Support APM native (passthrough) FrSky Telemetry

[Clooney82]

Hi Paul,

is it possible to add support for native (passthrough) FrSky Telemetry in LUA Telemetry Script?

BR, Jochen

[athertop]

Hey Jochen, Nice to hear from you. Hope you aprove of the changes to the project since you moved on. Your work is a big inspiration to me.
Yes, it is possible to change the LUA to work with passthrough, although its beyond my scripting capabilities - but I'm sure within your own.
I was given an excel sheet (Thanks to Luis Vale) detailing the passthrough protocol - its a bit complex, as some of the sensors carry multiple sensor data on a time sharing basis. You'll see what I mean if you check out the excel sheet. Here's a link to a copy on my dropbox: https://www.dropbox.com/s/um5n2iuvriwlqh2/option10_APM.xlsx?dl=0

Wondering if perhaps you could assist with another issue I have little idea of? In some cases the arrow head in the radar display is presented outside of the square radar window. I managed to simulate this in the Companion simulator for Taranis, by setting GPS lat/long, setting the heading, and then setting Tmp2 to 1 to simulate arming, then adjusting the lat/long and heading to simulate copter movement. I am struggling to understand the maths as to how that arrow is positioned inside the radar window. Wonder if you could possibly advise to determine how the arrow can be more closely restricted to being inside that radar window?

[Clooney82]

Hi Paul,

I fully agree with the changes. great work.
The Excel file from @lvale is great for understanding the values behind the sensors.
I also found the code on Ardupilot repository how they creates the sensors. But I still have no clue how to spilt them again.

Concerning radar: This was done by @wolkstein as far as I remember. Maybe he can help you with this.

[lvale]

I'm still waiting for the release version of OpenTX to come to then start any kind of scripting on the radio.
Any ideas when OpenTX 2.2 reaches release status?

[Clooney82]

Hi Paul,
I think I managed to spilt the values again (currently untested).
And I think I found a bug in ardupilot code (see: ArduPilot/ardupilot#6221) for passthrough Telemetry.
Next step would be to write a test lua screen to verify this on my taranis. Maybe I find time during the next days to do this.
Not all code posted below will work on a taranis, but I just wanted to keep you up-to-date.

Cheers

---

-- ID: 5000 -- Text Messages --

message_value = 0x434F4D50
-- message_value = getValue("5000")

char_3 = bit32.extract(message_value,  0,  7)
char_2 = bit32.extract(message_value,  8,  7)
char_1 = bit32.extract(message_value, 16,  7)
char_0 = bit32.extract(message_value, 24,  7)
sev_1  = bit32.extract(message_value,  7,  1) -- 0x1
sev_2  = bit32.extract(message_value, 15,  1) -- 0x2
sev_3  = bit32.extract(message_value, 23,  1) -- 0x4

sev_2  = bit32.lshift(sev_2,1)
sev_3  = bit32.lshift(sev_3,2)

sev    = bit32.bor(sev_1, sev_2, sev_3)
print(sev)
print(string.char(char_0))
print(string.char(char_1))
print(string.char(char_2))
print(string.char(char_3))

---

-- ID: 5001 -- AP_STATUS --

ap_status_value = 0x87654321
-- ap_status_value = getValue("5001")

fmod    = bit32.extract(ap_status_value,  0,  5)
ssimple = bit32.extract(ap_status_value,  5,  2)
landed  = bit32.extract(ap_status_value,  7,  1)
armed   = bit32.extract(ap_status_value,  8,  1)
bat_fs  = bit32.extract(ap_status_value,  9,  1)
ekf_bad = bit32.extract(ap_status_value, 10,  1)

---

-- ID: 5002 -- GPS --

gps_value = 0x01234567
--gps_value = getValue("5002")

sat_num      = bit32.extract(gps_value,  0,  4)
fix_type     = bit32.extract(gps_value,  4,  2)
hdop_dm      = bit32.extract(gps_value,  6,  7)
hdop_potz    = bit32.extract(gps_value, 13,  1)
adv_fix_stat = bit32.extract(gps_value, 14,  2)
alt_dm       = bit32.extract(gps_value, 22,  1)
alt_potz     = bit32.extract(gps_value, 29,  1)
alt_p_m      = bit32.extract(gps_value, 31,  1)

alt_m  = 10^alt_potz * (alt_dm/10)
if alt_p_m then
  alt_m = alt_m * -1
end
hdop_m = 10^hdop_potz * (hdop_dm/10)

---

-- ID: 5003 -- Battery --

batt_value = 0xFFFFAFFF
--batt_value = getValue("5003")
--print(batt_value)

VOLTAGE = bit32.extract(batt_value, 0,9)
CURRENT = bit32.extract(batt_value, 9,7)
CURRENT_POTZ = bit32.extract(batt_value, 16,1)
TOTALMAH = bit32.rshift(batt_value, 17)

print(TOTALMAH)
CURR = 10^CURRENT_POTZ * CURRENT
print(CURR)

print(VOLTAGE/10)

---

-- ID: 5004 -- home --

home_value = 0x00000000
-- home_value = getValue("5004")

dist_home_m    = bit32.extract(velandyaw_value,  0, 10)
dist_home_potz = bit32.extract(velandyaw_value, 10,  2)
alt_home_m     = bit32.extract(velandyaw_value, 12, 10)
alt_home_potz  = bit32.extract(velandyaw_value, 22,  2)
alt_home_p_m   = bit32.extract(velandyaw_value, 24,  1)
angle_home_deg = bit32.extract(velandyaw_value, 25,  7) / 0.00333

dist_from_home = 10^dist_home_potz * dist_home_m
alt_from_home  = 10^alt_home_potz * alt_home_m
if alt_home_p_m then
  alt_from_home = alt_from_home * -1
end

---

-- ID: 5005 -- vel and yaw --

velandyaw_value = 0x01AC02AC
-- velandyaw_value = getValue("5005")

vert_vel_dm_s = bit32.extract(velandyaw_value,  0,  7)
vert_vel_potz = bit32.extract(velandyaw_value,  7,  1)
vert_ver_p_m  = bit32.extract(velandyaw_value,  8,  1)
hor_vel_dm_s  = bit32.extract(velandyaw_value,  9,  7)
hor_vel_potz  = bit32.extract(velandyaw_value, 16,  1)
yaw_degree    = bit32.extract(velandyaw_value, 17, 11) / 0.05 -- 0.2 degree

vert_vel_m_s = 10^vert_vel_potz * (vert_vel_dm_s / 10)
hor_vel_m_s  = 10^hor_vel_potz  * (hor_vel_dm_s  / 10)

---

-- ID: 5006 -- ATTI AND RNG --

attiandrng_value = 0x00FF0003
--attiandrng_value = getValue("5006")
--print(attiandrng_value)

roll_degree  = bit32.extract(attiandrng_value,  0, 11) / 0.05
pitch_degree = bit32.extract(attiandrng_value, 11, 10) / 0.05
rng_alt_cm   = bit32.extract(attiandrng_value, 21, 10)
rng_alt_potz = bit32.extract(attiandrng_value, 31,  1)
alt_cm = 10^rng_alt_potz * rng_alt_cm

---

-- ID: 5007 -- Param --

param_value = 0x00FF0003
--param_value = getValue("5007")
--print(param_value)

paramID = bit32.extract(param_value, 0, 8)
paramValue = bit32.rshift(param_value, 8)

--print(paramID)
if paramID == 1 then
  print("MAV_Type")
else 
  if paramID == 2 then
    print("Batt Voltage")
    paramValue = paramValue / 100.0
  else 
    if paramID == 3 then
      print("Batt FS mAh")
    else
      if paramID == 4 then
        print("Batt Capacity configured (mAh)")
      end
    end
  end
end

print(paramValue)

[Clooney82]

Do I need opentx 2.2 or does it also work with 2.1.9?

[athertop]

You'll need 2.2 :-)

…

On 10 May 2017 3:09:13 pm Jochen Kielkopf ***@***.***> wrote: Do I need opentx 2.2 or does it also work with 2.1.9? -- You are receiving this because you commented. Reply to this email directly or view it on GitHub: #11 (comment)

[Clooney82]

Ok, so I will try with 2.2.
Cause on 2.1.9 is see all Sensors, but Script doesn't displays values.

[athertop]

I think the sensors will be hidden on 2.2, but should be accessible using the sensor numbers. This is all of course based on what I have read as haven't tested this myself. Keen to know how you get on though so keep us posted!

[Clooney82]

Today I testet 2.2 but I went back to 2.1.9, because no telemetry is working for me.
Maybe I try again later.
But I made a script for passthrough telemetry.
It runs on mine without errors, but does not display any telemetry data, because it is not working on my TX.
test.lua.txt
Maybe someone can test it.

[athertop]

Jochen, I believe that the sensors are invisible on 2.2 by design, so you don't need to discover them. Maybe an idea to check out the instructions in the Craft & Theory website for more accurate info.

[Clooney82]

found something in the deep of the internet ;)
You need to replace getValue(xyz) with some other code, because this is not supported for passthrough telemetry.
*read passthrough telemetry with sportTelemetryPop()
*create own Telemetry Sensor with setTelemetryValue(id, subID, instance, value [, unit] [, precision [, name]) - not really necessary (maybe if you need telemetry logging)

e.g.

local function bg_process_passthrough()
	local i0,i1,i2,v
	i0,i1,i2,v = sportTelemetryPop()
	-- only for SIMULATOR NEEDED
	if v == nil then
		v = 0
	end
	-- END SIM PART
	-- unpack packet 5006 - Messages
	if i2 == 20486 then
		data.roll_degree   = (bit32.extract(v,  0, 11) -900) * 0.2
		data.pitch_degree  = (bit32.extract(v, 11, 10) -450) * 0.2
		local rng_alt_cm   = bit32.extract(v, 21, 10)
		local rng_alt_potz = bit32.extract(v, 31,  1)
		data.rng_alt_cm    = 10^rng_alt_potz * rng_alt_cm
		--setTelemetryValue(id, subID, instance, value [, unit] [, precision [, name])
		setTelemetryValue (5006,0,1,v,20,0,"ROLL")
		setTelemetryValue (5006,0,2,v,20,0,"PITCH")
	end
	...
	...
end

now some fine tuning for the values are needed. basically it works.

MFrSP.lua.txt

[geofrancis]

was there any more progress on this ?

[athertop]

Hey George, I sent you the updated files already which as you know have a bug. I'll look at this once I have my new quad built (and so can test it in action). Might be a month, as reliant on China post!

[Clooney82]

Hi Paul,
Didn't got any mail till now.
But it is no problem, cause I'm currently in vacation.

[athertop]

Jochen, I was writing to George in that comment and not your good self. George is our resident Scottish drone genius ;-) he's keen to see this working. Have fun on vacation