*
* 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; version 2 of the License.
+ * the Free Software Foundation; either version 2 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
#define AO_TELEMETRY_LOCATION 0x05
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
+/* Mode bits */
+
+#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */
struct ao_telemetry_location {
uint16_t serial; /* 0 */
uint8_t type; /* 4 */
uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
+ uint16_t altitude_low; /* 6 GPS reported altitude (m) */
int32_t latitude; /* 8 latitude (degrees * 10⁷) */
int32_t longitude; /* 12 longitude (degrees * 10⁷) */
uint8_t year; /* 16 (- 2000) */
uint16_t ground_speed; /* 26 cm/s */
int16_t climb_rate; /* 28 cm/s */
uint8_t course; /* 30 degrees / 2 */
- uint8_t state; /* 31 flight state */
+ int8_t altitude_high; /* 31 high byte of altitude */
/* 32 */
};
+#ifndef HAS_WIDE_GPS
+#define HAS_WIDE_GPS 1
+#endif
+
+#ifdef HAS_TELEMETRY
+#ifndef HAS_RDF
+#define HAS_RDF 1
+#endif
+#endif
+
+#if HAS_WIDE_GPS
+typedef int32_t gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
+ ((l)->altitude_high = (a) >> 16), \
+ ((l)->altitude_low = (a)))
+#else
+typedef int16_t gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \
+ (l)->altitude_low = (a)))
+#endif /* HAS_WIDE_GPS */
+
#define AO_TELEMETRY_SATELLITE 0x06
struct ao_telemetry_satellite_info {
/* 32 */
};
-#define AO_TELEMETRY_MEGA_SENSOR 0x08
+#define AO_TELEMETRY_MEGA_SENSOR_MPU 0x08 /* Invensense IMU */
+#define AO_TELEMETRY_MEGA_SENSOR_BMX160 0x12 /* BMX160 IMU */
struct ao_telemetry_mega_sensor {
uint16_t serial; /* 0 */
int16_t gyro_z; /* 24 */
int16_t mag_x; /* 26 */
- int16_t mag_y; /* 28 */
- int16_t mag_z; /* 30 */
+ int16_t mag_z; /* 28 */
+ int16_t mag_y; /* 30 */
/* 32 */
};
uint16_t serial; /* 0 */
uint16_t tick; /* 2 */
uint8_t type; /* 4 */
+ uint8_t pad5[3]; /* 5 */
- int32_t ground_pres; /* 8 average pres on pad */
+ int32_t ground_pres; /* 8 average pres on pad */
int16_t ground_accel; /* 12 average accel on pad */
int16_t accel_plus_g; /* 14 accel calibration at +1g */
int16_t accel_minus_g; /* 16 accel calibration at -1g */
- uint8_t pad[14]; /* 18 */
+ uint8_t pad18[14]; /* 18 */
/* 32 */
};
-#define AO_TELEMETRY_MINI 0x10
+#define AO_TELEMETRY_MINI2 0x10 /* CC1111 based */
+#define AO_TELEMETRY_MINI3 0x11 /* STMF042 based */
struct ao_telemetry_mini {
uint16_t serial; /* 0 */
/* 32 */
};
+#define AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983 0x13
+
+struct ao_telemetry_mega_norm {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t orient; /* 5 angle from vertical */
+ int16_t accel; /* 6 Z axis */
+
+ int32_t pres; /* 8 Pa * 10 */
+ int16_t temp; /* 12 °C * 100 */
+
+ int16_t accel_along; /* 14 */
+ int16_t accel_across; /* 16 */
+ int16_t accel_through; /* 18 */
+
+ int16_t gyro_roll; /* 20 */
+ int16_t gyro_pitch; /* 22 */
+ int16_t gyro_yaw; /* 24 */
+
+ int16_t mag_along; /* 26 */
+ int16_t mag_across; /* 28 */
+ int16_t mag_through; /* 30 */
+ /* 32 */
+};
+
/* #define AO_SEND_ALL_BARO */
#define AO_TELEMETRY_BARO 0x80
struct ao_telemetry_metrum_data metrum_data;
struct ao_telemetry_mini mini;
struct ao_telemetry_baro baro;
+ struct ao_telemetry_mega_norm mega_norm;
};
+typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];
+
struct ao_telemetry_all_recv {
union ao_telemetry_all telemetry;
int8_t rssi;