 2,32 + 64 - 17 - 4,33 + 2, SOLID, FORCE) + lcd.drawLine(32 + 64 - 17 - 3,33 - 3,32 + 64 - 17 - 1,33 - 5, SOLID, FORCE) + lcd.drawLine(32 + 64 - 17 - 3,33 + 3,32 + 64 - 17 - 1,33 + 5, SOLID, FORCE) + -- altitude + local alt = getMaxValue(telemetry.homeAlt,11) * unitScale -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(32 + 64,33 - 3,alt * 10,PREC1+RIGHT) + else + lcd.drawNumber(32 + 64,33 - 3,alt,RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,14) * conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(32+1,33 - 3,speed*0.1,0) + else + lcd.drawNumber(32+1,33 - 3,speed,PREC1) + end + + lcd.drawLine(128/2-9-3,33,128/2-4-3,33 ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(128/2-3-3,33,128/2-3-3,33+3 ,SOLID,0) + + lcd.drawLine(128/2+4-3,33,128/2+9-3,33 ,SOLID,0) + lcd.drawLine(128/2+3-3,33,128/2+3-3,33+3 ,SOLID,0) + -- vspeed box (dm/s) + local xx = math.abs(vspd*conf.vertSpeedMultiplier) > 9999 and 4 or 3 + xx = xx + (vspd*conf.vertSpeedMultiplier < 0 and 1 or 0) + + lcd.drawFilledRectangle((128)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, ERASE) + + if math.abs(vspd*conf.vertSpeedMultiplier) > 99 then -- + lcd.drawNumber((128)/2 + (xx/2)*5, LCD_H - 15, vspd*0.1*conf.vertSpeedMultiplier, SMLSIZE+RIGHT) + else + lcd.drawNumber((128)/2 + (xx/2)*5, LCD_H - 15, vspd*conf.vertSpeedMultiplier, SMLSIZE+RIGHT+PREC1) + end + lcd.drawRectangle((128)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, FORCE+SOLID) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(32 + 17 + 4, 33 - 4,6,true,false) + end + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(32 + 64 - 24, 33 - 4,6,true,false) + end + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(32 + 64/2 - 15, 20, " ARMED ", SMLSIZE+INVERS) + else + lcd.drawText(32 + 64/2 - 21, 20, " DISARMED ", SMLSIZE+INVERS+BLINK) + end + end + -- yaw angle box + xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(128/2 + xx - 8, 0+7-1, telemetry.yaw, MIDSIZE+INVERS) +end + + +return { + drawHud=drawHud, + yawRibbonPoints=yawRibbonPoints +} diff --git a/TARANIS/SOURCES/SRC/yaapu/hud9.lua b/TARANIS/SOURCES/SRC/yaapu/hud9.lua new file mode 100644 index 00000000..aadcefcc --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/hud9.lua @@ -0,0 +1,424 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +-- SYNTH VSPEED SUPPORT +local vspd = 0 +local synthVSpeedTime = 0 +local prevHomeAlt = 0 + +local yawRibbonPoints = {} + +yawRibbonPoints[0]="N" +yawRibbonPoints[1]="" +yawRibbonPoints[2]="NE" +yawRibbonPoints[3]="" +yawRibbonPoints[4]="E" +yawRibbonPoints[5]="" +yawRibbonPoints[6]="SE" +yawRibbonPoints[7]="" +yawRibbonPoints[8]="S" +yawRibbonPoints[9]="" +yawRibbonPoints[10]="SW" +yawRibbonPoints[11]="" +yawRibbonPoints[12]="W" +yawRibbonPoints[13]="" +yawRibbonPoints[14]="NW" +yawRibbonPoints[15]="" + +local function drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + -- compass ribbon centered +/- 90 on yaw + local centerYaw = (telemetry.yaw+270)%360 + -- this is the first point left to be drawn on the compass ribbon + local nextPoint = math.floor(centerYaw/22.5) * 22.5 + -- x coord of first ribbon letter + local nextPointX = 2 + (212-88)/2 + 6 + (nextPoint - centerYaw)/22.5 * 8 + + local i = (nextPoint / 22.5) % 16 + for idx=1,12 + do + local letterOffset = 0 + local lineOffset = 2 + if #yawRibbonPoints[i] > 1 then + letterOffset = -2 + lineOffset = 3 + end + if nextPointX >= (212-88)/2 + 6 -3 and nextPointX < (212+88)/2 - 8 then + if #yawRibbonPoints[i] == 0 then + lcd.drawLine(nextPointX + lineOffset, 0+7, nextPointX + lineOffset, 0+7 + 2, SOLID, 0) + else + lcd.drawText(nextPointX + letterOffset,0+7+1 ,yawRibbonPoints[i],SMLSIZE) + end + end + i = (i + 1) % 16 + nextPointX = nextPointX + 8 + end + -- home icon + local homeOffset = 0 --88-7-14 + local angle = telemetry.homeAngle - telemetry.yaw + if angle < 0 then + angle = 360 + angle + end + if angle > 270 or angle < 90 then + homeOffset = ((angle + 90) % 180)/180 * (88-7-12) + elseif angle >= 90 and angle <= 180 then + homeOffset = 88-7-10--0 + end + drawLib.drawHomeIcon((212-88)/2 + 6 + homeOffset,0+7 + 12) + -- clean right and left + lcd.drawFilledRectangle(62-2, 0+7, 5, 10, ERASE, 0) + lcd.drawFilledRectangle(62+88-7, 0+7, 8, 10, ERASE, 0) + -- HUD + local r = -telemetry.roll + local cx,cy,dx,dy,ccx,ccy + local yPos = 0 + 7 + 8 + ----------------------- + -- artificial horizon + ----------------------- + -- no roll ==> segments are vertical, offsets are multiples of 6 + if ( telemetry.roll == 0) then + dx=0 + dy=telemetry.pitch + cx=0 + cy=6 + ccx=0 + ccy=2*6 + else + -- center line offsets + dx = math.cos(math.rad(90 - r)) * -telemetry.pitch + dy = math.sin(math.rad(90 - r)) * telemetry.pitch + -- 1st line offsets + cx = math.cos(math.rad(90 - r)) * 6 + cy = math.sin(math.rad(90 - r)) * 6 + -- 2nd line offsets + ccx = math.cos(math.rad(90 - r)) * 2 * 6 + ccy = math.sin(math.rad(90 - r)) * 2 * 6 + end + local rollX = 212/2 - 1 - 2 + -- parallel lines above and below horizon line + drawLib.drawLineWithClipping(rollX + dx - ccx,dy + 33 + ccy,r,20,DOTTED,62,62 + 88,8,56 - 1) + drawLib.drawLineWithClipping(rollX + dx - cx,dy + 33 + cy,r,8,DOTTED,62,62 + 88,8,56 - 1) + drawLib.drawLineWithClipping(rollX + dx + cx,dy + 33 - cy,r,8,DOTTED,62,62 + 88,8,56 - 1) + drawLib.drawLineWithClipping(rollX + dx + ccx,dy + 33 - ccy,r,20,DOTTED,62,62 + 88,8,56 - 1) + ----------------------- + -- dark color for "ground" + ----------------------- + local minY = 8 + local minX = 62 + 1 + -- vario width is 6 + local maxX = 62 + 88 - 8 + local maxY = 54 + local ox = 106 + dx - 2 + local oy = 33 + dy + local yy = 0 + -- angle of the line passing on point(ox,oy) + local angle = math.tan(math.rad(-telemetry.roll)) + -- for each pixel of the hud base/top draw vertical black + -- lines from hud border to horizon line + -- horizon line moves with pitch/roll + for xx= minX,maxX + do + yy = (oy - ox*angle) + math.floor(xx*angle) + if telemetry.roll > 90 or telemetry.roll < -90 then + if yy > minY then + lcd.drawLine(xx, minY, xx, math.min(yy,maxY),SOLID,0) + end + else + if yy < maxY then + lcd.drawLine(xx, maxY, xx, math.max(yy,minY),SOLID,0) + end + end + end + vspd = telemetry.vSpeed + ------------------------------------- + -- vario indicator on right + ------------------------------------- + lcd.drawLine(62 + 88 - 6, 7, 62 + 88 - 6, yPos + 40, SOLID, 0) + + local varioMax = 10 + local varioSpeed = math.min(math.abs(0.1*vspd),10) + local varioY = 0 + local arrowY = -1 + if vspd > 0 then + varioY = 33 - 4 - varioSpeed/varioMax*22 + else + varioY = 33 + 6 + arrowY = 1 + end + lcd.drawFilledRectangle(62 + 88 - 6, varioY, 6, varioSpeed/varioMax*22, FORCE, 0) + for i=0,16 + do + lcd.drawLine(62 + 88 - 4, 9+i*3, 62 + 88-2, 9+i*3, SOLID, ERASE) + lcd.drawLine(62 + 88 - 3, arrowY+9+i*3, 62 + 88-3, arrowY+9+i*3, SOLID, ERASE) + end + -- hashmarks + local offset = 0 + for i=0,5 + do + -- left hashmarks + offset = 48 - ((telemetry.hSpeed - i*8) % 46)/46 * 46 + lcd.drawLine(62+1, 0+7 + offset, 62 + 2, 0+7 + offset, SOLID, 0) + -- right hashmarks + offset = 48 - ((telemetry.homeAlt - i*8) % 46)/46 * 46 + lcd.drawLine(62 + 88 - 9, 0+7 + offset, 62 + 88 - 8, 0+7 + offset, SOLID, 0) + end + ------------------------------------- + -- left and right indicators on HUD + ------------------------------------- + -- lets erase to hide the artificial horizon lines + -- black borders + lcd.drawRectangle(62, 33 - 5, 17, 11, FORCE, 0) + lcd.drawRectangle(62 + 88 - 17 - 1, 33 - 5, 17+1, 11, FORCE, 0) + -- erase area + lcd.drawFilledRectangle(62, 33 - 4, 17, 9, ERASE, 0) + lcd.drawFilledRectangle(62 + 88 - 17 - 1, 33 - 4, 17+2, 9, ERASE, 0) + -- erase tips + lcd.drawLine(62 + 17,33 - 3,62 + 17,33 + 3, SOLID, ERASE) + lcd.drawLine(62 + 17+1,33 - 2,62 + 17+1,33 + 2, SOLID, ERASE) + lcd.drawLine(62 + 88 - 17 - 2,33 - 3,62 + 88 - 17 - 2,33 + 3, SOLID, ERASE) + lcd.drawLine(62 + 88 - 17 - 3,33 - 2,62 + 88 - 17 - 3,33 + 2, SOLID, ERASE) + -- left tip + lcd.drawLine(62 + 17+2,33 - 2,62 + 17+2,33 + 2, SOLID, FORCE) + lcd.drawLine(62 + 17-1,33 - 5,62 + 17+1,33 - 3, SOLID, FORCE) + lcd.drawLine(62 + 17-1,33 + 5,62 + 17+1,33 + 3, SOLID, FORCE) + -- right tip + lcd.drawLine(62 + 88 - 17 - 4,33 - 2,62 + 88 - 17 - 4,33 + 2, SOLID, FORCE) + lcd.drawLine(62 + 88 - 17 - 3,33 - 3,62 + 88 - 17 - 1,33 - 5, SOLID, FORCE) + lcd.drawLine(62 + 88 - 17 - 3,33 + 3,62 + 88 - 17 - 1,33 + 5, SOLID, FORCE) + -- altitude + local alt = getMaxValue(telemetry.homeAlt,11) * unitScale -- homeAlt is meters*3.28 = feet + + if math.abs(alt) < 10 then + lcd.drawNumber(62 + 88,33 - 3,alt * 10,PREC1+RIGHT) + else + lcd.drawNumber(62 + 88,33 - 3,alt,RIGHT) + end + -- hspeed + local speed = getMaxValue(telemetry.hSpeed,14) * conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(62+1,33 - 3,speed*0.1,0) + else + lcd.drawNumber(62+1,33 - 3,speed,PREC1) + end + + lcd.drawLine(212/2-9-3,33,212/2-4-3,33 ,SOLID,0) -- -1 to compensate for H offset + lcd.drawLine(212/2-3-3,33,212/2-3-3,33+3 ,SOLID,0) + + lcd.drawLine(212/2+4-3,33,212/2+9-3,33 ,SOLID,0) + lcd.drawLine(212/2+3-3,33,212/2+3-3,33+3 ,SOLID,0) + -- vspeed box (dm/s) + local xx = math.abs(vspd*conf.vertSpeedMultiplier) > 9999 and 4 or 3 + xx = xx + (vspd*conf.vertSpeedMultiplier < 0 and 1 or 0) + + lcd.drawFilledRectangle((212)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, ERASE) + + if math.abs(vspd*conf.vertSpeedMultiplier) > 99 then -- + lcd.drawNumber((212)/2 + (xx/2)*5, LCD_H - 15, vspd*0.1*conf.vertSpeedMultiplier, SMLSIZE+RIGHT) + else + lcd.drawNumber((212)/2 + (xx/2)*5, LCD_H - 15, vspd*conf.vertSpeedMultiplier, SMLSIZE+RIGHT+PREC1) + end + lcd.drawRectangle((212)/2 - (xx/2)*5 - 2, LCD_H - 17, xx*5+3, 10, FORCE+SOLID) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(62 + 17 + 4, 33 - 4,6,true,false) + end + -- min/max arrows + if status.showMinMaxValues == true then + drawLib.drawVArrow(62 + 88 - 24, 33 - 4,6,true,false) + end + -- arming status, show only if timer is not running, hide otherwise + if telemetry.ekfFailsafe == 0 and telemetry.battFailsafe == 0 and status.timerRunning == 0 then + if (telemetry.statusArmed == 1) then + lcd.drawText(62 + 88/2 - 15, 20, " ARMED ", SMLSIZE+INVERS) + else + lcd.drawText(62 + 88/2 - 21, 20, " DISARMED ", SMLSIZE+INVERS+BLINK) + end + end + -- yaw angle box + xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + lcd.drawNumber(212/2 + xx - 8, 0+7-1, telemetry.yaw, MIDSIZE+INVERS) +end + + +return { + drawHud=drawHud, + yawRibbonPoints=yawRibbonPoints +} diff --git a/TARANIS/SOURCES/SRC/yaapu/left7.lua b/TARANIS/SOURCES/SRC/yaapu/left7.lua new file mode 100644 index 00000000..8305a4da --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/left7.lua @@ -0,0 +1,292 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + lcd.drawLine(x,6 + 20,1+30,6 + 20,SOLID,FORCE) + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+1, 6+13, strStatus, SMLSIZE) + local strNumSats + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+1 + 29, 6 + 13, strNumSats, SMLSIZE+RIGHT) + lcd.drawText(x+1, 6 + 2 , "Hd", SMLSIZE) + lcd.drawNumber(x+1 + 29, 6+1, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + + else + lcd.drawText(x+1 + 8, 6+3, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x+1 + 5, 6+12, strStatus, SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + if conf.rangeFinderMax > 0 then + -- rng finder + local rng = telemetry.range + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + -- update max only with 3d or better lock + rng = getMaxValue(rng,16) + lcd.drawText(x+31, 30+1 , unitLabel, SMLSIZE+RIGHT) + + if rng*unitScale*0.01 > 10 then + lcd.drawNumber(lcd.getLastLeftPos(), 30, rng*unitScale*0.1, flags+RIGHT+SMLSIZE+PREC1) + else + lcd.drawNumber(lcd.getLastLeftPos(), 30, rng*unitScale, flags+RIGHT+SMLSIZE+PREC2) + end + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 30,5,true,false) + else + lcd.drawText(x+1, 30, "R", SMLSIZE) + end + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,12) + end + lcd.drawText(x+31, 30,unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 30, alt*unitScale, flags+RIGHT+SMLSIZE) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 30 + 1,5,true,false) + else + drawLib.drawVArrow(x+1+1,30,5,true,true) + end + end + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+31, 40, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 40, dist*unitScale,SMLSIZE+RIGHT+flags) + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 42-2,5,true,false) + else + drawLib.drawHomeIcon(x+1, 42) + end + -- total distance + lcd.drawText(32, 50, unitLongLabel, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), 50, telemetry.totalDist*unitLongScale*10, RIGHT+SMLSIZE+PREC1) +end + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/left7_m2f.lua b/TARANIS/SOURCES/SRC/yaapu/left7_m2f.lua new file mode 100644 index 00000000..1fdd6087 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/left7_m2f.lua @@ -0,0 +1,307 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + + + + +--------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- GPS status + local strStatus = gpsStatuses[telemetry.gpsStatus] + flags = BLINK+PREC1 + local mult = 1 + lcd.drawLine(x,6 + 20,1+30,6 + 20,SOLID,FORCE) + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+1, 6+13, strStatus, SMLSIZE) + local strNumSats + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+1 + 29, 6 + 13, strNumSats, SMLSIZE+RIGHT) + lcd.drawText(x+1, 6 + 2 , "Hd", SMLSIZE) + lcd.drawNumber(x+1 + 29, 6+1, telemetry.gpsHdopC*mult ,MIDSIZE+flags+RIGHT) + + else + lcd.drawText(x+1 + 8, 6+3, "No", SMLSIZE+INVERS+BLINK) + lcd.drawText(x+1 + 5, 6+12, strStatus, SMLSIZE+INVERS+BLINK) + end + -- alt asl/rng + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + flags = 0 + if conf.rangeFinderMax > 0 then + -- rng finder + local rng = telemetry.range + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + -- update max only with 3d or better lock + rng = getMaxValue(rng,16) + lcd.drawText(x+31, 43+1 , unitLabel, SMLSIZE+RIGHT) + + if rng*unitScale*0.01 > 10 then + lcd.drawNumber(lcd.getLastLeftPos(), 43, rng*unitScale*0.1, flags+RIGHT+SMLSIZE+PREC1) + else + lcd.drawNumber(lcd.getLastLeftPos(), 43, rng*unitScale, flags+RIGHT+SMLSIZE+PREC2) + end + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1, 43,5,true,false) + else + lcd.drawText(x+1, 43, "R", SMLSIZE) + end + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,12) + end + lcd.drawText(x+31, 43,unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 43, alt*unitScale, flags+RIGHT+SMLSIZE) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 43 + 1,5,true,false) + else + drawLib.drawVArrow(x+1+1,43,5,true,true) + end + end + -- home dist + local flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(x+31, 50, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 50, dist*unitScale,SMLSIZE+RIGHT+flags) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+1, 52-2,5,true,false) + else + drawLib.drawHomeIcon(x+1, 52) + end + -- WP + drawLib.drawRArrow(x+5,32,5,telemetry.wpBearing*45,FORCE) + lcd.drawNumber(x+31, 29, telemetry.wpNumber, SMLSIZE+RIGHT) + + lcd.drawText(31, 36, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 36, telemetry.wpDistance*unitScale, SMLSIZE+RIGHT) + -- airspeed + local speed = telemetry.airspeed*conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(32+5,33 + 7,speed*0.1,SMLSIZE) + else + lcd.drawNumber(32+5,33 + 7,speed,SMLSIZE+PREC1) + end +end + + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/left9.lua b/TARANIS/SOURCES/SRC/yaapu/left9.lua new file mode 100644 index 00000000..877bd185 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/left9.lua @@ -0,0 +1,276 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- gps status + local strStatus = gpsStatuses[telemetry.gpsStatus] + local strNumSats = "" + local flags = BLINK + local mult = 1 + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(0,6 + 2, strStatus, SMLSIZE) + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(0 + 35, 6+1, strNumSats, MIDSIZE+RIGHT) + lcd.drawText(0 + 37, 6 + 2 , "H", SMLSIZE) + lcd.drawNumber(0 + 60, 6+1, telemetry.gpsHdopC*mult , MIDSIZE+flags+RIGHT) + lcd.drawLine(0 + 35,6+1,0+35,6 + 12,SOLID,FORCE) + else + lcd.drawText(0 + 10, 6+1, strStatus, MIDSIZE+INVERS+BLINK) + end + lcd.drawLine(0 ,6 + 13,0+60,6 + 13,SOLID,FORCE) + if status.showMinMaxValues == true then + flags = 0 + end + -- varrow is shared + if conf.rangeFinderMax > 0 then + -- rng finder + flags = 0 + local rng = telemetry.range + -- rng is centimeters, RANGE_MAX is feet + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + rng = getMaxValue(rng,16) + lcd.drawText(4 + 4, 23, "Rng", SMLSIZE) + lcd.drawText(61, 24 , unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 24-1 , rng*0.01*unitScale*100, PREC2+RIGHT+flags) + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 -- meters + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,12) + end + lcd.drawText(4 + 4, 23, "Asl", SMLSIZE) + lcd.drawText(61, 24, unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 24-1 , alt*unitScale, RIGHT+flags) + end + -- home distance + flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + lcd.drawText(60, 34+4, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 34-1, dist*unitScale, RIGHT+MIDSIZE+flags) + -- total distance + drawLib.drawHArrow(2,49 + 2,8,true,true) + lcd.drawText(61, 49, unitLongLabel, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos()-1, 49, telemetry.totalDist*unitLongScale*100, RIGHT+SMLSIZE+PREC2) + + if status.showMinMaxValues == true then + drawLib.drawVArrow(2 + 1, 34+1,6,true,false) + drawLib.drawVArrow(4 - 1, 24-2,6,true,false) + else + drawLib.drawVArrow(4,23 - 1,7,true,true) + drawLib.drawHomeIcon(2 + 1,37,7) + end +end + + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/left9_m2f.lua b/TARANIS/SOURCES/SRC/yaapu/left9_m2f.lua new file mode 100644 index 00000000..c3a90161 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/left9_m2f.lua @@ -0,0 +1,293 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + + + + +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + -- gps status + local strStatus = gpsStatuses[telemetry.gpsStatus] + local strNumSats = "" + local flags = BLINK + local mult = 1 + if telemetry.gpsStatus > 2 then + if telemetry.homeAngle ~= -1 then + flags = PREC1 + end + if telemetry.gpsHdopC > 99 then + flags = 0 + mult=0.1 + end + lcd.drawText(x+0,6 + 2, strStatus, SMLSIZE) + if telemetry.numSats >= 15 then + strNumSats = string.format("%d+",15) + else + strNumSats = string.format("%d",telemetry.numSats) + end + lcd.drawText(x+0 + 35, 6+1, strNumSats, MIDSIZE+RIGHT) + lcd.drawText(x+0 + 37, 6 + 2 , "H", SMLSIZE) + lcd.drawNumber(x+0 + 60, 6+1, telemetry.gpsHdopC*mult , MIDSIZE+flags+RIGHT) + lcd.drawLine(x+0 + 35,6+1,x+0+35,6 + 12,SOLID,FORCE) + else + lcd.drawText(x+0 + 10, 6+1, strStatus, MIDSIZE+INVERS+BLINK) + end + lcd.drawLine(x+0 ,6 + 13,x+0+60,6 + 13,SOLID,FORCE) + if status.showMinMaxValues == true then + flags = 0 + end + if conf.rangeFinderMax > 0 then + -- rng finder + flags = 0 + local rng = telemetry.range + -- rng is centimeters, RANGE_MAX is feet + if rng > conf.rangeFinderMax then + flags = BLINK+INVERS + end + rng = getMaxValue(rng,16) + lcd.drawText(x+2 + 4, 30, "Rng", SMLSIZE) + lcd.drawText(x+60, 31 , unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 31-1 , rng*0.01*unitScale*100, PREC2+RIGHT+SMLSIZE+flags) + else + -- alt asl, always display gps altitude even without 3d lock + local alt = telemetry.gpsAlt/10 -- meters + flags = BLINK + if telemetry.gpsStatus > 2 then + flags = 0 + -- update max only with 3d or better lock + alt = getMaxValue(alt,12) + end + lcd.drawText(x+2 + 4, 30, "Asl", SMLSIZE) + lcd.drawText(x+60, 31, unitLabel, SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 31-1 ,alt*unitScale, RIGHT+SMLSIZE+flags) + end + flags = 0 + if telemetry.homeAngle == -1 then + flags = BLINK + end + local dist = getMaxValue(telemetry.homeDist,15) + if status.showMinMaxValues == true then + flags = 0 + end + -- home distance + lcd.drawText(x+60, 37+5, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 37, dist*unitScale, RIGHT+MIDSIZE+flags) + -- waypoints + lcd.drawNumber(x+0, 21, telemetry.wpNumber, SMLSIZE) + drawLib.drawRArrow(lcd.getLastRightPos()+4,25,5,telemetry.wpBearing*45,FORCE) + lcd.drawText(x+60, 21+1, unitLabel,SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 21, telemetry.wpDistance*unitScale, RIGHT) + -- total distance + lcd.drawText(x+60, 49, unitLongLabel, RIGHT+SMLSIZE) + lcd.drawNumber(lcd.getLastLeftPos(), 49, telemetry.totalDist*unitLongScale*10, RIGHT+SMLSIZE+PREC1) + -- throttle + lcd.drawNumber(x+0, 49, telemetry.throttle,SMLSIZE) + lcd.drawText(lcd.getLastRightPos(), 49, "%", SMLSIZE) + -- minmax + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+0 + 2, 41-2,6,true,false) + drawLib.drawVArrow(x+2,30 - 1,6,true,false) + else + drawLib.drawVArrow(x+2,30 - 1,7,true,true) + drawLib.drawHomeIcon(x+0 + 1,41,7) + end + -- airspeed + local speed = telemetry.airspeed*conf.horSpeedMultiplier + if math.abs(speed) > 99 then + lcd.drawNumber(62+6,33 + 10,speed*0.1,SMLSIZE) + else + lcd.drawNumber(62+6,33 + 10,speed,SMLSIZE+PREC1) + end +end + + + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/menu7.lua b/TARANIS/SOURCES/SRC/yaapu/menu7.lua new file mode 100644 index 00000000..a0240f8a --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/menu7.lua @@ -0,0 +1,442 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +--[[ + +TYPEVALUE - menu option to select a numeric value +{description, type,name,default value,min,max,uit of measure,precision,increment step} +example {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5,"L2",350 }, + +TYPECOMBO - menu option to select a value from a list +{description, type, name, default, label list, value list} +example {"center pane layout:", TYPECOMBO, "CPANE", 1, { "hud","radar" }, { 1, 2 }}, + +--]]local menuItems = { + {"voice language:", 1, "L1", 1, { "eng", "ita", "fre", "ger" } , {"en","it","fr","de"} }, + {"batt alert level 1:", 0, "V1", 375, 0,5000,"V",PREC2,5 }, + {"batt alert level 2:", 0, "V2", 350, 0,5000,"V",PREC2,5 }, + {"batt[1] cap override:", 0, "B1", 0, 0,5000,"Ah",PREC2,10 }, + {"batt[2] cap override:", 0, "B2", 0, 0,5000,"Ah",PREC2,10 }, + {"disable all sounds:", 1, "S1", 1, { "no", "yes" }, { false, true } }, + {"disable msg beep:", 1, "S2", 1, { "no", "info", "all" }, { 1, 2, 3 } }, + {"enable haptic:", 1, "VIBR", 1, { "no", "yes" }, { false, true } }, + {"def voltage source:", 1, "VS", 1, { "auto", "FLVSS", "fc" }, { nil, "vs", "fc" } }, + {"dual battery config:", 1, "BC", 1, { "par", "ser", "other" }, { 1, 2, 3 } }, + {"batt[1] cells override:", 0, "CC", 0, 0,12,"s",0,1 }, + {"batt[2] cells override:", 0, "CC2", 0, 0,12,"s",0,1 }, + {"timer alert every:", 0, "T1", 0, 0,600,"min",PREC1,5 }, + {"min altitude alert:", 0, "A1", 0, 0,500,"m",PREC1,5 }, + {"max altitude alert:", 0, "A2", 0, 0,10000,"m",0,1 }, + {"max distance alert:", 0, "D1", 0, 0,100000,"m",0,10 }, + {"repeat alerts every:", 0, "T2", 10, 5,600,"sec",0,5 }, + {"rangefinder max:", 0, "RM", 0, 0,10000," cm",0,10 }, + {"air/groundspd unit:", 1, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, + {"vert speed unit:", 1, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, + {"center panel layout:", 1, "CPANE", 1, { "def" }, { 1 } }, + {"right panel layout:", 1, "RPANE", 1, { "def" }, { 1 } }, + {"left panel layout:", 1, "LPANE", 1, { "def","m2f" }, { 1, 2 } }, + {"second view layout:", 1, "AVIEW", 1, { "def" }, { 1 } }, +--[[ + {"gas rpm label:", TYPECOMBO, "GAS_RPM", 1, { "eng","head" }, { 1, 2 },"RPANE",2 }, +--]] {"enable px4 modes:", 1, "PX4", 1, { "no", "yes" }, { false, true } }, +} + +local menu = { + selectedItem = 1, + editSelected = false, + offset = 0, +} + +local centerPanelFiles = {"hud7"} +local rightPanelFiles = {"right7"} +local leftPanelFiles = {"left7","left7_m2f"} +local altViewFiles = {"alt7_view"} + +------------------------------------------ +-- returns item's VALUE,LABEL,IDX +------------------------------------------ +local function getMenuItemByName(items,name) + for idx=1,#items + do + -- items[idx][3] is the menu item's name as it appears in the config file + if items[idx][3] == name then + if items[idx][2] == 1 then + -- return item's value, label and index + return items[idx][6][items[idx][4]], items[idx][5][items[idx][4]], idx + else + -- return item's value, label and index + return items[idx][4], name, idx + end + end + end + return nil +end + +local function getConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "")..".cfg") +end + + +local function applyConfigValues(items,conf) + conf.language = getMenuItemByName(items,"L1") + conf.battAlertLevel1 = getMenuItemByName(items,"V1") + conf.battAlertLevel2 = getMenuItemByName(items,"V2") + conf.battCapOverride1 = getMenuItemByName(items,"B1") + conf.battCapOverride2 = getMenuItemByName(items,"B2") + conf.disableAllSounds = getMenuItemByName(items,"S1") + conf.disableMsgBeep = getMenuItemByName(items,"S2") + conf.timerAlert = math.floor(getMenuItemByName(items,"T1")*0.1*60) + conf.minAltitudeAlert = getMenuItemByName(items,"A1")*0.1 + conf.maxAltitudeAlert = getMenuItemByName(items,"A2") + conf.maxDistanceAlert = getMenuItemByName(items,"D1") + conf.repeatAlertsPeriod = getMenuItemByName(items,"T2") + conf.battConf = getMenuItemByName(items,"BC") + conf.cell1Count = getMenuItemByName(items,"CC") + conf.cell2Count = getMenuItemByName(items,"CC2") + conf.rangeFinderMax = getMenuItemByName(items,"RM") + conf.horSpeedMultiplier, conf.horSpeedLabel = getMenuItemByName(items,"HSPD") + conf.vertSpeedMultiplier, conf.vertSpeedLabel = getMenuItemByName(items,"VSPD") + conf.enablePX4Modes = getMenuItemByName(items,"PX4") + + conf.centerPanel = centerPanelFiles[getMenuItemByName(items,"CPANE")] + conf.rightPanel = rightPanelFiles[getMenuItemByName(items,"RPANE")] + conf.leftPanel = leftPanelFiles[getMenuItemByName(items,"LPANE")] + conf.altView = altViewFiles[getMenuItemByName(items,"AVIEW")] + + if getMenuItemByName(items,"VS") ~= nil then + conf.defaultBattSource = getMenuItemByName(items,"VS") + end + + conf.enableHaptic = getMenuItemByName(items,"VIBR") + menu.editSelected = false + collectgarbage() + collectgarbage() +end + +local function loadConfig(conf) + local cfg = io.open(getConfigFilename(),"r") + collectgarbage() + collectgarbage() + if cfg ~= nil then + local str = io.read(cfg,200) + io.close(cfg) + if string.len(str) > 0 then + for i=1,#menuItems + do + local value = string.match(str, menuItems[i][3]..":([-%d]+)") + collectgarbage() + if value ~= nil then + menuItems[i][4] = tonumber(value) + end + end + end + end + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function saveConfig(conf) + local myConfig = "" + for i=1,#menuItems + do + myConfig = myConfig..menuItems[i][3]..":"..menuItems[i][4] + if i < #menuItems then + myConfig = myConfig.."," + end + end + local cfg = assert(io.open(getConfigFilename(),"w")) + collectgarbage() + collectgarbage() + if cfg ~= nil then + io.write(cfg,myConfig) + io.close(cfg) + end + myConfig = nil + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function drawConfigMenuBars() + local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) + lcd.drawFilledRectangle(0,0, 128, 7, SOLID) + lcd.drawText(0,0,"Yaapu X7 1.8.0",SMLSIZE+INVERS) + lcd.drawFilledRectangle(0,57-2, 128, 9, SOLID) + lcd.drawText(0,57-1,string.sub(getConfigFilename(),8),SMLSIZE+INVERS) + lcd.drawText(128,57+1,itemIdx,SMLSIZE+INVERS+RIGHT) +end + +local function incMenuItem(idx) + if menuItems[idx][2] == 0 then + menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] + if menuItems[idx][4] > menuItems[idx][6] then + menuItems[idx][4] = menuItems[idx][6] + end + else + menuItems[idx][4] = menuItems[idx][4] + 1 + if menuItems[idx][4] > #menuItems[idx][5] then + menuItems[idx][4] = 1 + end + end +end + +local function decMenuItem(idx) + if menuItems[idx][2] == 0 then + menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] + if menuItems[idx][4] < menuItems[idx][5] then + menuItems[idx][4] = menuItems[idx][5] + end + else + menuItems[idx][4] = menuItems[idx][4] - 1 + if menuItems[idx][4] < 1 then + menuItems[idx][4] = #menuItems[idx][5] + end + end +end + +local function drawItem(idx,flags) + if menuItems[idx][2] == 0 then + if menuItems[idx][4] == 0 then + lcd.drawText(102,7 + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) + else + lcd.drawNumber(102,7 + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) + lcd.drawText(lcd.getLastRightPos(),7 + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) + end + else + lcd.drawText(102,7 + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) + end +end + +local function drawConfigMenu(event) + drawConfigMenuBars() + if event == EVT_ENTER_BREAK or event == 34 then + menu.editSelected = not menu.editSelected + menu.updated = true + elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == 36) then + incMenuItem(menu.selectedItem) + elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == 35) then + decMenuItem(menu.selectedItem) + elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == 36) then + menu.selectedItem = (menu.selectedItem - 1) + if menu.offset >= menu.selectedItem then + menu.offset = menu.offset - 1 + end + elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == 35) then + menu.selectedItem = (menu.selectedItem + 1) + if menu.selectedItem - 7 > menu.offset then + menu.offset = menu.offset + 1 + end + end + --wrap + if menu.selectedItem > #menuItems then + menu.selectedItem = 1 + menu.offset = 0 + elseif menu.selectedItem < 1 then + menu.selectedItem = #menuItems + menu.offset = #menuItems - 7 + end + -- + for m=1+menu.offset,math.min(#menuItems,7+menu.offset) do + lcd.drawText(2,7 + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) + if m == menu.selectedItem then + if menu.editSelected then + drawItem(m,INVERS+BLINK) + else + drawItem(m,INVERS) + end + else + drawItem(m,0) + end + end +end + + +return { + drawConfigMenu=drawConfigMenu, + loadConfig=loadConfig, + saveConfig=saveConfig, + menuItems=menuItems, + menu=menu, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/menu9.lua b/TARANIS/SOURCES/SRC/yaapu/menu9.lua new file mode 100644 index 00000000..6f4b6e6a --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/menu9.lua @@ -0,0 +1,441 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +--[[ + +TYPEVALUE - menu option to select a numeric value +{description, type,name,default value,min,max,uit of measure,precision,increment step} +example {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5,"L2",350 }, + +TYPECOMBO - menu option to select a value from a list +{description, type, name, default, label list, value list} +example {"center pane layout:", TYPECOMBO, "CPANE", 1, { "hud","radar" }, { 1, 2 }}, + +--]]local menuItems = { + {"voice language:", 1, "L1", 1, { "english", "italian", "french", "german" } , {"en","it","fr","de"} }, + {"batt alert level 1:", 0, "V1", 375, 0,5000,"V",PREC2,5 }, + {"batt alert level 2:", 0, "V2", 350, 0,5000,"V",PREC2,5 }, + {"batt[1] capacity override:", 0, "B1", 0, 0,5000,"Ah",PREC2,10 }, + {"batt[2] capacity override:", 0, "B2", 0, 0,5000,"Ah",PREC2,10 }, + {"disable all sounds:", 1, "S1", 1, { "no", "yes" }, { false, true } }, + {"disable msg beep:", 1, "S2", 1, { "no", "info", "all" }, { 1, 2, 3 } }, + {"enable haptic:", 1, "VIBR", 1, { "no", "yes" }, { false, true } }, + {"default voltage source:", 1, "VS", 1, { "auto", "FLVSS", "fc" }, { nil, "vs", "fc" } }, + {"dual battery config:", 1, "BC", 1, { "par", "ser", "other" }, { 1, 2, 3 } }, + {"batt[1] cell count override:", 0, "CC", 0, 0,12," cells",0,1 }, + {"batt[2] cell count override:", 0, "CC2", 0, 0,12," cells",0,1 }, + {"timer alert every:", 0, "T1", 0, 0,600,"min",PREC1,5 }, + {"min altitude alert:", 0, "A1", 0, 0,500,"m",PREC1,5 }, + {"max altitude alert:", 0, "A2", 0, 0,10000,"m",0,1 }, + {"max distance alert:", 0, "D1", 0, 0,100000,"m",0,10 }, + {"repeat alerts every:", 0, "T2", 10, 5,600,"sec",0,5 }, + {"rangefinder max:", 0, "RM", 0, 0,10000," cm",0,10 }, + {"air/groundspeed unit:", 1, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, + {"vertical speed unit:", 1, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, + {"center panel layout:", 1, "CPANE", 1, { "def" }, { 1 } }, + {"right panel layout:", 1, "RPANE", 1, { "def" }, { 1 } }, + {"left panel layout:", 1, "LPANE", 1, { "def","m2f" }, { 1, 2 } }, + {"second view layout:", 1, "AVIEW", 1, { "def" }, { 1 } }, +--[[ + {"gas rpm label:", TYPECOMBO, "GAS_RPM", 1, { "Eng","Head" }, { 1, 2 },"RPANE",2 }, +--]] {"enable px4 flightmodes:", 1, "PX4", 1, { "no", "yes" }, { false, true } }, +} + +local menu = { + selectedItem = 1, + editSelected = false, + offset = 0, +} + +local centerPanelFiles = {"hud9"} +local rightPanelFiles = {"right9"} +local leftPanelFiles = {"left9","left9_m2f"} +local altViewFiles = {"alt9_view"} + +------------------------------------------ +-- returns item's VALUE,LABEL,IDX +------------------------------------------ +local function getMenuItemByName(items,name) + for idx=1,#items + do + -- items[idx][3] is the menu item's name as it appears in the config file + if items[idx][3] == name then + if items[idx][2] == 1 then + -- return item's value, label and index + return items[idx][6][items[idx][4]], items[idx][5][items[idx][4]], idx + else + -- return item's value, label and index + return items[idx][4], name, idx + end + end + end + return nil +end + +local function getConfigFilename() + local info = model.getInfo() + return "/MODELS/yaapu/" .. string.lower(string.gsub(info.name, "[%c%p%s%z]", "")..".cfg") +end + + +local function applyConfigValues(items,conf) + conf.language = getMenuItemByName(items,"L1") + conf.battAlertLevel1 = getMenuItemByName(items,"V1") + conf.battAlertLevel2 = getMenuItemByName(items,"V2") + conf.battCapOverride1 = getMenuItemByName(items,"B1") + conf.battCapOverride2 = getMenuItemByName(items,"B2") + conf.disableAllSounds = getMenuItemByName(items,"S1") + conf.disableMsgBeep = getMenuItemByName(items,"S2") + conf.timerAlert = math.floor(getMenuItemByName(items,"T1")*0.1*60) + conf.minAltitudeAlert = getMenuItemByName(items,"A1")*0.1 + conf.maxAltitudeAlert = getMenuItemByName(items,"A2") + conf.maxDistanceAlert = getMenuItemByName(items,"D1") + conf.repeatAlertsPeriod = getMenuItemByName(items,"T2") + conf.battConf = getMenuItemByName(items,"BC") + conf.cell1Count = getMenuItemByName(items,"CC") + conf.cell2Count = getMenuItemByName(items,"CC2") + conf.rangeFinderMax = getMenuItemByName(items,"RM") + conf.horSpeedMultiplier, conf.horSpeedLabel = getMenuItemByName(items,"HSPD") + conf.vertSpeedMultiplier, conf.vertSpeedLabel = getMenuItemByName(items,"VSPD") + conf.enablePX4Modes = getMenuItemByName(items,"PX4") + + conf.centerPanel = centerPanelFiles[getMenuItemByName(items,"CPANE")] + conf.rightPanel = rightPanelFiles[getMenuItemByName(items,"RPANE")] + conf.leftPanel = leftPanelFiles[getMenuItemByName(items,"LPANE")] + conf.altView = altViewFiles[getMenuItemByName(items,"AVIEW")] + + if getMenuItemByName(items,"VS") ~= nil then + conf.defaultBattSource = getMenuItemByName(items,"VS") + end + + conf.enableHaptic = getMenuItemByName(items,"VIBR") + menu.editSelected = false + collectgarbage() + collectgarbage() +end + +local function loadConfig(conf) + local cfg = io.open(getConfigFilename(),"r") + collectgarbage() + collectgarbage() + if cfg ~= nil then + local str = io.read(cfg,200) + io.close(cfg) + if string.len(str) > 0 then + for i=1,#menuItems + do + local value = string.match(str, menuItems[i][3]..":([-%d]+)") + collectgarbage() + if value ~= nil then + menuItems[i][4] = tonumber(value) + end + end + end + end + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function saveConfig(conf) + local myConfig = "" + for i=1,#menuItems + do + myConfig = myConfig..menuItems[i][3]..":"..menuItems[i][4] + if i < #menuItems then + myConfig = myConfig.."," + end + end + local cfg = assert(io.open(getConfigFilename(),"w")) + collectgarbage() + collectgarbage() + if cfg ~= nil then + io.write(cfg,myConfig) + io.close(cfg) + end + myConfig = nil + collectgarbage() + collectgarbage() + applyConfigValues(menuItems,conf) +end + +local function drawConfigMenuBars() + local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) + lcd.drawFilledRectangle(0,0, 212, 7, SOLID) + lcd.drawText(0,0,"Yaapu X9 telemetry script 1.8.0",SMLSIZE+INVERS) + lcd.drawFilledRectangle(0,56, 212, 8, SOLID) + lcd.drawText(0,56+1,getConfigFilename(),SMLSIZE+INVERS) + lcd.drawText(212,56+1,itemIdx,SMLSIZE+INVERS+RIGHT) +end + +local function incMenuItem(idx) + if menuItems[idx][2] == 0 then + menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] + if menuItems[idx][4] > menuItems[idx][6] then + menuItems[idx][4] = menuItems[idx][6] + end + else + menuItems[idx][4] = menuItems[idx][4] + 1 + if menuItems[idx][4] > #menuItems[idx][5] then + menuItems[idx][4] = 1 + end + end +end + +local function decMenuItem(idx) + if menuItems[idx][2] == 0 then + menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] + if menuItems[idx][4] < menuItems[idx][5] then + menuItems[idx][4] = menuItems[idx][5] + end + else + menuItems[idx][4] = menuItems[idx][4] - 1 + if menuItems[idx][4] < 1 then + menuItems[idx][4] = #menuItems[idx][5] + end + end +end + +local function drawItem(idx,flags) + if menuItems[idx][2] == 0 then + if menuItems[idx][4] == 0 then + lcd.drawText(150,7 + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) + else + lcd.drawNumber(150,7 + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) + lcd.drawText(lcd.getLastRightPos(),7 + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) + end + else + lcd.drawText(150,7 + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) + end +end + +local function drawConfigMenu(event) + drawConfigMenuBars() + if event == EVT_ENTER_BREAK or event == 34 then + menu.editSelected = not menu.editSelected + menu.updated = true + elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == 36) then + incMenuItem(menu.selectedItem) + elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == 35) then + decMenuItem(menu.selectedItem) + elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == 36) then + menu.selectedItem = (menu.selectedItem - 1) + if menu.offset >= menu.selectedItem then + menu.offset = menu.offset - 1 + end + elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == 35) then + menu.selectedItem = (menu.selectedItem + 1) + if menu.selectedItem - 7 > menu.offset then + menu.offset = menu.offset + 1 + end + end + --wrap + if menu.selectedItem > #menuItems then + menu.selectedItem = 1 + menu.offset = 0 + elseif menu.selectedItem < 1 then + menu.selectedItem = #menuItems + menu.offset = #menuItems - 7 + end + -- + for m=1+menu.offset,math.min(#menuItems,7+menu.offset) do + lcd.drawText(2,7 + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) + if m == menu.selectedItem then + if menu.editSelected then + drawItem(m,INVERS+BLINK) + else + drawItem(m,INVERS) + end + else + drawItem(m,0) + end + end +end + + +return { + drawConfigMenu=drawConfigMenu, + loadConfig=loadConfig, + saveConfig=saveConfig, + menuItems=menuItems, + menu=menu, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/plane.lua b/TARANIS/SOURCES/SRC/yaapu/plane.lua new file mode 100644 index 00000000..f1219427 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/plane.lua @@ -0,0 +1,56 @@ +--[[ +enum FlightMode { + MANUAL = 0, + CIRCLE = 1, + STABILIZE = 2, + TRAINING = 3, + ACRO = 4, + FLY_BY_WIRE_A = 5, + FLY_BY_WIRE_B = 6, + CRUISE = 7, + AUTOTUNE = 8, + AUTO = 10, + RTL = 11, + LOITER = 12, + AVOID_ADSB = 14, + GUIDED = 15, + INITIALISING = 16, + QSTABILIZE = 17, + QHOVER = 18, + QLOITER = 19, + QLAND = 20, + QRTL = 21, + QAUTOTUNE = 22, + QACRO = 23, +}; +--]] +local flightModes = {} +-- plane flight modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="Circle" +flightModes[3]="Stabilize" +flightModes[4]="Training" +flightModes[5]="Acro" +flightModes[6]="FlyByWireA" +flightModes[7]="FlyByWireB" +flightModes[8]="Cruise" +flightModes[9]="Autotune" +flightModes[10]="" +flightModes[11]="Auto" +flightModes[12]="RTL" +flightModes[13]="Loiter" +flightModes[14]="" +flightModes[15]="AvoidADSB" +flightModes[16]="Guided" +flightModes[17]="Initializing" +flightModes[18]="QStabilize" +flightModes[19]="QHover" +flightModes[20]="QLoiter" +flightModes[21]="Qland" +flightModes[22]="QRTL" +flightModes[23]="QAutotune" +flightModes[24]="QAcro" +-- +return {flightModes=flightModes} + diff --git a/TARANIS/SOURCES/SRC/yaapu/plane_px4.lua b/TARANIS/SOURCES/SRC/yaapu/plane_px4.lua new file mode 100644 index 00000000..d143e236 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/plane_px4.lua @@ -0,0 +1,29 @@ +local flightModes = {} +-- plane flight modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="AltCtl" --px4 specific +flightModes[3]="PosCtl" --px4 specific +flightModes[4]="Ready" --px4 specific +flightModes[5]="Takeoff" --px4 specific +flightModes[6]="Loiter" +flightModes[7]="Mission" --px4 specific +flightModes[8]="RTL" +flightModes[9]="Land" +flightModes[10]="RTGS" --px4 specific +flightModes[11]="Follow" +flightModes[12]="PrecLand" --px4 specific +flightModes[13]="" +flightModes[14]="Acro" +flightModes[15]="OffBoard" --px4 specific +flightModes[16]="Stabilize" +flightModes[17]="RAttitude" --px4 specific +flightModes[18]="Simple" --px4 specific +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +flightModes[23]="" +-- +return {flightModes=flightModes} + diff --git a/TARANIS/SOURCES/SRC/yaapu/reset.lua b/TARANIS/SOURCES/SRC/yaapu/reset.lua new file mode 100644 index 00000000..e4d05690 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/reset.lua @@ -0,0 +1,270 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +local function resetTelemetry(status,telemetry,battery,alarms,transitions) + ----------------------------- + -- TELEMETRY + ----------------------------- + telemetry.flightMode = 0 + telemetry.simpleMode = 0 + telemetry.landComplete = 0 + telemetry.statusArmed = 0 + telemetry.battFailsafe = 0 + telemetry.ekfFailsafe = 0 + telemetry.imuTemp = 0 + -- GPS + telemetry.numSats = 0 + telemetry.gpsStatus = 0 + telemetry.gpsHdopC = 100 + telemetry.gpsAlt = 0 + -- BATT 1 + telemetry.batt1volt = 0 + telemetry.batt1current = 0 + telemetry.batt1mah = 0 + -- BATT 2 + telemetry.batt2volt = 0 + telemetry.batt2current = 0 + telemetry.batt2mah = 0 + -- HOME + telemetry.homeDist = 0 + telemetry.homeAlt = 0 + telemetry.homeAngle = -1 + -- VELANDYAW + telemetry.vSpeed = 0 + telemetry.hSpeed = 0 + telemetry.yaw = 0 + -- ROLLPITCH + telemetry.roll = 0 + telemetry.pitch = 0 + telemetry.range = 0 + -- PARAMS + telemetry.frameType = -1 + telemetry.batt1Capacity = 0 + telemetry.batt2Capacity = 0 + -- WP + telemetry.wpNumber = 0 + telemetry.wpDistance = 0 + telemetry.wpXTError = 0 + telemetry.wpBearing = 0 + telemetry.wpCommands = 0 + -- VFR + telemetry.airspeed = 0 + telemetry.throttle = 0 + telemetry.baroAlt = 0 + -- TOTAL DISTANCE + telemetry.totalDist = 0 + + ----------------------------- + -- SCRIPT STATUS + ----------------------------- + status.battAlertLevel1 = false + status.battAlertLevel2 = false + status.flightTime = 0 -- updated from model timer 3 + status.timerRunning = 0 -- triggered by landcomplete from AP + + -- reset alarms + alarms = { + --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} + { false, 0 , false, 0, 0, false, 0}, --MIN_ALT + { false, 0 , true, 1 , 0, false, 0 }, --MAX_ALT + { false, 0 , true, 1 , 0, false, 0 }, --15 + { false, 0 , true, 1 , 0, false, 0 }, --FS_EKF + { false, 0 , true, 1 , 0, false, 0 }, --FS_BAT + { false, 0 , true, 2, 0, false, 0 }, --FLIGTH_TIME + { false, 0 , false, 3, 4, false, 0 }, --BATT L1 + { false, 0 , false, 4, 4, false, 0 } --BATT L2 + } + + transitions = { + --{ last_value, last_changed, transition_done, delay } + { 0, 0, false, 30 }, -- flightmode + } + + battery = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} + + -- stop and reset timer + model.setTimer(2,{mode=0}) + model.setTimer(2,{value=0}) +end + +return {resetTelemetry=resetTelemetry} diff --git a/TARANIS/SOURCES/SRC/yaapu/right7.lua b/TARANIS/SOURCES/SRC/yaapu/right7.lua new file mode 100644 index 00000000..6475ea74 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/right7.lua @@ -0,0 +1,243 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- + +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[13+battId] > 0) then + perc = math.min(math.max((1 - (battery[10+battId]/battery[13+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+1, 7, (battery[1+battId] + 0.5)*(battery[1+battId] < 1000 and 1 or 0.1), MIDSIZE+flags+(battery[1+battId] < 1000 and PREC2 or PREC1)) + -- + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+1+26, 7+2,6,false,true) + else + local lx = lcd.getLastRightPos() + lcd.drawText(lx-1, 7, "V", dimFlags+SMLSIZE) + --local xx = telemetry.yaw < 10 and 1 or ( telemetry.yaw < 100 and -2 or -5 ) + local s = status.battsource == "a2" and "a" or (status.battsource == "vs" and "s" or "f") + lcd.drawText(lx, 13, s, SMLSIZE) + end + -- battery voltage + lcd.drawText(x+30, 19, "V", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 19, battery[4+battId],SMLSIZE+PREC1+RIGHT) + -- battery current + lcd.drawText(x+30, 26, "A", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 26, battery[7+battId],PREC1+SMLSIZE+RIGHT) + -- battery percentage + lcd.drawNumber(x+1, 32, perc, MIDSIZE) + lcd.drawText(lcd.getLastRightPos()+1, 36, "%", SMLSIZE) + -- battery mah + lcd.drawNumber(x+1, 44, battery[10+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 44, "Ah", SMLSIZE) + -- battery cap + lcd.drawNumber(x+1, 44+7, battery[13+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 44+7, "Ah", SMLSIZE) +end + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/right9.lua b/TARANIS/SOURCES/SRC/yaapu/right9.lua new file mode 100644 index 00000000..3976e3a1 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/right9.lua @@ -0,0 +1,260 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + + + + + + + + +-- power and efficiency + + +-------------------- +-- Single long function much more memory efficient than many little functions +--------------------- +local function drawPane(x,drawLib,conf,telemetry,status,battery,battId,getMaxValue,gpsStatuses) + local perc = 0 + if (battery[13+battId] > 0) then + perc = math.min(math.max((1 - (battery[10+battId]/battery[13+battId]))*100,0),99) + end + -- battery min cell + local flags = 0 + local dimFlags = 0 + if status.showMinMaxValues == false then + if status.battAlertLevel2 == true then + flags = BLINK + dimFlags = BLINK + elseif status.battAlertLevel1 == true then + dimFlags = BLINK+INVERS + end + end + -- cell voltage + -- +0.5 because PREC2 does a math.floor() and not a math.round() + lcd.drawNumber(x+21, 7, (battery[1+battId] + 0.5)*(battery[1+battId] < 1000 and 1 or 0.1), DBLSIZE+flags+(battery[1+battId] < 1000 and PREC2 or PREC1)) + -- save pos to print source and V + local lx = lcd.getLastRightPos() + -- battery voltage + lcd.drawNumber(x+0, 36, battery[4+battId]/10,MIDSIZE) + lcd.drawText(lcd.getLastRightPos() - 1, 36, ".",MIDSIZE) + lcd.drawNumber(lcd.getLastRightPos() - 1, 36+4, battery[4+battId]%10,0) + lcd.drawText(lcd.getLastRightPos()-1, 36, "V", SMLSIZE) + -- battery current + lcd.drawText(x+61, 36, "A", SMLSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos()-1, 36+4, battery[7+battId]%10,RIGHT) + lcd.drawText(lcd.getLastLeftPos(), 36, ".",MIDSIZE+RIGHT) + lcd.drawNumber(lcd.getLastLeftPos(), 36, battery[7+battId]/10,MIDSIZE+RIGHT) + -- battery percentage + lcd.drawNumber(x+0, 11, perc, MIDSIZE) + lcd.drawText(lcd.getLastRightPos(), 16, "%", SMLSIZE) + -- display capacity bar % + lcd.drawFilledRectangle(x+5, 24, perc/100*50, 3, SOLID+FORCE) + local step = 50/10 + for s=1,10 - 1 do + lcd.drawLine(x+5 + s*step - 1,24, x+5 + s*step - 1, 24 + 3 - 1,SOLID,0) + end + -- battery mah + lcd.drawNumber(x+5, 29, battery[10+battId]/10, SMLSIZE+PREC2) + lcd.drawText(lcd.getLastRightPos(), 29, "/", SMLSIZE) + lcd.drawNumber(lcd.getLastRightPos(), 29, battery[13+battId]/100, SMLSIZE+PREC1) + lcd.drawText(lcd.getLastRightPos(), 29, "Ah", SMLSIZE) + -- efficiency + local eff = telemetry.hSpeed*0.1 > 2 and 1000*battery[7+battId]*0.1/(telemetry.hSpeed*0.1*conf.horSpeedMultiplier) or 0 + lcd.drawText(x+0, 49, "Eff", SMLSIZE) + lcd.drawText(x+61,49,string.format("%d mAh",eff),SMLSIZE+RIGHT) + --minmax + if status.showMinMaxValues == true then + drawLib.drawVArrow(x+0+23,36 + 8, 4,false,true) + drawLib.drawVArrow(x+61-3,36 + 8,4,true,false) + drawLib.drawVArrow(x+21+33, 7 + 2 ,6,false,true) + else + lcd.drawText(lx, 8, "V", dimFlags) + lcd.drawText(lx, 17, status.battsource, SMLSIZE) + end +end + + + +return { + drawPane=drawPane, +} diff --git a/TARANIS/SOURCES/SRC/yaapu/rover.lua b/TARANIS/SOURCES/SRC/yaapu/rover.lua new file mode 100644 index 00000000..29e08ab0 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu/rover.lua @@ -0,0 +1,47 @@ +--[[ + // Auto Pilot modes + // ---------------- + enum Number { + MANUAL = 0, + ACRO = 1, + STEERING = 3, + HOLD = 4, + LOITER = 5, + FOLLOW = 6, + SIMPLE = 7, + AUTO = 10, + RTL = 11, + SMART_RTL = 12, + GUIDED = 15, + INITIALISING = 16 + }; +--]] +local flightModes = {} + +-- rover modes +flightModes[0]="" +flightModes[1]="Manual" +flightModes[2]="Acro" +flightModes[3]="" +flightModes[4]="Steering" +flightModes[5]="Hold" +flightModes[6]="Loiter" +flightModes[7]="Follow" +flightModes[8]="Simple" +flightModes[9]="" +flightModes[10]="" +flightModes[11]="Auto" +flightModes[12]="RTL" +flightModes[13]="SmartRTL" +flightModes[14]="" +flightModes[15]="" +flightModes[16]="Guided" +flightModes[17]="Initializing" +flightModes[18]="" +flightModes[19]="" +flightModes[20]="" +flightModes[21]="" +flightModes[22]="" +-- +return {flightModes=flightModes} + diff --git a/TARANIS/SOURCES/SRC/yaapu7.lua b/TARANIS/SOURCES/SRC/yaapu7.lua new file mode 100644 index 00000000..6a70a675 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu7.lua @@ -0,0 +1,1633 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define X9 +--#define +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + +--#define HOMEDIR_X 42 + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +local frameTypes = {} +-- copter +frameTypes[0] = "c" +frameTypes[2] = "c" +frameTypes[3] = "c" +frameTypes[4] = "c" +frameTypes[13] = "c" +frameTypes[14] = "c" +frameTypes[15] = "c" +frameTypes[29] = "c" +-- plane +frameTypes[1] = "p" +frameTypes[16] = "p" +frameTypes[19] = "p" +frameTypes[20] = "p" +frameTypes[21] = "p" +frameTypes[22] = "p" +frameTypes[23] = "p" +frameTypes[24] = "p" +frameTypes[25] = "p" +frameTypes[28] = "p" +-- rover +frameTypes[10] = "r" +-- boat +frameTypes[11] = "b" + + +local frame = {} +local frameType = nil + +local soundFileBasePath = "/SOUNDS/yaapu0" + +local gpsStatuses = { + [0]="GPS", + [1]="Lock", + [2]="2D", + [3]="3D", + [4]="DG", + [5]="RT", + [6]="RT", +} + +-- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG +local mavSeverity = { + [0] = "EMR", + [1] = "ALR", + [2] = "CRT", + [3] = "ERR", + [4] = "WRN", + [5] = "NOT", + [6] = "INF", + [7] = "DBG", +} + +-------------------------------- +-- FLVSS 1 +local cell1min = 0 +local cell1sum = 0 +-- FLVSS 2 +local cell2min = 0 +local cell2sum = 0 +-- FC 1 +local cell1sumFC = 0 +-- used to calculate cellcount +local cell1maxFC = 0 +local cell2maxFC = 0 +-- FC 2 +local cell2sumFC = 0 +-------------------------------- +-- BATT +local battery = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +local cell1count = 0 +local cell2count = 0 + +local batt1sources = { + vs = false, + fc = false +} +local batt2sources = { + vs = false, + fc = false +} +-- TELEMETRY +local noTelemetryData = 1 +local hideNoTelemetry = false +local telemetry = {} +-- STATUS +telemetry.flightMode = 0 +telemetry.simpleMode = 0 +telemetry.landComplete = 0 +telemetry.statusArmed = 0 +telemetry.battFailsafe = 0 +telemetry.ekfFailsafe = 0 +telemetry.imuTemp = 0 +-- GPS +telemetry.numSats = 0 +telemetry.gpsStatus = 0 +telemetry.gpsHdopC = 100 +telemetry.gpsAlt = 0 +telemetry.gpsLat = nil +telemetry.gpsLon = nil +-- BATT 1 +telemetry.batt1volt = 0 +telemetry.batt1current = 0 +telemetry.batt1mah = 0 +-- BATT 2 +telemetry.batt2volt = 0 +telemetry.batt2current = 0 +telemetry.batt2mah = 0 +-- HOME +telemetry.homeDist = 0 +telemetry.homeAlt = 0 +telemetry.homeAngle = -1 +-- VELANDYAW +telemetry.vSpeed = 0 +telemetry.hSpeed = 0 +telemetry.yaw = 0 +-- ROLLPITCH +telemetry.roll = 0 +telemetry.pitch = 0 +telemetry.range = 0 +-- PARAMS +telemetry.frameType = -1 +telemetry.batt1Capacity = 0 +telemetry.batt2Capacity = 0 +-- WP +telemetry.wpNumber = 0 +telemetry.wpDistance = 0 +telemetry.wpXTError = 0 +telemetry.wpBearing = 0 +telemetry.wpCommands = 0 +-- VFR +telemetry.airspeed = 0 +telemetry.throttle = 0 +telemetry.baroAlt = 0 +-- TOTAL DISTANCE +telemetry.totalDist = 0 + +-- FLIGHT TIME +local lastTimerStart = 0 +-- MESSAGES +local msgBuffer = "" +local lastMsgValue = 0 +local lastMsgTime = 0 +local lastMessage +local lastMessageSeverity = 0 +local lastMessageCount = 1 +local messageCount = 0 +local messages = {} +-- EVENTS +local lastStatusArmed = 0 +local lastGpsStatus = 0 +local lastFlightMode = 0 +local lastSimpleMode = 0 +-- BATTERY LEVELS +local batLevel = 99 +local lastBattLevel = 13 +-- TOTAL DISTANCE +local lastUpdateTotDist = 0 +local lastSpeed = 0 +-- STATUS +local status = {} +-- BLINK SUPPORT +local blinktime = getTime() +local blinkon = false + + +status.showDualBattery = false +status.battAlertLevel1 = false +status.battAlertLevel2 = false +status.battsource = "na" +status.flightTime = 0 -- updated from model timer 3 +status.timerRunning = 0 -- triggered by landcomplete from AP +status.showMinMaxValues = false + +-- 00 05 10 15 20 25 30 40 50 60 70 80 90 +-- MIN MAX +local minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +-- LIBRARY LOADING +local libBasePath = "/SCRIPTS/TELEMETRY/yaapu/" +local menuLibFile = "menu7" +local drawLibFile = "draw7" + +local drawLib = nil +local menuLib = nil +local resetLib = nil + +local centerPanel = nil +local rightPanel = nil +local leftPanel = nil +local altView = nil + +------------------------ +-- CONFIGURATION +------------------------ +local conf = { + language = "en", + battAlertLevel1 = 0, + battAlertLevel2 = 0, + battCapOverride1 = 0, + battCapOverride2 = 0, + disableAllSounds = false, + disableMsgBeep = 1, + timerAlert = 0, + minAltitudeAlert = 0, + maxAltitudeAlert = 0, + maxDistanceAlert = 0, + repeatAlertsPeriod = 10, + battConf = 1, -- 1=parallel,2=other + cell1Count = 0, + cell2Count = 0, + rangeFinderMax = 0, + horSpeedMultiplier = 1, + vertSpeedMultiplier = 1, + horSpeedLabel = "m", + vertSpeedLabel = "m/s", + centerPanel = nil, + rightPanel = nil, + leftPanel = nil, + altView = nil, + defaultBattSource = "na", + enablePX4Modes = false, + enableHaptic = false, +} +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]]------------------------- +-- alarms +------------------------- +local alarms = { + --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} + { false, 0 , false, 0, 0, false, 0}, --MIN_ALT + { false, 0 , true, 1 , 0, false, 0 }, --MAX_ALT + { false, 0 , true, 1 , 0, false, 0 }, --15 + { false, 0 , true, 1 , 0, false, 0 }, --FS_EKF + { false, 0 , true, 1 , 0, false, 0 }, --FS_BAT + { false, 0 , true, 2, 0, false, 0 }, --FLIGTH_TIME + { false, 0 , false, 3, 4, false, 0 }, --BATT L1 + { false, 0 , false, 4, 4, false, 0 }, --BATT L2 +} + +------------------------- +-- value transitions +------------------------- +local transitions = { + --{ last_value, last_changed, transition_done, delay } + { 0, 0, false, 30 }, -- flightmode +} + + +------------------------- +-- message hash support, uses 312 bytes +------------------------- +local shortHashes = { + -- 16 bytes hashes, requires 88 bytes + {554623408}, -- "554623408.wav", "Takeoff complete" + {3025044912}, -- "3025044912.wav", "SmartRTL deactiv" + {3956583920}, -- "3956583920.wav", "EKF2 IMU0 is usi" + {1309405592}, -- "1309405592.wav", "EKF3 IMU0 is usi" + {4091124880,true}, -- "4091124880.wav", "Reached command " + {3311875476,true}, -- "3311875476.wav", "Reached waypoint" + {1997782032,true}, -- "1997782032.wav", "Passed waypoint " +} + +local shortHash = nil +local parseShortHash = false +local hashByteIndex = 0 +local hash = 2166136261 + + +local showMessages = false +local showConfigMenu = false +local showAltView = false +local loadCycle = 0 + +----------------------------- +-- clears the loaded table +-- and recovers memory +----------------------------- +local function clearTable(t) + if type(t)=="table" then + for i,v in pairs(t) do + if type(v) == "table" then + clearTable(v) + end + t[i] = nil + end + end + t = nil + -- call collectgarbage twice + collectgarbage() + collectgarbage() +end + +local function doLibrary(filename) + local success,f = pcall(loadScript,libBasePath..filename..".lua") + if success then + local ret = f() + collectgarbage() + collectgarbage() + return ret + else + collectgarbage() + collectgarbage() + return nil + end +end + +local function unloadPanels() + clearTable(centerPanel) + clearTable(rightPanel) + clearTable(leftPanel) + + centerPanel = nil + rightPanel = nil + leftPanel = nil + + collectgarbage() + collectgarbage() +end + +local function loadPanels() + if centerPanel == nil and loadCycle == 4 then + centerPanel = doLibrary(conf.centerPanel) + end + + if rightPanel == nil and loadCycle == 6 then + rightPanel = doLibrary(conf.rightPanel) + end + + if leftPanel == nil and loadCycle == 2 then + leftPanel = doLibrary(conf.leftPanel) + end + + collectgarbage() + collectgarbage() +end + +-- prevent same file from beeing played too fast +local lastSoundTime = 0 + +local function playSound(soundFile,skipHaptic) + if conf.enableHaptic and skipHaptic == nil then + playHaptic(12,0) + end + if conf.disableAllSounds then + return + end + -- prevent OpenTX play queue from getting too big + if soundFile == "../inf" then + if getTime() - lastSoundTime > 65 then + lastSoundTime = getTime() + else + return + end + end + + playFile(soundFileBasePath .."/"..conf.language.."/".. soundFile..".wav") +end + +---------------------------------------------- +-- sound file has same name as flightmode all lowercase with .wav extension +---------------------------------------------- +local function playFlightMode(flightMode) + if conf.enableHaptic then + playHaptic(12,0) + end + if conf.disableAllSounds then + return + end + if frame.flightModes then + if frame.flightModes[flightMode] ~= nil then + playFile(soundFileBasePath.."/"..conf.language.."/".. string.lower(frame.flightModes[flightMode]) .. (frameType=="r" and "_r.wav" or ".wav")) + end + end +end + +local function formatMessage(severity,msg) + local shortMsg = msg + if lastMessageCount > 1 then + if #msg > 16 then + shortMsg = string.sub(msg,1,16) + collectgarbage() + end + local pmsg = string.format("%d:%s %s (x%d)", messageCount, mavSeverity[severity], shortMsg, lastMessageCount) + msg=nil + collectgarbage() + return pmsg + else + if #msg > 23 then + shortMsg = string.sub(msg,1,23) + collectgarbage() + end + local pmsg = string.format("%d:%s %s", messageCount, mavSeverity[severity], shortMsg) + msg=nil + collectgarbage() + return pmsg + end +end + +--[[ +-------------------- +-- FNV HASH +-------------------- +function fnv(str) + local hash = 2166136261 + for char in string.gmatch(str, ".") do + hash = bit32.bxor(hash, string.byte(char)) + hash = (hash * 16777619) % 2^32 + end + return hash +end +--]] + +local function pushMessage(severity, msg) + if conf.enableHaptic then + playHaptic(12,0) + end + if conf.disableAllSounds == false then + if ( severity < 5 and conf.disableMsgBeep < 3 ) then + playSound("../err",true) + else + if conf.disableMsgBeep < 2 then + playSound("../inf",true) + end + end + end + if msg == lastMessage then + lastMessageCount = lastMessageCount + 1 + else + lastMessageCount = 1 + messageCount = messageCount + 1 + end + messages[(messageCount-1) % 9] = formatMessage(severity,msg) + --print("count=",messageCount,"pos=%",(messageCount-1) % 9,msg,"#messages",#messages) + lastMessage = msg + lastMessageSeverity = severity + collectgarbage() + collectgarbage() +end + +local function startTimer() + lastTimerStart = getTime()/100 + model.setTimer(2,{mode=1}) +end + +local function stopTimer() + model.setTimer(2,{mode=0}) + lastTimerStart = 0 +end + +local function reset() + --------------- + -- BATT + --------------- + cell1min = 0 + cell1sum = 0 + cell2min = 0 + cell2sum = 0 + cell1sumFC = 0 + cell1maxFC = 0 + cell2sumFC = 0 + cell1count = 0 + cell2count = 0 + clearTable(minmaxValues) + minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} + --------------- + -- TELEMETRY + --------------- + noTelemetryData = 1 + hideNoTelemetry = false + --------------- + -- FLIGHT TIME + --------------- + lastTimerStart = 0 + --------------- + -- MESSAGES + --------------- + msgBuffer = "" + lastMsgValue = 0 + lastMsgTime = 0 + lastMessage = nil + lastMessageSeverity = 0 + lastMessageCount = 1 + messageCount = 0 + clearTable(messages) + messages = {} + --------------- + -- EVENTS + --------------- + lastStatusArmed = 0 + lastGpsStatus = 0 + lastFlightMode = 0 + lastSimpleMode = 0 + --------------- + -- BATTERY LEVELS + --------------- + batLevel = 99 + lastBattLevel = 13 + --------------- + -- TOTAL DISTANCE + --------------- + lastUpdateTotDist = 0 + lastSpeed = 0 + + -- unload DRAW + clearTable(drawLib) + drawLib = nil + + if resetLib == nil then + resetLib = doLibrary("reset") + end + -- reset all + resetLib.resetTelemetry(status,telemetry,battery,alarms,transitions) + -- release resources + clearTable(resetLib) + resetLib = nil + -- recover memory + collectgarbage() + collectgarbage() + -- done + pushMessage(6,"Telemetry reset done.") + playSound("yaapu") +end + + +local function processTelemetry(telemetry,DATA_ID,VALUE) + if DATA_ID == 0x5006 then -- ROLLPITCH + -- roll [0,1800] ==> [-180,180] + telemetry.roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 + -- pitch [0,900] ==> [-90,90] + telemetry.pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 + -- #define ATTIANDRNG_RNGFND_OFFSET 21 + -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power + telemetry.range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm + elseif DATA_ID == 0x5005 then -- VELANDYAW + telemetry.vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) + telemetry.hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.yaw = bit32.extract(VALUE,17,11) * 0.2 + elseif DATA_ID == 0x5001 then -- AP STATUS + telemetry.flightMode = bit32.extract(VALUE,0,5) + telemetry.simpleMode = bit32.extract(VALUE,5,2) + telemetry.landComplete = bit32.extract(VALUE,7,1) + telemetry.statusArmed = bit32.extract(VALUE,8,1) + telemetry.battFailsafe = bit32.extract(VALUE,9,1) + telemetry.ekfFailsafe = bit32.extract(VALUE,10,2) + -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° + telemetry.imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° + elseif DATA_ID == 0x5002 then -- GPS STATUS + telemetry.numSats = bit32.extract(VALUE,0,4) + -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 + -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED + telemetry.gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) + telemetry.gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm + telemetry.gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm + elseif DATA_ID == 0x5003 then -- BATT + telemetry.batt1volt = bit32.extract(VALUE,0,9) -- dV + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell1Count == 12 and telemetry.batt1volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt1volt = 512 + telemetry.batt1volt + end + telemetry.batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) --dA + telemetry.batt1mah = bit32.extract(VALUE,17,15) + elseif DATA_ID == 0x5008 then -- BATT2 + telemetry.batt2volt = bit32.extract(VALUE,0,9) + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell2Count == 12 and telemetry.batt2volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt2volt = 512 + telemetry.batt2volt + end + telemetry.batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.batt2mah = bit32.extract(VALUE,17,15) + elseif DATA_ID == 0x5004 then -- HOME + telemetry.homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) + telemetry.homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m + telemetry.homeAngle = bit32.extract(VALUE, 25, 7) * 3 + elseif DATA_ID == 0x5000 then -- MESSAGES + if VALUE ~= lastMsgValue then + lastMsgValue = VALUE + local c + local msgEnd = false + for i=3,0,-1 + do + c = bit32.extract(VALUE,i*8,7) + if c ~= 0 then + msgBuffer = msgBuffer .. string.char(c) + collectgarbage() + collectgarbage() + hash = bit32.bxor(hash, c) + hash = (hash * 16777619) % 2^32 + hashByteIndex = hashByteIndex+1 + -- check if this hash matches any 16bytes prefix hash + if hashByteIndex == 16 then + for i=1,#shortHashes + do + if hash == shortHashes[i][1] then + -- ok found + shortHash = hash + -- check if needs parsing + parseShortHash = shortHashes[i][2] == nil and false or true + break; + end + end + end + else + msgEnd = true; + break; + end + end + if msgEnd then + -- push and display message + local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) + pushMessage( severity, msgBuffer) + -- play shortHash if found otherwise "try" the full hash + -- if it does not exist OpenTX will gracefully ignore it + playSound(tostring(shortHash == nil and hash or shortHash),true) + -- if required parse parameter and play it! + if parseShortHash then + local param = string.match(msgBuffer, ".*#(%d+).*") + collectgarbage() + collectgarbage() + if param ~= nil then + playNumber(tonumber(param),0) + collectgarbage() + collectgarbage() + end + end + -- reset hash for next string + parseShortHash = false + shortHash = nil + hash = 2166136261 + hashByteIndex = 0 + msgBuffer = nil + -- recover memory + collectgarbage() + collectgarbage() + msgBuffer = "" + end + end + elseif DATA_ID == 0x5007 then -- PARAMS + local paramId = bit32.extract(VALUE,24,4) + local paramValue = bit32.extract(VALUE,0,24) + if paramId == 1 then + telemetry.frameType = paramValue + elseif paramId == 4 then + telemetry.batt1Capacity = paramValue + elseif paramId == 5 then + telemetry.batt2Capacity = paramValue + end + elseif DATA_ID == 0x5009 then -- WAYPOINTS @1Hz + telemetry.wpNumber = bit32.extract(VALUE,0,10) -- wp index + telemetry.wpDistance = bit32.extract(VALUE,12,10) * (10^bit32.extract(VALUE,10,2)) -- meters + telemetry.wpXTError = bit32.extract(VALUE,23,4) * (10^bit32.extract(VALUE,22,1)) * (bit32.extract(VALUE,27,1) == 1 and -1 or 1)-- meters + telemetry.wpBearing = bit32.extract(VALUE,29,3) -- offset from cog with 45° resolution +--[[ + elseif DATA_ID == 0x50F1 then -- RC CHANNELS + -- channels 1 - 32 + local offset = bit32.extract(VALUE,0,4) * 4 + rcchannels[1 + offset] = 100 * (bit32.extract(VALUE,4,6)/63) * (bit32.extract(VALUE,10,1) == 1 and -1 or 1) + rcchannels[2 + offset] = 100 * (bit32.extract(VALUE,11,6)/63) * (bit32.extract(VALUE,17,1) == 1 and -1 or 1) + rcchannels[3 + offset] = 100 * (bit32.extract(VALUE,18,6)/63) * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) + rcchannels[4 + offset] = 100 * (bit32.extract(VALUE,25,6)/63) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) +--]] elseif DATA_ID == 0x50F2 then -- VFR + telemetry.airspeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) -- dm/s + telemetry.throttle = bit32.extract(VALUE,8,7) + telemetry.baroAlt = bit32.extract(VALUE,17,10) * (10^bit32.extract(VALUE,15,2)) * 0.1 * (bit32.extract(VALUE,27,1) == 1 and -1 or 1) + end +end + +local function telemetryEnabled() + if getRSSI() == 0 then + noTelemetryData = 1 + end + return noTelemetryData == 0 +end + +local function getMaxValue(value,idx) + minmaxValues[idx] = math.max(value,minmaxValues[idx]) + return status.showMinMaxValues and minmaxValues[idx] or value +end + +local function calcMinValue(value,min) + return min == 0 and value or math.min( value, min ) +end + +-- returns the actual minimun only if both are > 0 +local function getNonZeroMin(v1,v2) + return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) +end + +local function calcCellCount() + -- cellcount override from menu + local c1 = 0 + local c2 = 0 + + if conf.cell1Count ~= nil and conf.cell1Count > 0 then + c1 = conf.cell1Count + elseif batt1sources.vs == true and cell1count > 1 then + c1 = cell1count + else + c1 = math.floor( ((cell1maxFC*0.1) / 4.36) + 1) + end + + if conf.cell2Count ~= nil and conf.cell2Count > 0 then + c2 = conf.cell2Count + elseif batt2sources.vs == true and cell2count > 1 then + c2 = cell2count + else + c2 = math.floor(((cell2maxFC*0.1)/4.36) + 1) + end + + return c1,c2 +end + +-- gets the voltage based on source and min value, battId = [1|2] +local function getMinVoltageBySource(source, cell, cellFC, battId) + -- offset 0 for cell voltage, 2 for pack voltage + local offset = 0 + -- + if cell > 4.36*2 or cellFC > 4.36*2 then + offset = 2 + end + -- + if source == "vs" then + return status.showMinMaxValues == true and minmaxValues[2+offset+battId] or cell + elseif source == "fc" then + -- FC only tracks batt1 and batt2 no cell voltage tracking + local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/calcCellCount()) + return status.showMinMaxValues == true and minmax or cellFC + end + -- + return 0 +end + +local function getBatt1Capacity() + return conf.battCapOverride1 > 0 and conf.battCapOverride1*10 or telemetry.batt1Capacity +end + +local function getBatt2Capacity() + return conf.battCapOverride2 > 0 and conf.battCapOverride2*10 or telemetry.batt2Capacity +end + +local function calcFLVSSBatt(battIdx) + local cellMin,cellSum,cellCount + local battSources = battIdx == 1 and batt1sources or batt2sources + local cellResult = battIdx == 1 and getValue("Cels") or getValue("Cel2") + if type(cellResult) == "table" then + cellMin = 4.36 + cellSum = 0 + -- cellcount is global and shared + cellCount = #cellResult + for i, v in pairs(cellResult) do + cellSum = cellSum + v + if cellMin > v then + cellMin = v + end + end + -- if connected after script started + if battSources.vs == false then + status.battsource = "na" + end + if status.battsource == "na" then + status.battsource = "vs" + end + battSources.vs = true + else + battSources.vs = false + cellMin = 0 + cellSum = 0 + end + return cellMin,cellSum,cellCount,battSources +end + +local function calcBattery() + ------------ + -- FLVSS 1 + ------------ + cell1min, cell1sum, cell1count = calcFLVSSBatt(1) --1 = Cels + + ------------ + -- FLVSS 2 + ------------ + cell2min, cell2sum, cell2count = calcFLVSSBatt(2) --2 = Cel2 + + -------------------------------- + -- flight controller battery 1 + -------------------------------- + if telemetry.batt1volt > 0 then + -- needed to calculate cell count + cell1maxFC = math.max(telemetry.batt1volt,cell1maxFC) + cell1sumFC = telemetry.batt1volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt1sources.fc = true + else + batt1sources.fc = false + cell1sumFC = 0 + end + -------------------------------- + -- flight controller battery 2 + -------------------------------- + if telemetry.batt2volt > 0 then + cell2maxFC = math.max(telemetry.batt2volt,cell2maxFC) + cell2sumFC = telemetry.batt2volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt2sources.fc = true + else + batt2sources.fc = false + cell2sumFC = 0 + end + -- batt fc + minmaxValues[1] = calcMinValue(cell1sumFC,minmaxValues[1]) + minmaxValues[2] = calcMinValue(cell2sumFC,minmaxValues[2]) + -- cell flvss + minmaxValues[3] = calcMinValue(cell1min,minmaxValues[3]) + minmaxValues[4] = calcMinValue(cell2min,minmaxValues[4]) + -- batt flvss + minmaxValues[5] = calcMinValue(cell1sum,minmaxValues[5]) + minmaxValues[6] = calcMinValue(cell2sum,minmaxValues[6]) + ------------------------------------------ + -- table to pass battery info to panels + -- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + -- value = offset + [0 aggregate|1 for batt 1| 2 for batt2] + -- batt2 = 4 + 2 = 6 + ------------------------------------------ + -- Note: these can be calculated. not necessary to track them as min/max + -- cell1minFC = cell1sumFC/calcCellCount() + -- cell2minFC = cell2sumFC/calcCellCount() + -- cell1minA2 = cell1sumA2/calcCellCount() + + local count1,count2 = calcCellCount() + -- 3 cases here + -- 1) parallel => all values depend on both batteries + -- 2) other => all values depend on battery 1 + -- 3) serial => celm(vs) and vbatt(vs) depend on both batteries, all other values on PM battery 1 (this is not supported: 1 PM + 2xFLVSS) + + battery[1+1] = getMinVoltageBySource(status.battsource, cell1min, cell1sumFC/count1, 1)*100 --cel1m + battery[1+2] = getMinVoltageBySource(status.battsource, cell2min, cell2sumFC/count2, 2)*100 --cel2m + battery[1] = (conf.battConf == 3 and battery[2] or getNonZeroMin(battery[2],battery[3]) ) + + battery[4+1] = getMinVoltageBySource(status.battsource, cell1sum, cell1sumFC, 1)*10 --batt1 + battery[4+2] = getMinVoltageBySource(status.battsource, cell2sum, cell2sumFC, 2)*10 --batt2 + battery[4] = (conf.battConf == 3 and battery[5] or (conf.battConf == 2 and battery[5]+battery[6] or getNonZeroMin(battery[5],battery[6]))) + + battery[7] = getMaxValue((conf.battConf == 3 and telemetry.batt1current or telemetry.batt1current + telemetry.batt2current),7) + battery[7+1] = getMaxValue(telemetry.batt1current,8) --curr1 + battery[7+2] = getMaxValue(telemetry.batt2current,9) --curr2 + + battery[10] = (conf.battConf == 3 and telemetry.batt1mah or telemetry.batt1mah + telemetry.batt2mah) + battery[10+1] = telemetry.batt1mah --mah1 + battery[10+2] = telemetry.batt2mah --mah2 + + battery[13] = (conf.battConf == 3 and getBatt1Capacity() or getBatt1Capacity() + getBatt2Capacity()) + battery[13+1] = getBatt1Capacity() --cap1 + battery[13+2] = getBatt2Capacity() --cap2 + + if status.showDualBattery == true and conf.battConf == 1 then + -- dual parallel battery: do I have also dual current monitor? + if battery[7+1] > 0 and battery[7+2] == 0 then + -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel + battery[7+1] = battery[7+1]/2 --curr1 + battery[7+2] = battery[7+1] --curr2 + -- + battery[10+1] = battery[10+1]/2 --mah1 + battery[10+2] = battery[10+1] --mah2 + -- + battery[13+1] = battery[13+1]/2 --cap1 + battery[13+2] = battery[13+1] --cap2 + end + end +end + +local function checkLandingStatus() + if ( status.timerRunning == 0 and telemetry.landComplete == 1 and lastTimerStart == 0) then + startTimer() + end + if (status.timerRunning == 1 and telemetry.landComplete == 0 and lastTimerStart ~= 0) then + stopTimer() + -- play landing complete only if motorts are armed + if telemetry.statusArmed == 1 then + playSound("landing") + end + end + status.timerRunning = telemetry.landComplete +end + +local function calcFlightTime() + if model.getTimer(2).value < status.flightTime then + if telemetry.statusArmed == 0 then + reset() + else + model.setTimer(2,{value=status.flightTime}) + pushMessage(4,"Reset ignored while armed") + end + end + -- update local variable with timer 3 value + status.flightTime = model.getTimer(2).value +end + +local function setSensorValues() + if (not telemetryEnabled()) then + return + end + local battmah = telemetry.batt1mah + local battcapacity = getBatt1Capacity() + if telemetry.batt2mah > 0 then + battcapacity = getBatt1Capacity() + getBatt2Capacity() + battmah = telemetry.batt1mah + telemetry.batt2mah + end + local perc = 0 + if (battcapacity > 0) then + perc = math.min(math.max((1 - (battmah/battcapacity))*100,0),99) + end + + setTelemetryValue(0x060F, 0, 0, perc, 13 , 0 , "Fuel") + setTelemetryValue(0x021F, 0, 0, getNonZeroMin(telemetry.batt1volt,telemetry.batt2volt)*10, 1 , 2 , "VFAS") + setTelemetryValue(0x020F, 0, 0, telemetry.batt1current+telemetry.batt2current, 2 , 1 , "CURR") + setTelemetryValue(0x011F, 0, 0, telemetry.vSpeed, 5 , 1 , "VSpd") + setTelemetryValue(0x083F, 0, 0, telemetry.hSpeed*0.1, 4 , 0 , "GSpd") + setTelemetryValue(0x010F, 0, 0, telemetry.homeAlt*10, 9 , 1 , "Alt") + setTelemetryValue(0x082F, 0, 0, math.floor(telemetry.gpsAlt*0.1), 9 , 0 , "GAlt") + setTelemetryValue(0x084F, 0, 0, math.floor(telemetry.yaw), 20 , 0 , "Hdg") + setTelemetryValue(0x041F, 0, 0, telemetry.imuTemp, 11 , 0 , "IMUt") + setTelemetryValue(0x060F, 0, 1, telemetry.statusArmed*100, 0 , 0 , "ARM") +end + +local function drawAllMessages() + for i=0,#messages do + lcd.drawText(1,1+7*i, messages[(messageCount + i) % (#messages+1)],SMLSIZE) + end +end +--------------------------------- +-- This function checks alarm condition and as long as the condition persists it plays +-- a warning sound. +--------------------------------- +local function checkAlarm(level,value,idx,sign,sound,delay) + -- once landed reset all alarms except battery alerts + if status.timerRunning == 0 then + if alarms[idx][4] == 0 then + alarms[idx] = { false, 0, false, 0, 0, false, 0} + elseif alarms[idx][4] == 1 then + alarms[idx] = { false, 0, true, 1 , 0, false, 0} + elseif alarms[idx][4] == 2 then + alarms[idx] = { false, 0, true, 2, 0, false, 0} + elseif alarms[idx][4] == 3 then + alarms[idx] = { false, 0 , false, 3, 4, false, 0} + elseif alarms[idx][4] == 4 then + alarms[idx] = { false, 0 , false, 4, 4, false, 0} + end + -- reset done + return + end + -- if needed arm the alarm only after value has reached level + if alarms[idx][3] == false and level > 0 and -1 * sign*value > -1 * sign*level then + alarms[idx][3] = true + end + -- + if alarms[idx][4] == 2 then + if status.flightTime > 0 and math.floor(status.flightTime) % delay == 0 then + if alarms[idx][1] == false then + alarms[idx][1] = true + playSound(sound) + playDuration(status.flightTime,(status.flightTime > 3600 and 1 or 0)) -- minutes,seconds + end + else + alarms[idx][1] = false + end + else + if alarms[idx][3] == true then + if level > 0 and sign*value > sign*level then + -- value is outside level + if alarms[idx][2] == 0 then + -- first time outside level after last reset + alarms[idx][2] = status.flightTime + -- status: START + end + else + -- value back to normal ==> reset + alarms[idx][2] = 0 + alarms[idx][1] = false + alarms[idx][6] = false + -- status: + end + if alarms[idx][2] > 0 and (status.flightTime ~= alarms[idx][2]) and (status.flightTime - alarms[idx][2]) >= alarms[idx][5] then + -- enough time has passed after START + alarms[idx][6] = true + -- status: READY + end + -- + if alarms[idx][6] == true and alarms[idx][1] == false then + playSound(sound) + alarms[idx][1] = true + alarms[idx][7] = status.flightTime + -- status: BEEP + end + -- all but battery alarms + if alarms[idx][4] ~= 3 then + if alarms[idx][6] == true and status.flightTime ~= alarms[idx][7] and (status.flightTime - alarms[idx][7]) % delay == 0 then + alarms[idx][1] = false + -- status: REPEAT + end + end + end + end +end + +local function loadFlightModes() + if frame.flightModes then + return + end + if telemetry.frameType ~= -1 then + if frameTypes[telemetry.frameType] == "c" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "copter_px4.luac" or "copter.luac")) + elseif frameTypes[telemetry.frameType] == "p" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "plane_px4.luac" or "plane.luac")) + elseif frameTypes[telemetry.frameType] == "r" then + frame = dofile(libBasePath.."rover.luac") + end + if frame.flightModes then + frameType = frameTypes[telemetry.frameType] + -- recover some memory + clearTable(frameTypes) + end + end +end + +local function getFlightMode() + if frame.flightModes then + return frame.flightModes[telemetry.flightMode] + else + return nil + end +end + +--------------------------------- +-- This function checks state transitions and only returns true if a specific delay has passed +-- new transitions reset the delay timer +--------------------------------- +local function checkTransition(idx,value) + if value ~= transitions[idx][1] then + -- value has changed + transitions[idx][1] = value + transitions[idx][2] = getTime() + transitions[idx][3] = false + -- status: + return false + end + if transitions[idx][3] == false and (getTime() - transitions[idx][2]) >= transitions[idx][4] then + -- enough time has passed after + transitions[idx][3] = true + -- status: FIRE + return true; + end +end + + +local function checkEvents() + loadFlightModes() + + checkAlarm(conf.minAltitudeAlert,telemetry.homeAlt,1,-1,"minalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxAltitudeAlert,telemetry.homeAlt,2,1,"maxalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxDistanceAlert,telemetry.homeDist,3,1,"maxdist",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.ekfFailsafe,4,1,"ekf",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.battFailsafe,5,1,"lowbat",conf.repeatAlertsPeriod) + checkAlarm(math.floor(conf.timerAlert),status.flightTime,6,1,"timealert",math.floor(conf.timerAlert)) + + local capacity = getBatt1Capacity() + local mah = telemetry.batt1mah + + -- only if dual battery has been detected + if (batt2sources.fc or batt2sources.vs) and conf.battConf == 1 then + capacity = capacity + getBatt2Capacity() + mah = mah + telemetry.batt2mah + end + + if (capacity > 0) then + batLevel = (1 - (mah/capacity))*100 + else + batLevel = 99 + end + + for l=0,12 do + -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) + local level = tonumber(string.sub("00051015202530405060708090",l*2+1,l*2+2)) + if batLevel <= level + 1 and l < lastBattLevel then + lastBattLevel = l + playSound("bat"..level) + break + end + end + + if telemetry.statusArmed ~= lastStatusArmed then + if telemetry.statusArmed == 1 then playSound("armed") else playSound("disarmed") end + lastStatusArmed = telemetry.statusArmed + end + + if telemetry.gpsStatus > 2 and lastGpsStatus <= 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsfix") + elseif telemetry.gpsStatus <= 2 and lastGpsStatus > 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsnofix") + end + + -- flightmode transitions have a grace period to prevent unwanted flightmode call out + -- on quick radio mode switches + if frame.flightModes ~= nil and checkTransition(1,telemetry.flightMode) then + playFlightMode(telemetry.flightMode) + end + + if telemetry.simpleMode ~= lastSimpleMode then + if telemetry.simpleMode == 0 then + playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) + else + playSound( telemetry.simpleMode == 1 and "simpleon" or "ssimpleon" ) + end + lastSimpleMode = telemetry.simpleMode + end +end + +local function checkCellVoltage(celm) + -- check alarms + checkAlarm(conf.battAlertLevel1,celm,7,-1,"batalert1",conf.repeatAlertsPeriod) + checkAlarm(conf.battAlertLevel2,celm,8,-1,"batalert2",conf.repeatAlertsPeriod) + + if status.battAlertLevel1 == false then status.battAlertLevel1 = alarms[7][1] end + if status.battAlertLevel2 == false then status.battAlertLevel2 = alarms[8][1] end +end + +local function cycleBatteryInfo() + if status.showDualBattery == false and (batt2sources.fc or batt2sources.vs) and conf.battConf ~= 2 then + status.showDualBattery = true + return + end + status.battsource = status.battsource == "vs" and "fc" or "vs" +end + +local function updateTotalDist() + if telemetry.armingStatus == 0 then + lastUpdateTotDist = getTime() + return + end + local delta = getTime() - lastUpdateTotDist + local avgSpeed = (telemetry.hSpeed + lastSpeed)/2 + lastUpdateTotDist = getTime() + lastSpeed = telemetry.hSpeed + if avgSpeed * 0.1 > 1 then + telemetry.totalDist = telemetry.totalDist + (avgSpeed * 0.1 * delta * 0.01) --hSpeed dm/s, getTime()/100 secs + end +end + +-------------------------------------------------------------------------------- +-- MAIN LOOP +-------------------------------------------------------------------------------- +local bgclock = 0 +------------------------------- +-- running at 20Hz (every 50ms) +------------------------------- +local function background() + -- FAST: this runs at 60Hz (every 16ms) + for i=1,3 + do + local sensor_id,frame_id,data_id,value = sportTelemetryPop() + + if frame_id == 0x10 then + processTelemetry(telemetry,data_id,value) + -- update telemetry status + noTelemetryData = 0 + hideNoTelemetry = true + end + end + -- SLOW: this runs at 4Hz (every 250ms) + if (bgclock % 4 == 0) then + setSensorValues() + updateTotalDist() + end + -- SLOWER: this runs at 2Hz (every 500ms) + if (bgclock % 8 == 0) then + calcBattery() + calcFlightTime() + -- prepare celm based on status.battsource + local count1,count2 = calcCellCount() + local cellVoltage = 0 + + if conf.battConf == 3 then + -- alarms are based on battery 1 + cellVoltage = 100*(status.battsource == "vs" and cell1min or cell1sumFC/count1) + else + -- alarms are based on battery 1 and battery 2 + cellVoltage = 100*(status.battsource == "vs" and getNonZeroMin(cell1min,cell2min) or getNonZeroMin(cell1sumFC/count1,cell2sumFC/count2)) + end + -- + checkEvents() + checkLandingStatus() + -- no need for alarms if reported voltage is 0 + if cellVoltage > 0 then + checkCellVoltage(cellVoltage) + end + -- aggregate value + minmaxValues[7] = math.max((conf.battConf == 3 and telemetry.batt1current or telemetry.batt1current+telemetry.batt2current), minmaxValues[7]) + + -- indipendent values + minmaxValues[8] = math.max(telemetry.batt1current,minmaxValues[8]) + minmaxValues[9] = math.max(telemetry.batt2current,minmaxValues[9]) + + + -- update GPS coordinates + local gpsData = getValue("GPS") + + if type(gpsData) == "table" and gpsData.lat ~= nil and gpsData.lon ~= nil then + telemetry.gpsLat = math.floor(gpsData.lat * 100000) / 100000 + telemetry.gpsLon = math.floor(gpsData.lon * 100000) / 100000 + collectgarbage() + collectgarbage() + end + + bgclock=0 + end + -- blinking support + if (getTime() - blinktime) > 65 then + blinkon = not blinkon + blinktime = getTime() + end + bgclock = bgclock+1 + collectgarbage() + collectgarbage() +end + +local function run(event) + lcd.clear() + + + + if showMessages then + --------------------- + -- MESSAGES + --------------------- + drawAllMessages() + + if event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == 35 or event == EVT_EXIT_BREAK or event == 33 then + showMessages = false + elseif event == EVT_ENTER_BREAK or event == 34 then + if showAltView == false then + -- main --> altview + unloadPanels() + showAltView = true + else + -- altview --> main + clearTable(altView) + altView = nil + showAltView = false + end + showMessages = false + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + showMessages = false + end + elseif showConfigMenu then + --------------------- + -- CONFIG MENU + --------------------- + -- top bars + lcd.drawFilledRectangle(0,0, 128, 7, SOLID+FORCE) + -- bottom bar + lcd.drawFilledRectangle(0,57, 128, 8, SOLID+FORCE) + + if menuLib == nil and loadCycle == 4 then + menuLib = doLibrary(menuLibFile) + if menuLib ~= nil then + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() + end + end + + if menuLib ~= nil then + menuLib.drawConfigMenu(event) + end + + + if event == EVT_EXIT_BREAK then + showConfigMenu = false + -- unload MENU + menuLib.saveConfig(conf) + clearTable(menuLib) + menuLib = nil + collectgarbage() + collectgarbage() + end + else + --------------------- + -- MAIN VIEW + --------------------- + if event == EVT_ENTER_BREAK or event == 34 then + cycleBatteryInfo() + end + if event == EVT_MENU_BREAK or event == 32 then + status.showMinMaxValues = not status.showMinMaxValues + end + + if status.showDualBattery == true and (event == EVT_EXIT_BREAK or event == 33) then + status.showDualBattery = false + end + + if drawLib == nil and loadCycle == 0 then + -- load draw library + drawLib = doLibrary(drawLibFile) + collectgarbage() + collectgarbage() + end + + -- top bars + lcd.drawFilledRectangle(0,0, 128, 7, FORCE) + + if showAltView then + if altView == nil and loadCycle == 2 then + -- load ALTVIEW + altView = doLibrary(conf.altView) + collectgarbage() + collectgarbage() + end + + if drawLib ~= nil and altView ~= nil then + altView.drawView(drawLib,conf,telemetry,status,battery,(batt2sources.fc or batt2sources.vs) and 0 or 1,getMaxValue,gpsStatuses) + end + + if event == EVT_EXIT_BREAK or event == 33 then + showMessages = false + showAltView = false + + clearTable(altView) + altView = nil + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + showMessages = true + end + else + -- draw PANELS + loadPanels() + + if centerPanel ~= nil and rightPanel ~= nil and leftPanel ~= nil and drawLib ~= nil then + -- with dual battery default is to show aggregate view + if batt2sources.fc or batt2sources.vs then + if status.showDualBattery == false then + -- dual battery: aggregate view + rightPanel.drawPane(97,drawLib,conf,telemetry,status,battery,0,getMaxValue,gpsStatuses) -- 0=aggregate view + lcd.drawText(32+5, LCD_H-16, "2B", SMLSIZE) + else + -- dual battery:battery 1 right pane + rightPanel.drawPane(97,drawLib,conf,telemetry,status,battery,1,getMaxValue,gpsStatuses) -- 1=battery 1 + -- dual battery:battery 2 left pane + rightPanel.drawPane(0,drawLib,conf,telemetry,status,battery,2,getMaxValue,gpsStatuses) -- 2=battery 2 + end + else + -- battery 1 right pane in single battery mode + rightPanel.drawPane(97,drawLib,conf,telemetry,status,battery,1,getMaxValue,gpsStatuses) -- 1=battery 1 + end + -- left pane info when not in dual battery mode + if status.showDualBattery == false then + leftPanel.drawPane(0,drawLib,conf,telemetry,status,battery,0,getMaxValue,gpsStatuses) -- 0=aggregate view + end + + centerPanel.drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + + drawLib.drawGrid() + drawLib.drawRArrow(82,48,7,telemetry.homeAngle - telemetry.yaw,1) + drawLib.drawFailSafe(status.showDualBattery,telemetry.ekfFailsafe,telemetry.battFailsafe) + end + end + -- bottom bar + lcd.drawFilledRectangle(0,57, 128, 8, FORCE) + + if drawLib ~= nil then + drawLib.drawTopBar(getFlightMode(),telemetry.simpleMode,status.flightTime,telemetryEnabled) + drawLib.drawBottomBar(messages[(messageCount + #messages) % (#messages+1)],lastMsgTime) + drawLib.drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + end + -- event handler + if event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + --------------------- + -- SHOW MESSAGES + --------------------- + showMessages = true + elseif event == EVT_MENU_LONG or event == 128 then + --------------------- + -- SHOW CONFIG MENU + --------------------- + clearTable(drawLib) + clearTable(altView) + unloadPanels() + altView = nil + drawLib = nil + collectgarbage() + collectgarbage() + showConfigMenu = true + end + end + if not telemetryEnabled() and blinkon then + lcd.drawRectangle(0,0,128,LCD_H,showMessages and SOLID or ERASE) + end + loadCycle=(loadCycle+1)%8 + collectgarbage() + collectgarbage() +end + +local function init() +-- initialize flight timer + model.setTimer(2,{mode=0}) + model.setTimer(2,{value=0}) + -- load menu library + menuLib = doLibrary(menuLibFile) + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() + -- ok configuration loaded + status.battsource = conf.defaultBattSource + -- configuration loaded, releasing menu library memory + clearTable(menuLib) + menuLib = nil + pushMessage(7,"Yaapu X7 1.8.0") + collectgarbage() + collectgarbage() + playSound("yaapu") +end + +-------------------------------------------------------------------------------- +-- SCRIPT END +-------------------------------------------------------------------------------- +return {run=run, background=background, init=init} + diff --git a/TARANIS/SOURCES/SRC/yaapu9.lua b/TARANIS/SOURCES/SRC/yaapu9.lua new file mode 100644 index 00000000..550a8a62 --- /dev/null +++ b/TARANIS/SOURCES/SRC/yaapu9.lua @@ -0,0 +1,1634 @@ +-- +-- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios +-- +-- Copyright (C) 2018. Alessandro Apostoli +-- https://github.com/yaapu +-- +-- This program is free software; you can redistribute it and/or modify +-- it under the terms of the GNU General Public License as published by +-- the Free Software Foundation; either version 3 of the License, or +-- (at your option) any later version. +-- +-- This program is distributed in the hope that it will be useful, +-- but WITHOUT ANY WARRANTY, without even the implied warranty of +-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +-- GNU General Public License for more details. +-- +-- You should have received a copy of the GNU General Public License +-- along with this program; if not, see . +-- +-- Passthrough protocol reference: +-- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx +-- +--------------------- +-- GLOBAL DEFINES +--------------------- +--#define +--#define X7 +-- always use loadscript() instead of loadfile() +-- force a loadscript() on init() to compile all .lua in .luac +--#define COMPILE +--------------------- +-- VERSION +--------------------- +--------------------- +-- FEATURES +--------------------- +--#define BATTMAH3DEC +-- enable altitude/distance monitor and vocal alert (experimental) +--#define MONITOR +-- show incoming DIY packet rates +--#define TELEMETRY_STATS +-- enable synthetic vspeed when ekf is disabled +--#define SYNTHVSPEED +-- enable telemetry reset on timer 3 reset +-- always calculate FNV hash and play sound msg_.wav +-- enable telemetry logging menu option +--#define LOGTELEMETRY +-- enable max HDOP alert +--#define HDOP_ALARM +-- enable support for custom background functions +--#define CUSTOM_BG_CALL +-- enable alert window for no telemetry +--#define NOTELEM_ALERT +-- enable popups for no telemetry data +--#define NOTELEM_POPUP +-- enable blinking rectangle on no telemetry +--------------------- +-- DEBUG +--------------------- +--#define DEBUG +--#define DEBUGEVT +--#define DEV +--#define MEMDEBUG +-- calc and show background function rate +--#define BGRATE +-- calc and show run function rate +--#define FGRATE +-- calc and show hud refresh rate +--#define HUDRATE +-- calc and show telemetry process rate +--#define BGTELERATE +--------------------- +-- TESTMODE +--------------------- +-- enable script testing via radio sticks +--#define TESTMODE + + +--------------------- +-- SENSORS +--------------------- + + + + + + + + + + + + +-- Throttle and RC use RPM sensor IDs + + + + + +------------------------ +-- MIN MAX +------------------------ +-- min + +------------------------ +-- LAYOUT +------------------------ + + + + + + + + + + + + + + + +-------------------------------------------------------------------------------- +-- MENU VALUE,COMBO +-------------------------------------------------------------------------------- + + +-------------------------------------------------------------------------------- +-- ALARMS +-------------------------------------------------------------------------------- +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]] + + +----------------------- +-- UNIT SCALING +----------------------- +local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 +local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" +local unitLongScale = getGeneralSettings().imperial == 0 and 1/1000 or 1/1609.34 +local unitLongLabel = getGeneralSettings().imperial == 0 and "km" or "mi" + + + +----------------------- +-- HUD AND YAW +----------------------- +-- vertical distance between roll horiz segments + +-- vertical distance between roll horiz segments +----------------------- +-- BATTERY +----------------------- +-- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + + + +-- X-Lite Support + +----------------------------------- +-- STATE TRANSITION ENGINE SUPPORT +----------------------------------- + + + + + + + +local frameTypes = {} +-- copter +frameTypes[0] = "c" +frameTypes[2] = "c" +frameTypes[3] = "c" +frameTypes[4] = "c" +frameTypes[13] = "c" +frameTypes[14] = "c" +frameTypes[15] = "c" +frameTypes[29] = "c" +-- plane +frameTypes[1] = "p" +frameTypes[16] = "p" +frameTypes[19] = "p" +frameTypes[20] = "p" +frameTypes[21] = "p" +frameTypes[22] = "p" +frameTypes[23] = "p" +frameTypes[24] = "p" +frameTypes[25] = "p" +frameTypes[28] = "p" +-- rover +frameTypes[10] = "r" +-- boat +frameTypes[11] = "b" + + +local frame = {} +local frameType = nil + +local soundFileBasePath = "/SOUNDS/yaapu0" + +local gpsStatuses = { + [0]="NoGPS", + [1]="NoLock", + [2]="2D", + [3]="3D", + [4]="DGP", + [5]="RTK", + [6]="RTK", +} + +-- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG +local mavSeverity = { + [0] = "EMR", + [1] = "ALR", + [2] = "CRT", + [3] = "ERR", + [4] = "WRN", + [5] = "NOT", + [6] = "INF", + [7] = "DBG", +} + +-------------------------------- +-- FLVSS 1 +local cell1min = 0 +local cell1sum = 0 +-- FLVSS 2 +local cell2min = 0 +local cell2sum = 0 +-- FC 1 +local cell1sumFC = 0 +-- used to calculate cellcount +local cell1maxFC = 0 +local cell2maxFC = 0 +-- FC 2 +local cell2sumFC = 0 +-------------------------------- +-- BATT +local battery = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +local cell1count = 0 +local cell2count = 0 + +local batt1sources = { + vs = false, + fc = false +} +local batt2sources = { + vs = false, + fc = false +} +-- TELEMETRY +local noTelemetryData = 1 +local hideNoTelemetry = false +local telemetry = {} +-- STATUS +telemetry.flightMode = 0 +telemetry.simpleMode = 0 +telemetry.landComplete = 0 +telemetry.statusArmed = 0 +telemetry.battFailsafe = 0 +telemetry.ekfFailsafe = 0 +telemetry.imuTemp = 0 +-- GPS +telemetry.numSats = 0 +telemetry.gpsStatus = 0 +telemetry.gpsHdopC = 100 +telemetry.gpsAlt = 0 +telemetry.gpsLat = nil +telemetry.gpsLon = nil +-- BATT 1 +telemetry.batt1volt = 0 +telemetry.batt1current = 0 +telemetry.batt1mah = 0 +-- BATT 2 +telemetry.batt2volt = 0 +telemetry.batt2current = 0 +telemetry.batt2mah = 0 +-- HOME +telemetry.homeDist = 0 +telemetry.homeAlt = 0 +telemetry.homeAngle = -1 +-- VELANDYAW +telemetry.vSpeed = 0 +telemetry.hSpeed = 0 +telemetry.yaw = 0 +-- ROLLPITCH +telemetry.roll = 0 +telemetry.pitch = 0 +telemetry.range = 0 +-- PARAMS +telemetry.frameType = -1 +telemetry.batt1Capacity = 0 +telemetry.batt2Capacity = 0 +-- WP +telemetry.wpNumber = 0 +telemetry.wpDistance = 0 +telemetry.wpXTError = 0 +telemetry.wpBearing = 0 +telemetry.wpCommands = 0 +-- VFR +telemetry.airspeed = 0 +telemetry.throttle = 0 +telemetry.baroAlt = 0 +-- TOTAL DISTANCE +telemetry.totalDist = 0 + +-- FLIGHT TIME +local lastTimerStart = 0 +-- MESSAGES +local msgBuffer = "" +local lastMsgValue = 0 +local lastMsgTime = 0 +local lastMessage +local lastMessageSeverity = 0 +local lastMessageCount = 1 +local messageCount = 0 +local messages = {} +-- EVENTS +local lastStatusArmed = 0 +local lastGpsStatus = 0 +local lastFlightMode = 0 +local lastSimpleMode = 0 +-- BATTERY LEVELS +local batLevel = 99 +local lastBattLevel = 13 +-- TOTAL DISTANCE +local lastUpdateTotDist = 0 +local lastSpeed = 0 +-- STATUS +local status = {} +-- BLINK SUPPORT +local blinktime = getTime() +local blinkon = false + + +status.showDualBattery = false +status.battAlertLevel1 = false +status.battAlertLevel2 = false +status.battsource = "na" +status.flightTime = 0 -- updated from model timer 3 +status.timerRunning = 0 -- triggered by landcomplete from AP +status.showMinMaxValues = false + +-- 00 05 10 15 20 25 30 40 50 60 70 80 90 +-- MIN MAX +local minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} +-- LIBRARY LOADING +local libBasePath = "/SCRIPTS/TELEMETRY/yaapu/" +local menuLibFile = "menu9" +local drawLibFile = "draw9" + +local drawLib = nil +local menuLib = nil +local resetLib = nil + +local centerPanel = nil +local rightPanel = nil +local leftPanel = nil +local altView = nil + +------------------------ +-- CONFIGURATION +------------------------ +local conf = { + language = "en", + battAlertLevel1 = 0, + battAlertLevel2 = 0, + battCapOverride1 = 0, + battCapOverride2 = 0, + disableAllSounds = false, + disableMsgBeep = 1, + timerAlert = 0, + minAltitudeAlert = 0, + maxAltitudeAlert = 0, + maxDistanceAlert = 0, + repeatAlertsPeriod = 10, + battConf = 1, -- 1=parallel,2=other + cell1Count = 0, + cell2Count = 0, + rangeFinderMax = 0, + horSpeedMultiplier = 1, + vertSpeedMultiplier = 1, + horSpeedLabel = "m", + vertSpeedLabel = "m/s", + centerPanel = nil, + rightPanel = nil, + leftPanel = nil, + altView = nil, + defaultBattSource = "na", + enablePX4Modes = false, + enableHaptic = false, +} +--[[ + ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing + ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing + ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing + ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing +{ + 1 = notified, + 2 = alarm start, + 3 = armed, + 4 = type(0=min,1=max,2=timer,3=batt), + 5 = grace duration + 6 = ready + 7 = last alarm +} +--]]------------------------- +-- alarms +------------------------- +local alarms = { + --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} + { false, 0 , false, 0, 0, false, 0}, --MIN_ALT + { false, 0 , true, 1 , 0, false, 0 }, --MAX_ALT + { false, 0 , true, 1 , 0, false, 0 }, --15 + { false, 0 , true, 1 , 0, false, 0 }, --FS_EKF + { false, 0 , true, 1 , 0, false, 0 }, --FS_BAT + { false, 0 , true, 2, 0, false, 0 }, --FLIGTH_TIME + { false, 0 , false, 3, 4, false, 0 }, --BATT L1 + { false, 0 , false, 4, 4, false, 0 }, --BATT L2 +} + +------------------------- +-- value transitions +------------------------- +local transitions = { + --{ last_value, last_changed, transition_done, delay } + { 0, 0, false, 30 }, -- flightmode +} + + +------------------------- +-- message hash support, uses 312 bytes +------------------------- +local shortHashes = { + -- 16 bytes hashes, requires 88 bytes + {554623408}, -- "554623408.wav", "Takeoff complete" + {3025044912}, -- "3025044912.wav", "SmartRTL deactiv" + {3956583920}, -- "3956583920.wav", "EKF2 IMU0 is usi" + {1309405592}, -- "1309405592.wav", "EKF3 IMU0 is usi" + {4091124880,true}, -- "4091124880.wav", "Reached command " + {3311875476,true}, -- "3311875476.wav", "Reached waypoint" + {1997782032,true}, -- "1997782032.wav", "Passed waypoint " +} + +local shortHash = nil +local parseShortHash = false +local hashByteIndex = 0 +local hash = 2166136261 + + +local showMessages = false +local showConfigMenu = false +local showAltView = false +local loadCycle = 0 + +----------------------------- +-- clears the loaded table +-- and recovers memory +----------------------------- +local function clearTable(t) + if type(t)=="table" then + for i,v in pairs(t) do + if type(v) == "table" then + clearTable(v) + end + t[i] = nil + end + end + t = nil + -- call collectgarbage twice + collectgarbage() + collectgarbage() +end + +local function doLibrary(filename) + local success,f = pcall(loadScript,libBasePath..filename..".lua") + if success then + local ret = f() + collectgarbage() + collectgarbage() + return ret + else + collectgarbage() + collectgarbage() + return nil + end +end + +local function unloadPanels() + clearTable(centerPanel) + clearTable(rightPanel) + clearTable(leftPanel) + + centerPanel = nil + rightPanel = nil + leftPanel = nil + + collectgarbage() + collectgarbage() +end + +local function loadPanels() + if centerPanel == nil and loadCycle == 4 then + centerPanel = doLibrary(conf.centerPanel) + end + + if rightPanel == nil and loadCycle == 6 then + rightPanel = doLibrary(conf.rightPanel) + end + + if leftPanel == nil and loadCycle == 2 then + leftPanel = doLibrary(conf.leftPanel) + end + + collectgarbage() + collectgarbage() +end + +-- prevent same file from beeing played too fast +local lastSoundTime = 0 + +local function playSound(soundFile,skipHaptic) + if conf.enableHaptic and skipHaptic == nil then + playHaptic(12,0) + end + if conf.disableAllSounds then + return + end + -- prevent OpenTX play queue from getting too big + if soundFile == "../inf" then + if getTime() - lastSoundTime > 65 then + lastSoundTime = getTime() + else + return + end + end + + playFile(soundFileBasePath .."/"..conf.language.."/".. soundFile..".wav") +end + +---------------------------------------------- +-- sound file has same name as flightmode all lowercase with .wav extension +---------------------------------------------- +local function playFlightMode(flightMode) + if conf.enableHaptic then + playHaptic(12,0) + end + if conf.disableAllSounds then + return + end + if frame.flightModes then + if frame.flightModes[flightMode] ~= nil then + playFile(soundFileBasePath.."/"..conf.language.."/".. string.lower(frame.flightModes[flightMode]) .. (frameType=="r" and "_r.wav" or ".wav")) + end + end +end + +local function formatMessage(severity,msg) + local shortMsg = msg + if lastMessageCount > 1 then + if #msg > 36 then + shortMsg = string.sub(msg,1,36) + collectgarbage() + end + local pmsg = string.format("%02d:%s %s (x%d)", messageCount, mavSeverity[severity], shortMsg, lastMessageCount) + msg=nil + shortMsg = nil + collectgarbage() + return pmsg + else + if #msg > 40 then + shortMsg = string.sub(msg,1,40) + collectgarbage() + end + local pmsg = string.format("%02d:%s %s", messageCount, mavSeverity[severity], shortMsg) + msg=nil + shortMsg = nil + collectgarbage() + return pmsg + end +end + +--[[ +-------------------- +-- FNV HASH +-------------------- +function fnv(str) + local hash = 2166136261 + for char in string.gmatch(str, ".") do + hash = bit32.bxor(hash, string.byte(char)) + hash = (hash * 16777619) % 2^32 + end + return hash +end +--]] + +local function pushMessage(severity, msg) + if conf.enableHaptic then + playHaptic(12,0) + end + if conf.disableAllSounds == false then + if ( severity < 5 and conf.disableMsgBeep < 3 ) then + playSound("../err",true) + else + if conf.disableMsgBeep < 2 then + playSound("../inf",true) + end + end + end + if msg == lastMessage then + lastMessageCount = lastMessageCount + 1 + else + lastMessageCount = 1 + messageCount = messageCount + 1 + end + messages[(messageCount-1) % 9] = formatMessage(severity,msg) + --print("count=",messageCount,"pos=%",(messageCount-1) % 9,msg,"#messages",#messages) + lastMessage = msg + lastMessageSeverity = severity + collectgarbage() + collectgarbage() +end + +local function startTimer() + lastTimerStart = getTime()/100 + model.setTimer(2,{mode=1}) +end + +local function stopTimer() + model.setTimer(2,{mode=0}) + lastTimerStart = 0 +end + +local function reset() + --------------- + -- BATT + --------------- + cell1min = 0 + cell1sum = 0 + cell2min = 0 + cell2sum = 0 + cell1sumFC = 0 + cell1maxFC = 0 + cell2sumFC = 0 + cell1count = 0 + cell2count = 0 + clearTable(minmaxValues) + minmaxValues = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} + --------------- + -- TELEMETRY + --------------- + noTelemetryData = 1 + hideNoTelemetry = false + --------------- + -- FLIGHT TIME + --------------- + lastTimerStart = 0 + --------------- + -- MESSAGES + --------------- + msgBuffer = "" + lastMsgValue = 0 + lastMsgTime = 0 + lastMessage = nil + lastMessageSeverity = 0 + lastMessageCount = 1 + messageCount = 0 + clearTable(messages) + messages = {} + --------------- + -- EVENTS + --------------- + lastStatusArmed = 0 + lastGpsStatus = 0 + lastFlightMode = 0 + lastSimpleMode = 0 + --------------- + -- BATTERY LEVELS + --------------- + batLevel = 99 + lastBattLevel = 13 + --------------- + -- TOTAL DISTANCE + --------------- + lastUpdateTotDist = 0 + lastSpeed = 0 + + -- unload DRAW + clearTable(drawLib) + drawLib = nil + + if resetLib == nil then + resetLib = doLibrary("reset") + end + -- reset all + resetLib.resetTelemetry(status,telemetry,battery,alarms,transitions) + -- release resources + clearTable(resetLib) + resetLib = nil + -- recover memory + collectgarbage() + collectgarbage() + -- done + pushMessage(6,"Telemetry reset done.") + playSound("yaapu") +end + + +local function processTelemetry(telemetry,DATA_ID,VALUE) + if DATA_ID == 0x5006 then -- ROLLPITCH + -- roll [0,1800] ==> [-180,180] + telemetry.roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 + -- pitch [0,900] ==> [-90,90] + telemetry.pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 + -- #define ATTIANDRNG_RNGFND_OFFSET 21 + -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power + telemetry.range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm + elseif DATA_ID == 0x5005 then -- VELANDYAW + telemetry.vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) + telemetry.hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.yaw = bit32.extract(VALUE,17,11) * 0.2 + elseif DATA_ID == 0x5001 then -- AP STATUS + telemetry.flightMode = bit32.extract(VALUE,0,5) + telemetry.simpleMode = bit32.extract(VALUE,5,2) + telemetry.landComplete = bit32.extract(VALUE,7,1) + telemetry.statusArmed = bit32.extract(VALUE,8,1) + telemetry.battFailsafe = bit32.extract(VALUE,9,1) + telemetry.ekfFailsafe = bit32.extract(VALUE,10,2) + -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° + telemetry.imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° + elseif DATA_ID == 0x5002 then -- GPS STATUS + telemetry.numSats = bit32.extract(VALUE,0,4) + -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 + -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED + telemetry.gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) + telemetry.gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm + telemetry.gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm + elseif DATA_ID == 0x5003 then -- BATT + telemetry.batt1volt = bit32.extract(VALUE,0,9) -- dV + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell1Count == 12 and telemetry.batt1volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt1volt = 512 + telemetry.batt1volt + end + telemetry.batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) --dA + telemetry.batt1mah = bit32.extract(VALUE,17,15) + elseif DATA_ID == 0x5008 then -- BATT2 + telemetry.batt2volt = bit32.extract(VALUE,0,9) + -- telemetry max is 51.1V, 51.2 is reported as 0.0, 52.3 is 0.1...60 is 88 + -- if 12S and V > 51.1 ==> Vreal = 51.2 + telemetry.batt1volt + if conf.cell2Count == 12 and telemetry.batt2volt < 240 then + -- assume a 2Vx12 as minimum acceptable "real" voltage + telemetry.batt2volt = 512 + telemetry.batt2volt + end + telemetry.batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) + telemetry.batt2mah = bit32.extract(VALUE,17,15) + elseif DATA_ID == 0x5004 then -- HOME + telemetry.homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) + telemetry.homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m + telemetry.homeAngle = bit32.extract(VALUE, 25, 7) * 3 + elseif DATA_ID == 0x5000 then -- MESSAGES + if VALUE ~= lastMsgValue then + lastMsgValue = VALUE + local c + local msgEnd = false + for i=3,0,-1 + do + c = bit32.extract(VALUE,i*8,7) + if c ~= 0 then + msgBuffer = msgBuffer .. string.char(c) + collectgarbage() + collectgarbage() + hash = bit32.bxor(hash, c) + hash = (hash * 16777619) % 2^32 + hashByteIndex = hashByteIndex+1 + -- check if this hash matches any 16bytes prefix hash + if hashByteIndex == 16 then + for i=1,#shortHashes + do + if hash == shortHashes[i][1] then + -- ok found + shortHash = hash + -- check if needs parsing + parseShortHash = shortHashes[i][2] == nil and false or true + break; + end + end + end + else + msgEnd = true; + break; + end + end + if msgEnd then + -- push and display message + local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) + pushMessage( severity, msgBuffer) + -- play shortHash if found otherwise "try" the full hash + -- if it does not exist OpenTX will gracefully ignore it + playSound(tostring(shortHash == nil and hash or shortHash),true) + -- if required parse parameter and play it! + if parseShortHash then + local param = string.match(msgBuffer, ".*#(%d+).*") + collectgarbage() + collectgarbage() + if param ~= nil then + playNumber(tonumber(param),0) + collectgarbage() + collectgarbage() + end + end + -- reset hash for next string + parseShortHash = false + shortHash = nil + hash = 2166136261 + hashByteIndex = 0 + msgBuffer = nil + -- recover memory + collectgarbage() + collectgarbage() + msgBuffer = "" + end + end + elseif DATA_ID == 0x5007 then -- PARAMS + local paramId = bit32.extract(VALUE,24,4) + local paramValue = bit32.extract(VALUE,0,24) + if paramId == 1 then + telemetry.frameType = paramValue + elseif paramId == 4 then + telemetry.batt1Capacity = paramValue + elseif paramId == 5 then + telemetry.batt2Capacity = paramValue + end + elseif DATA_ID == 0x5009 then -- WAYPOINTS @1Hz + telemetry.wpNumber = bit32.extract(VALUE,0,10) -- wp index + telemetry.wpDistance = bit32.extract(VALUE,12,10) * (10^bit32.extract(VALUE,10,2)) -- meters + telemetry.wpXTError = bit32.extract(VALUE,23,4) * (10^bit32.extract(VALUE,22,1)) * (bit32.extract(VALUE,27,1) == 1 and -1 or 1)-- meters + telemetry.wpBearing = bit32.extract(VALUE,29,3) -- offset from cog with 45° resolution +--[[ + elseif DATA_ID == 0x50F1 then -- RC CHANNELS + -- channels 1 - 32 + local offset = bit32.extract(VALUE,0,4) * 4 + rcchannels[1 + offset] = 100 * (bit32.extract(VALUE,4,6)/63) * (bit32.extract(VALUE,10,1) == 1 and -1 or 1) + rcchannels[2 + offset] = 100 * (bit32.extract(VALUE,11,6)/63) * (bit32.extract(VALUE,17,1) == 1 and -1 or 1) + rcchannels[3 + offset] = 100 * (bit32.extract(VALUE,18,6)/63) * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) + rcchannels[4 + offset] = 100 * (bit32.extract(VALUE,25,6)/63) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) +--]] elseif DATA_ID == 0x50F2 then -- VFR + telemetry.airspeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) -- dm/s + telemetry.throttle = bit32.extract(VALUE,8,7) + telemetry.baroAlt = bit32.extract(VALUE,17,10) * (10^bit32.extract(VALUE,15,2)) * 0.1 * (bit32.extract(VALUE,27,1) == 1 and -1 or 1) + end +end + +local function telemetryEnabled() + if getRSSI() == 0 then + noTelemetryData = 1 + end + return noTelemetryData == 0 +end + +local function getMaxValue(value,idx) + minmaxValues[idx] = math.max(value,minmaxValues[idx]) + return status.showMinMaxValues and minmaxValues[idx] or value +end + +local function calcMinValue(value,min) + return min == 0 and value or math.min( value, min ) +end + +-- returns the actual minimun only if both are > 0 +local function getNonZeroMin(v1,v2) + return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) +end + +local function calcCellCount() + -- cellcount override from menu + local c1 = 0 + local c2 = 0 + + if conf.cell1Count ~= nil and conf.cell1Count > 0 then + c1 = conf.cell1Count + elseif batt1sources.vs == true and cell1count > 1 then + c1 = cell1count + else + c1 = math.floor( ((cell1maxFC*0.1) / 4.36) + 1) + end + + if conf.cell2Count ~= nil and conf.cell2Count > 0 then + c2 = conf.cell2Count + elseif batt2sources.vs == true and cell2count > 1 then + c2 = cell2count + else + c2 = math.floor(((cell2maxFC*0.1)/4.36) + 1) + end + + return c1,c2 +end + +-- gets the voltage based on source and min value, battId = [1|2] +local function getMinVoltageBySource(source, cell, cellFC, battId) + -- offset 0 for cell voltage, 2 for pack voltage + local offset = 0 + -- + if cell > 4.36*2 or cellFC > 4.36*2 then + offset = 2 + end + -- + if source == "vs" then + return status.showMinMaxValues == true and minmaxValues[2+offset+battId] or cell + elseif source == "fc" then + -- FC only tracks batt1 and batt2 no cell voltage tracking + local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/calcCellCount()) + return status.showMinMaxValues == true and minmax or cellFC + end + -- + return 0 +end + +local function getBatt1Capacity() + return conf.battCapOverride1 > 0 and conf.battCapOverride1*10 or telemetry.batt1Capacity +end + +local function getBatt2Capacity() + return conf.battCapOverride2 > 0 and conf.battCapOverride2*10 or telemetry.batt2Capacity +end + +local function calcFLVSSBatt(battIdx) + local cellMin,cellSum,cellCount + local battSources = battIdx == 1 and batt1sources or batt2sources + local cellResult = battIdx == 1 and getValue("Cels") or getValue("Cel2") + if type(cellResult) == "table" then + cellMin = 4.36 + cellSum = 0 + -- cellcount is global and shared + cellCount = #cellResult + for i, v in pairs(cellResult) do + cellSum = cellSum + v + if cellMin > v then + cellMin = v + end + end + -- if connected after script started + if battSources.vs == false then + status.battsource = "na" + end + if status.battsource == "na" then + status.battsource = "vs" + end + battSources.vs = true + else + battSources.vs = false + cellMin = 0 + cellSum = 0 + end + return cellMin,cellSum,cellCount,battSources +end + +local function calcBattery() + ------------ + -- FLVSS 1 + ------------ + cell1min, cell1sum, cell1count = calcFLVSSBatt(1) --1 = Cels + + ------------ + -- FLVSS 2 + ------------ + cell2min, cell2sum, cell2count = calcFLVSSBatt(2) --2 = Cel2 + + -------------------------------- + -- flight controller battery 1 + -------------------------------- + if telemetry.batt1volt > 0 then + -- needed to calculate cell count + cell1maxFC = math.max(telemetry.batt1volt,cell1maxFC) + cell1sumFC = telemetry.batt1volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt1sources.fc = true + else + batt1sources.fc = false + cell1sumFC = 0 + end + -------------------------------- + -- flight controller battery 2 + -------------------------------- + if telemetry.batt2volt > 0 then + cell2maxFC = math.max(telemetry.batt2volt,cell2maxFC) + cell2sumFC = telemetry.batt2volt*0.1 + if status.battsource == "na" then + status.battsource = "fc" + end + batt2sources.fc = true + else + batt2sources.fc = false + cell2sumFC = 0 + end + -- batt fc + minmaxValues[1] = calcMinValue(cell1sumFC,minmaxValues[1]) + minmaxValues[2] = calcMinValue(cell2sumFC,minmaxValues[2]) + -- cell flvss + minmaxValues[3] = calcMinValue(cell1min,minmaxValues[3]) + minmaxValues[4] = calcMinValue(cell2min,minmaxValues[4]) + -- batt flvss + minmaxValues[5] = calcMinValue(cell1sum,minmaxValues[5]) + minmaxValues[6] = calcMinValue(cell2sum,minmaxValues[6]) + ------------------------------------------ + -- table to pass battery info to panels + -- offsets are: 1 celm, 4 batt, 7 curr, 10 mah, 13 cap, indexing starts at 1 + -- value = offset + [0 aggregate|1 for batt 1| 2 for batt2] + -- batt2 = 4 + 2 = 6 + ------------------------------------------ + -- Note: these can be calculated. not necessary to track them as min/max + -- cell1minFC = cell1sumFC/calcCellCount() + -- cell2minFC = cell2sumFC/calcCellCount() + -- cell1minA2 = cell1sumA2/calcCellCount() + + local count1,count2 = calcCellCount() + -- 3 cases here + -- 1) parallel => all values depend on both batteries + -- 2) other => all values depend on battery 1 + -- 3) serial => celm(vs) and vbatt(vs) depend on both batteries, all other values on PM battery 1 (this is not supported: 1 PM + 2xFLVSS) + + battery[1+1] = getMinVoltageBySource(status.battsource, cell1min, cell1sumFC/count1, 1)*100 --cel1m + battery[1+2] = getMinVoltageBySource(status.battsource, cell2min, cell2sumFC/count2, 2)*100 --cel2m + battery[1] = (conf.battConf == 3 and battery[2] or getNonZeroMin(battery[2],battery[3]) ) + + battery[4+1] = getMinVoltageBySource(status.battsource, cell1sum, cell1sumFC, 1)*10 --batt1 + battery[4+2] = getMinVoltageBySource(status.battsource, cell2sum, cell2sumFC, 2)*10 --batt2 + battery[4] = (conf.battConf == 3 and battery[5] or (conf.battConf == 2 and battery[5]+battery[6] or getNonZeroMin(battery[5],battery[6]))) + + battery[7] = getMaxValue((conf.battConf == 3 and telemetry.batt1current or telemetry.batt1current + telemetry.batt2current),7) + battery[7+1] = getMaxValue(telemetry.batt1current,8) --curr1 + battery[7+2] = getMaxValue(telemetry.batt2current,9) --curr2 + + battery[10] = (conf.battConf == 3 and telemetry.batt1mah or telemetry.batt1mah + telemetry.batt2mah) + battery[10+1] = telemetry.batt1mah --mah1 + battery[10+2] = telemetry.batt2mah --mah2 + + battery[13] = (conf.battConf == 3 and getBatt1Capacity() or getBatt1Capacity() + getBatt2Capacity()) + battery[13+1] = getBatt1Capacity() --cap1 + battery[13+2] = getBatt2Capacity() --cap2 + + if status.showDualBattery == true and conf.battConf == 1 then + -- dual parallel battery: do I have also dual current monitor? + if battery[7+1] > 0 and battery[7+2] == 0 then + -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel + battery[7+1] = battery[7+1]/2 --curr1 + battery[7+2] = battery[7+1] --curr2 + -- + battery[10+1] = battery[10+1]/2 --mah1 + battery[10+2] = battery[10+1] --mah2 + -- + battery[13+1] = battery[13+1]/2 --cap1 + battery[13+2] = battery[13+1] --cap2 + end + end +end + +local function checkLandingStatus() + if ( status.timerRunning == 0 and telemetry.landComplete == 1 and lastTimerStart == 0) then + startTimer() + end + if (status.timerRunning == 1 and telemetry.landComplete == 0 and lastTimerStart ~= 0) then + stopTimer() + -- play landing complete only if motorts are armed + if telemetry.statusArmed == 1 then + playSound("landing") + end + end + status.timerRunning = telemetry.landComplete +end + +local function calcFlightTime() + if model.getTimer(2).value < status.flightTime then + if telemetry.statusArmed == 0 then + reset() + else + model.setTimer(2,{value=status.flightTime}) + pushMessage(4,"Reset ignored while armed") + end + end + -- update local variable with timer 3 value + status.flightTime = model.getTimer(2).value +end + +local function setSensorValues() + if (not telemetryEnabled()) then + return + end + local battmah = telemetry.batt1mah + local battcapacity = getBatt1Capacity() + if telemetry.batt2mah > 0 then + battcapacity = getBatt1Capacity() + getBatt2Capacity() + battmah = telemetry.batt1mah + telemetry.batt2mah + end + local perc = 0 + if (battcapacity > 0) then + perc = math.min(math.max((1 - (battmah/battcapacity))*100,0),99) + end + + setTelemetryValue(0x060F, 0, 0, perc, 13 , 0 , "Fuel") + setTelemetryValue(0x021F, 0, 0, getNonZeroMin(telemetry.batt1volt,telemetry.batt2volt)*10, 1 , 2 , "VFAS") + setTelemetryValue(0x020F, 0, 0, telemetry.batt1current+telemetry.batt2current, 2 , 1 , "CURR") + setTelemetryValue(0x011F, 0, 0, telemetry.vSpeed, 5 , 1 , "VSpd") + setTelemetryValue(0x083F, 0, 0, telemetry.hSpeed*0.1, 4 , 0 , "GSpd") + setTelemetryValue(0x010F, 0, 0, telemetry.homeAlt*10, 9 , 1 , "Alt") + setTelemetryValue(0x082F, 0, 0, math.floor(telemetry.gpsAlt*0.1), 9 , 0 , "GAlt") + setTelemetryValue(0x084F, 0, 0, math.floor(telemetry.yaw), 20 , 0 , "Hdg") + setTelemetryValue(0x041F, 0, 0, telemetry.imuTemp, 11 , 0 , "IMUt") + setTelemetryValue(0x060F, 0, 1, telemetry.statusArmed*100, 0 , 0 , "ARM") +end + +local function drawAllMessages() + for i=0,#messages do + lcd.drawText(1,1+7*i, messages[(messageCount + i) % (#messages+1)],SMLSIZE) + end +end +--------------------------------- +-- This function checks alarm condition and as long as the condition persists it plays +-- a warning sound. +--------------------------------- +local function checkAlarm(level,value,idx,sign,sound,delay) + -- once landed reset all alarms except battery alerts + if status.timerRunning == 0 then + if alarms[idx][4] == 0 then + alarms[idx] = { false, 0, false, 0, 0, false, 0} + elseif alarms[idx][4] == 1 then + alarms[idx] = { false, 0, true, 1 , 0, false, 0} + elseif alarms[idx][4] == 2 then + alarms[idx] = { false, 0, true, 2, 0, false, 0} + elseif alarms[idx][4] == 3 then + alarms[idx] = { false, 0 , false, 3, 4, false, 0} + elseif alarms[idx][4] == 4 then + alarms[idx] = { false, 0 , false, 4, 4, false, 0} + end + -- reset done + return + end + -- if needed arm the alarm only after value has reached level + if alarms[idx][3] == false and level > 0 and -1 * sign*value > -1 * sign*level then + alarms[idx][3] = true + end + -- + if alarms[idx][4] == 2 then + if status.flightTime > 0 and math.floor(status.flightTime) % delay == 0 then + if alarms[idx][1] == false then + alarms[idx][1] = true + playSound(sound) + playDuration(status.flightTime,(status.flightTime > 3600 and 1 or 0)) -- minutes,seconds + end + else + alarms[idx][1] = false + end + else + if alarms[idx][3] == true then + if level > 0 and sign*value > sign*level then + -- value is outside level + if alarms[idx][2] == 0 then + -- first time outside level after last reset + alarms[idx][2] = status.flightTime + -- status: START + end + else + -- value back to normal ==> reset + alarms[idx][2] = 0 + alarms[idx][1] = false + alarms[idx][6] = false + -- status: + end + if alarms[idx][2] > 0 and (status.flightTime ~= alarms[idx][2]) and (status.flightTime - alarms[idx][2]) >= alarms[idx][5] then + -- enough time has passed after START + alarms[idx][6] = true + -- status: READY + end + -- + if alarms[idx][6] == true and alarms[idx][1] == false then + playSound(sound) + alarms[idx][1] = true + alarms[idx][7] = status.flightTime + -- status: BEEP + end + -- all but battery alarms + if alarms[idx][4] ~= 3 then + if alarms[idx][6] == true and status.flightTime ~= alarms[idx][7] and (status.flightTime - alarms[idx][7]) % delay == 0 then + alarms[idx][1] = false + -- status: REPEAT + end + end + end + end +end + +local function loadFlightModes() + if frame.flightModes then + return + end + if telemetry.frameType ~= -1 then + if frameTypes[telemetry.frameType] == "c" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "copter_px4.luac" or "copter.luac")) + elseif frameTypes[telemetry.frameType] == "p" then + frame = dofile(libBasePath..(conf.enablePX4Modes and "plane_px4.luac" or "plane.luac")) + elseif frameTypes[telemetry.frameType] == "r" then + frame = dofile(libBasePath.."rover.luac") + end + if frame.flightModes then + frameType = frameTypes[telemetry.frameType] + -- recover some memory + clearTable(frameTypes) + end + end +end + +local function getFlightMode() + if frame.flightModes then + return frame.flightModes[telemetry.flightMode] + else + return nil + end +end + +--------------------------------- +-- This function checks state transitions and only returns true if a specific delay has passed +-- new transitions reset the delay timer +--------------------------------- +local function checkTransition(idx,value) + if value ~= transitions[idx][1] then + -- value has changed + transitions[idx][1] = value + transitions[idx][2] = getTime() + transitions[idx][3] = false + -- status: + return false + end + if transitions[idx][3] == false and (getTime() - transitions[idx][2]) >= transitions[idx][4] then + -- enough time has passed after + transitions[idx][3] = true + -- status: FIRE + return true; + end +end + + +local function checkEvents() + loadFlightModes() + + checkAlarm(conf.minAltitudeAlert,telemetry.homeAlt,1,-1,"minalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxAltitudeAlert,telemetry.homeAlt,2,1,"maxalt",conf.repeatAlertsPeriod) + checkAlarm(conf.maxDistanceAlert,telemetry.homeDist,3,1,"maxdist",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.ekfFailsafe,4,1,"ekf",conf.repeatAlertsPeriod) + checkAlarm(1,2*telemetry.battFailsafe,5,1,"lowbat",conf.repeatAlertsPeriod) + checkAlarm(math.floor(conf.timerAlert),status.flightTime,6,1,"timealert",math.floor(conf.timerAlert)) + + local capacity = getBatt1Capacity() + local mah = telemetry.batt1mah + + -- only if dual battery has been detected + if (batt2sources.fc or batt2sources.vs) and conf.battConf == 1 then + capacity = capacity + getBatt2Capacity() + mah = mah + telemetry.batt2mah + end + + if (capacity > 0) then + batLevel = (1 - (mah/capacity))*100 + else + batLevel = 99 + end + + for l=0,12 do + -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) + local level = tonumber(string.sub("00051015202530405060708090",l*2+1,l*2+2)) + if batLevel <= level + 1 and l < lastBattLevel then + lastBattLevel = l + playSound("bat"..level) + break + end + end + + if telemetry.statusArmed ~= lastStatusArmed then + if telemetry.statusArmed == 1 then playSound("armed") else playSound("disarmed") end + lastStatusArmed = telemetry.statusArmed + end + + if telemetry.gpsStatus > 2 and lastGpsStatus <= 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsfix") + elseif telemetry.gpsStatus <= 2 and lastGpsStatus > 2 then + lastGpsStatus = telemetry.gpsStatus + playSound("gpsnofix") + end + + -- flightmode transitions have a grace period to prevent unwanted flightmode call out + -- on quick radio mode switches + if frame.flightModes ~= nil and checkTransition(1,telemetry.flightMode) then + playFlightMode(telemetry.flightMode) + end + + if telemetry.simpleMode ~= lastSimpleMode then + if telemetry.simpleMode == 0 then + playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) + else + playSound( telemetry.simpleMode == 1 and "simpleon" or "ssimpleon" ) + end + lastSimpleMode = telemetry.simpleMode + end +end + +local function checkCellVoltage(celm) + -- check alarms + checkAlarm(conf.battAlertLevel1,celm,7,-1,"batalert1",conf.repeatAlertsPeriod) + checkAlarm(conf.battAlertLevel2,celm,8,-1,"batalert2",conf.repeatAlertsPeriod) + + if status.battAlertLevel1 == false then status.battAlertLevel1 = alarms[7][1] end + if status.battAlertLevel2 == false then status.battAlertLevel2 = alarms[8][1] end +end + +local function cycleBatteryInfo() + if status.showDualBattery == false and (batt2sources.fc or batt2sources.vs) and conf.battConf ~= 2 then + status.showDualBattery = true + return + end + status.battsource = status.battsource == "vs" and "fc" or "vs" +end + +local function updateTotalDist() + if telemetry.armingStatus == 0 then + lastUpdateTotDist = getTime() + return + end + local delta = getTime() - lastUpdateTotDist + local avgSpeed = (telemetry.hSpeed + lastSpeed)/2 + lastUpdateTotDist = getTime() + lastSpeed = telemetry.hSpeed + if avgSpeed * 0.1 > 1 then + telemetry.totalDist = telemetry.totalDist + (avgSpeed * 0.1 * delta * 0.01) --hSpeed dm/s, getTime()/100 secs + end +end + +-------------------------------------------------------------------------------- +-- MAIN LOOP +-------------------------------------------------------------------------------- +local bgclock = 0 +------------------------------- +-- running at 20Hz (every 50ms) +------------------------------- +local function background() + -- FAST: this runs at 60Hz (every 16ms) + for i=1,3 + do + local sensor_id,frame_id,data_id,value = sportTelemetryPop() + + if frame_id == 0x10 then + processTelemetry(telemetry,data_id,value) + -- update telemetry status + noTelemetryData = 0 + hideNoTelemetry = true + end + end + -- SLOW: this runs at 4Hz (every 250ms) + if (bgclock % 4 == 0) then + setSensorValues() + updateTotalDist() + end + -- SLOWER: this runs at 2Hz (every 500ms) + if (bgclock % 8 == 0) then + calcBattery() + calcFlightTime() + -- prepare celm based on status.battsource + local count1,count2 = calcCellCount() + local cellVoltage = 0 + + if conf.battConf == 3 then + -- alarms are based on battery 1 + cellVoltage = 100*(status.battsource == "vs" and cell1min or cell1sumFC/count1) + else + -- alarms are based on battery 1 and battery 2 + cellVoltage = 100*(status.battsource == "vs" and getNonZeroMin(cell1min,cell2min) or getNonZeroMin(cell1sumFC/count1,cell2sumFC/count2)) + end + -- + checkEvents() + checkLandingStatus() + -- no need for alarms if reported voltage is 0 + if cellVoltage > 0 then + checkCellVoltage(cellVoltage) + end + -- aggregate value + minmaxValues[7] = math.max((conf.battConf == 3 and telemetry.batt1current or telemetry.batt1current+telemetry.batt2current), minmaxValues[7]) + + -- indipendent values + minmaxValues[8] = math.max(telemetry.batt1current,minmaxValues[8]) + minmaxValues[9] = math.max(telemetry.batt2current,minmaxValues[9]) + + + -- update GPS coordinates + local gpsData = getValue("GPS") + + if type(gpsData) == "table" and gpsData.lat ~= nil and gpsData.lon ~= nil then + telemetry.gpsLat = math.floor(gpsData.lat * 100000) / 100000 + telemetry.gpsLon = math.floor(gpsData.lon * 100000) / 100000 + collectgarbage() + collectgarbage() + end + + bgclock=0 + end + -- blinking support + if (getTime() - blinktime) > 65 then + blinkon = not blinkon + blinktime = getTime() + end + bgclock = bgclock+1 + collectgarbage() + collectgarbage() +end + +local function run(event) + lcd.clear() + + + + if showMessages then + --------------------- + -- MESSAGES + --------------------- + drawAllMessages() + + if event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == 35 or event == EVT_EXIT_BREAK or event == 33 then + showMessages = false + elseif event == EVT_ENTER_BREAK or event == 34 then + if showAltView == false then + -- main --> altview + unloadPanels() + showAltView = true + else + -- altview --> main + clearTable(altView) + altView = nil + showAltView = false + end + showMessages = false + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + showMessages = false + end + elseif showConfigMenu then + --------------------- + -- CONFIG MENU + --------------------- + -- top bars + lcd.drawFilledRectangle(0,0, 212, 7, SOLID+FORCE) + -- bottom bar + lcd.drawFilledRectangle(0,56, 212, 8, SOLID+FORCE) + + if menuLib == nil and loadCycle == 4 then + menuLib = doLibrary(menuLibFile) + if menuLib ~= nil then + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() + end + end + + if menuLib ~= nil then + menuLib.drawConfigMenu(event) + end + + + if event == EVT_EXIT_BREAK then + showConfigMenu = false + -- unload MENU + menuLib.saveConfig(conf) + clearTable(menuLib) + menuLib = nil + collectgarbage() + collectgarbage() + end + else + --------------------- + -- MAIN VIEW + --------------------- + if event == EVT_ENTER_BREAK or event == 34 then + cycleBatteryInfo() + end + if event == EVT_MENU_BREAK or event == 32 then + status.showMinMaxValues = not status.showMinMaxValues + end + + if status.showDualBattery == true and (event == EVT_EXIT_BREAK or event == 33) then + status.showDualBattery = false + end + + if drawLib == nil and loadCycle == 0 then + -- load draw library + drawLib = doLibrary(drawLibFile) + collectgarbage() + collectgarbage() + end + + -- top bars + lcd.drawFilledRectangle(0,0, 212, 7, FORCE) + + if showAltView then + if altView == nil and loadCycle == 2 then + -- load ALTVIEW + altView = doLibrary(conf.altView) + collectgarbage() + collectgarbage() + end + + if drawLib ~= nil and altView ~= nil then + altView.drawView(drawLib,conf,telemetry,status,battery,(batt2sources.fc or batt2sources.vs) and 0 or 1,getMaxValue,gpsStatuses) + end + + if event == EVT_EXIT_BREAK or event == 33 then + showMessages = false + showAltView = false + + clearTable(altView) + altView = nil + collectgarbage() + collectgarbage() + elseif event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + showMessages = true + end + else + -- draw PANELS + loadPanels() + + if centerPanel ~= nil and rightPanel ~= nil and leftPanel ~= nil and drawLib ~= nil then + -- with dual battery default is to show aggregate view + if batt2sources.fc or batt2sources.vs then + if status.showDualBattery == false then + -- dual battery: aggregate view + rightPanel.drawPane(152,drawLib,conf,telemetry,status,battery,0,getMaxValue,gpsStatuses) -- 0=aggregate view + lcd.drawText(152-5, 0, "2B", SMLSIZE+INVERS) + else + -- dual battery:battery 1 right pane + rightPanel.drawPane(152,drawLib,conf,telemetry,status,battery,1,getMaxValue,gpsStatuses) -- 1=battery 1 + -- dual battery:battery 2 left pane + rightPanel.drawPane(1,drawLib,conf,telemetry,status,battery,2,getMaxValue,gpsStatuses) -- 2=battery 2 + end + else + -- battery 1 right pane in single battery mode + rightPanel.drawPane(152,drawLib,conf,telemetry,status,battery,1,getMaxValue,gpsStatuses) -- 1=battery 1 + end + -- left pane info when not in dual battery mode + if status.showDualBattery == false then + leftPanel.drawPane(1,drawLib,conf,telemetry,status,battery,0,getMaxValue,gpsStatuses) -- 0=aggregate view + end + + centerPanel.drawHud(drawLib,conf,telemetry,status,battery,getMaxValue) + + drawLib.drawGrid() + drawLib.drawRArrow(133,47,7,telemetry.homeAngle - telemetry.yaw,1) + drawLib.drawFailSafe(status.showDualBattery,telemetry.ekfFailsafe,telemetry.battFailsafe) + end + end + -- bottom bar + lcd.drawFilledRectangle(0,56, 212, 8, FORCE) + + if drawLib ~= nil then + drawLib.drawTopBar(getFlightMode(),telemetry.simpleMode,status.flightTime,telemetryEnabled) + drawLib.drawBottomBar(messages[(messageCount + #messages) % (#messages+1)],lastMsgTime) + drawLib.drawNoTelemetry(telemetryEnabled,hideNoTelemetry) + end + -- event handler + if event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == 36 then + --------------------- + -- SHOW MESSAGES + --------------------- + showMessages = true + elseif event == EVT_MENU_LONG or event == 128 then + --------------------- + -- SHOW CONFIG MENU + --------------------- + clearTable(drawLib) + clearTable(altView) + unloadPanels() + altView = nil + drawLib = nil + collectgarbage() + collectgarbage() + showConfigMenu = true + end + end + if not telemetryEnabled() and blinkon then + lcd.drawRectangle(0,0,212,LCD_H,showMessages and SOLID or ERASE) + end + loadCycle=(loadCycle+1)%8 + collectgarbage() + collectgarbage() +end + +local function init() +-- initialize flight timer + model.setTimer(2,{mode=0}) + model.setTimer(2,{value=0}) + -- load menu library + menuLib = doLibrary(menuLibFile) + menuLib.loadConfig(conf) + collectgarbage() + collectgarbage() + -- ok configuration loaded + status.battsource = conf.defaultBattSource + -- configuration loaded, releasing menu library memory + clearTable(menuLib) + menuLib = nil + pushMessage(7,"Yaapu X9 telemetry script 1.8.0") + collectgarbage() + collectgarbage() + playSound("yaapu") +end + +-------------------------------------------------------------------------------- +-- SCRIPT END +-------------------------------------------------------------------------------- +return {run=run, background=background, init=init} + diff --git a/TARANIS/SOURCES/copter.lua b/TARANIS/SOURCES/copter.lua deleted file mode 100644 index 7f82933d..00000000 --- a/TARANIS/SOURCES/copter.lua +++ /dev/null @@ -1,29 +0,0 @@ - local flightModes = {} - -- copter flight modes - flightModes[0]="" - flightModes[1]="Stabilize" - flightModes[2]="Acro" - flightModes[3]="AltHold" - flightModes[4]="Auto" - flightModes[5]="Guided" - flightModes[6]="Loiter" - flightModes[7]="RTL" - flightModes[8]="Circle" - flightModes[9]="" - flightModes[10]="Land" - flightModes[11]="" - flightModes[12]="Drift" - flightModes[13]="" - flightModes[14]="Sport" - flightModes[15]="Flip" - flightModes[16]="AutoTune" - flightModes[17]="PosHold" - flightModes[18]="Brake" - flightModes[19]="Throw" - flightModes[20]="AvoidADSB" - flightModes[21]="GuidedNOGPS" - flightModes[22]="SmartRTL" - flightModes[23]="FlowHold" - flightModes[24]="Follow" - -return {flightModes=flightModes} \ No newline at end of file diff --git a/TARANIS/SOURCES/english.psv b/TARANIS/SOURCES/english.psv deleted file mode 100644 index af293c3d..00000000 --- a/TARANIS/SOURCES/english.psv +++ /dev/null @@ -1,72 +0,0 @@ -SOUNDS/yaapu0/en|acro|Acro flight mode -SOUNDS/yaapu0/en|acro_r|Acro mode -SOUNDS/yaapu0/en|althold|Altitude hold flight mode -SOUNDS/yaapu0/en|armed|Motors armed -SOUNDS/yaapu0/en|auto|Auto flight mode -SOUNDS/yaapu0/en|auto_r|Auto mode -SOUNDS/yaapu0/en|autotune|Autotune enabled -SOUNDS/yaapu0/en|avoidadsb|Avoid A D S B flight mode -SOUNDS/yaapu0/en|bat5|Battery at 5 percent -SOUNDS/yaapu0/en|bat10|Battery at 10 percent -SOUNDS/yaapu0/en|bat15|Battery at 15 percent -SOUNDS/yaapu0/en|bat20|Battery at 20 percent -SOUNDS/yaapu0/en|bat25|Battery at 25 percent -SOUNDS/yaapu0/en|bat30|Battery at 30 percent -SOUNDS/yaapu0/en|bat40|Battery at 40 percent -SOUNDS/yaapu0/en|bat50|Battery at 50 percent -SOUNDS/yaapu0/en|bat60|Battery at 60 percent -SOUNDS/yaapu0/en|bat70|Battery at 70 percent -SOUNDS/yaapu0/en|bat80|Battery at 80 percent -SOUNDS/yaapu0/en|bat90|Battery at 90 percent -SOUNDS/yaapu0/en|batalert|Battery alert -SOUNDS/yaapu0/en|batalert1|Battery level 1 alert -SOUNDS/yaapu0/en|batalert2|Battery level 2 alert -SOUNDS/yaapu0/en|brake|Brake flight mode -SOUNDS/yaapu0/en|circle|Circle flight mode -SOUNDS/yaapu0/en|cruise|Cruise flight mode -SOUNDS/yaapu0/en|disarmed|Motors disarmed -SOUNDS/yaapu0/en|drift|Drift flight mode -SOUNDS/yaapu0/en|ekf|E K F failsafe -SOUNDS/yaapu0/en|flip|Flip flight mode -SOUNDS/yaapu0/en|flowhold|flow position hold flight mode -SOUNDS/yaapu0/en|flybywirea|Fly by wire a flight mode -SOUNDS/yaapu0/en|flybywireb|Fly by wire b flight mode -SOUNDS/yaapu0/en|follow|follow flight mode -SOUNDS/yaapu0/en|gpsfix|GPS 3D fix lock -SOUNDS/yaapu0/en|gpsnofix|No gps -SOUNDS/yaapu0/en|guided|Guided flight mode -SOUNDS/yaapu0/en|guided_r|Guided mode -SOUNDS/yaapu0/en|guidednogps|Guided no gps flight mode -SOUNDS/yaapu0/en|hold_r|Hold mode -SOUNDS/yaapu0/en|initializing|Initializing -SOUNDS/yaapu0/en|land|Land flight mode -SOUNDS/yaapu0/en|landing|Landing complete -SOUNDS/yaapu0/en|loiter|Loiter flight mode -SOUNDS/yaapu0/en|lowbat|Low battery -SOUNDS/yaapu0/en|manual|Manual flight mode -SOUNDS/yaapu0/en|manual_r|Manual mode -SOUNDS/yaapu0/en|maxalt|Max altitude alert -SOUNDS/yaapu0/en|maxdist|Max distance alert -SOUNDS/yaapu0/en|minalt|Low altitude alert -SOUNDS/yaapu0/en|poshold|Position hold flight mode -SOUNDS/yaapu0/en|qhover|Q hover flight mode -SOUNDS/yaapu0/en|qland|Q land flight mode -SOUNDS/yaapu0/en|qloiter|Q loiter flight mode -SOUNDS/yaapu0/en|qrtl|Q return to home flight mode -SOUNDS/yaapu0/en|qstabilize|Q stabilize flight mode -SOUNDS/yaapu0/en|rtl|Return to home -SOUNDS/yaapu0/en|rtl_r|Return to home mode -SOUNDS/yaapu0/en|simpleoff|simple mode disabled -SOUNDS/yaapu0/en|simpleon|simple mode enabled -SOUNDS/yaapu0/en|smartrtl|Smart return to home flight mode -SOUNDS/yaapu0/en|smartrtl_r|Smart return to home mode -SOUNDS/yaapu0/en|sport|Sport flight mode -SOUNDS/yaapu0/en|ssimpleoff|super simple mode disabled -SOUNDS/yaapu0/en|ssimpleon|super simple mode enabled -SOUNDS/yaapu0/en|stabilize|Stabilize flight mode -SOUNDS/yaapu0/en|steering_r|Steering mode -SOUNDS/yaapu0/en|throw|Throw flight mode -SOUNDS/yaapu0/en|timealert|Timer alert -SOUNDS/yaapu0/en|training|Training flight mode -SOUNDS/yaapu0/en|yaapu|Yaa-pu telemetry ready - diff --git a/TARANIS/SOURCES/rover.lua b/TARANIS/SOURCES/rover.lua deleted file mode 100644 index d4063e7f..00000000 --- a/TARANIS/SOURCES/rover.lua +++ /dev/null @@ -1,26 +0,0 @@ -local flightModes = {} --- rover flight modes -flightModes[1]="Manual" -flightModes[2]="Acro" -flightModes[4]="Steering" -flightModes[5]="Hold" -flightModes[11]="Auto" -flightModes[12]="RTL" -flightModes[13]="SmartRTL" -flightModes[16]="Guided" -flightModes[17]="Initializing" -flightModes[0]="" -flightModes[6]="" -flightModes[7]="" -flightModes[8]="" -flightModes[9]="" -flightModes[10]="" -flightModes[14]="" -flightModes[15]="" -flightModes[18]="" -flightModes[19]="" -flightModes[20]="" -flightModes[21]="" -flightModes[22]="" --- -return {flightModes=flightModes} diff --git a/TARANIS/SOURCES/yaapu0.lua b/TARANIS/SOURCES/yaapu0.lua deleted file mode 100644 index d8433b3a..00000000 --- a/TARANIS/SOURCES/yaapu0.lua +++ /dev/null @@ -1,3457 +0,0 @@ --- --- An FRSKY S.Port based Telemetry script for the Taranis X9D+ and QX7+ radios --- --- Copyright (C) 2018. Alessandro Apostoli --- https://github.com/yaapu --- --- This program is free software; you can redistribute it and/or modify --- it under the terms of the GNU General Public License as published by --- the Free Software Foundation; either version 3 of the License, or --- (at your option) any later version. --- --- This program is distributed in the hope that it will be useful, --- but WITHOUT ANY WARRANTY, without even the implied warranty of --- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the --- GNU General Public License for more details. --- --- You should have received a copy of the GNU General Public License --- along with this program; if not, see . --- --- Passthrough protocol reference: --- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx --- --- Borrowed some code from the LI-xx BATTCHECK v3.30 script --- http://frskytaranis.forumactif.org/t2800-lua-download-un-testeur-de-batterie-sur-la-radio - ---[[ - MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - MAV_TYPE_QUADROTOR=2, /* Quadrotor | */ - MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */ - MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */ - MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - MAV_TYPE_ROCKET=9, /* Rocket | */ - MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */ - MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - MAV_TYPE_SUBMARINE=12, /* Submarine | */ - MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */ - MAV_TYPE_OCTOROTOR=14, /* Octorotor | */ - MAV_TYPE_TRICOPTER=15, /* Tricopter | */ - MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - MAV_TYPE_KITE=17, /* Kite | */ - MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ - MAV_TYPE_VTOL_DUOROTOR=19, /* Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. | */ - MAV_TYPE_VTOL_QUADROTOR=20, /* Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. | */ - MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL | */ - MAV_TYPE_VTOL_RESERVED2=22, /* VTOL reserved 2 | */ - MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */ - MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */ - MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */ - MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */ - MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */ - MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */ - MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */ -]]-- - ------------------------------------------------------------------------------------- --- X9D+ OpenTX 2.2.2 memory increase +4Kb https://github.com/opentx/opentx/pull/5579 ------------------------------------------------------------------------------------- - ---------------------- --- radio model ---------------------- -#define X9 ---#define X7 --- to compile lua in luac files -#define COMPILE --- force loading of .lua files even after compilation --- usefull if you rename .luac in .lua ---#define LOAD_LUA - -#ifdef COMPILE -#define LOAD_LUA -#endif ---------------------- --- script version ---------------------- -#ifdef X9 - #define VERSION "Yaapu X9 telemetry script 1.7.2" -#else - #define VERSION "Yaapu X7 1.7.2" -#endif - ---------------------- --- features ---------------------- -#define UNIT_SCALE ---#define FRAMETYPE -#define EFFICIENCY ---------------------- --- dev features ---------------------- ---#define LOGTELEMETRY ---#define MEMDEBUG -#define COLLECTGARBAGE ---#define DEBUG ---#define TESTMODE -#ifdef TESTMODE ---#define BATT2TEST ---#define FLVSS2TEST -#define CELLCOUNT 4 -#endif ---#define DEMO ---#define DEV ---#define DEBUGEVT -#define CS_LINES - --- calc and show background function rate ---#define BGRATE --- calc and show run function rate ---#define FGRATE --- calc and show hud refresh rate ---#define HUDRATE --- calc and show telemetry process rate ---#define BGTELERATE --- calc and show actual incoming telemetry rate ---#define TELERATE - -------------------------------------- --- UNITS Scales from Ardupilot OSD code /ardupilot/libraries/AP_OSD/AP_OSD_Screen.cpp -------------------------------------- ---[[ - static const float scale_metric[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 3.6, //SPEED km/hr - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_imperial[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE ft - 2.23694, //SPEED mph - 3.28084, //VSPEED ft/s - 3.28084, //DISTANCE ft - 1.0/1609.34, //DISTANCE_LONG miles - 1.8, //TEMPERATURE F - }; - static const float scale_SI[UNIT_TYPE_LAST] = { - 1.0, //ALTITUDE m - 1.0, //SPEED m/s - 1.0, //VSPEED m/s - 1.0, //DISTANCE m - 1.0/1000, //DISTANCE_LONG km - 1.0, //TEMPERATURE C - }; - static const float scale_aviation[UNIT_TYPE_LAST] = { - 3.28084, //ALTITUDE Ft - 1.94384, //SPEED Knots - 196.85, //VSPEED ft/min - 3.28084, //DISTANCE ft - 0.000539957, //DISTANCE_LONG Nm - 1.0, //TEMPERATURE C - }; ---]] --- -#define VFAS_ID 0x021F -#define VFAS_SUBID 0 -#define VFAS_INSTANCE 0 -#define VFAS_PRECISION 2 -#define VFAS_NAME "VFAS" - -#define CURR_ID 0x020F -#define CURR_SUBID 0 -#define CURR_INSTANCE 0 -#define CURR_PRECISION 1 -#define CURR_NAME "CURR" - -#define VSpd_ID 0x011F -#define VSpd_SUBID 0 -#define VSpd_INSTANCE 0 -#define VSpd_PRECISION 1 -#define VSpd_NAME "VSpd" - -#define GSpd_ID 0x083F -#define GSpd_SUBID 0 -#define GSpd_INSTANCE 0 -#define GSpd_PRECISION 0 -#define GSpd_NAME "GSpd" - -#define Alt_ID 0x010F -#define Alt_SUBID 0 -#define Alt_INSTANCE 0 -#define Alt_PRECISION 1 -#define Alt_NAME "Alt" - -#define GAlt_ID 0x082F -#define GAlt_SUBID 0 -#define GAlt_INSTANCE 0 -#define GAlt_PRECISION 0 -#define GAlt_NAME "GAlt" - -#define Hdg_ID 0x084F -#define Hdg_SUBID 0 -#define Hdg_INSTANCE 0 -#define Hdg_PRECISION 0 -#define Hdg_NAME "Hdg" - -#define Fuel_ID 0x060F -#define Fuel_SUBID 0 -#define Fuel_INSTANCE 0 -#define Fuel_PRECISION 0 -#define Fuel_NAME "Fuel" - -#define IMUTmp_ID 0x041F -#define IMUTmp_SUBID 0 -#define IMUTmp_INSTANCE 0 -#define IMUTmp_PRECISION 0 -#define IMUTmp_NAME "IMUt" - -#define ARM_ID 0x060F -#define ARM_SUBID 0 -#define ARM_INSTANCE 1 -#define ARM_PRECISION 0 -#define ARM_NAME "ARM" - -#ifdef X9 -#ifdef FRAMETYPE -local frameNames = {} --- copter -frameNames[0] = "GEN" -frameNames[1] = "WING" -frameNames[2] = "QUAD" -frameNames[3] = "COAX" -frameNames[4] = "HELI" -frameNames[10] = "ROV" -frameNames[11] = "BOAT" -frameNames[13] = "HEX" -frameNames[14] = "OCTO" -frameNames[15] = "TRI" -frameNames[16] = "FLAP" -frameNames[19] = "VTOL2" -frameNames[20] = "VTOL4" -frameNames[21] = "VTOLT" -frameNames[22] = "VTOL" -frameNames[23] = "VTOL" -frameNames[24] = "VTOL" -frameNames[25] = "VTOL" -frameNames[28] = "FOIL" -frameNames[29] = "DODE" -#endif --FRAMETYPE -#endif -- X9 - -local frameTypes = {} --- copter -frameTypes[0] = "c" -frameTypes[2] = "c" -frameTypes[3] = "c" -frameTypes[4] = "c" -frameTypes[13] = "c" -frameTypes[14] = "c" -frameTypes[15] = "c" -frameTypes[29] = "c" --- plane -frameTypes[1] = "p" -frameTypes[16] = "p" -frameTypes[19] = "p" -frameTypes[20] = "p" -frameTypes[21] = "p" -frameTypes[22] = "p" -frameTypes[23] = "p" -frameTypes[24] = "p" -frameTypes[25] = "p" -frameTypes[28] = "p" --- rover -frameTypes[10] = "r" --- boat -frameTypes[11] = "b" - -#ifdef TESTMODE --- undefined -frameTypes[5] = "" -frameTypes[6] = "" -frameTypes[7] = "" -frameTypes[8] = "" -frameTypes[9] = "" -frameTypes[12] = "" -frameTypes[17] = "" -frameTypes[18] = "" -frameTypes[26] = "" -frameTypes[27] = "" -frameTypes[30] = "" -#endif --TESTMODE --- -local frame = {} --- -local soundFileBasePath = "/SOUNDS/yaapu0" -local gpsStatuses = {} --- -#ifdef X9 -gpsStatuses[0]="NoGPS" -gpsStatuses[1]="NoLock" -gpsStatuses[2]="2D" -gpsStatuses[3]="3D" -gpsStatuses[4]="DGPS" -gpsStatuses[5]="RTK" -gpsStatuses[6]="RTK" -#endif --X9 - -#ifdef X7 -gpsStatuses[0]="GPS" -gpsStatuses[1]="Lock" -gpsStatuses[2]="2D" -gpsStatuses[3]="3D" -gpsStatuses[4]="DG" -gpsStatuses[5]="RT" -gpsStatuses[6]="RT" -#endif --X7 --- EMR,ALR,CRT,ERR,WRN,NOT,INF,DBG -#define mavSeverity(idx) string.sub("EMRALRCRTERRWRNNOTINFDBG",idx*3+1,idx*3+3) --- -#define CELLFULL 4.36 --------------------------------- --- FLVSS 1 -local cell1min = 0 -local cell1sum = 0 --- FLVSS 2 -local cell2min = 0 -local cell2sum = 0 --- FC 1 -local cell1sumFC = 0 --- used to calculate cellcount -local cell1maxFC = 0 --- FC 2 -local cell2sumFC = 0 --- A2 -local cellsumA2 = 0 --- used to calculate cellcount -local cellmaxA2 = 0 --------------------------------- --- STATUS -local flightMode = 0 -local simpleMode = 0 -local landComplete = 0 -local statusArmed = 0 -local battFailsafe = 0 -local ekfFailsafe = 0 -local imuTemp = 0 --- GPS -local numSats = 0 -local gpsStatus = 0 -local gpsHdopC = 100 -local gpsAlt = 0 --- BATT -local cellcount = 0 -local battsource = "na" --- BATT 1 -local batt1volt = 0 -local batt1current = 0 -local batt1mah = 0 -local batt1sources = { - a2 = false, - vs = false, - fc = false -} --- BATT 2 -local batt2volt = 0 -local batt2current = 0 -local batt2mah = 0 -local batt2sources = { - a2 = false, - vs = false, - fc = false -} --- TELEMETRY -local noTelemetryData = 1 --- HOME -local homeDist = 0 -local homeAlt = 0 -local homeAngle = -1 --- MESSAGES -local msgBuffer = "" -local lastMsgValue = 0 -local lastMsgTime = 0 --- VELANDYAW -local vSpeed = 0 -local hSpeed = 0 -local yaw = 0 --- SYNTH VSPEED SUPPORT -local vspd = 0 -local synthVSpeedTime = 0 -local prevHomeAlt = 0 --- ROLLPITCH -local roll = 0 -local pitch = 0 -local range = 0 --- PARAMS -local frameType = -1 -local batt1Capacity = 0 -local batt2Capacity = 0 --- FLIGHT TIME ---[[ migrated to model.timer(2) -local seconds = 0 ---]] -local lastTimerStart = 0 -local timerRunning = 0 -local flightTime = 0 --- EVENTS -local lastStatusArmed = 0 -local lastGpsStatus = 0 -local lastFlightMode = 0 -local lastSimpleMode = 0 --- battery levels -local batLevel = 99 -local battLevel1 = false -local battLevel2 = false --- -local lastBattLevel = 13 --- --- 00 05 10 15 20 25 30 40 50 60 70 80 90 -#define batLevels(idx) tonumber(string.sub("00051015202530405060708090",idx*2+1,idx*2+2)) --- dual battery -local showDualBattery = false --- -#define MIN_BATT1_FC 1 -#define MIN_BATT2_FC 2 -#define MIN_CELL1_VS 3 -#define MIN_CELL2_VS 4 -#define MIN_BATT1_VS 5 -#define MIN_BATT2_VS 6 -#define MIN_BATT_A2 7 - -#define MAX_CURR 8 -#define MAX_CURR1 9 -#define MAX_CURR2 10 -#define MAX_POWER 11 -#define MINMAX_ALT 12 -#define MAX_GPSALT 13 -#define MAX_VSPEED 14 -#define MAX_HSPEED 15 -#define MAX_DIST 16 -#define MAX_RANGE 17 - -#ifdef MEMDEBUG -local maxmem = 0 -#endif --- -local minmaxValues = {} --- min -minmaxValues[1] = 0 -minmaxValues[2] = 0 -minmaxValues[3] = 0 -minmaxValues[4] = 0 -minmaxValues[5] = 0 -minmaxValues[6] = 0 -minmaxValues[7] = 0 --- max -minmaxValues[8] = 0 -minmaxValues[9] = 0 -minmaxValues[10] = 0 -minmaxValues[11] = 0 -minmaxValues[12] = 0 -minmaxValues[13] = 0 -minmaxValues[14] = 0 -minmaxValues[15] = 0 -minmaxValues[16] = 0 -minmaxValues[17] = 0 - -local showMinMaxValues = false --- messages -local lastMessage -local lastMessageSeverity = 0 -local lastMessageCount = 1 -local messageCount = 0 -local messages = {} --- -#ifdef LOGTELEMETRY -local logfile -local logfilename -#endif --LOGTELEMETRY --- -#ifdef PLAYLOG -local logfile -#endif -- PLAYLOG --- -#ifdef TESTMODE --- TEST MODE -local thrOut = 0 -#endif --TESTMODE - -#ifdef X9 - -#define HUD_X 68 -#define HUD_WIDTH 76 -#define HUD_X_MID 35 - -#define LEFTPANE_X 68 -#define RIGHTPANE_X 68 - -#define TOPBAR_Y 0 -#define TOPBAR_HEIGHT 7 -#define TOPBAR_WIDTH 212 - -#define BOTTOMBAR_Y 56 -#define BOTTOMBAR_HEIGHT 9 -#define BOTTOMBAR_WIDTH 212 - -#define BOX1_X 0 -#define BOX1_Y 38 -#define BOX1_WIDTH 66 -#define BOX1_HEIGHT 8 - -#define BOX2_X 61 -#define BOX2_Y 46 -#define BOX2_WIDTH 17 -#define BOX2_HEIGHT 12 - -#define BATTVOLT_X 2 -#define BATTVOLT_Y 43 -#define BATTVOLT_YV 43 -#define BATTVOLT_FLAGS MIDSIZE+PREC1 -#define BATTVOLT_FLAGSV SMLSIZE - -#define BATTCELL_X 27 -#define BATTCELL_Y 11 -#define BATTCELL_YV 12 -#define BATTCELL_YS 21 -#define BATTCELL_FLAGS DBLSIZE+PREC2 - -#define BATTCURR_X 37 -#define BATTCURR_Y 43 -#define BATTCURR_YA 43 -#define BATTCURR_FLAGS MIDSIZE+PREC1 -#define BATTCURR_FLAGSA SMLSIZE - -#define BATTPERC_X 4 -#define BATTPERC_Y 15 -#define BATTPERC_YPERC 20 -#define BATTPERC_FLAGS MIDSIZE -#define BATTPERC_FLAGSPERC SMLSIZE - -#define BATTGAUGE_X 5 -#define BATTGAUGE_Y 28 -#define BATTGAUGE_WIDTH 59 -#define BATTGAUGE_HEIGHT 5 -#define BATTGAUGE_STEPS 10 - -#define BATTMAH_X 10 -#define BATTMAH_Y 35 -#define BATTMAH_FLAGS SMLSIZE+PREC1 - -#define FLIGHTMODE_X 1 -#define FLIGHTMODE_Y 0 -#define FLIGHTMODE_FLAGS SMLSIZE+INVERS - -#define HOMEANGLE_X 60 -#define HOMEANGLE_Y 27 -#define HOMEANGLE_XLABEL 3 -#define HOMEANGLE_YLABEL 27 -#define HOMEANGLE_FLAGS SMLSIZE - -#define HSPEED_X 60 -#define HSPEED_Y 49 -#define HSPEED_XLABEL 12 -#define HSPEED_YLABEL 48 -#define HSPEED_XDIM 61 -#define HSPEED_YDIM 49 -#define HSPEED_FLAGS SMLSIZE -#define HSPEED_ARROW_WIDTH 10 - -#define GPS_X 0 -#define GPS_Y 6 -#define GPS_BORDER 0 - -#define ALTASL_X 65 -#define ALTASL_Y 26 -#define ALTASL_XLABEL 4 -#define ALTASL_YLABEL 25 -#define ALTASL_FLAGS RIGHT - -#define BATTPOWER_X 65 -#define BATTPOWER_Y 45 -#define BATTPOWER_XLABEL 2 -#define BATTPOWER_YLABEL 45 -#define BATTPOWER_FLAGS SMLSIZE+RIGHT - -#define HOMEDIST_X 65 -#define HOMEDIST_Y 36 -#define HOMEDIST_XLABEL 2 -#define HOMEDIST_YLABEL 36 -#define HOMEDIST_FLAGS RIGHT -#define HOMEDIST_ARROW_WIDTH 8 - -#define HOMEDIR_X 82 -#define HOMEDIR_Y 48 -#define HOMEDIR_R 7 - -#define FLIGHTTIME_X 179 -#define FLIGHTTIME_Y 0 -#define FLIGHTTIME_FLAGS SMLSIZE+INVERS - -#define RSSI_X 69 -#define RSSI_Y 0 -#define RSSI_FLAGS SMLSIZE+INVERS - -#define TXVOLTAGE_X 116 -#define TXVOLTAGE_Y 0 -#define TXVOLTAGE_FLAGS SMLSIZE+INVERS - -#endif --X9 - -#ifdef X7 - -#define HUD_X 0 -#define HUD_WIDTH 64 -#define HUD_X_MID 35 - -#define LEFTPANE_X 68 -#define RIGHTPANE_X 68 - -#define TOPBAR_Y 0 -#define TOPBAR_HEIGHT 7 -#define TOPBAR_WIDTH 128 - -#define BOTTOMBAR_Y 57 -#define BOTTOMBAR_HEIGHT 8 -#define BOTTOMBAR_WIDTH 128 - -#define BOX1_X 65 -#define BOX1_Y 28 -#define BOX1_WIDTH 23 -#define BOX1_HEIGHT 15 - -#define BOX2_X 65 -#define BOX2_Y 7 -#define BOX2_WIDTH 38 -#define BOX2_HEIGHT 7 - -#define BATTVOLT_X 1 -#define BATTVOLT_Y 29 -#define BATTVOLT_YV 29 -#define BATTVOLT_FLAGS INVERS+PREC1+SMLSIZE -#define BATTVOLT_FLAGSV INVERS+SMLSIZE - -#define BATTCELL_X 24 -#define BATTCELL_Y 27 -#define BATTCELL_YV 28 -#define BATTCELL_YS 36 -#define BATTCELL_FLAGS DBLSIZE+PREC2 - -#define BATTCURR_X 1 -#define BATTCURR_Y 36 -#define BATTCURR_YA 36 -#define BATTCURR_FLAGS INVERS+SMLSIZE+PREC1 -#define BATTCURR_FLAGSA INVERS+SMLSIZE - -#define BATTPERC_X 5 -#define BATTPERC_Y 44 -#define BATTPERC_YPERC 48 -#define BATTPERC_FLAGS MIDSIZE -#define BATTPERC_FLAGSPERC SMLSIZE - -#define BATTGAUGE_X 0 -#define BATTGAUGE_Y 0 -#define BATTGAUGE_WIDTH 0 -#define BATTGAUGE_HEIGHT 0 -#define BATTGAUGE_STEPS 0 - - -#define BATTMAH_X 64 -#define BATTMAH_Y 43 -#define BATTMAH_FLAGS SMLSIZE+PREC1 - - -#define FLIGHTMODE_X 1 -#define FLIGHTMODE_Y 0 -#define FLIGHTMODE_FLAGS SMLSIZE+INVERS - -#define HOMEANGLE_X 0 -#define HOMEANGLE_Y 0 -#define HOMEANGLE_XLABEL 0 -#define HOMEANGLE_YLABEL 0 -#define HOMEANGLE_FLAGS SMLSIZE - -#define HSPEED_X 107 -#define HSPEED_Y 8 -#define HSPEED_XLABEL 66 -#define HSPEED_YLABEL 10 -#define HSPEED_XDIM 102 -#define HSPEED_YDIM 9 -#define HSPEED_FLAGS SMLSIZE -#define HSPEED_ARROW_WIDTH 6 - -#define GPS_X 65 -#define GPS_Y 6 -#define GPS_BORDER 0 - -#define ALTASL_X 103 -#define ALTASL_Y 8 -#define ALTASL_XLABEL 67 -#define ALTASL_YLABEL 9 - -#define HOMEDIST_X 103 -#define HOMEDIST_Y 19 -#define HOMEDIST_XLABEL 66 -#define HOMEDIST_YLABEL 19 -#define HOMEDIST_FLAGS RIGHT -#define HOMEDIST_ARROW_WIDTH 7 - -#define HOMEDIR_X 54 -#define HOMEDIR_Y 48 -#define HOMEDIR_R 7 - -#define FLIGHTTIME_X 96 -#define FLIGHTTIME_Y 0 -#define FLIGHTTIME_FLAGS SMLSIZE+INVERS - -#define RSSI_X 70 -#define RSSI_Y 0 -#define RSSI_FLAGS SMLSIZE+INVERS - -#define TXVOLTAGE_X 104 -#define TXVOLTAGE_Y 21 -#define TXVOLTAGE_FLAGS SMLSIZE - -#endif --X7 - --------------------------------------------------------------------------------- --- ALARMS --------------------------------------------------------------------------------- ---[[ - ALARM_TYPE_MIN needs arming (min has to be reached first), value below level for grace, once armed is periodic, reset on landing - ALARM_TYPE_MAX no arming, value above level for grace, once armed is periodic, reset on landing - ALARM_TYPE_TIMER no arming, fired periodically, spoken time, reset on landing - ALARM_TYPE_BATT needs arming (min has to be reached first), value below level for grace, no reset on landing -{ - 1 = notified, - 2 = alarm start, - 3 = armed, - 4 = type(0=min,1=max,2=timer,3=batt), - 5 = grace duration - 6 = ready - 7 = last alarm -} ---]] -#define ALARM_NOTIFIED 1 -#define ALARM_START 2 -#define ALARM_ARMED 3 -#define ALARM_TYPE 4 -#define ALARM_GRACE 5 -#define ALARM_READY 6 -#define ALARM_LAST_ALARM 7 --- -#define ALARMS_MIN_ALT 1 -#define ALARMS_MAX_ALT 2 -#define ALARMS_MAX_DIST 3 -#define ALARMS_FS_EKF 4 -#define ALARMS_FS_BATT 5 -#define ALARMS_TIMER 6 -#define ALARMS_BATT_L1 7 -#define ALARMS_BATT_L2 8 --- -#define ALARM_TYPE_MIN 0 -#define ALARM_TYPE_MAX 1 -#define ALARM_TYPE_TIMER 2 -#define ALARM_TYPE_BATT 3 -#define ALARM_TYPE_BATT_CRT 4 --- -#define ALARM_TYPE_BATT_GRACE 4 --- -local alarms = { - --{ notified, alarm_start, armed, type(0=min,1=max,2=timer,3=batt), grace, ready, last_alarm} - { false, 0 , false, ALARM_TYPE_MIN, 0, false, 0}, --MIN_ALT - { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_ALT - { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --MAX_DIST - { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_EKF - { false, 0 , true, ALARM_TYPE_MAX, 0, false, 0 }, --FS_BAT - { false, 0 , true, ALARM_TYPE_TIMER, 0, false, 0 }, --FLIGTH_TIME - { false, 0 , false, ALARM_TYPE_BATT, ALARM_TYPE_BATT_GRACE, false, 0 }, --BATT L1 - { false, 0 , false, ALARM_TYPE_BATT_CRT, ALARM_TYPE_BATT_GRACE, false, 0 } --BATT L2 -} - --------------------------------------------------------------------------------- --- MENU VALUE,COMBO --------------------------------------------------------------------------------- --- X-Lite Support -#define XLITE_UP 36 -#define XLITE_UP_RPT 68 -#define XLITE_DOWN 35 -#define XLITE_DOWN_RPT 67 -#define XLITE_RTN 33 -#define XLITE_ENTER 34 -#define XLITE_MENU_LONG 128 -#define XLITE_MENU 32 - -#define TYPEVALUE 0 -#define TYPECOMBO 1 -#define MENU_Y 7 -#define MENU_PAGESIZE 7 -#define MENU_WRAPOFFSET 12 -#ifdef X9 -#define MENU_ITEM_X 150 -#else -#define MENU_ITEM_X 99 -#endif - -#define L1 1 -#define V1 2 -#define V2 3 -#define B1 4 -#define B2 5 -#define S1 6 -#define S2 7 -#define S3 8 -#define VS 9 -#define T1 10 -#define A1 11 -#define A2 12 -#define D1 13 -#define T2 14 -#define CC 15 -#define RM 16 -#define SVS 17 -#define HSPD 18 -#define VSPD 19 - -#define CONF_LANGUAGE menuItems[L1][6][menuItems[L1][4]] -#define CONF_BATT_LEVEL1 menuItems[V1][4] -#define CONF_BATT_LEVEL2 menuItems[V2][4] -#define CONF_BATT_CAP1 menuItems[B1][4]*0.1 -#define CONF_BATT_CAP2 menuItems[B2][4]*0.1 -#define CONF_DISABLE_SOUNDS menuItems[S1][6][menuItems[S1][4]] -#define CONF_DISABLE_MSGBEEP menuItems[S2][6][menuItems[S2][4]] -#define CONF_DISABLE_MSGBLINK menuItems[S3][6][menuItems[S3][4]] -#define CONF_BATT_SOURCE menuItems[VS][6][menuItems[VS][4]] -#define CONF_TIMER_ALERT menuItems[T1][4]*0.1*60 -#define CONF_MINALT_ALERT menuItems[A1][4]*0.1 -#define CONF_MAXALT_ALERT menuItems[A2][4] -#define CONF_MAXDIST_ALERT menuItems[D1][4] -#define CONF_REPEAT menuItems[T2][4] -#define CONF_CELL_COUNT menuItems[CC][4] -#define CONF_RANGE_MAX menuItems[RM][4] -#define CONF_ENABLE_SYNTHVSPEED menuItems[SVS][6][menuItems[SVS][4]] -#define CONF_HSPEED_MULT menuItems[HSPD][6][menuItems[HSPD][4]] -#define CONF_VSPEED_MULT menuItems[VSPD][6][menuItems[VSPD][4]] - - -local menu = { - selectedItem = 1, - editSelected = false, - offset = 0 -} - -#ifdef X9 -local menuItems = { - {"voice language:", TYPECOMBO, "L1", 1, { "english", "italian", "french", "german" } , {"en","it","fr","de"} }, - {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5 }, - {"batt alert level 2:", TYPEVALUE, "V2", 350, 0,5000,"V",PREC2,5 }, - {"batt[1] capacity override:", TYPEVALUE, "B1", 0, 0,5000,"Ah",PREC2,10 }, - {"batt[2] capacity override:", TYPEVALUE, "B2", 0, 0,5000,"Ah",PREC2,10 }, - {"disable all sounds:", TYPECOMBO, "S1", 1, { "no", "yes" }, { false, true } }, - {"disable msg beep:", TYPECOMBO, "S2", 1, { "no", "yes" }, { false, true } }, - {"disable msg blink:", TYPECOMBO, "S3", 1, { "no", "yes" }, { false, true } }, - {"default voltage source:", TYPECOMBO, "VS", 1, { "auto", "FLVSS", "A2", "fc" }, { nil, "vs", "a2", "fc" } }, - {"timer alert every:", TYPEVALUE, "T1", 0, 0,600,"min",PREC1,5 }, - {"min altitude alert:", TYPEVALUE, "A1", 0, 0,500,"m",PREC1,5 }, - {"max altitude alert:", TYPEVALUE, "A2", 0, 0,10000,"m",0,1 }, - {"max distance alert:", TYPEVALUE, "D1", 0, 0,100000,"m",0,10 }, - {"repeat alerts every:", TYPEVALUE, "T2", 10, 5,600,"sec",0,5 }, - {"cell count override:", TYPEVALUE, "CC", 0, 0,12," cells",0,1 }, - {"rangefinder max:", TYPEVALUE, "RM", 0, 0,10000," cm",0,10 }, - {"enable synthetic vspeed:", TYPECOMBO, "SVS", 1, { "no", "yes" }, { false, true } }, - {"air/groundspeed unit:", TYPECOMBO, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, - {"vert speed unit:", TYPECOMBO, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, -} -#endif --X9 - -#ifdef X7 -local menuItems = { - {"voice language:", TYPECOMBO, "L1", 1, { "eng", "ita", "fre", "ger" } , {"en","it","fr","de"} }, - {"batt alert level 1:", TYPEVALUE, "V1", 375, 0,5000,"V",PREC2,5 }, - {"batt alert level 2:", TYPEVALUE, "V2", 350, 0,5000,"V",PREC2,5 }, - {"batt[1] mAh override:", TYPEVALUE, "B1", 0, 0,5000,"Ah",PREC2,10 }, - {"batt[2] mAh override:", TYPEVALUE, "B2", 0, 0,5000,"Ah",PREC2,10 }, - {"disable all sounds:", TYPECOMBO, "S1", 1, { "no", "yes" }, { false, true } }, - {"disable msg beep:", TYPECOMBO, "S2", 1, { "no", "yes" }, { false, true } }, - {"disable msg blink:", TYPECOMBO, "S3", 1, { "no", "yes" }, { false, true } }, - {"def voltage source:", TYPECOMBO, "VS", 1, { "auto", "FLVSS", "A2", "fc" }, { nil, "vs", "a2", "fc" } }, - {"timer alert every:", TYPEVALUE, "T1", 0, 0,600,"min",PREC1,5 }, - {"min altitude alert:", TYPEVALUE, "A1", 0, 0,500,"m",PREC1,5 }, - {"max altitude alert:", TYPEVALUE, "A2", 0, 0,10000,"m",0,1 }, - {"max distance alert:", TYPEVALUE, "D1", 0, 0,100000,"m",0,10 }, - {"repeat alerts every:", TYPEVALUE, "T2", 10, 5,600,"sec",0,5 }, - {"cell count override:", TYPEVALUE, "CC", 0, 0,12,"s",0,1 }, - {"rangefinder max:", TYPEVALUE, "RM", 0, 0,10000," cm",0,10 }, - {"enable synth.vspeed:", TYPECOMBO, "SVS", 1, { "no", "yes" }, { false, true } }, - {"air/groundspd unit:", TYPECOMBO, "HSPD", 1, { "m/s", "km/h", "mph", "kn" }, { 1, 3.6, 2.23694, 1.94384} }, - {"vert speed unit:", TYPECOMBO, "VSPD", 1, { "m/s", "ft/s", "ft/min" }, { 1, 3.28084, 196.85} }, -} -#endif --X7 - -local modelInfo = model.getInfo() -local unitScale = getGeneralSettings().imperial == 0 and 1 or 3.28084 - -#define UNIT_ALT_SCALE unitScale -#define UNIT_DIST_SCALE unitScale -#define UNIT_DIST_LONG_SCALE (settings.imperial==0 and 1/1000 or 1/1609.34) -#define UNIT_HSPEED_SCALE menuItems[HSPD][6][menuItems[HSPD][4]] -#define UNIT_VSPEED_SCALE menuItems[VSPD][6][menuItems[VSPD][4]] - -#ifdef X7 -local unitLabel = getGeneralSettings().imperial == 0 and "m" or "f" -#define UNIT_ALT_LABEL unitLabel -#define UNIT_DIST_LABEL unitLabel -#else -local unitLabel = getGeneralSettings().imperial == 0 and "m" or "ft" -#define UNIT_ALT_LABEL unitLabel -#define UNIT_DIST_LABEL unitLabel -#endif - -local function getConfigFilename() - return "/MODELS/yaapu/" .. string.lower(string.gsub(modelInfo.name, "[%c%p%s%z]", "")..".cfg") -end - -local function applyConfigValues() - if CONF_BATT_SOURCE ~= nil then - battsource = CONF_BATT_SOURCE - end -#ifdef COLLECTGARBAGE - collectgarbage() -#endif -end - -local function loadConfig() - local cfg = io.open(getConfigFilename(),"r") - if cfg == nil then - return - end - local str = io.read(cfg,200) - if string.len(str) > 0 then - for i=1,#menuItems - do - local value = string.match(str, menuItems[i][3]..":(%d+)") - if value ~= nil then - menuItems[i][4] = tonumber(value) - end - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function saveConfig() - local cfg = assert(io.open(getConfigFilename(),"w")) - if cfg == nil then - return - end - for i=1,#menuItems - do - io.write(cfg,menuItems[i][3],":",menuItems[i][4]) - if i < #menuItems then - io.write(cfg,",") - end - end - if cfg ~= nil then - io.close(cfg) - end - applyConfigValues() -end - -local function drawConfigMenuBars() - local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems) -#ifdef X9 - lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - lcd.drawRectangle(0, TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - lcd.drawText(0,0,VERSION,SMLSIZE+INVERS) - lcd.drawFilledRectangle(0,BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID) - lcd.drawRectangle(0, BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID) - lcd.drawText(0,BOTTOMBAR_Y+1,getConfigFilename(),SMLSIZE+INVERS) -#endif --X9 -#ifdef X7 - lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - lcd.drawRectangle(0, TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - lcd.drawText(0,0,VERSION,SMLSIZE+INVERS) - lcd.drawFilledRectangle(0,BOTTOMBAR_Y-1, BOTTOMBAR_WIDTH, 9, SOLID) - lcd.drawRectangle(0, BOTTOMBAR_Y-1, BOTTOMBAR_WIDTH, 9, SOLID) - lcd.drawText(0,BOTTOMBAR_Y,string.sub(getConfigFilename(),8),SMLSIZE+INVERS) -#endif --X7 - lcd.drawText(BOTTOMBAR_WIDTH,BOTTOMBAR_Y+1,itemIdx,SMLSIZE+INVERS+RIGHT) -end - -local function incMenuItem(idx) - if menuItems[idx][2] == TYPEVALUE then - menuItems[idx][4] = menuItems[idx][4] + menuItems[idx][9] - if menuItems[idx][4] > menuItems[idx][6] then - menuItems[idx][4] = menuItems[idx][6] - end - else - menuItems[idx][4] = menuItems[idx][4] + 1 - if menuItems[idx][4] > #menuItems[idx][5] then - menuItems[idx][4] = 1 - end - end -end - -local function decMenuItem(idx) - if menuItems[idx][2] == TYPEVALUE then - menuItems[idx][4] = menuItems[idx][4] - menuItems[idx][9] - if menuItems[idx][4] < menuItems[idx][5] then - menuItems[idx][4] = menuItems[idx][5] - end - else - menuItems[idx][4] = menuItems[idx][4] - 1 - if menuItems[idx][4] < 1 then - menuItems[idx][4] = #menuItems[idx][5] - end - end -end - -local function drawItem(idx,flags) - if menuItems[idx][2] == TYPEVALUE then - if menuItems[idx][4] == 0 then - lcd.drawText(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, "---",0+SMLSIZE+flags+menuItems[idx][8]) - else - lcd.drawNumber(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][4],0+SMLSIZE+flags+menuItems[idx][8]) - lcd.drawText(lcd.getLastRightPos(),MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][7],SMLSIZE+flags) - end - else - lcd.drawText(MENU_ITEM_X,MENU_Y + (idx-menu.offset-1)*7, menuItems[idx][5][menuItems[idx][4]],SMLSIZE+flags) - end -end - -local function drawConfigMenu(event) - drawConfigMenuBars() - if event == EVT_ENTER_BREAK or event == XLITE_ENTER then - menu.editSelected = not menu.editSelected - elseif menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == EVT_PLUS_REPT or event == XLITE_UP or event == XLITE_UP_RPT) then - incMenuItem(menu.selectedItem) - elseif menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == EVT_MINUS_REPT or event == XLITE_DOWN or event == XLITE_DOWN_RPT) then - decMenuItem(menu.selectedItem) - elseif not menu.editSelected and (event == EVT_PLUS_BREAK or event == EVT_ROT_LEFT or event == XLITE_UP) then - menu.selectedItem = (menu.selectedItem - 1) - if menu.offset >= menu.selectedItem then - menu.offset = menu.offset - 1 - end - elseif not menu.editSelected and (event == EVT_MINUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_DOWN) then - menu.selectedItem = (menu.selectedItem + 1) - if menu.selectedItem - MENU_PAGESIZE > menu.offset then - menu.offset = menu.offset + 1 - end - end - --wrap - if menu.selectedItem > #menuItems then - menu.selectedItem = 1 - menu.offset = 0 - elseif menu.selectedItem < 1 then - menu.selectedItem = #menuItems - -- - menu.offset = MENU_WRAPOFFSET - end - -- - for m=1+menu.offset,math.min(#menuItems,MENU_PAGESIZE+menu.offset) do - lcd.drawText(2,MENU_Y + (m-menu.offset-1)*7, menuItems[m][1],0+SMLSIZE) - if m == menu.selectedItem then - if menu.editSelected then - drawItem(m,INVERS+BLINK) - else - drawItem(m,INVERS) - end - else - drawItem(m,0) - end - end -end ------------------------ --- SOUNDS ------------------------ -local function playSound(soundFile) - if CONF_DISABLE_SOUNDS then - return - end - playFile(soundFileBasePath .."/"..CONF_LANGUAGE.."/".. soundFile..".wav") -end ----------------------------------------------- --- NOTE: sound file has same name as flightmode all lowercase with .wav extension ----------------------------------------------- -local function playSoundByFrameTypeAndFlightMode(frameType,flightMode) - if CONF_DISABLE_SOUNDS then - return - end - if frame.flightModes then - if frame.flightModes[flightMode] ~= nil then - playFile(soundFileBasePath.."/"..CONF_LANGUAGE.."/".. string.lower(frame.flightModes[flightMode])..".wav") - end - end -end - -local function drawHArrow(x,y,width,left,right) - lcd.drawLine(x, y, x + width,y, SOLID, 0) - if left == true then - lcd.drawLine(x + 1,y - 1,x + 2,y - 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if right == true then - lcd.drawLine(x + width - 1,y - 1,x + width - 2,y - 2, SOLID, 0) - lcd.drawLine(x + width - 1,y + 1,x + width - 2,y + 2, SOLID, 0) - end -end - -local function drawVArrow(x,y,h,top,bottom) - lcd.drawLine(x,y,x,y + h, SOLID, 0) - if top == true then - lcd.drawLine(x - 1,y + 1,x - 2,y + 2, SOLID, 0) - lcd.drawLine(x + 1,y + 1,x + 2,y + 2, SOLID, 0) - end - if bottom == true then - lcd.drawLine(x - 1,y + h - 1,x - 2,y + h - 2, SOLID, 0) - lcd.drawLine(x + 1,y + h - 1,x + 2,y + h - 2, SOLID, 0) - end -end --- -local function drawHomeIcon(x,y) - lcd.drawRectangle(x,y,5,5,SOLID) - lcd.drawLine(x+2,y+3,x+2,y+4,SOLID,FORCE) - lcd.drawPoint(x+2,y-1,FORCE) - lcd.drawLine(x,y+1,x+5,y+1,SOLID,FORCE) - lcd.drawLine(x-1,y+1,x+2,y-2,SOLID, FORCE) - lcd.drawLine(x+5,y+1,x+3,y-1,SOLID, FORCE) -end - -#ifdef CS_LINES -#define CS_INSIDE 0 -#define CS_LEFT 1 -#define CS_RIGHT 2 -#define CS_BOTTOM 4 -#define CS_TOP 8 - -local function computeOutCode(x,y,xmin,ymin,xmax,ymax) - local code = CS_INSIDE; --initialised as being inside of hud - -- - if x < xmin then --to the left of hud - code = bit32.bor(code,CS_LEFT); - elseif x > xmax then --to the right of hud - code = bit32.bor(code,CS_RIGHT); - end - if y < ymin then --below the hud - code = bit32.bor(code,CS_BOTTOM); - elseif y > ymax then --above the hud - code = bit32.bor(code,CS_TOP); - end - -- - return code; -end - --- Cohen–Sutherland clipping algorithm --- https://en.wikipedia.org/wiki/Cohen%E2%80%93Sutherland_algorithm -local function drawLineWithClipping(ox,oy,angle,len,style,xmin,xmax,ymin,ymax) - -- - local xx = math.cos(math.rad(angle)) * len * 0.5 - local yy = math.sin(math.rad(angle)) * len * 0.5 - -- - local x0 = ox - xx - local x1 = ox + xx - local y0 = oy - yy - local y1 = oy + yy - -- compute outcodes for P0, P1, and whatever point lies outside the clip rectangle - local outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax); - local outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax); - local accept = false; - - while (true) do - if ( bit32.bor(outcode0,outcode1) == CS_INSIDE) then - -- bitwise OR is 0: both points inside window; trivially accept and exit loop - accept = true; - break; - elseif (bit32.band(outcode0,outcode1) ~= CS_INSIDE) then - -- bitwise AND is not 0: both points share an outside zone (LEFT, RIGHT, TOP, BOTTOM) - -- both must be outside window; exit loop (accept is false) - break; - else - -- failed both tests, so calculate the line segment to clip - -- from an outside point to an intersection with clip edge - local x = 0 - local y = 0 - -- At least one endpoint is outside the clip rectangle; pick it. - local outcodeOut = outcode0 ~= CS_INSIDE and outcode0 or outcode1 - -- No need to worry about divide-by-zero because, in each case, the - -- outcode bit being tested guarantees the denominator is non-zero - if bit32.band(outcodeOut,CS_TOP) ~= CS_INSIDE then --point is above the clip window - x = x0 + (x1 - x0) * (ymax - y0) / (y1 - y0) - y = ymax - elseif bit32.band(outcodeOut,CS_BOTTOM) ~= CS_INSIDE then --point is below the clip window - x = x0 + (x1 - x0) * (ymin - y0) / (y1 - y0) - y = ymin - elseif bit32.band(outcodeOut,CS_RIGHT) ~= CS_INSIDE then --point is to the right of clip window - y = y0 + (y1 - y0) * (xmax - x0) / (x1 - x0) - x = xmax - elseif bit32.band(outcodeOut,CS_LEFT) ~= CS_INSIDE then --point is to the left of clip window - y = y0 + (y1 - y0) * (xmin - x0) / (x1 - x0) - x = xmin - end - -- Now we move outside point to intersection point to clip - -- and get ready for next pass. - if outcodeOut == outcode0 then - x0 = x - y0 = y - outcode0 = computeOutCode(x0, y0, xmin, ymin, xmax, ymax) - else - x1 = x - y1 = y - outcode1 = computeOutCode(x1, y1, xmin, ymin, xmax, ymax) - end - end - end - if accept then - lcd.drawLine(x0,y0,x1,y1, style,0) - end -end -#else --CS_LINES --- draws a line centered at ox,oy with given angle and length WITH CROPPING -local function drawCroppedLine(ox,oy,angle,len,style,minX,maxX,minY,maxY) - -- - local xx = math.cos(math.rad(angle)) * len * 0.5 - local yy = math.sin(math.rad(angle)) * len * 0.5 - -- - local x1 = ox - xx - local x2 = ox + xx - local y1 = oy - yy - local y2 = oy + yy - -- - -- crop right - if (x1 >= maxX and x2 >= maxX) then - return - end - - if (x1 >= maxX) then - y1 = y1 - math.tan(math.rad(angle)) * (maxX - x1) - x1 = maxX - 1 - end - - if (x2 >= maxX) then - y2 = y2 + math.tan(math.rad(angle)) * (maxX - x2) - x2 = maxX - 1 - end - -- crop left - if (x1 <= minX and x2 <= minX) then - return - end - - if (x1 <= minX) then - y1 = y1 - math.tan(math.rad(angle)) * (x1 - minX) - x1 = minX + 1 - end - - if (x2 <= minX) then - y2 = y2 + math.tan(math.rad(angle)) * (x2 - minX) - x2 = minX + 1 - end - -- - -- crop right - if (y1 >= maxY and y2 >= maxY) then - return - end - - if (y1 >= maxY) then - x1 = x1 - (y1 - maxY)/math.tan(math.rad(angle)) - y1 = maxY - 1 - end - - if (y2 >= maxY) then - x2 = x2 - (y2 - maxY)/math.tan(math.rad(angle)) - y2 = maxY - 1 - end - -- crop left - if (y1 <= minY and y2 <= minY) then - return - end - - if (y1 <= minY) then - x1 = x1 + (minY - y1)/math.tan(math.rad(angle)) - y1 = minY + 1 - end - - if (y2 <= minY) then - x2 = x2 + (minY - y2)/math.tan(math.rad(angle)) - y2 = minY + 1 - end - - lcd.drawLine(x1,y1,x2,y2, style,0) -end -#endif --CS_LINES - -#ifdef DEV -local function draw8(x0,y0,x,y) - lcd.drawPoint(x0 + x, y0 + y); - lcd.drawPoint(x0 + y, y0 + x); - lcd.drawPoint(x0 - y, y0 + x); - lcd.drawPoint(x0 - x, y0 + y); - lcd.drawPoint(x0 - x, y0 - y); - lcd.drawPoint(x0 - y, y0 - x); - lcd.drawPoint(x0 + y, y0 - x); - lcd.drawPoint(x0 + x, y0 - y); -end - -local function drawCircle10(x0,y0) - draw8(x0,y0,5,1) - draw8(x0,y0,5,2) - draw8(x0,y0,4,3) - draw8(x0,y0,4,4) - lcd.drawPoint(x0 + 5,y0) - lcd.drawPoint(x0 - 5,y0) - lcd.drawPoint(x0,y0 + 5) - lcd.drawPoint(x0,y0 - 5) -end - -local function drawCircle(x0,y0,radius,delta) - local x = radius-1 - local y = 0 - local dx = delta - local dy = delta - local err = dx - bit32.lshift(radius,1) - while (x >= y) do - lcd.drawPoint(x0 + x, y0 + y); - lcd.drawPoint(x0 + y, y0 + x); - lcd.drawPoint(x0 - y, y0 + x); - lcd.drawPoint(x0 - x, y0 + y); - lcd.drawPoint(x0 - x, y0 - y); - lcd.drawPoint(x0 - y, y0 - x); - lcd.drawPoint(x0 + y, y0 - x); - lcd.drawPoint(x0 + x, y0 - y); - if err <= 0 then - y=y+1 - err = err + dy - dy = dy + 2 - end - if err > 0 then - - x=x-1 - dx = dx + 2 - err = err + dx - bit32.lshift(radius,1) - end - end -end - -local function drawHomePad(x0,y0) - drawCircle(x0 + 5,y0,5,2) - lcd.drawText(x0 + 5 - 2,y0 - 3,"H") -end -#endif --DEV - -local function drawNumberWithTwoDims(x,y,yTop,yBottom,number,topDim,bottomDim,flags,topFlags,bottomFlags) - -- +0.5 because PREC2 does a math.floor() and not a math.round() - lcd.drawNumber(x, y, number + 0.5, flags) - local lx = lcd.getLastRightPos() - lcd.drawText(lx, yTop, topDim, topFlags) - lcd.drawText(lx, yBottom, bottomDim, bottomFlags) -end - -local function drawNumberWithDim(x,y,yDim,number,dim,flags,dimFlags) - lcd.drawNumber(x, y, number,flags) - lcd.drawText(lcd.getLastRightPos(), yDim, dim, dimFlags) -end - -#ifdef LOGTELEMETRY -local function getLogFilename(date) - local modelName = string.lower(string.gsub(modelInfo.name, "[%c%p%s%z]", "")) - return string.format("%s-%04d%02d%02d_%02d%02d%02d.plog",modelName,date.year,date.mon,date.day,date.hour,date.min,date.sec) -end - -local function logTelemetryToFile(lc1,lc2,lc3,lc4) - -- flight time - local fmins = math.floor(flightTime / 60) - local fsecs = flightTime % 60 - -- local date tiime from radio - io.write(logfile,string.format("%d;%02d:%02d;%#01x;%#01x;%#02x;%#04x",getTime(),fmins,fsecs, lc1, lc2, lc3, lc4),"\r\n") -end -#endif --LOGTELEMETRY - - -#ifdef X9 -local function formatMessage(severity,msg) - if lastMessageCount > 1 then - if #msg > 36 then - msg = string.sub(msg,1,36) - end - return string.format("%02d:%s %s (x%d)", messageCount, mavSeverity(severity), msg, lastMessageCount) - else - if #msg > 40 then - msg = string.sub(msg,1,40) - end - return string.format("%02d:%s %s", messageCount, mavSeverity(severity), msg) - end -end -#endif --X9 -#ifdef X7 -local function formatMessage(severity,msg) - if lastMessageCount > 1 then - if #msg > 16 then - msg = string.sub(msg,1,16) - end - return string.format("%d:%s %s (x%d)", messageCount, mavSeverity(severity), msg, lastMessageCount) - else - if #msg > 23 then - msg = string.sub(msg,1,23) - end - return string.format("%d:%s %s", messageCount, mavSeverity(severity), msg) - end -end -#endif --X7 - -#define MAX_MESSAGES 9 - -local function pushMessage(severity, msg) - if CONF_DISABLE_MSGBEEP == false and CONF_DISABLE_SOUNDS == false then - if ( severity < 5) then - playSound("../err") - else - playSound("../inf") - end - end - -- check if wrapping is needed - if #messages == MAX_MESSAGES and msg ~= lastMessage then - for i=1,MAX_MESSAGES-1 do - messages[i]=messages[i+1] - end - -- trunc at 9 - messages[MAX_MESSAGES] = nil - end - -- is it a duplicate? - if msg == lastMessage then - lastMessageCount = lastMessageCount + 1 - messages[#messages] = formatMessage(severity,msg) - else - lastMessageCount = 1 - messageCount = messageCount + 1 - messages[#messages+1] = formatMessage(severity,msg) - end - lastMessage = msg - lastMessageSeverity = severity -#ifdef COLLECTGARBAGE - collectgarbage() - maxmem = 0 -#endif -end --- -local function startTimer() - lastTimerStart = getTime()/100 - model.setTimer(2,{mode=1}) -end - -local function stopTimer() - model.setTimer(2,{mode=0}) - lastTimerStart = 0 -end - -#ifdef TESTMODE ------------------------------------------------------ --- TEST MODE ------------------------------------------------------ -local function symTimer() -#ifdef DEMO - seconds = 60 * 9 + 30 -#endif --DEMO - thrOut = getValue("thr") - if (thrOut > -500 ) then - landComplete = 1 - else - landComplete = 0 - end -end - -local function symGPS() - thrOut = getValue("thr") - if thrOut > 500 then - numSats = 17 - gpsStatus = 4 - gpsHdopC = 6 - ekfFailsafe = 0 - battFailsafe = 0 - noTelemetryData = 0 - statusArmed = 1 - elseif thrOut < 500 and thrOut > 0 then - numSats = 13 - gpsStatus = 5 - gpsHdopC = 6 - ekfFailsafe = 1 - battFailsafe = 0 - noTelemetryData = 0 - statusArmed = 1 - elseif thrOut > -500 then - numSats = 6 - gpsStatus = 3 - gpsHdopC = 120 - ekfFailsafe = 0 - battFailsafe = 1 - noTelemetryData = 0 - statusArmed = 0 - else - numSats = 0 - gpsStatus = 0 - gpsHdopC = 100 - ekfFailsafe = 0 - battFailsafe = 0 - noTelemetryData = 1 - statusArmed = 0 - end -end - -local function symFrameType() - local ch11 = getValue("ch11") - if ch11 < -300 then - frameType = 2 - simpleMode = 0 - elseif ch11 < 300 then - frameType = 1 - simpleMode = 1 - else - frameType = 10 - simpleMode = 2 - end -end - -local function symBatt() - thrOut = getValue("thr") - if (thrOut > -500 ) then -#ifdef DEMO - if battFailsafe == 1 then - minmaxValues[MIN_BATT1_FC] = CELLCOUNT * 3.40 - minmaxValues[MIN_BATT2_FC] = CELLCOUNT * 3.43 - minmaxValues[MAX_CURR] = 341 + 335 - minmaxValues[MAX_CURR1] = 341 - minmaxValues[MAX_CURR2] = 335 - minmaxValues[MAX_POWER] = (CELLCOUNT * 3.43)*(34.1 + 33.5) - -- battery voltage - batt1current = 235 - batt1volt = CELLCOUNT * 3.43 * 10 - batt1Capacity = 5200 - batt1mah = 4400 -#ifdef BATT2TEST - batt2current = 238 - batt2volt = CELLCOUNT * 3.44 * 10 - batt2Capacity = 5200 - batt2mah = 4500 -#endif --BATT2TEST - else - minmaxValues[MIN_BATT1_FC] = CELLCOUNT * 3.75 - minmaxValues[MIN_BATT2_FC] = CELLCOUNT * 3.77 - minmaxValues[MAX_CURR] = 341+335 - minmaxValues[MAX_CURR1] = 341 - minmaxValues[MAX_CURR2] = 335 - minmaxValues[MAX_POWER] = (CELLCOUNT * 3.89)*(34.1+33.5) - -- battery voltage - batt1current = 235 - batt1volt = CELLCOUNT * 3.87 * 10 - batt1Capacity = 5200 - batt1mah = 2800 -#ifdef BATT2TEST - batt2current = 238 - batt2volt = CELLCOUNT * 3.89 * 10 - batt2Capacity = 5200 - batt2mah = 2700 -#endif --BATT2TEST - end -#else --DEMO - -- battery voltage - batt1current = 100 + ((thrOut)*0.01 * 30) - batt1volt = CELLCOUNT * (32 + 10*math.abs(thrOut)*0.001) - batt1Capacity = 5200 - batt1mah = 5200 - math.abs(1000*(thrOut/200)) -#ifdef BATT2TEST - batt2current = 100 + ((thrOut)*0.01 * 30) - batt2volt = CELLCOUNT * (32 + 10*math.abs(thrOut)*0.001) - batt2Capacity = 5200 - batt2mah = 5200 - math.abs(1000*(thrOut/200)) -#endif --BATT2TEST -#endif --DEMO - -- flightmode -#ifdef DEMO - flightMode = 1 - minmaxValues[MAX_GPSALT] = 270*0.1 - minmaxValues[MAX_DIST] = 130 - gpsAlt = 200 - homeDist = 95 -#else --DEMO - flightMode = math.floor(20 * math.abs(thrOut)*0.001) - gpsAlt = math.floor(10 * math.abs(thrOut)*0.1) - homeDist = math.floor(15 * math.abs(thrOut)*0.1) -#endif --DEMO - else - batt1mah = 0 - end -end - --- simulates attitude by using channel 1 for roll, channel 2 for pitch and channel 4 for yaw -local function symAttitude() -#ifdef DEMO - roll = 14 - pitch = -0.8 - yaw = 33 -#else --DEMO - local rollCh = 0 - local pitchCh = 0 - local yawCh = 0 - -- roll [-1024,1024] ==> [-180,180] - rollCh = getValue("ch1") * 0.175 - -- pitch [1024,-1024] ==> [-90,90] - pitchCh = getValue("ch2") * 0.0878 - -- yaw [-1024,1024] ==> [0,360] - yawCh = getValue("ch10") - if ( yawCh >= 0) then - yawCh = yawCh * 0.175 - else - yawCh = 360 + (yawCh * 0.175) - end - roll = rollCh/3 - pitch = pitchCh/2 - yaw = yawCh -#endif --DEMO -end - -local function symHome() - local yawCh = 0 - local S2Ch = 0 - -- home angle in deg [0-360] - S2Ch = getValue("ch12") - yawCh = getValue("ch4") -#ifdef DEMO - minmaxValues[MINMAX_ALT] = 45 - minmaxValues[MAX_VSPEED] = 4 - minmaxValues[MAX_HSPEED] = 77 - homeAlt = 24 - vSpeed = 22 - hSpeed = 34 -#else --DEMO - homeAlt = yawCh * 0.01 - range = 10 * yawCh * 0.1 - vSpeed = yawCh * 0.1 * -1 - hSpeed = vSpeed -#endif --DEMO - if ( yawCh >= 0) then - yawCh = yawCh * 0.175 - else - yawCh = 360 + (yawCh * 0.175) - end - yaw = yawCh - if ( S2Ch >= 0) then - S2Ch = S2Ch * 0.175 - else - S2Ch = 360 + (S2Ch * 0.175) - end - if (thrOut > 0 ) then - homeAngle = S2Ch - else - homeAngle = -1 - end -end - -local function symMode() - symGPS() - symAttitude() - symTimer() - symHome() - symBatt() - symFrameType() -end -#endif --TESTMODE - ------------------------------------------------------------------ --- TELEMETRY ------------------------------------------------------------------ -#ifdef TELERATE -local telecounter = 0 -local telerate = 0 -local telestart = 0 -#endif --TELERATE -#ifdef LOGTELEMETRY -local lastAttiLogTime = 0 -#endif --LOGTELEMETRY --- -local function processTelemetry() - local SENSOR_ID,FRAME_ID,DATA_ID,VALUE -#ifdef PLAYLOG -#endif - SENSOR_ID,FRAME_ID,DATA_ID,VALUE = sportTelemetryPop() - if ( FRAME_ID == 0x10) then -#ifdef LOGTELEMETRY - -- log all pitch and roll at ma - if lastAttiLogTime == 0 then - logTelemetryToFile(SENSOR_ID,FRAME_ID,DATA_ID,VALUE) - lastAttiLogTime = getTime() - elseif DATA_ID == 0x5006 and getTime() - lastAttiLogTime > 50 then -- @2Hz - logTelemetryToFile(SENSOR_ID,FRAME_ID,DATA_ID,VALUE) - lastAttiLogTime = getTime() - else - logTelemetryToFile(SENSOR_ID,FRAME_ID,DATA_ID,VALUE) - end -#endif --LOGTELEMETRY -#ifdef TELERATE - ------------------------ - -- CALC ACTUAL TELE RATE - ------------------------ - local now = getTime()/100 - if telecounter == 0 then - telestart = now - else - telerate = telecounter / (now - telestart) - end - -- - telecounter=telecounter+1 -#endif --TELERATE - noTelemetryData = 0 - if ( DATA_ID == 0x5006) then -- ROLLPITCH - -- roll [0,1800] ==> [-180,180] - roll = (math.min(bit32.extract(VALUE,0,11),1800) - 900) * 0.2 - -- pitch [0,900] ==> [-90,90] - pitch = (math.min(bit32.extract(VALUE,11,10),900) - 450) * 0.2 - -- number encoded on 11 bits: 10 bits for digits + 1 for 10^power - range = bit32.extract(VALUE,22,10) * (10^bit32.extract(VALUE,21,1)) -- cm - elseif ( DATA_ID == 0x5005) then -- VELANDYAW - vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1)) * (bit32.extract(VALUE,8,1) == 1 and -1 or 1) - hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - yaw = bit32.extract(VALUE,17,11) * 0.2 - elseif ( DATA_ID == 0x5001) then -- AP STATUS - flightMode = bit32.extract(VALUE,0,5) - simpleMode = bit32.extract(VALUE,5,2) - landComplete = bit32.extract(VALUE,7,1) - statusArmed = bit32.extract(VALUE,8,1) - battFailsafe = bit32.extract(VALUE,9,1) - ekfFailsafe = bit32.extract(VALUE,10,2) - -- IMU temperature: 0 means temp =< 19°, 63 means temp => 82° - imuTemp = bit32.extract(VALUE,26,6) + 19 -- C° - elseif ( DATA_ID == 0x5002) then -- GPS STATUS - numSats = bit32.extract(VALUE,0,4) - -- offset 4: NO_GPS = 0, NO_FIX = 1, GPS_OK_FIX_2D = 2, GPS_OK_FIX_3D or GPS_OK_FIX_3D_DGPS or GPS_OK_FIX_3D_RTK_FLOAT or GPS_OK_FIX_3D_RTK_FIXED = 3 - -- offset 14: 0: no advanced fix, 1: GPS_OK_FIX_3D_DGPS, 2: GPS_OK_FIX_3D_RTK_FLOAT, 3: GPS_OK_FIX_3D_RTK_FIXED - gpsStatus = bit32.extract(VALUE,4,2) + bit32.extract(VALUE,14,2) - gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm - gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) * (bit32.extract(VALUE,31,1) == 1 and -1 or 1) -- dm - elseif ( DATA_ID == 0x5003) then -- BATT - batt1volt = bit32.extract(VALUE,0,9) - batt1current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt1mah = bit32.extract(VALUE,17,15) -#ifdef BATT2TEST - batt2volt = bit32.extract(VALUE,0,9) - batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt2mah = bit32.extract(VALUE,17,15) -#endif --BATT2TEST - elseif ( DATA_ID == 0x5008) then -- BATT2 - batt2volt = bit32.extract(VALUE,0,9) - batt2current = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1)) - batt2mah = bit32.extract(VALUE,17,15) - elseif ( DATA_ID == 0x5004) then -- HOME - homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2)) - homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1 * (bit32.extract(VALUE,24,1) == 1 and -1 or 1) --m - homeAngle = bit32.extract(VALUE, 25, 7) * 3 - elseif ( DATA_ID == 0x5000) then -- MESSAGES - if (VALUE ~= lastMsgValue) then - lastMsgValue = VALUE - local c1 = bit32.extract(VALUE,0,7) - local c2 = bit32.extract(VALUE,8,7) - local c3 = bit32.extract(VALUE,16,7) - local c4 = bit32.extract(VALUE,24,7) - -- - local msgEnd = false - if (c4 ~= 0) then - msgBuffer = msgBuffer .. string.char(c4) - else - msgEnd = true; - end - if (c3 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c3) - else - msgEnd = true; - end - if (c2 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c2) - else - msgEnd = true; - end - if (c1 ~= 0 and not msgEnd) then - msgBuffer = msgBuffer .. string.char(c1) - else - msgEnd = true; - end - --[[ - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x4)<<21; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x2)<<14; - _msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x1)<<7; - --]] - if (msgEnd) then - local severity = (bit32.extract(VALUE,7,1) * 1) + (bit32.extract(VALUE,15,1) * 2) + (bit32.extract(VALUE,23,1) * 4) - pushMessage( severity, msgBuffer) - msgBuffer = "" - end - end - elseif ( DATA_ID == 0x5007) then -- PARAMS - paramId = bit32.extract(VALUE,24,4) - paramValue = bit32.extract(VALUE,0,24) - if paramId == 1 then - frameType = paramValue - elseif paramId == 4 then - batt1Capacity = paramValue -#ifdef BATT2TEST - batt2Capacity = paramValue -#endif --BATT2TEST - elseif paramId == 5 then - batt2Capacity = paramValue - end - end - end -end - -#ifdef TESTMODE -local function telemetryEnabled() - return true -end -#else --TESTMODE -local function telemetryEnabled() - if getRSSI() == 0 then - noTelemetryData = 1 - end - return noTelemetryData == 0 -end -#endif --TESTMODE - -local function getMaxValue(value,idx) - minmaxValues[idx] = math.max(value,minmaxValues[idx]) - return showMinMaxValues == true and minmaxValues[idx] or value -end - -local function calcMinValue(value,min) - return min == 0 and value or math.min(value,min) -end - --- returns the actual minimun only if both are > 0 -local function getNonZeroMin(v1,v2) - return v1 == 0 and v2 or ( v2 == 0 and v1 or math.min(v1,v2)) -end - -local function calcCellCount() - -- cellcount override from menu - if CONF_CELL_COUNT ~= nil and CONF_CELL_COUNT > 0 then - return CONF_CELL_COUNT - end - -- cellcount is cached only for FLVSS - if batt1sources.vs == true and cellcount > 1 then - return cellcount - end - -- round in excess and return - -- Note: cellcount is not cached because max voltage can rise during initialization) - return math.floor( (( math.max(cell1maxFC,cellmaxA2)*0.1 ) / CELLFULL) + 1) -end - -local function calcBattery() - ------------ - -- FLVSS 1 - ------------ - local cellResult = getValue("Cels") - if type(cellResult) == "table" then - cell1min = CELLFULL - cell1sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell1sum = cell1sum + v - if cell1min > v then - cell1min = v - end - end - -- if connected after scritp started - if batt1sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt1sources.vs = true - else - batt1sources.vs = false - cell1min = 0 - cell1sum = 0 - end - ------------ - -- FLVSS 2 - ------------ -#ifdef FLVSS2TEST - cellResult = getValue("Cels") -#else --FLVSS2TEST - cellResult = getValue("Cel2") -#endif --FLVSS2TEST - if type(cellResult) == "table" then - cell2min = CELLFULL - cell2sum = 0 - -- cellcount is global and shared - cellcount = #cellResult - for i, v in pairs(cellResult) do - cell2sum = cell2sum + v - if cell2min > v then - cell2min = v - end - end - -- if connected after scritp started - if batt2sources.vs == false then - battsource = "na" - end - if battsource == "na" then - battsource = "vs" - end - batt2sources.vs = true - else - batt2sources.vs = false - cell2min = 0 - cell2sum = 0 - end - -------------------------------- - -- flight controller battery 1 - -------------------------------- - if batt1volt > 0 then - cell1sumFC = batt1volt*0.1 - cell1maxFC = math.max(batt1volt,cell1maxFC) - if battsource == "na" then - battsource = "fc" - end - batt1sources.fc = true - else - batt1sources.fc = false - cell1sumFC = 0 - end - -------------------------------- - -- flight controller battery 2 - -------------------------------- - if batt2volt > 0 then - cell2sumFC = batt2volt*0.1 - if battsource == "na" then - battsource = "fc" - end - batt2sources.fc = true - else - batt2sources.fc = false - cell2sumFC = 0 - end - ---------------------------------- - -- A2 analog voltage only 1 supported - ---------------------------------- - local battA2 = getValue("A2") - -- - if battA2 > 0 then - cellsumA2 = battA2 - cellmaxA2 = math.max(battA2*10,cellmaxA2) - -- don't force a2, only way to display it - -- is by user selection from menu - --[[ - if battsource == "na" then - battsource = "a2" - end - --]] - batt1sources.a2 = true - else - batt1sources.a2 = false - cellsumA2 = 0 - end - -- batt fc - minmaxValues[MIN_BATT1_FC] = calcMinValue(cell1sumFC,minmaxValues[MIN_BATT1_FC]) - minmaxValues[MIN_BATT2_FC] = calcMinValue(cell2sumFC,minmaxValues[MIN_BATT2_FC]) - -- cell flvss - minmaxValues[MIN_CELL1_VS] = calcMinValue(cell1min,minmaxValues[MIN_CELL1_VS]) - minmaxValues[MIN_CELL2_VS] = calcMinValue(cell2min,minmaxValues[MIN_CELL2_VS]) - -- batt flvss - minmaxValues[MIN_BATT1_VS] = calcMinValue(cell1sum,minmaxValues[MIN_BATT1_VS]) - minmaxValues[MIN_BATT2_VS] = calcMinValue(cell2sum,minmaxValues[MIN_BATT2_VS]) - -- batt A2 - minmaxValues[MIN_BATT_A2] = calcMinValue(cellsumA2,minmaxValues[MIN_BATT_A2]) -end - -local function checkLandingStatus() - if ( timerRunning == 0 and landComplete == 1 and lastTimerStart == 0) then - startTimer() - end - if (timerRunning == 1 and landComplete == 0 and lastTimerStart ~= 0) then - stopTimer() - -- play landing complete only if motorts are armed - if statusArmed == 1 then - playSound("landing") - end - end - timerRunning = landComplete -end - -local function calcFlightTime() - -- update local variable with timer 3 value - flightTime = model.getTimer(2).value -end - -local function getBatt1Capacity() - return CONF_BATT_CAP1 > 0 and CONF_BATT_CAP1*100 or batt1Capacity -end - -local function getBatt2Capacity() - return CONF_BATT_CAP2 > 0 and CONF_BATT_CAP2*100 or batt2Capacity -end - --- gets the voltage based on source and min value, battId = [1|2] -local function getMinVoltageBySource(source,cell,cellFC,cellA2,battId,count) - -- offset 0 for cell voltage, 2 for pack voltage - local offset = 0 - -- - if cell > CELLFULL*2 or cellFC > CELLFULL*2 or cellA2 > CELLFULL*2 then - offset = 2 - end - -- - if source == "vs" then - return showMinMaxValues == true and minmaxValues[2+offset+battId] or cell - elseif source == "fc" then - -- FC only tracks batt1 and batt2 no cell voltage tracking - local minmax = (offset == 2 and minmaxValues[battId] or minmaxValues[battId]/count) - return showMinMaxValues == true and minmax or cellFC - elseif source == "a2" then - -- A2 does not depend on battery id - local minmax = (offset == 2 and minmaxValues[MIN_BATT_A2] or minmaxValues[MIN_BATT_A2]/count) - return showMinMaxValues == true and minmax or cellA2 - end - -- - return 0 -end - -local function setSensorValues() - if (not telemetryEnabled()) then - return - end - local battmah = batt1mah - local battcapacity = getBatt1Capacity() - if batt2mah > 0 then - battcapacity = getBatt1Capacity() + getBatt2Capacity() - battmah = batt1mah + batt2mah - end - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - setTelemetryValue(Fuel_ID, Fuel_SUBID, Fuel_INSTANCE, perc, 13 , Fuel_PRECISION , Fuel_NAME) - setTelemetryValue(VFAS_ID, VFAS_SUBID, VFAS_INSTANCE, getNonZeroMin(batt1volt,batt2volt)*10, 1 , VFAS_PRECISION , VFAS_NAME) - setTelemetryValue(CURR_ID, CURR_SUBID, CURR_INSTANCE, batt1current+batt2current, 2 , CURR_PRECISION , CURR_NAME) - setTelemetryValue(VSpd_ID, VSpd_SUBID, VSpd_INSTANCE, vSpeed, 5 , VSpd_PRECISION , VSpd_NAME) - setTelemetryValue(GSpd_ID, GSpd_SUBID, GSpd_INSTANCE, hSpeed*0.1, 5 , GSpd_PRECISION , GSpd_NAME) - setTelemetryValue(Alt_ID, Alt_SUBID, Alt_INSTANCE, homeAlt*10, 9 , Alt_PRECISION , Alt_NAME) - setTelemetryValue(GAlt_ID, GAlt_SUBID, GAlt_INSTANCE, math.floor(gpsAlt*0.1), 9 , GAlt_PRECISION , GAlt_NAME) - setTelemetryValue(Hdg_ID, Hdg_SUBID, Hdg_INSTANCE, math.floor(yaw), 20 , Hdg_PRECISION , Hdg_NAME) - setTelemetryValue(IMUTmp_ID, IMUTmp_SUBID, IMUTmp_INSTANCE, imuTemp, 11 , IMUTmp_PRECISION , IMUTmp_NAME) - setTelemetryValue(ARM_ID, ARM_SUBID, ARM_INSTANCE, statusArmed*100, 0 , ARM_PRECISION , ARM_NAME) -end --------------------- --- Single long function much more memory efficient than many little functions ---------------------- -#ifdef X9 -local function drawX9BatteryPane(x,battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if battLevel2 == true then - flags = BLINK - dimFlags = BLINK - elseif battLevel1 == true then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(x+BATTCELL_X, BATTCELL_Y, BATTCELL_YV, BATTCELL_YS,cellVolt,"V",battsource,BATTCELL_FLAGS+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(x+BATTVOLT_X,BATTVOLT_Y,BATTVOLT_YV, battVolt,"V",BATTVOLT_FLAGS,BATTVOLT_FLAGSV) - -- battery current - drawNumberWithDim(x+BATTCURR_X,BATTCURR_Y,BATTCURR_YA,current,"A",BATTCURR_FLAGS,BATTCURR_FLAGSA) - -- battery percentage - lcd.drawNumber(x+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) - lcd.drawText(lcd.getLastRightPos(), BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) - -- display capacity bar % - lcd.drawFilledRectangle(x+BATTGAUGE_X, BATTGAUGE_Y, 2 + math.floor(perc * 0.01 * (BATTGAUGE_WIDTH - 3)), BATTGAUGE_HEIGHT, SOLID) - lcd.drawRectangle(x+BATTGAUGE_X, BATTGAUGE_Y, 2 + math.floor(perc * 0.01 * (BATTGAUGE_WIDTH - 3)), BATTGAUGE_HEIGHT, SOLID) - local step = BATTGAUGE_WIDTH/BATTGAUGE_STEPS - for s=1,BATTGAUGE_STEPS - 1 do - lcd.drawLine(x+BATTGAUGE_X + s*step - 1,BATTGAUGE_Y, x+BATTGAUGE_X + s*step - 1, BATTGAUGE_Y + BATTGAUGE_HEIGHT - 1,SOLID,0) - end - -- battery mah - lcd.drawNumber(x+BATTMAH_X, BATTMAH_Y, battmah/10, SMLSIZE+PREC2) - lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "/", SMLSIZE) - lcd.drawNumber(lcd.getLastRightPos(), BATTMAH_Y, battcapacity/100, BATTMAH_FLAGS) - lcd.drawText(lcd.getLastRightPos(), BATTMAH_Y, "Ah", SMLSIZE) - if showMinMaxValues == true then - drawVArrow(x+BATTVOLT_X+29,BATTVOLT_Y + 6, 5,false,true) - drawVArrow(x+BATTCURR_X+27,BATTCURR_Y + 6,5,true,false) - drawVArrow(x+BATTCELL_X+37, BATTCELL_Y + 3,6,false,true) - end -end -#endif - -#ifdef X7 -local function drawX7RightPane(x,battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if battLevel2 == true then - flags = BLINK - dimFlags = BLINK - elseif battLevel1 == true then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(x+BATTCELL_X, BATTCELL_Y, BATTCELL_YV, BATTCELL_YS,cellVolt,"V",battsource,BATTCELL_FLAGS+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(x+BATTVOLT_X,BATTVOLT_Y,BATTVOLT_YV, battVolt,"V",BATTVOLT_FLAGS,BATTVOLT_FLAGSV) - -- battery current - drawNumberWithDim(x+BATTCURR_X,BATTCURR_Y,BATTCURR_YA,current,"A",BATTCURR_FLAGS,BATTCURR_FLAGSA) - -- battery percentage - lcd.drawNumber(x+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) - lcd.drawText(lcd.getLastRightPos(), BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) - -- battery mah - lcd.drawText(x+BATTMAH_X, BATTMAH_Y, "Ah", SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, BATTMAH_Y, battmah/10, SMLSIZE+PREC2+RIGHT) - lcd.drawText(x+BATTMAH_X, BATTMAH_Y+8, "Ah", SMLSIZE+RIGHT+INVERS) - lcd.drawNumber(lcd.getLastLeftPos()-1, BATTMAH_Y+8, battcapacity/10, SMLSIZE+PREC2+RIGHT+INVERS) - -- tx voltage - --local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) - --lcd.drawText(TXVOLTAGE_X, TXVOLTAGE_Y, vTx, TXVOLTAGE_FLAGS) - -- - -- GPS status - local strStatus = gpsStatuses[gpsStatus] - flags = BLINK+PREC1 - local mult = 1 - lcd.drawLine(GPS_X + 38,GPS_Y+1,GPS_X+38,GPS_Y+19,SOLID,FORCE) - lcd.drawLine(GPS_X + 38,GPS_Y + 20,GPS_X+63,GPS_Y + 20,SOLID,FORCE) - if gpsStatus > 2 then - if homeAngle ~= -1 then - flags = PREC1 - end - if gpsHdopC > 99 then - flags = 0 - mult=0.1 - end - lcd.drawText(GPS_X + 40,GPS_Y+13, strStatus, SMLSIZE) - local strNumSats = string.format("%d",math.min(15,numSats)) - --if numSats >= 15 then - -- strNumSats = strNumSats.."+" - --end - lcd.drawText(GPS_X + 63, GPS_Y + 13, strNumSats, SMLSIZE+RIGHT) - lcd.drawText(GPS_X + 40, GPS_Y + 2 , "H", SMLSIZE) - lcd.drawNumber(GPS_X + 63, GPS_Y+1, gpsHdopC*mult ,MIDSIZE+flags+RIGHT) - - else - lcd.drawText(GPS_X + 46, GPS_Y+3, "No", SMLSIZE+INVERS+BLINK) - lcd.drawText(GPS_X + 43, GPS_Y+12, strStatus, SMLSIZE+INVERS+BLINK) - end - -- alt asl/rng - if showMinMaxValues == true then - flags = 0 - end - -- varrow is shared - flags = 0 - if CONF_RANGE_MAX > 0 then - -- rng finder - local rng = range - -- rng is cm - if rng > CONF_RANGE_MAX then - flags = BLINK+INVERS - end - rng = getMaxValue(rng,MAX_RANGE) - -- - if showMinMaxValues == true then - drawVArrow(ALTASL_XLABEL + 1, ALTASL_YLABEL,5,true,false) - else - lcd.drawText(ALTASL_XLABEL - 1, ALTASL_YLABEL, "Rn", SMLSIZE) - end -#ifdef UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y+1 , UNIT_ALT_LABEL, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), ALTASL_Y , string.format("%.1f",rng*0.01*UNIT_ALT_SCALE), flags + RIGHT) -#else - lcd.drawText(ALTASL_X, ALTASL_Y+1 , "m", SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), ALTASL_Y, string.format("%.2f",rng*0.01), flags + RIGHT) -#endif --UNIT_SCALE - else - -- alt asl, always display gps altitude even without 3d lock - local alt = gpsAlt/10 - flags = BLINK - if gpsStatus > 2 then - flags = 0 - -- update max only with 3d or better lock - alt = getMaxValue(alt,MAX_GPSALT) - end - if showMinMaxValues == true then - drawVArrow(ALTASL_XLABEL + 1, ALTASL_YLABEL + 1,5,true,false) - else - drawVArrow(ALTASL_XLABEL + 1,ALTASL_YLABEL,6,true,true) - end -#ifdef UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y+1 ,UNIT_ALT_LABEL, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), ALTASL_Y , string.format("%d",alt*UNIT_ALT_SCALE), flags+RIGHT) -#else --UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y+1 ,"m", SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), ALTASL_Y , string.format("%d",alt), flags+RIGHT) -#endif --UNIT_SCALE - end - -- home dist - local flags = 0 - if homeAngle == -1 then - flags = BLINK - end - local dist = getMaxValue(homeDist,MAX_DIST) - if showMinMaxValues == true then - flags = 0 - end -#ifdef UNIT_SCALE - lcd.drawText(HOMEDIST_X, HOMEDIST_Y+1, UNIT_DIST_LABEL,SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), HOMEDIST_Y, string.format("%d",dist*UNIT_DIST_SCALE),HOMEDIST_FLAGS+flags) -#else --UNIT_SCALE - lcd.drawText(HOMEDIST_X, HOMEDIST_Y+1, "m",SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos(), HOMEDIST_Y, string.format("%d",dist),HOMEDIST_FLAGS+flags) -#endif --UNIT_SCALE - if showMinMaxValues == true then - drawVArrow(HOMEDIST_XLABEL + 2, HOMEDIST_YLABEL,5,true,false) - drawVArrow(x+BATTCELL_X+36, BATTCELL_Y+2,6,false,true) - else - drawHArrow(HOMEDIST_XLABEL,HOMEDIST_YLABEL + 3,HOMEDIST_ARROW_WIDTH,true,true) - end -end -#endif - -#ifdef X7 ---------------------- --- Single long function much more memory efficient than many little functions ---------------------- -local function drawX7LeftPane(battVolt,cellVolt,current,battmah,battcapacity) - local perc = 0 - if (battcapacity > 0) then - perc = (1 - (battmah/battcapacity))*100 - else - perc = 0 - end - if perc > 99 then - perc = 99 - elseif perc < 0 then - perc = 0 - end - -- battery min cell - local flags = 0 - local dimFlags = 0 - if showMinMaxValues == false then - if cellVolt < CONF_BATT_LEVEL2 then - flags = BLINK - dimFlags = BLINK - elseif cellVolt < CONF_BATT_LEVEL1 then - dimFlags = BLINK+INVERS - end - end - drawNumberWithTwoDims(0, BATTCELL_Y, BATTCELL_YV, BATTCELL_YS,cellVolt,"V",battsource,BATTCELL_FLAGS+flags,dimFlags,SMLSIZE) - -- battery voltage - drawNumberWithDim(41+BATTVOLT_X,BATTVOLT_Y,BATTVOLT_YV, battVolt,"V",BATTVOLT_FLAGS,BATTVOLT_FLAGSV) - -- battery current - drawNumberWithDim(41+BATTCURR_X,BATTCURR_Y,BATTCURR_YA,current,"A",BATTCURR_FLAGS,BATTCURR_FLAGSA) - -- battery percentage - lcd.drawNumber(38+BATTPERC_X, BATTPERC_Y, perc, BATTPERC_FLAGS) - lcd.drawText(lcd.getLastRightPos(), BATTPERC_YPERC, "%", BATTPERC_FLAGSPERC) - -- box - lcd.drawRectangle(0,BATTMAH_Y + 7,6,7,SOLID) - lcd.drawFilledRectangle(0,BATTMAH_Y + 7,6,7,SOLID) - -- battery mah - lcd.drawText(-30+BATTMAH_X, BATTMAH_Y, "Ah", SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, BATTMAH_Y, battmah/10, SMLSIZE+PREC2+RIGHT) - lcd.drawText(-30+BATTMAH_X, BATTMAH_Y+8, "Ah", SMLSIZE+RIGHT+INVERS) - lcd.drawNumber(lcd.getLastLeftPos()-1, BATTMAH_Y+8, battcapacity/10, SMLSIZE+PREC2+RIGHT+INVERS) - if showMinMaxValues == true then - drawVArrow(36, BATTCELL_Y+2,6,false,true) - end -end -#endif --X7 - -local function drawNoTelemetryData() - -- no telemetry data -#ifdef X9 - if (not telemetryEnabled()) then - lcd.drawFilledRectangle((212-130)/2,18, 130, 30, SOLID) - lcd.drawRectangle((212-130)/2,18, 130, 30, ERASE) - lcd.drawText(60, 29, "no telemetry data", INVERS) - return - end -#else - if (not telemetryEnabled()) then - lcd.drawFilledRectangle(12,18, 105, 30, SOLID) - lcd.drawRectangle(12,18, 105, 30, ERASE) - lcd.drawText(30, 29, "no telemetry", INVERS) - return - end -#endif --X9 -end - -local function drawTopBar() - -- black bar - lcd.drawFilledRectangle(0,TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - lcd.drawRectangle(0, TOPBAR_Y, TOPBAR_WIDTH, 7, SOLID) - -- flight mode - if frame.flightModes then - local strMode = frame.flightModes[flightMode] - if strMode ~= nil then - lcd.drawText(FLIGHTMODE_X, FLIGHTMODE_Y, strMode, FLIGHTMODE_FLAGS) - if ( simpleMode > 0 ) then - local strSimpleMode = simpleMode == 1 and "(S)" or "(SS)" - lcd.drawText(lcd.getLastRightPos(), FLIGHTMODE_Y, strSimpleMode, FLIGHTMODE_FLAGS) - end - end - end - -- flight time - lcd.drawText(FLIGHTTIME_X, FLIGHTTIME_Y, "T:", FLIGHTTIME_FLAGS) - lcd.drawTimer(lcd.getLastRightPos(), FLIGHTTIME_Y, flightTime, FLIGHTTIME_FLAGS) - -- RSSI - lcd.drawText(RSSI_X, RSSI_Y, "RS:", RSSI_FLAGS) -#ifdef DEMO - lcd.drawText(lcd.getLastRightPos(), RSSI_Y, 87, RSSI_FLAGS) -#else --DEMO - lcd.drawText(lcd.getLastRightPos(), RSSI_Y, getRSSI(), RSSI_FLAGS) -#endif --DEMO -#ifdef X9 - -- tx voltage - local vTx = string.format("Tx%.1fv",getValue(getFieldInfo("tx-voltage").id)) - lcd.drawText(TXVOLTAGE_X, TXVOLTAGE_Y, vTx, TXVOLTAGE_FLAGS) -#endif --X9 -end - -local function drawBottomBar() - -- black bar - lcd.drawFilledRectangle(0,BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID) - lcd.drawRectangle(0, BOTTOMBAR_Y, BOTTOMBAR_WIDTH, 8, SOLID) - -- message text - local now = getTime() - local msg = messages[#messages] -#ifdef X9 - if (now - lastMsgTime ) > 150 or CONF_DISABLE_MSGBLINK then - lcd.drawText(0, BOTTOMBAR_Y+1, msg,SMLSIZE+INVERS) - else - lcd.drawText(0, BOTTOMBAR_Y+1, msg,SMLSIZE+INVERS+BLINK) - end -#endif --X9 -#ifdef X7 - if (now - lastMsgTime ) > 150 or CONF_DISABLE_MSGBLINK then - lcd.drawText(0, BOTTOMBAR_Y + 1, msg,SMLSIZE+INVERS) - else - lcd.drawText(0, BOTTOMBAR_Y + 1, msg,SMLSIZE+INVERS+BLINK) - end -#endif --X7 -end - -local function drawAllMessages() - for i=1,#messages do - lcd.drawText(1, 1 + 7*(i-1), messages[i],SMLSIZE) - end -end - -#ifdef X9 -local function drawX9LeftPane(battcurrent,cellsumFC) - -- gps status - local strStatus = gpsStatuses[gpsStatus] - local strNumSats = "" - local flags = BLINK - local mult = 1 - if gpsStatus > 2 then - if homeAngle ~= -1 then - flags = PREC1 - end - if gpsHdopC > 99 then - flags = 0 - mult=0.1 - end - lcd.drawText(GPS_X,GPS_Y + 2, strStatus, SMLSIZE) - lcd.drawText(GPS_X,GPS_Y + 8, "fix", SMLSIZE) - if numSats >= 15 then - strNumSats = string.format("%d+",15) - else - strNumSats = string.format("%d",numSats) - end - lcd.drawText(GPS_X + 40, GPS_Y + 2, strNumSats, MIDSIZE+RIGHT) - lcd.drawText(GPS_X + 42, GPS_Y + 2 , "H", SMLSIZE) - lcd.drawNumber(GPS_X + 66, GPS_Y + 2, gpsHdopC*mult , MIDSIZE+flags+RIGHT) - lcd.drawLine(GPS_X + 40,GPS_Y+1,GPS_X+40,GPS_Y + 14,SOLID,FORCE) - else - lcd.drawText(GPS_X + 10, GPS_Y + 2, strStatus, MIDSIZE+INVERS+BLINK) - end - lcd.drawLine(GPS_X ,GPS_Y + 15,GPS_X+66,GPS_Y + 15,SOLID,FORCE) - if showMinMaxValues == true then - flags = 0 - end - -- varrow is shared - drawVArrow(ALTASL_XLABEL,ALTASL_YLABEL - 1,7,true,true) - if CONF_RANGE_MAX > 0 then - -- rng finder - flags = 0 - local rng = range - -- rng is centimeters, RANGE_MAX is feet - if rng > CONF_RANGE_MAX then - flags = BLINK+INVERS - end - rng = getMaxValue(rng,MAX_RANGE) - lcd.drawText(ALTASL_XLABEL + 4, ALTASL_YLABEL, "Rng", SMLSIZE) -#ifdef UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y , UNIT_ALT_LABEL, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, ALTASL_Y-1 , string.format("%.2f",rng*0.01*UNIT_ALT_SCALE), ALTASL_FLAGS+flags) -#else --UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y , "m", SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, ALTASL_Y-1 , string.format("%.2f",rng*0.01), ALTASL_FLAGS+flags) -#endif --UNIT_SCALE - else - -- alt asl, always display gps altitude even without 3d lock - local alt = gpsAlt/10 -- meters - flags = BLINK - if gpsStatus > 2 then - flags = 0 - -- update max only with 3d or better lock - alt = getMaxValue(alt,MAX_GPSALT) - end - lcd.drawText(ALTASL_XLABEL + 4, ALTASL_YLABEL, "Asl", SMLSIZE) -#ifdef UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y, UNIT_ALT_LABEL, SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, ALTASL_Y-1 , string.format("%d",alt*UNIT_ALT_SCALE), ALTASL_FLAGS+flags) -#else --UNIT_SCALE - lcd.drawText(ALTASL_X, ALTASL_Y , "m", SMLSIZE+RIGHT) - lcd.drawText(lcd.getLastLeftPos()-1, ALTASL_Y-1 , string.format("%d",alt), ALTASL_FLAGS+flags) -#endif --UNIT_SCALE - end - -- home distance - drawHomeIcon(HOMEDIST_XLABEL + 1,HOMEDIST_YLABEL,7) - drawHArrow(HOMEDIST_XLABEL + 10,HOMEDIST_YLABEL + 2,HOMEDIST_ARROW_WIDTH,true,true) - flags = 0 - if homeAngle == -1 then - flags = BLINK - end - local dist = getMaxValue(homeDist,MAX_DIST) - if showMinMaxValues == true then - flags = 0 - end -#ifdef UNIT_SCALE - lcd.drawText(HOMEDIST_X, HOMEDIST_Y-1, UNIT_DIST_LABEL,SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, HOMEDIST_Y-1, dist*UNIT_DIST_SCALE, HOMEDIST_FLAGS+flags) -#else --UNIT_SCALE - lcd.drawText(HOMEDIST_X, HOMEDIST_Y-1, "m",SMLSIZE+RIGHT) - lcd.drawNumber(lcd.getLastLeftPos()-1, HOMEDIST_Y-1, dist, HOMEDIST_FLAGS+flags) -#endif --UNIT_SCALE -#ifdef EFFICIENCY - -- efficiency - local eff = hSpeed*0.1 > 2 and 1000*battcurrent*0.1/(hSpeed*0.1*UNIT_HSPEED_SCALE) or 0 - lcd.drawText(BATTPOWER_XLABEL, BATTPOWER_YLABEL, "Eff", SMLSIZE) - lcd.drawText(BATTPOWER_X,BATTPOWER_Y,string.format("%d mAh",eff),BATTPOWER_FLAGS) -#else --EFFICIENCY - -- power - local power = cellsumFC*battcurrent*0.1 - power = getMaxValue(power,MAX_POWER) - lcd.drawText(BATTPOWER_XLABEL, BATTPOWER_YLABEL, "PWR", SMLSIZE) - lcd.drawText(BATTPOWER_X,BATTPOWER_Y,string.format("%d w",power),BATTPOWER_FLAGS) -#endif --EFFICIENCY -#ifdef FRAMETYPE - local fn = frameNames[frameType] - if fn ~= nil then - lcd.drawText(0,39,fn,SMLSIZE+INVERS) - end -#ifdef DEBUG - lcd.drawNumber(lcd.getLastRightPos() + 1,39,frameType,SMLSIZE+INVERS) -#endif --DEBUG -#endif --FRAMETYPE - if showMinMaxValues == true then -#ifndef EFFICIENCY - drawVArrow(BATTPOWER_XLABEL + 23, BATTPOWER_Y, 5,true,false) -#endif --EFFICIENCY - drawVArrow(HOMEDIST_XLABEL + 23, HOMEDIST_Y - 2,6,true,false) - drawVArrow(ALTASL_XLABEL + 21, ALTASL_Y - 2,6,true,false) - end -end -#endif --X9 - -local function drawFailsafe() - local xoffset = 0 - local yoffset = 0 -#ifdef X7 - if showDualBattery == true and (ekfFailsafe > 0 or battFailsafe >0) then - xoffset = 36 - yoffset = -10 - lcd.drawFilledRectangle(xoffset - 8, 18 + yoffset, 80, 15, ERASE) - lcd.drawRectangle(xoffset - 8, 18 + yoffset, 80, 15, SOLID) - end -#endif --X7 - if ekfFailsafe > 0 then - lcd.drawText(xoffset + HUD_X + HUD_WIDTH/2 - 31, 22 + yoffset, " EKF FAILSAFE ", SMLSIZE+INVERS+BLINK) - end - if battFailsafe > 0 then - lcd.drawText(xoffset + HUD_X + HUD_WIDTH/2 - 33, 22 + yoffset, " BATT FAILSAFE ", SMLSIZE+INVERS+BLINK) - end -end - -#ifdef X9 -#define YAW_STEPWIDTH 17 -#else -#define YAW_STEPWIDTH 13.2 -#endif --X9 - -local yawRibbonPoints = {} --- -yawRibbonPoints[0]={"N",0} -yawRibbonPoints[1]={"NE",-3} -yawRibbonPoints[2]={"E",0} -yawRibbonPoints[3]={"SE",-3} -yawRibbonPoints[4]={"S",0} -yawRibbonPoints[5]={"SW",-3} -yawRibbonPoints[6]={"W",0} -yawRibbonPoints[7]={"NW",-3} - --- optimized yaw ribbon drawing -local function drawCompassRibbon() - -- ribbon centered +/- 90 on yaw - local centerYaw = (yaw+270)%360 - -- this is the first point left to be drawn on the compass ribbon - local nextPoint = math.floor(centerYaw/45) * 45 --roundTo(centerYaw,45) - -- distance in degrees between leftmost ribbon point and first 45° multiple normalized to YAW_WIDTH/8 -#ifdef X9 - local yawMinX = (LCD_W - HUD_WIDTH)/2 + 2 - local yawMaxX = (LCD_W + HUD_WIDTH)/2 - 3 -#else - local yawMinX = 2 - local yawMaxX = HUD_WIDTH - 3 -#endif --X9 - -- x coord of first ribbon letter - local nextPointX = yawMinX + (nextPoint - centerYaw)/45 * YAW_STEPWIDTH - local yawY = TOPBAR_Y + TOPBAR_HEIGHT - -- - local i = (nextPoint / 45) % 8 - for idx=1,6 - do - if nextPointX >= yawMinX and nextPointX < yawMaxX then - lcd.drawText(nextPointX+yawRibbonPoints[i][2],yawY,yawRibbonPoints[i][1],SMLSIZE) - end - i = (i + 1) % 8 - nextPointX = nextPointX + YAW_STEPWIDTH - end - -- home icon - local leftYaw = (yaw + 180)%360 - local rightYaw = yaw%360 - local centerHome = (homeAngle+270)%360 - -- - local homeIconX = yawMinX - local homeIconY = yawY + 10 -#ifdef X9 - if rightYaw >= leftYaw then - if centerHome > leftYaw and centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome - leftYaw)/180)*HUD_WIDTH,yawMaxX - 2),homeIconY) - end - else - if centerHome < rightYaw then - drawHomeIcon(yawMinX + (((360-leftYaw) + centerHome)/180)*HUD_WIDTH,homeIconY) - elseif centerHome >= leftYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome-leftYaw)/180)*HUD_WIDTH,yawMaxX-2),homeIconY) - end - end -#else - if rightYaw >= leftYaw then - if centerHome > leftYaw and centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome - leftYaw)/180)*HUD_WIDTH,yawMaxX - 2),homeIconY) - end - else - if centerHome < rightYaw then - drawHomeIcon(math.min(yawMinX + (((360-leftYaw) + centerHome)/180)*HUD_WIDTH,yawMaxX-2),homeIconY) - elseif centerHome >= leftYaw then - drawHomeIcon(math.min(yawMinX + ((centerHome-leftYaw)/180)*HUD_WIDTH,yawMaxX-2),homeIconY) - end - end -#endif - -- when abs(home angle) > 90 draw home icon close to left/right border - local angle = homeAngle - yaw - local cos = math.cos(math.rad(angle - 90)) - local sin = math.sin(math.rad(angle - 90)) - if sin > 0 then - drawHomeIcon(( cos > 0 and yawMaxX or yawMinX ) - 2, yawY + 10) - end - -- - lcd.drawLine(yawMinX - 2, yawY + 7, yawMaxX + 2, yawY + 7, SOLID, 0) - local xx = yaw < 10 and 1 or ( yaw < 100 and -2 or -5 ) -#ifdef X9 - lcd.drawNumber(LCD_W/2 + xx - 4, yawY, yaw, MIDSIZE+INVERS) -#else - lcd.drawNumber(HUD_WIDTH/2 + xx - 4, yawY, yaw, MIDSIZE+INVERS) -#endif -end - -#ifdef UNIT_SCALE -#define LEFTWIDTH 20 -#else --UNIT_SCALE -#define LEFTWIDTH 17 -#endif --UNIT_SCALE -#define RIGHTWIDTH 17 --- vertical distance between roll horiz segments -#define R2 6 --- -local function drawHud() - local r = -roll - local cx,cy,dx,dy,ccx,ccy,cccx,cccy - local yPos = TOPBAR_Y + TOPBAR_HEIGHT + 8 - ----------------------- - -- artificial horizon - ----------------------- - -- no roll ==> segments are vertical, offsets are multiples of R2 - if ( roll == 0) then - dx=0 - dy=pitch - cx=0 - cy=R2 - ccx=0 - ccy=2*R2 - cccx=0 - cccy=3*R2 - else - -- center line offsets - dx = math.cos(math.rad(90 - r)) * -pitch - dy = math.sin(math.rad(90 - r)) * pitch - -- 1st line offsets - cx = math.cos(math.rad(90 - r)) * R2 - cy = math.sin(math.rad(90 - r)) * R2 - -- 2nd line offsets - ccx = math.cos(math.rad(90 - r)) * 2 * R2 - ccy = math.sin(math.rad(90 - r)) * 2 * R2 - -- 3rd line offsets - cccx = math.cos(math.rad(90 - r)) * 3 * R2 - cccy = math.sin(math.rad(90 - r)) * 3 * R2 - end - local rollX = math.floor(HUD_X + HUD_WIDTH/2) - -- parallel lines above and below horizon of increasing length 5,7,16,16,7,5 -#ifdef CS_LINES - drawLineWithClipping(rollX + dx - cccx,dy + HUD_X_MID + cccy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawLineWithClipping(rollX + dx - ccx,dy + HUD_X_MID + ccy,r,7,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawLineWithClipping(rollX + dx - cx,dy + HUD_X_MID + cy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawLineWithClipping(rollX + dx + cx,dy + HUD_X_MID - cy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawLineWithClipping(rollX + dx + ccx,dy + HUD_X_MID - ccy,r,7,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawLineWithClipping(rollX + dx + cccx,dy + HUD_X_MID - cccy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) -#else - drawCroppedLine(rollX + dx - cccx,dy + HUD_X_MID + cccy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawCroppedLine(rollX + dx - ccx,dy + HUD_X_MID + ccy,r,7,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawCroppedLine(rollX + dx - cx,dy + HUD_X_MID + cy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawCroppedLine(rollX + dx + cx,dy + HUD_X_MID - cy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawCroppedLine(rollX + dx + ccx,dy + HUD_X_MID - ccy,r,7,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) - drawCroppedLine(rollX + dx + cccx,dy + HUD_X_MID - cccy,r,16,DOTTED,HUD_X,HUD_X + HUD_WIDTH,yPos,BOTTOMBAR_Y - 1) -#endif - ----------------------- - -- dark color for "ground" - ----------------------- -#ifdef X9 - local minY = 16 - local maxY = 54 - local minX = HUD_X + 1 - local maxX = HUD_X + HUD_WIDTH - 2 - -- - local ox = 106 + dx -#endif --X9 -#ifdef X7 - local minY = 16 - local maxY = 55 - local minX = HUD_X + 1 - local maxX = HUD_X + HUD_WIDTH - 2 - -- - local ox = (HUD_X + HUD_WIDTH)/2 + dx -#endif --X7 - -- - local oy = HUD_X_MID + dy - local yy = 0 - -- angle of the line passing on point(ox,oy) - local angle = math.tan(math.rad(-roll)) - -- for each pixel of the hud base/top draw vertical black - -- lines from hud border to horizon line - -- horizon line moves with pitch/roll - for xx= minX,maxX - do - if roll > 90 or roll < -90 then - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - elseif yy > minY + 1 and yy < maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + yy,SOLID,0) - elseif yy >= maxY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - end - else - yy = (oy - ox*angle) + math.floor(xx*angle) - if yy <= minY then - lcd.drawLine(0 + xx, 0 + minY, 0 + xx, 0 + maxY,SOLID,0) - elseif yy >= maxY then - else - lcd.drawLine(0 + xx, 0 + yy, 0 + xx, 0 + maxY,SOLID,0) - end - end - end - ------------------------------------ - -- synthetic vSpeed based on - -- home altitude when EKF is disabled - -- updated at 1Hz (i.e every 1000ms) - ------------------------------------- - if CONF_ENABLE_SYNTHVSPEED == true then - if (synthVSpeedTime == 0) then - -- first time do nothing - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- dm - elseif (getTime() - synthVSpeedTime > 100) then - -- calc vspeed - vspd = 1000*(homeAlt-prevHomeAlt)/(getTime()-synthVSpeedTime) -- m/s - -- update counters - synthVSpeedTime = getTime() - prevHomeAlt = homeAlt -- m - end - else - vspd = vSpeed - end - ------------------------------------- - -- vario indicator on left - ------------------------------------- - lcd.drawFilledRectangle(HUD_X, yPos, 7, 50, ERASE, 0) - lcd.drawLine(HUD_X + 5, yPos, HUD_X + 5, yPos + 40, SOLID, FORCE) - local varioMax = math.log(10) - local varioSpeed = math.log(1+math.min(math.abs(0.1*vspd),10)) - local varioY = 0 - if vspd > 0 then - varioY = HUD_X_MID - 4 - varioSpeed/varioMax*15 - else - varioY = HUD_X_MID + 6 - end - lcd.drawFilledRectangle(HUD_X, varioY, 5, varioSpeed/varioMax*15, FORCE, 0) - ------------------------------------- - -- left and right indicators on HUD - ------------------------------------- - -- lets erase to hide the artificial horizon lines - -- black borders - lcd.drawRectangle(HUD_X, HUD_X_MID - 5, LEFTWIDTH, 11, FORCE, 0) - lcd.drawRectangle(HUD_X + HUD_WIDTH - RIGHTWIDTH - 1, HUD_X_MID - 5, RIGHTWIDTH+1, 11, FORCE, 0) - -- erase area - lcd.drawFilledRectangle(HUD_X, HUD_X_MID - 4, LEFTWIDTH, 9, ERASE, 0) - lcd.drawFilledRectangle(HUD_X + HUD_WIDTH - RIGHTWIDTH - 1, HUD_X_MID - 4, RIGHTWIDTH+2, 9, ERASE, 0) - -- erase tips - lcd.drawLine(HUD_X + LEFTWIDTH,HUD_X_MID - 3,HUD_X + LEFTWIDTH,HUD_X_MID + 3, SOLID, ERASE) - lcd.drawLine(HUD_X + LEFTWIDTH+1,HUD_X_MID - 2,HUD_X + LEFTWIDTH+1,HUD_X_MID + 2, SOLID, ERASE) - lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 2,HUD_X_MID - 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 2,HUD_X_MID + 3, SOLID, ERASE) - lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID - 2,HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID + 2, SOLID, ERASE) - -- left tip - lcd.drawLine(HUD_X + LEFTWIDTH+2,HUD_X_MID - 2,HUD_X + LEFTWIDTH+2,HUD_X_MID + 2, SOLID, FORCE) - lcd.drawLine(HUD_X + LEFTWIDTH-1,HUD_X_MID - 5,HUD_X + LEFTWIDTH+1,HUD_X_MID - 3, SOLID, FORCE) - lcd.drawLine(HUD_X + LEFTWIDTH-1,HUD_X_MID + 5,HUD_X + LEFTWIDTH+1,HUD_X_MID + 3, SOLID, FORCE) - -- right tip - lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 4,HUD_X_MID - 2,HUD_X + HUD_WIDTH - RIGHTWIDTH - 4,HUD_X_MID + 2, SOLID, FORCE) - lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID - 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 1,HUD_X_MID - 5, SOLID, FORCE) - lcd.drawLine(HUD_X + HUD_WIDTH - RIGHTWIDTH - 3,HUD_X_MID + 3,HUD_X + HUD_WIDTH - RIGHTWIDTH - 1,HUD_X_MID + 5, SOLID, FORCE) - -- altitude -#ifdef UNIT_SCALE - local alt = getMaxValue(homeAlt,MINMAX_ALT) * UNIT_ALT_SCALE -- homeAlt is meters*3.28 = feet -#else - local alt = getMaxValue(homeAlt,MINMAX_ALT) -- homeAlt is meters -#endif - -- - if math.abs(alt) < 10 then - lcd.drawNumber(HUD_X + HUD_WIDTH,HUD_X_MID - 3,alt * 10,SMLSIZE+PREC1+RIGHT) - else - lcd.drawNumber(HUD_X + HUD_WIDTH,HUD_X_MID - 3,alt,SMLSIZE+RIGHT) - end - -- vertical speed -#ifdef UNIT_SCALE - if math.abs(vspd*3.28*60) > 99 then - lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,vspd*0.1*UNIT_VSPEED_SCALE,SMLSIZE) - else - lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,vspd*UNIT_VSPEED_SCALE,SMLSIZE+PREC1) - end -#else --UNIT_SCALE - if math.abs(vspd) > 99 then - lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,vspd*0.1,SMLSIZE) - else - lcd.drawNumber(HUD_X+1,HUD_X_MID - 3,vspd,SMLSIZE+PREC1) - end -#endif --UNIT_SCALE - -- center arrow - local arrowX = math.floor(HUD_X + HUD_WIDTH/2) - lcd.drawLine(arrowX - 4,HUD_X_MID + 4,arrowX ,HUD_X_MID ,SOLID,0) - lcd.drawLine(arrowX + 1,HUD_X_MID + 1,arrowX + 4, HUD_X_MID + 4,SOLID,0) -#ifdef X9 -#ifdef UNIT_SCALE - lcd.drawLine(HUD_X + 25,HUD_X_MID,HUD_X + 30,HUD_X_MID ,SOLID,0) -#else -- UNIT_SCALE - lcd.drawLine(HUD_X + 22,HUD_X_MID,HUD_X + 30,HUD_X_MID ,SOLID,0) -#endif --UNIT_SCALE - lcd.drawLine(HUD_X + HUD_WIDTH - 24,HUD_X_MID,HUD_X + HUD_WIDTH - 31,HUD_X_MID ,SOLID,0) -#else -#ifdef UNIT_SCALE - lcd.drawLine(HUD_X + 25,HUD_X_MID,HUD_X + 28,HUD_X_MID ,SOLID,0) -#else --UNIT_SCALE - lcd.drawLine(HUD_X + 22,HUD_X_MID,HUD_X + 28,HUD_X_MID ,SOLID,0) -#endif --UNIT_SCALE - lcd.drawLine(HUD_X + HUD_WIDTH - 23,HUD_X_MID,HUD_X + HUD_WIDTH - 28,HUD_X_MID ,SOLID,0) -#endif - -- hspeed -#ifdef UNIT_SCALE - local speed = getMaxValue(hSpeed,MAX_HSPEED) * UNIT_HSPEED_SCALE -#else --UNIT_SCALE - local speed = getMaxValue(hSpeed,MAX_HSPEED) * CONF_HSPEED_MULT -#endif --UNIT_SCALE --- -#ifdef X9 - lcd.drawFilledRectangle((LCD_W)/2 - 10, LCD_H - 17, 20, 10, ERASE, 0) - if math.abs(speed) > 99 then -- - lcd.drawNumber((LCD_W)/2 + 9, LCD_H - 15, speed*0.1, HSPEED_FLAGS+RIGHT) - else - lcd.drawNumber((LCD_W)/2 + 9, LCD_H - 15, speed, HSPEED_FLAGS+RIGHT+PREC1) - end - -- hspeed box - lcd.drawRectangle((LCD_W)/2 - 10, LCD_H - 17, 20, 10, SOLID, FORCE) - if showMinMaxValues == true then - drawVArrow((LCD_W)/2 + 12,LCD_H - 16,6,true,false) - end -#endif --X9 -#ifdef X7 - lcd.drawFilledRectangle((HUD_WIDTH)/2 - 10, LCD_H - 16, 20, 10, ERASE, 0) - if math.abs(speed) > 99 then -- - lcd.drawNumber((HUD_WIDTH)/2 + 9, LCD_H - 14, speed*0.1, HSPEED_FLAGS+RIGHT) - else - lcd.drawNumber((HUD_WIDTH)/2 + 9, LCD_H - 14, speed, HSPEED_FLAGS+RIGHT+PREC1) - end - -- hspeed box - lcd.drawRectangle((HUD_WIDTH)/2 - 10, LCD_H - 16, 20, 10, SOLID, FORCE) - if showMinMaxValues == true then - drawVArrow((HUD_WIDTH)/2 + 12,LCD_H - 15,6,true,false) - end -#endif --X7 - -- min/max arrows - if showMinMaxValues == true then - drawVArrow(HUD_X + HUD_WIDTH - 24, HUD_X_MID - 4,6,true,false) - end - -- arming status, show only if timer is not running, hide otherwise - if ekfFailsafe == 0 and battFailsafe == 0 and timerRunning == 0 then - if (statusArmed == 1) then - lcd.drawText(HUD_X + HUD_WIDTH/2 - 15, 22, " ARMED ", SMLSIZE+INVERS) - else - lcd.drawText(HUD_X + HUD_WIDTH/2 - 21, 22, " DISARMED ", SMLSIZE+INVERS+BLINK) - end - end -end - -local function drawGrid() - lcd.drawLine(HUD_X - 1, 7 ,HUD_X - 1, 57, SOLID, 0) - lcd.drawLine(HUD_X + HUD_WIDTH, 7, HUD_X + HUD_WIDTH, 57, SOLID, 0) -end - -local function drawHomeDirection() - local angle = math.floor(homeAngle - yaw) - local x1 = HOMEDIR_X + HOMEDIR_R * math.cos(math.rad(angle - 90)) - local y1 = HOMEDIR_Y + HOMEDIR_R * math.sin(math.rad(angle - 90)) - local x2 = HOMEDIR_X + HOMEDIR_R * math.cos(math.rad(angle - 90 + 150)) - local y2 = HOMEDIR_Y + HOMEDIR_R * math.sin(math.rad(angle - 90 + 150)) - local x3 = HOMEDIR_X + HOMEDIR_R * math.cos(math.rad(angle - 90 - 150)) - local y3 = HOMEDIR_Y + HOMEDIR_R * math.sin(math.rad(angle - 90 - 150)) - local x4 = HOMEDIR_X + HOMEDIR_R * 0.5 * math.cos(math.rad(angle - 270)) - local y4 = HOMEDIR_Y + HOMEDIR_R * 0.5 *math.sin(math.rad(angle - 270)) - -- - lcd.drawLine(x1,y1,x2,y2,SOLID,1) - lcd.drawLine(x1,y1,x3,y3,SOLID,1) - lcd.drawLine(x2,y2,x4,y4,SOLID,1) - lcd.drawLine(x3,y3,x4,y4,SOLID,1) -end - -#ifdef X7 -local function drawCustomBoxes() - lcd.drawRectangle(BOX1_X,BOX1_Y,BOX1_WIDTH,BOX1_HEIGHT,SOLID) - lcd.drawFilledRectangle(BOX1_X,BOX1_Y,BOX1_WIDTH,BOX1_HEIGHT,SOLID) -end -#endif --X7 - ---------------------------------- --- This function checks alarm condition and as long as the condition persists it plays --- a warning sound. ---------------------------------- -local function checkAlarm(level,value,idx,sign,sound,delay) - -- once landed reset all alarms except battery alerts - if timerRunning == 0 then - if alarms[idx][ALARM_TYPE] == ALARM_TYPE_MIN then - alarms[idx] = { false, 0, false, ALARM_TYPE_MIN, 0, false, 0} - elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_MAX then - alarms[idx] = { false, 0, true, ALARM_TYPE_MAX, 0, false, 0} - elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_TIMER then - alarms[idx] = { false, 0, true, ALARM_TYPE_TIMER, 0, false, 0} - elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_BATT then - alarms[idx] = { false, 0 , false, ALARM_TYPE_BATT, ALARM_TYPE_BATT_GRACE, false, 0} - elseif alarms[idx][ALARM_TYPE] == ALARM_TYPE_BATT_CRT then - alarms[idx] = { false, 0 , false, ALARM_TYPE_BATT_CRT, ALARM_TYPE_BATT_GRACE, false, 0} - end - -- reset done - return - end - -- if needed arm the alarm only after value has reached level - if alarms[idx][ALARM_ARMED] == false and level > 0 and -1 * sign*value > -1 * sign*level then - alarms[idx][ALARM_ARMED] = true - end - -- - if alarms[idx][ALARM_TYPE] == ALARM_TYPE_TIMER then - if flightTime > 0 and math.floor(flightTime) % delay == 0 then - if alarms[idx][ALARM_NOTIFIED] == false then - alarms[idx][ALARM_NOTIFIED] = true - playSound(sound) - -- flightime is a multiple of 1 minute - if (flightTime % 60 == 0 ) then - -- minutes - playNumber(flightTime / 60,25) --25=minutes,26=seconds - else - -- minutes - if (flightTime > 60) then playNumber(flightTime / 60,25) end - -- seconds - playNumber(flightTime % 60,26) - end - end - else - alarms[idx][ALARM_NOTIFIED] = false - end - else - if alarms[idx][ALARM_ARMED] == true then - if level > 0 and sign*value > sign*level then - -- value is outside level - if alarms[idx][ALARM_START] == 0 then - -- first time outside level after last reset - alarms[idx][ALARM_START] = flightTime - -- status: START - end - else - -- value back to normal ==> reset - alarms[idx][ALARM_START] = 0 - alarms[idx][ALARM_NOTIFIED] = false - alarms[idx][ALARM_READY] = false - -- status: RESET - end - if alarms[idx][ALARM_START] > 0 and (flightTime ~= alarms[idx][ALARM_START]) and (flightTime - alarms[idx][ALARM_START]) >= alarms[idx][ALARM_GRACE] then - -- enough time has passed after START - alarms[idx][ALARM_READY] = true - -- status: READY - end - -- - if alarms[idx][ALARM_READY] == true and alarms[idx][ALARM_NOTIFIED] == false then - playSound(sound) - alarms[idx][ALARM_NOTIFIED] = true - alarms[idx][ALARM_LAST_ALARM] = flightTime - -- status: BEEP - end - -- all but battery alarms - if alarms[idx][ALARM_TYPE] ~= ALARM_TYPE_BATT then - if alarms[idx][ALARM_READY] == true and flightTime ~= alarms[idx][ALARM_LAST_ALARM] and (flightTime - alarms[idx][ALARM_LAST_ALARM]) % delay == 0 then - alarms[idx][ALARM_NOTIFIED] = false - -- status: REPEAT - end - end - end - end -end - -local function loadFlightModes() - if frame.flightModes then - return - end - if frameType ~= -1 then -#ifdef LOAD_LUA - if frameTypes[frameType] == "c" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/copter.lua") - elseif frameTypes[frameType] == "p" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/plane.lua") - elseif frameTypes[frameType] == "r" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/rover.lua") - end -#else - if frameTypes[frameType] == "c" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/copter.luac") - elseif frameTypes[frameType] == "p" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/plane.luac") - elseif frameTypes[frameType] == "r" then - frame = dofile("/SCRIPTS/TELEMETRY/yaapu/rover.luac") - end -#endif - if frame.flightModes then - for i,v in pairs(frameTypes) do - frameTypes[i] = nil - end - frameTypes = nil - end -#ifdef COLLECTGARBAGE - collectgarbage() - maxmem=0 -#endif - end -end - -local function checkEvents() - loadFlightModes() - checkAlarm(CONF_MINALT_ALERT,homeAlt,ALARMS_MIN_ALT,-1,"minalt",CONF_REPEAT) - checkAlarm(CONF_MAXALT_ALERT,homeAlt,ALARMS_MAX_ALT,1,"maxalt",CONF_REPEAT) - checkAlarm(CONF_MAXDIST_ALERT,homeDist,ALARMS_MAX_DIST,1,"maxdist",CONF_REPEAT) - checkAlarm(1,2*ekfFailsafe,ALARMS_FS_EKF,1,"ekf",CONF_REPEAT) - checkAlarm(1,2*battFailsafe,ALARMS_FS_BATT,1,"lowbat",CONF_REPEAT) - checkAlarm(math.floor(CONF_TIMER_ALERT),flightTime,ALARMS_TIMER,1,"timealert",math.floor(CONF_TIMER_ALERT)) - -- - local capacity = getBatt1Capacity() - local mah = batt1mah - -- only if dual battery has been detected - if batt2sources.fc or batt2sources.vs then - capacity = capacity + getBatt2Capacity() - mah = mah + batt2mah - end - if (capacity > 0) then - batLevel = (1 - (mah/capacity))*100 - else - batLevel = 99 - end - - for l=0,12 do - -- trigger alarm as as soon as it falls below level + 1 (i.e 91%,81%,71%,...) - local level = batLevels(l) - if batLevel <= level + 1 and l < lastBattLevel then - lastBattLevel = l - playSound("bat"..level) - break - end - end - -- - if statusArmed ~= lastStatusArmed then - if statusArmed == 1 then playSound("armed") else playSound("disarmed") end - lastStatusArmed = statusArmed - end - -- - if gpsStatus > 2 and lastGpsStatus <= 2 then - lastGpsStatus = gpsStatus - playSound("gpsfix") - elseif gpsStatus <= 2 and lastGpsStatus > 2 then - lastGpsStatus = gpsStatus - playSound("gpsnofix") - end - -- - if frame.flightModes ~= nil and flightMode ~= lastFlightMode then - lastFlightMode = flightMode - playSoundByFrameTypeAndFlightMode(frameType,flightMode) - end - -- - if simpleMode ~= lastSimpleMode then - if simpleMode == 0 then - playSound( lastSimpleMode == 1 and "simpleoff" or "ssimpleoff" ) - else - playSound( simpleMode == 1 and "simpleon" or "ssimpleon" ) - end - lastSimpleMode = simpleMode - end -end - -local function checkCellVoltage(celm) - -- check alarms - checkAlarm(CONF_BATT_LEVEL1,celm,ALARMS_BATT_L1,-1,"batalert1",menuItems[T2][4]) - checkAlarm(CONF_BATT_LEVEL2,celm,ALARMS_BATT_L2,-1,"batalert2",menuItems[T2][4]) - -- cell bgcolor is sticky but gets triggered with alarms - if battLevel1 == false then battLevel1 = alarms[ALARMS_BATT_L1][ALARM_NOTIFIED] end - if battLevel2 == false then battLevel2 = alarms[ALARMS_BATT_L2][ALARM_NOTIFIED] end -end - -local function cycleBatteryInfo() - if showDualBattery == false and (batt2sources.fc or batt2sources.vs) then - showDualBattery = true - return - end - if battsource == "vs" then - battsource = "fc" - elseif battsource == "fc" then - battsource = "a2" - elseif battsource == "a2" then - battsource = "vs" - end -end --------------------------------------------------------------------------------- --- MAIN LOOP --------------------------------------------------------------------------------- -local showMessages = false -local showConfigMenu = false -local bgclock = 0 -#ifdef BGRATE -local counter = 0 -local bgrate = 0 -local bgstart = 0 -#endif --BGRATE -#ifdef FGRATE -local fgcounter = 0 -local fgrate = 0 -local fgstart = 0 -#endif --FGRATE -#ifdef HUDRATE -local hudcounter = 0 -local hudrate = 0 -local hudstart = 0 -#endif --HUDRATE -#ifdef BGTELERATE -local bgtelecounter = 0 -local bgtelerate = 0 -local bgtelestart = 0 -#endif --BGTELERATE - -------------------------------- --- running at 20Hz (every 50ms) -------------------------------- -local function background() -#ifdef BGRATE - ------------------------ - -- CALC BG LOOP RATE - ------------------------ - -- skip first iteration - local now = getTime()/100 - if counter == 0 then - bgstart = now - else - bgrate = counter / (now - bgstart) - end - -- - counter=counter+1 -#endif --BGRATE - -- FAST: this runs at 60Hz (every 16ms) - for i=1,3 - do - processTelemetry() -#ifdef BGTELERATE - ------------------------ - -- CALC BG TELE PROCESSING RATE - ------------------------ - -- skip first iteration - local now = getTime()/100 - if bgtelecounter == 0 then - bgtelestart = now - else - bgtelerate = bgtelecounter / (now - bgtelestart) - end - -- - bgtelecounter=bgtelecounter+1 -#endif --BGTELERATE -end - --[[ - -- NORMAL: this runs at 10Hz (every 100ms) - if telemetryEnabled() and (bgclock % 2 == 0) then - setTelemetryValue(VSpd_ID, VSpd_SUBID, VSpd_INSTANCE, vSpeed, 5 , VSpd_PRECISION , VSpd_NAME) - end - --]] - -- SLOW: this runs at 4Hz (every 250ms) - if (bgclock % 4 == 0) then - setSensorValues() - end - -- SLOWER: this runs at 2Hz (every 500ms) - if (bgclock % 8 == 0) then - calcBattery() - calcFlightTime() - -- prepare celm based on battsource - local count = calcCellCount() - local cellVoltage = 0 - -- - if battsource == "vs" then - cellVoltage = getNonZeroMin(cell1min,cell2min)*100 --FLVSS - elseif battsource == "fc" then - cellVoltage = getNonZeroMin(cell1sumFC/count,cell2sumFC/count)*100 --FC - elseif battsource == "a2" then - cellVoltage = (cellsumA2/count)*100 --A2 - end - -- - checkEvents() - checkLandingStatus() - -- no need for alarms if reported voltage is 0 - if cellVoltage > 0 then - checkCellVoltage(cellVoltage) - end - -- aggregate value - minmaxValues[MAX_CURR] = math.max(batt1current+batt2current,minmaxValues[MAX_CURR]) - -- indipendent values - minmaxValues[MAX_CURR1] = math.max(batt1current,minmaxValues[MAX_CURR1]) - minmaxValues[MAX_CURR2] = math.max(batt2current,minmaxValues[MAX_CURR2]) - bgclock=0 - end - bgclock = bgclock+1 -end - -local function run(event) - lcd.clear() -#ifdef DEBUGEVT - if (event ~= 0) then - pushMessage(7,string.format("Event: %d",event)) - end -#endif -#ifdef FGRATE - ------------------------ - -- CALC FG LOOP RATE - ------------------------ - -- skip first iteration - local now = getTime()/100 - if fgcounter == 0 then - fgstart = now - else - fgrate = fgcounter / (now - fgstart) - end - -- - fgcounter=fgcounter+1 -#endif --FGRATE - --------------------- - -- SHOW MESSAGES - --------------------- - if showConfigMenu == false and (event == EVT_PLUS_BREAK or event == EVT_ROT_RIGHT or event == XLITE_UP) then - showMessages = true -#ifdef COLLECTGARBAGE - collectgarbage() -#endif - end - --------------------- - -- SHOW CONFIG MENU - --------------------- - if showMessages == false and (event == EVT_MENU_LONG or event == XLITE_MENU_LONG) then - showConfigMenu = true -#ifdef COLLECTGARBAGE - collectgarbage() -#endif - end - if showMessages then - --------------------- - -- MESSAGES - --------------------- - if event == EVT_EXIT_BREAK or event == EVT_MINUS_BREAK or event == EVT_ROT_LEFT or event == XLITE_DOWN or event == XLITE_RTN then - showMessages = false - end - drawAllMessages() - elseif showConfigMenu then - --------------------- - -- CONFIG MENU - --------------------- - drawConfigMenu(event) - -- - if event == EVT_EXIT_BREAK or event == XLITE_RTN then - menu.editSelected = false - showConfigMenu = false - saveConfig() - end - else - --------------------- - -- MAIN VIEW - --------------------- - if event == EVT_ENTER_BREAK or event == XLITE_ENTER then - cycleBatteryInfo() - end - if event == EVT_MENU_BREAK or event == XLITE_MENU then - showMinMaxValues = not showMinMaxValues - end - if showDualBattery == true and event == EVT_EXIT_BREAK or event == XLITE_RTN then - showDualBattery = false - end -#ifdef TESTMODE - symMode() -#endif --TESTMODE -#ifdef HUDRATE - ------------------------ - -- CALC HUD REFRESH RATE - ------------------------ - -- skip first iteration - local hudnow = getTime()/100 - if hudcounter == 0 then - hudstart = hudnow - else - hudrate = hudcounter / (hudnow - hudstart) - end - -- - hudcounter=hudcounter+1 -#endif --HUDRATE -#ifdef X9 - drawHud() -#endif --X9 -#ifdef X7 - -- on X7 the HUD is replaced with 2nd battery details - if showDualBattery == false then - drawHud() - end -#endif --X7 - drawCompassRibbon() - drawGrid() -#ifdef X7 - drawCustomBoxes() - --drawGPSStatus() -#endif --X7 - -- - -- Note: these can be calculated. not necessary to track them as min/max - -- cell1minFC = cell1sumFC/calcCellCount() - -- cell2minFC = cell2sumFC/calcCellCount() - -- cell1minA2 = cell1sumA2/calcCellCount() - local count = calcCellCount() - local cel1m = getMinVoltageBySource(battsource,cell1min,cell1sumFC/count,cellsumA2/count,1,count)*100 - local cel2m = getMinVoltageBySource(battsource,cell2min,cell2sumFC/count,cellsumA2/count,2,count)*100 - local batt1 = getMinVoltageBySource(battsource,cell1sum,cell1sumFC,cellsumA2,1,count)*10 - local batt2 = getMinVoltageBySource(battsource,cell2sum,cell2sumFC,cellsumA2,2,count)*10 - local curr = getMaxValue(batt1current+batt2current,MAX_CURR) - local curr1 = getMaxValue(batt1current,MAX_CURR1) - local curr2 = getMaxValue(batt2current,MAX_CURR2) - local mah1 = batt1mah - local mah2 = batt2mah - local cap1 = getBatt1Capacity() - local cap2 = getBatt2Capacity() - -- with dual battery default is to show aggregate view - if batt2sources.fc or batt2sources.vs then - if showDualBattery == false then - -- dual battery: aggregate view -#ifdef X9 - lcd.drawText(HUD_X+HUD_WIDTH+1,TOPBAR_HEIGHT,"B1+B2",SMLSIZE+INVERS) - drawX9BatteryPane(HUD_X+HUD_WIDTH+1,getNonZeroMin(batt1,batt2),getNonZeroMin(cel1m,cel2m),curr,mah1+mah2,cap1+cap2) -#endif --X9 -#ifdef X7 - lcd.drawText(HUD_X+8,BOTTOMBAR_Y - 8,"2B",SMLSIZE+INVERS) - drawX7RightPane(HUD_X+HUD_WIDTH+1,getNonZeroMin(batt1,batt2),getNonZeroMin(cel1m,cel2m),curr,mah1+mah2,cap1+cap2) -#endif --X7 - else - -- dual battery: do I have also dual current monitor? - if curr1 > 0 and curr2 == 0 then - -- special case: assume 1 power brick is monitoring batt1+batt2 in parallel - curr1 = curr1/2 - curr2 = curr1 - -- - mah1 = mah1/2 - mah2 = mah1 - -- - cap1 = cap1/2 - cap2 = cap1 - end - -- dual battery:battery 1 right pane -#ifdef X9 - lcd.drawText(HUD_X+HUD_WIDTH+1,TOPBAR_HEIGHT,"B1",SMLSIZE+INVERS) - drawX9BatteryPane(HUD_X+HUD_WIDTH+1,batt1,cel1m,curr1,mah1,cap1) -#endif --X9 -#ifdef X7 - drawX7RightPane(HUD_X+HUD_WIDTH+1,batt1,cel1m,curr1,mah1,cap1) -#endif --X7 - -- dual battery:battery 2 left pane -#ifdef X9 - lcd.drawText(0,TOPBAR_HEIGHT,"B2",SMLSIZE+INVERS) - drawX9BatteryPane(0,batt2,cel2m,curr2,mah2,cap2) -#endif --X9 -#ifdef X7 - drawX7LeftPane(batt2,cel2m,curr2,mah2,cap2) -#endif --X7 - end - else -#ifdef X9 - -- battery 1 right pane in single battery mode - drawX9BatteryPane(HUD_X+HUD_WIDTH+1,batt1,cel1m,curr1,mah1,cap1) - end - -- left pane info when not in dual battery mode - if showDualBattery == false then - -- power is always based on FC current+voltage - drawX9LeftPane(curr1+curr2,getNonZeroMin(cell1sumFC,cell2sumFC)) - end -#endif --X9 -#ifdef X7 - --- battery 1 right pane in single battery mode - drawX7RightPane(HUD_X+HUD_WIDTH+1,batt1,cel1m,curr1,mah1,cap1) - end - if showDualBattery == false then - drawHomeDirection() - end -#endif --X7 -#ifdef X9 - drawHomeDirection() -#endif --X9 - drawTopBar() - drawBottomBar() - drawFailsafe() -#ifdef DEBUG - lcd.drawNumber(0,40,cell1maxFC,SMLSIZE+PREC1) - lcd.drawNumber(25,40,calcCellCount(),SMLSIZE) -#endif --DEBUG -#ifdef BGRATE - lcd.drawNumber(0,39,bgrate*10,PREC1+SMLSIZE+INVERS) - lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) -#endif --BGRATE -#ifdef FGRATE - lcd.drawNumber(0,39,fgrate*10,PREC1+SMLSIZE+INVERS) - lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) -#endif --FGRATE -#ifdef HUDRATE - lcd.drawNumber(0,39,hudrate*10,PREC1+SMLSIZE+INVERS) - lcd.drawText(lcd.getLastRightPos(),39,"Hz",SMLSIZE+INVERS) -#endif --HUDRATE -#ifdef TELERATE - lcd.drawNumber(0,39,telerate,SMLSIZE+INVERS) -#endif --TELERATE -#ifdef BGTELERATE - lcd.drawNumber(20,39,bgtelerate,SMLSIZE+INVERS) -#endif --BGTELERATE - drawNoTelemetryData() - end -#ifdef MEMDEBUG - -- debug info, allocated memory - maxmem = math.max(maxmem,collectgarbage("count")*1024) -#ifdef X9 - lcd.drawNumber(LCD_W,LCD_H-7,maxmem,SMLSIZE+INVERS+RIGHT) -#else - lcd.drawNumber(LCD_W,LCD_H-6,maxmem,SMLSIZE+INVERS+RIGHT) -#endif -#endif -end - -local function init() --- initialize flight timer - model.setTimer(2,{mode=0}) - model.setTimer(2,{value=0}) -#ifdef COMPILE - loadScript("/SCRIPTS/TELEMETRY/yaapu/copter.lua") - loadScript("/SCRIPTS/TELEMETRY/yaapu/plane.lua") - loadScript("/SCRIPTS/TELEMETRY/yaapu/rover.lua") -#endif - loadConfig() -#ifdef X9 - pushMessage(6,VERSION) -#endif --X9 -#ifdef X7 - pushMessage(6,VERSION) -#endif --X7 -#ifdef TESTMODE -#ifdef DEMO - pushMessage(6,"APM:Copter V3.5.4 (284349c3) QUAD") - pushMessage(6,"Calibrating barometer") - pushMessage(6,"Initialising APM") - pushMessage(6,"Barometer calibration complete") - pushMessage(6,"EKF2 IMU0 initial yaw alignment complete") - pushMessage(6,"EKF2 IMU1 initial yaw alignment complete") - pushMessage(6,"GPS 1: detected as u-blox at 115200 baud") - pushMessage(6,"EKF2 IMU0 tilt alignment complete") - pushMessage(6,"EKF2 IMU1 tilt alignment complete") - pushMessage(6,"u-blox 1 HW: 00080000 SW: 2.01 (75331)") - pushMessage(4,"Bad AHRS") - pushMessage(4,"Bad AHRS") -#endif --DEMO -#endif --TESTMODE - playSound("yaapu") -#ifdef LOGTELEMETRY - logfilename = getLogFilename(getDateTime()) - logfile = io.open(logfilename,"a") - pushMessage(6,logfilename) -#endif --LOGTELEMETRY -end - --------------------------------------------------------------------------------- --- SCRIPT END --------------------------------------------------------------------------------- -return {run=run, background=background, init=init} diff --git a/TOOLS/README.md b/TOOLS/README.md new file mode 100644 index 00000000..a3711a94 --- /dev/null +++ b/TOOLS/README.md @@ -0,0 +1,4 @@ + +- pp.lua is a lua file preprocessor +- stats.lua simple Taranis QX7/X9D telemetry script to display incoming packet count +- hash_generator.lua tool to generate psv speech files for selected mavlink messages \ No newline at end of file diff --git a/TOOLS/hash_generator.lua b/TOOLS/hash_generator.lua new file mode 100644 index 00000000..3970d790 --- /dev/null +++ b/TOOLS/hash_generator.lua @@ -0,0 +1,211 @@ +local messages = { + --------------------- + -- PreArm + --------------------- + { + "PreArm: Need 3D Fix", + "PreArming: Need 3D Fix", + "Home GPS assente" + }, + { + "SmartRTL Unavailable, Trying RTL Mode", + "Smart RTL Unavailable", + "Smart RTL non disponibile" + }, + { + "EKF variance", + "EKF variance", + "Varianza E K F" + }, + { + "GPS Glitch cleared", + "GPS Glitch cleared", + "gps glitch corretto" + }, + { + "GPS Glitch", + "GPS Glitch", + "gps glitch" + }, + { + "Parachute: Released", + "Parachute: Released", + "paracadute lanciato", + }, + { + "Flight plan received", + "Flight plan received", + "nuovo piano di volo" + }, + { + "Mission complete, changing mode to RTL", + "Mission complete", + "missione completata" + }, + { + "Geofence triggered", + "Geofence triggered", + "raggiunta barriera gps" + }, + { + "Flight mode change failed", + "Flight mode change failed", + "Cambio modo di volo fallito" + }, + --------------- + -- AUTOTUNE + --------------- + { + "AutoTune: Success", + "AutoTune: Success", + "AutoTiun: completato", + }, + { + "AutoTune: Failed", + "AutoTune: Failed", + "AutoTiun: fallito" + }, + --------------- + -- VTOL + --------------- + { + "Transition FW done", + "Transition done", + "transizione completata" + }, + { + "Transition airspeed wait", + "Transition started", + "transizione iniziata" + }, + { + "Transition done", + "Transition done", + "transizione completata" + }, + { + "Transition VTOL done", + "Transition VTOL done", + "transizione completata" + }, + { + "Land descend started", + "Land descend started", + "inizio sequenza atterraggio", + }, + { + "Land final started", + "Land final started", + "atterraggio in corso", + }, + + --------------- + -- SOARING + --------------- + { + "Soaring: forcing RTL", + "Soaring: forcing RTL", + "rientro forzato in RTL" + }, + { + "Soaring: Thermal detected, entering loiter", + "Soaring: Thermal detected", + "inizio volo in termica" + }, + { + "Soaring: Thermal ended, entering RTL", + "Soaring: Thermal ended", + "fine volo in termica" + }, + { + "Soaring: Thermal ended, restoring CRUISE", + "Soaring: Thermal ended", + "fine volo in termica" + }, + { + "Soaring: Thermal ended, restoring AUTO", + "Soaring: Thermal ended", + "fine volo in termica" + }, + + --------------------------------- + -- prefix hashes of max 16 chars + --------------------------------- + -- Reached command #%i + { + "Reached command ", + "command: reached ", + "comando raggiunto" + }, + -- Reached waypoint #%i dist %um + { + "Reached waypoint", + "waypoint: reached", + "waypoint raggiunto" + }, + -- Passed waypoint #%i dist %um + { + "Passed waypoint ", + "Passed waypoint", + "waypoint superato" + }, + -- Takeoff complete at %.2fm + { + "Takeoff complete", + "Takeoff complete", + "decollo completato" + }, + -- SmartRTL deactivated: %s + { + "SmartRTL deactiv", + "SmartRTL deactivated", + "Smart RTL disattivato" + }, + -- EKF2 IMU0 is using GPS + { + "EKF2 IMU0 is usi", + "GPS home acquired", + "Acquisita Home GPS" + }, + -- EKF3 IMU0 is using GPS + { + "EKF3 IMU0 is usi", + "GPS home acquired", + "Acquisita Home GPS" + }, +} + + +function fnv32(str) + local hash = 2166136261 + local count = 0 + for char in string.gmatch(str, ".") do + hash = bit32.bxor(hash, string.byte(char)) + hash = (hash * 16777619) % 2^32 + end + + return hash +end + +local hashes = {} +for i=1,#messages +do + hashes[i]=fnv32(messages[i][1]) +end + +print("{") +for i=1,#messages +do + print(string.format(" %s, -- \"%s.wav\", \"%s\"",tostring(hashes[i]),tostring(hashes[i]),messages[i][1])) +end +print("}") + +for i=1,#messages +do + print(string.format("/SOUNDS/yaapu/en|%s|%s",tostring(hashes[i]),messages[i][2])) +end + +for i=1,#messages +do + print(string.format("/SOUNDS/yaapu/it|%s|%s",tostring(hashes[i]),messages[i][3])) +end diff --git a/TOOLS/pproc.lua b/TOOLS/pp.lua similarity index 96% rename from TOOLS/pproc.lua rename to TOOLS/pp.lua index d7947865..0ac0617a 100644 --- a/TOOLS/pproc.lua +++ b/TOOLS/pp.lua @@ -1,6 +1,6 @@ --[[ -USAGE: pproc [outputFile] +USAGE: pproc [outputFile] [-Ddefine1] [-Ddefine2]... [-DdefineN] If outputFile is not specified, pproc will write output to this path: inputFile .. ".lua" @@ -262,6 +262,16 @@ end local skipBlock = 0 local openInner = 0 local lines = {} +-- add fake lines from the command line +for i=1,#args +do + local define = string.match(args[i], "-D(.*)") + + if define ~= nil then + lines[#lines + 1] = "#define "..define.."\n" + end +end + for line in data:gmatch("([^\n]*)\n") do lines[#lines + 1] = line end @@ -318,7 +328,8 @@ while #lines > 0 do local Ilines = {} for Iline in Idata:gmatch("([^\n]*)\n") do - Ilines[#Ilines + 1] = Iline + --Ilines[#Ilines + 1] = Iline + Ilines[#Ilines + 1] = string.gsub(Iline,"\13","") end for r = 1, #lines do diff --git a/TOOLS/stats.lua b/TOOLS/stats.lua new file mode 100644 index 00000000..40038849 --- /dev/null +++ b/TOOLS/stats.lua @@ -0,0 +1,40 @@ + +local packetCount = { + [0x5000] = 0, + [0x5001] = 0, + [0x5002] = 0, + [0x5003] = 0, + [0x5004] = 0, + [0x5005] = 0, + [0x5006] = 0, + [0x5007] = 0, + [0x5008] = 0, + [0x5009] = 0 +} + +local function background() + for i=1,3 + do + local sensor_id,frame_id,data_id,value = sportTelemetryPop() + if frame_id == 0x10 then + if packetCount[data_id] ~= nil then + packetCount[data_id] = packetCount[data_id] + 1 + end + end + end +end + +local function run(event) + lcd.clear() + for i=0,8 do + lcd.drawText(1,1+7*i,string.format("500%d: %d", i, packetCount[0x5000+i]),SMLSIZE) + end + collectgarbage() + collectgarbage() +end + +local function init() +end + +return {run=run, background=background, init=init} + diff --git a/taranis-changelog.txt b/taranis-changelog.txt index bbe5e415..e0acce3e 100644 --- a/taranis-changelog.txt +++ b/taranis-changelog.txt @@ -99,3 +99,19 @@ Taranis version 1.7.2 - fix for battery level2 alerts not repeating after being triggered - fix for OpenTX GSpd sensor unit, now m/s - fix for consumed battery mAh greater than battery capacity + +Taranis version 1.8.0 + +- new hud layout, speed on left, alt on right VSI on bottom +- added support for up to 6 frsky sensors on dedicated second screen +- added script reset support (no need to power cycle the radio between packs) +- added haptic feedback support +- added total flown distance (calculated from speed) +- added PX4 flight modes support +- added support for mavlinkToPassthru firmware +- added vocal playback of selected mavlink messages +- added support fot serial and independent battery configurations with individual cell count override +- added support for battery voltage > 51.1V +- added new message alert silencing options +- fix for quick flight mode switch +- fix for rover modes vocal playback

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