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Update README.md
[FrskyTelemetry.git] / SCRIPTS / TELEMETRY / yaapu7.lua
blob136be2006ea63e3fcbb11483c4a569afe9ab4c50
1 --
2 -- An FRSKY S.Port <passthrough protocol> based Telemetry script for Taranis X7
3 --
4 -- Copyright (C) 2018. Alessandro Apostoli
5 -- https://github.com/yaapu
6 --
7 -- This program is free software; you can redistribute it and/or modify
8 -- it under the terms of the GNU General Public License as published by
9 -- the Free Software Foundation; either version 3 of the License, or
10 -- (at your option) any later version.
11 --
12 -- This program is distributed in the hope that it will be useful,
13 -- but WITHOUT ANY WARRANTY, without even the implied warranty of
14 -- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 -- GNU General Public License for more details.
16 --
17 -- You should have received a copy of the GNU General Public License
18 -- along with this program; if not, see <http://www.gnu.org/licenses>.
19 --
20 -- Passthrough protocol reference:
21 -- https://cdn.rawgit.com/ArduPilot/ardupilot_wiki/33cd0c2c/images/FrSky_Passthrough_protocol.xlsx
22 --
23 -- Borrowed some code from the LI-xx BATTCHECK v3.30 script
24 -- http://frskytaranis.forumactif.org/t2800-lua-download-un-testeur-de-batterie-sur-la-radio
25
26
27 local cellfull, cellempty = 4.2, 3.00
28 local cell = {0, 0, 0, 0, 0 ,0}
29 local cellsumfull, cellsumempty, cellsumtype, cellsum = 0, 0, 0, 0
30
31 local i, cellmin, cellresult = 0, cellfull, 0, 0
32 local thrOut = 0
33 local voltage = 0
34
35 --[[
36 MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
37 MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
38 MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
39 MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
40 MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
41 MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
42 MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
43 MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
44 MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
45 MAV_TYPE_ROCKET=9, /* Rocket | */
46 MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
47 MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
48 MAV_TYPE_SUBMARINE=12, /* Submarine | */
49 MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
50 MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
51 MAV_TYPE_TRICOPTER=15, /* Tricopter | */
52 MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
53 MAV_TYPE_KITE=17, /* Kite | */
54 MAV_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */
55 MAV_TYPE_VTOL_DUOROTOR=19, /* Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. | */
56 MAV_TYPE_VTOL_QUADROTOR=20, /* Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. | */
57 MAV_TYPE_VTOL_TILTROTOR=21, /* Tiltrotor VTOL | */
58 MAV_TYPE_VTOL_RESERVED2=22, /* VTOL reserved 2 | */
59 MAV_TYPE_VTOL_RESERVED3=23, /* VTOL reserved 3 | */
60 MAV_TYPE_VTOL_RESERVED4=24, /* VTOL reserved 4 | */
61 MAV_TYPE_VTOL_RESERVED5=25, /* VTOL reserved 5 | */
62 MAV_TYPE_GIMBAL=26, /* Onboard gimbal | */
63 MAV_TYPE_ADSB=27, /* Onboard ADSB peripheral | */
64 MAV_TYPE_PARAFOIL=28, /* Steerable, nonrigid airfoil | */
65 MAV_TYPE_DODECAROTOR=29, /* Dodecarotor | */
66 ]]--
67
68 local frameTypes = {}
69 frameTypes[0] = "copter"
70 frameTypes[1] = "plane"
71 frameTypes[2] = "copter"
72 frameTypes[3] = "copter"
73 frameTypes[4] = "copter"
74 frameTypes[5] = ""
75 frameTypes[6] = ""
76 frameTypes[7] = ""
77 frameTypes[8] = ""
78 frameTypes[9] = ""
79 frameTypes[10] = "rover"
80 frameTypes[11] = "boat"
81 frameTypes[12] = ""
82 frameTypes[13] = "copter"
83 frameTypes[14] = "copter"
84 frameTypes[15] = "copter"
85 frameTypes[16] = "plane"
86 frameTypes[17] = ""
87 frameTypes[18] = ""
88 frameTypes[19] = "plane"
89 frameTypes[20] = "plane"
90 frameTypes[21] = "plane"
91 frameTypes[22] = "plane"
92 frameTypes[23] = "plane"
93 frameTypes[24] = "plane"
94 frameTypes[25] = "plane"
95 frameTypes[26] = ""
96 frameTypes[27] = ""
97 frameTypes[28] = "plane"
98 frameTypes[29] = "copter"
99 frameTypes[30] = ""
100
101 local flightModes = {}
102 flightModes["copter"] = {}
103 flightModes["plane"] = {}
104 flightModes["rover"] = {}
105 -- copter flight modes
106 flightModes["copter"][0]=""
107 flightModes["copter"][1]="Stabilize"
108 flightModes["copter"][2]="Acro"
109 flightModes["copter"][3]="AltHold"
110 flightModes["copter"][4]="Auto"
111 flightModes["copter"][5]="Guided"
112 flightModes["copter"][6]="Loiter"
113 flightModes["copter"][7]="RTL"
114 flightModes["copter"][8]="Circle"
115 flightModes["copter"][9]=""
116 flightModes["copter"][10]="Land"
117 flightModes["copter"][11]=""
118 flightModes["copter"][12]="Drift"
119 flightModes["copter"][13]=""
120 flightModes["copter"][14]="Sport"
121 flightModes["copter"][15]="Flip"
122 flightModes["copter"][16]="AutoTune"
123 flightModes["copter"][17]="PosHold"
124 flightModes["copter"][18]="Brake"
125 flightModes["copter"][19]="Throw"
126 flightModes["copter"][20]="Avoid ADSB"
127 flightModes["copter"][21]="Guided NO GPS"
128 -- plane flight modes
129 flightModes["plane"][0]="Manual"
130 flightModes["plane"][1]="Circle"
131 flightModes["plane"][2]="Stabilize"
132 flightModes["plane"][3]="Training"
133 flightModes["plane"][4]="Acro"
134 flightModes["plane"][5]="FlyByWireA"
135 flightModes["plane"][6]="FlyByWireB"
136 flightModes["plane"][7]="Cruise"
137 flightModes["plane"][8]="Autotune"
138 flightModes["plane"][9]=""
139 flightModes["plane"][10]="Auto"
140 flightModes["plane"][11]="RTL"
141 flightModes["plane"][12]="Loiter"
142 flightModes["plane"][13]=""
143 flightModes["plane"][14]="Avoid ADSB"
144 flightModes["plane"][15]="Guided"
145 flightModes["plane"][16]="Initializing"
146 flightModes["plane"][17]="QStabilize"
147 flightModes["plane"][18]="QHover"
148 flightModes["plane"][19]="QLoiter"
149 flightModes["plane"][20]="Qland"
150 flightModes["plane"][21]="QRTL"
151 -- rover flight modes
152 flightModes["rover"][0]="Manual"
153 flightModes["rover"][1]="Acro"
154 flightModes["rover"][2]=""
155 flightModes["rover"][3]="Steering"
156 flightModes["rover"][4]="Hold"
157 flightModes["rover"][5]=""
158 flightModes["rover"][6]=""
159 flightModes["rover"][7]=""
160 flightModes["rover"][8]=""
161 flightModes["rover"][9]=""
162 flightModes["rover"][10]="Auto"
163 flightModes["rover"][11]="RTL"
164 flightModes["rover"][12]="SmartRTL"
165 flightModes["rover"][13]=""
166 flightModes["rover"][14]=""
167 flightModes["rover"][15]="Guided"
168 flightModes["rover"][16]="Initializing"
169 flightModes["rover"][17]=""
170 flightModes["rover"][18]=""
171 flightModes["rover"][19]=""
172 flightModes["rover"][20]=""
173 flightModes["rover"][21]=""
174
175 local soundFileBasePath = "/SOUNDS/yaapu0/en"
176 local soundFiles = {}
177 -- battery
178 soundFiles["bat5"] = "bat5.wav"
179 soundFiles["bat10"] = "bat10.wav"
180 soundFiles["bat15"] = "bat15.wav"
181 soundFiles["bat20"] = "bat20.wav"
182 soundFiles["bat25"] = "bat25.wav"
183 soundFiles["bat30"] = "bat30.wav"
184 soundFiles["bat40"] = "bat40.wav"
185 soundFiles["bat50"] = "bat50.wav"
186 soundFiles["bat60"] = "bat60.wav"
187 soundFiles["bat70"] = "bat70.wav"
188 soundFiles["bat80"] = "bat80.wav"
189 soundFiles["bat90"] = "bat90.wav"
190 -- gps
191 soundFiles["gpsfix"] = "gpsfix.wav"
192 soundFiles["gpsnofix"] = "gpsnofix.wav"
193 -- failsafe
194 soundFiles["lowbat"] = "lowbat.wav"
195 soundFiles["ekf"] = "ekf.wav"
196 -- events
197 soundFiles["yaapu"] = "yaapu.wav"
198 soundFiles["landing"] = "landing.wav"
199 soundFiles["armed"] = "armed.wav"
200 soundFiles["disarmed"] = "disarmed.wav"
201
202 local soundFilesByFrameTypeAndFlightMode = {}
203 soundFilesByFrameTypeAndFlightMode["copter"] = {}
204 soundFilesByFrameTypeAndFlightMode["plane"] = {}
205 soundFilesByFrameTypeAndFlightMode["rover"] = {}
206 -- Copter
207 soundFilesByFrameTypeAndFlightMode["copter"][0]=""
208 soundFilesByFrameTypeAndFlightMode["copter"][1]="stabilize.wav"
209 soundFilesByFrameTypeAndFlightMode["copter"][2]="acro.wav"
210 soundFilesByFrameTypeAndFlightMode["copter"][3]="althold.wav"
211 soundFilesByFrameTypeAndFlightMode["copter"][4]="auto.wav"
212 soundFilesByFrameTypeAndFlightMode["copter"][5]="guided.wav"
213 soundFilesByFrameTypeAndFlightMode["copter"][6]="loiter.wav"
214 soundFilesByFrameTypeAndFlightMode["copter"][7]="rtl.wav"
215 soundFilesByFrameTypeAndFlightMode["copter"][8]="circle.wav"
216 soundFilesByFrameTypeAndFlightMode["copter"][9]=""
217 soundFilesByFrameTypeAndFlightMode["copter"][10]="land.wav"
218 soundFilesByFrameTypeAndFlightMode["copter"][11]=""
219 soundFilesByFrameTypeAndFlightMode["copter"][12]="drift.wav"
220 soundFilesByFrameTypeAndFlightMode["copter"][13]=""
221 soundFilesByFrameTypeAndFlightMode["copter"][14]="sport.wav"
222 soundFilesByFrameTypeAndFlightMode["copter"][15]="flip.wav"
223 soundFilesByFrameTypeAndFlightMode["copter"][16]="loiter.wav"
224 soundFilesByFrameTypeAndFlightMode["copter"][17]="poshold.wav"
225 soundFilesByFrameTypeAndFlightMode["copter"][18]="brake"
226 soundFilesByFrameTypeAndFlightMode["copter"][19]="throw.wav"
227 soundFilesByFrameTypeAndFlightMode["copter"][20]="avoidadbs"
228 soundFilesByFrameTypeAndFlightMode["copter"][21]="guidednogps"
229 -- Plane
230 soundFilesByFrameTypeAndFlightMode["plane"][0]="manual.wav"
231 soundFilesByFrameTypeAndFlightMode["plane"][1]="circle.wav"
232 soundFilesByFrameTypeAndFlightMode["plane"][2]="stabilize.wav"
233 soundFilesByFrameTypeAndFlightMode["plane"][3]="training.wav"
234 soundFilesByFrameTypeAndFlightMode["plane"][4]="acro.wav"
235 soundFilesByFrameTypeAndFlightMode["plane"][5]="flybywirea.wav"
236 soundFilesByFrameTypeAndFlightMode["plane"][6]="flybywireb.wav"
237 soundFilesByFrameTypeAndFlightMode["plane"][7]="cruise.wav"
238 soundFilesByFrameTypeAndFlightMode["plane"][8]="autotune.wav"
239 soundFilesByFrameTypeAndFlightMode["plane"][9]=""
240 soundFilesByFrameTypeAndFlightMode["plane"][10]="auto.wav"
241 soundFilesByFrameTypeAndFlightMode["plane"][11]="rtl.wav"
242 soundFilesByFrameTypeAndFlightMode["plane"][12]="loiter.wav"
243 soundFilesByFrameTypeAndFlightMode["plane"][13]=""
244 soundFilesByFrameTypeAndFlightMode["plane"][14]="avoidadbs"
245 soundFilesByFrameTypeAndFlightMode["plane"][15]="guided.wav"
246 soundFilesByFrameTypeAndFlightMode["plane"][16]="initializing.wav"
247 soundFilesByFrameTypeAndFlightMode["plane"][17]="qstabilize.wav"
248 soundFilesByFrameTypeAndFlightMode["plane"][18]="qhover.wav"
249 soundFilesByFrameTypeAndFlightMode["plane"][19]="qloiter.wav"
250 soundFilesByFrameTypeAndFlightMode["plane"][20]="qland.wav"
251 soundFilesByFrameTypeAndFlightMode["plane"][21]="qrtl.wav"
252 -- Rover
253 soundFilesByFrameTypeAndFlightMode["rover"][0]="manual_r.wav"
254 soundFilesByFrameTypeAndFlightMode["rover"][1]="acro_r.wav"
255 soundFilesByFrameTypeAndFlightMode["rover"][2]=""
256 soundFilesByFrameTypeAndFlightMode["rover"][3]="steering_r.wav"
257 soundFilesByFrameTypeAndFlightMode["rover"][4]="hold_r.wav"
258 soundFilesByFrameTypeAndFlightMode["rover"][5]=""
259 soundFilesByFrameTypeAndFlightMode["rover"][6]=""
260 soundFilesByFrameTypeAndFlightMode["rover"][7]=""
261 soundFilesByFrameTypeAndFlightMode["rover"][8]=""
262 soundFilesByFrameTypeAndFlightMode["rover"][9]=""
263 soundFilesByFrameTypeAndFlightMode["rover"][10]="auto_r.wav"
264 soundFilesByFrameTypeAndFlightMode["rover"][11]="rtl_r.wav"
265 soundFilesByFrameTypeAndFlightMode["rover"][12]="smartrtl_r.wav"
266 soundFilesByFrameTypeAndFlightMode["rover"][13]=""
267 soundFilesByFrameTypeAndFlightMode["rover"][14]=""
268 soundFilesByFrameTypeAndFlightMode["rover"][15]="guided_r.wav"
269 soundFilesByFrameTypeAndFlightMode["rover"][16]="initializing.wav"
270 soundFilesByFrameTypeAndFlightMode["rover"][17]=""
271 soundFilesByFrameTypeAndFlightMode["rover"][18]=""
272 soundFilesByFrameTypeAndFlightMode["rover"][19]=""
273 soundFilesByFrameTypeAndFlightMode["rover"][20]=""
274 soundFilesByFrameTypeAndFlightMode["rover"][21]=""
275
276 local gpsStatuses = {}
277 gpsStatuses[0]="NoGPS"
278 gpsStatuses[1]="NoLock"
279 gpsStatuses[2]="2DFIX"
280 gpsStatuses[3]="3DFix"
281
282 local mavSeverity = {}
283 mavSeverity[0]="EMR"
284 mavSeverity[1]="ALR"
285 mavSeverity[2]="CRT"
286 mavSeverity[3]="ERR"
287 mavSeverity[4]="WRN"
288 mavSeverity[5]="NOT"
289 mavSeverity[6]="INF"
290 mavSeverity[7]="DBG"
291
292 -- STATUS
293 local flightMode = 0
294 local simpleMode = 0
295 local landComplete = 0
296 local statusArmed = 0
297 local batteryFailsafe = 0
298 local lastBatteryFailsafe = 0
299 local ekfFailsafe = 0
300 local lastEkfFailsafe = 0
301 -- GPS
302 local numSats = 0
303 local gpsStatus = 0
304 local gpsHdopC = 100
305 local gpsHdopM = 0
306 local gpsAlt = 0
307 -- BATT
308 local battVolt = 0
309 local battCurrent = 0
310 local battMah = 0
311 -- BATT2
312 local battVolt2 = 0
313 local battCurrent2 = 0
314 local battMah2 = 0
315 -- HOME
316 local homeDist = 0
317 local homeAlt = 0
318 local homeAngle = -1
319 -- MESSAGES max 10 lines
320 local messageBuffer = ""
321 local messageHistory = {}
322 local severity = 0
323 local messageIdx = 1
324 local messageDuplicate = 1
325 local lastMessage = ""
326 local lastMessageValue = 0
327 local lastMessageTime = 0
328 -- VELANDYAW
329 local vSpeed = 0
330 local hSpeed = 0
331 local yaw = 0
332 -- ROLLPITCH
333 local roll = 0
334 local pitch = 0
335 -- TELEMETRY
336 local SENSOR_ID,FRAME_ID,DATA_ID,VALUE
337 local mult = 0
338 local c1,c2,c3,c4
339 -- PARAMS
340 local paramId,paramValue
341 local frameType = 2
342 local battFailsafeVoltage = 0
343 local battFailsafeCapacity = 0
344 local battCapacity = 0
345 --
346 local minX = 0
347 local maxX = 60
348 local minY = 9
349 local maxY = 55
350 --
351 local noTelemetryData = 1
352
353 local function playSound(soundFile)
354 playFile(soundFileBasePath .. "/" .. soundFiles[soundFile])
355 end
356
357 local function playSoundByFrameTypeAndFlightMode(frameType,flightMode)
358 playFile(soundFileBasePath .. "/" .. soundFilesByFrameTypeAndFlightMode[frameTypes[frameType]][flightMode])
359 end
360
361 local function getValueOrDefault(value)
362 local tmp = getValue(value)
363 if tmp == nil then
364 return 0
365 end
366 return tmp
367 end
368
369 local function pushMessage(severity, msg)
370 if ( severity < 4) then
371 playTone(400,300,0)
372 else
373 playTone(600,300,0)
374 end
375 local mm = msg
376 if msg == lastMessage then
377 messageDuplicate = messageDuplicate + 1
378 if messageDuplicate > 1 then
379 if string.len(mm) > 19 then
380 mm = string.sub(mm,1,19)
381 messageHistory[messageIdx - 1] = string.format("%d.%s %-20s (x%d)", messageIdx - 1, mavSeverity[severity], mm, messageDuplicate)
382 else
383 messageHistory[messageIdx - 1] = string.format("%d.%s %s (x%d)", messageIdx - 1, mavSeverity[severity], msg, messageDuplicate)
384 end
385 end
386 else
387 messageHistory[messageIdx] = string.format("%d.%s %s", messageIdx, mavSeverity[severity], msg)
388 messageIdx = messageIdx + 1
389 lastMessage = msg
390 messageDuplicate = 1
391 end
392 lastMessageTime = getTime() -- valore in secondi
393 end
394
395 local seconds = 0
396 local lastTimerStart = 0
397 --
398 local function startTimer()
399 lastTimerStart = getTime()/100
400 end
401
402 local function stopTimer()
403 seconds = seconds + getTime()/100 - lastTimerStart
404 lastTimerStart = 0
405 end
406
407 local function symFrameType()
408 local ch11 = getValue("ch11")
409 if (ch11 < -300) then
410 frameType = 2
411 elseif ch11 < 300 then
412 frameType = 1
413 else
414 frameType = 10
415 end
416 end
417
418 local function symTimer()
419 thrOut = getValue("thr")
420 if (thrOut > -500 ) then
421 landComplete = 1
422 else
423 landComplete = 0
424 end
425 end
426
427 local function symGPS()
428 thrOut = getValue("thr")
429 if (thrOut > 0 ) then
430 numSats = 9
431 gpsStatus = 3
432 gpsHdopC = 11
433 ekfFailsafe = 0
434 batteryFailsafe = 0
435 noTelemetryData = 0
436 elseif thrOut > -500 then
437 numSats = 6
438 gpsStatus = 3
439 gpsHdopC = 25
440 ekfFailsafe = 1
441 batteryFailsafe = 1
442 noTelemetryData = 0
443 else
444 numSats = 0
445 gpsStatus = 0
446 gpsHdopC = 100
447 ekfFailsafe = 0
448 batteryFailsafe = 0
449 noTelemetryData = 1
450 end
451 end
452
453 local function symBatt()
454 thrOut = getValue("thr")
455 if (thrOut > 0 ) then
456 LIPObatt = 1350 + ((thrOut)*0.01 * 30)
457 LIPOcelm = LIPObatt/4
458 battCurrent = 100 + ((thrOut)*0.01 * 30)
459 battVolt = LIPObatt*0.1
460 battCapacity = 10500
461 battMah = 5200
462 statusArmed = 1
463 simpleMode = 1
464 homeDist = math.abs(thrOut)*2
465 flightMode = math.floor(20*math.abs(thrOut)*0.001)
466 end
467 end
468
469 -- simulates attitude by using channel 1 for roll, channel 2 for pitch and channel 4 for yaw
470 local function symAttitude()
471 local rollCh = 0
472 local pitchCh = 0
473 local yawCh = 0
474 -- roll [-1024,1024] ==> [-180,180]
475 rollCh = getValue("ch1") * 0.175
476 -- pitch [1024,-1024] ==> [-90,90]
477 pitchCh = getValue("ch2") * 0.0878
478 -- yaw [-1024,1024] ==> [0,360]
479 yawCh = getValue("ch10")
480 if ( yawCh >= 0) then
481 yawCh = yawCh * 0.175
482 else
483 yawCh = 360 + (yawCh * 0.175)
484 end
485 roll = rollCh/3
486 pitch = pitchCh/2
487 yaw = yawCh
488 end
489
490 local function symHome()
491 local yawCh = 0
492 local S2Ch = 0
493 -- home angle in deg [0-360]
494 S2Ch = getValue("ch12")
495 yawCh = getValue("ch4")
496 homeAlt = yawCh
497 vSpeed = yawCh * 0.1
498 if ( yawCh >= 0) then
499 yawCh = yawCh * 0.175
500 else
501 yawCh = 360 + (yawCh * 0.175)
502 end
503 if ( S2Ch >= 0) then
504 S2Ch = S2Ch * 0.175
505 else
506 S2Ch = 360 + (S2Ch * 0.175)
507 end
508 if (thrOut > 0 ) then
509 homeAngle = S2Ch
510 else
511 homeAngle = -1
512 end
513 yaw = yawCh
514 end
515
516 local function processTelemetry()
517 SENSOR_ID,FRAME_ID,DATA_ID,VALUE = sportTelemetryPop()
518 --
519 --FRAME_ID = 0x10
520 --DATA_ID = 0x5002
521 --VALUE = 0xf4006b8
522 --
523 --FRAME_ID = 0x10
524 --DATA_ID = 0x5004
525 --VALUE = 0x168000
526 --
527 if ( FRAME_ID == 0x10) then
528 noTelemetryData = 0
529 if ( DATA_ID == 0x5006) then -- ROLLPITCH
530 -- roll [0,1800] ==> [-180,180]
531 roll = (bit32.extract(VALUE,0,11) - 900) * 0.2
532 -- pitch [0,900] ==> [-90,90]
533 pitch = (bit32.extract(VALUE,11,10) - 450) * 0.2
534 elseif ( DATA_ID == 0x5005) then -- VELANDYAW
535 vSpeed = bit32.extract(VALUE,1,7) * (10^bit32.extract(VALUE,0,1))
536 if (bit32.extract(VALUE,8,1) == 1) then
537 vSpeed = -vSpeed
538 end
539 hSpeed = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1))
540 yaw = bit32.extract(VALUE,17,11) * 0.2
541 elseif ( DATA_ID == 0x5001) then -- AP STATUS
542 flightMode = bit32.extract(VALUE,0,5)
543 simpleMode = bit32.extract(VALUE,5,2)
544 landComplete = bit32.extract(VALUE,7,1)
545 statusArmed = bit32.extract(VALUE,8,1)
546 batteryFailsafe = bit32.extract(VALUE,9,1)
547 ekfFailsafe = bit32.extract(VALUE,10,2)
548 elseif ( DATA_ID == 0x5002) then -- GPS STATUS
549 numSats = bit32.extract(VALUE,0,4)
550 gpsStatus = bit32.extract(VALUE,4,2)
551 gpsHdopC = bit32.extract(VALUE,7,7) * (10^bit32.extract(VALUE,6,1)) -- dm
552 gpsAlt = bit32.extract(VALUE,24,7) * (10^bit32.extract(VALUE,22,2)) -- dm
553 if (bit32.extract(VALUE,31,1) == 1) then
554 gpsAlt = gpsAlt * -1
555 end
556 elseif ( DATA_ID == 0x5003) then -- BATT
557 battVolt = bit32.extract(VALUE,0,9)
558 battCurrent = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1))
559 battMah = bit32.extract(VALUE,17,15)
560 elseif ( DATA_ID == 0x5008) then -- BATT2
561 battVolt2 = bit32.extract(VALUE,0,9)
562 battCurrent2 = bit32.extract(VALUE,10,7) * (10^bit32.extract(VALUE,9,1))
563 battMah2 = bit32.extract(VALUE,17,15)
564 elseif ( DATA_ID == 0x5004) then -- HOME
565 homeDist = bit32.extract(VALUE,2,10) * (10^bit32.extract(VALUE,0,2))
566 homeAlt = bit32.extract(VALUE,14,10) * (10^bit32.extract(VALUE,12,2)) * 0.1
567 if (bit32.extract(VALUE,24,1) == 1) then
568 homeAlt = homeAlt * -1
569 end
570 homeAngle = bit32.extract(VALUE, 25, 7) * 3
571 elseif ( DATA_ID == 0x5000) then -- MESSAGES
572 if (VALUE ~= lastMessageValue) then
573 lastMessageValue = VALUE
574 c1 = bit32.extract(VALUE,0,7)
575 c2 = bit32.extract(VALUE,8,7)
576 c3 = bit32.extract(VALUE,16,7)
577 c4 = bit32.extract(VALUE,24,7)
578 messageBuffer = messageBuffer .. string.char(c4)
579 messageBuffer = messageBuffer .. string.char(c3)
580 messageBuffer = messageBuffer .. string.char(c2)
581 messageBuffer = messageBuffer .. string.char(c1)
582 if (c1 == 0 or c2 == 0 or c3 == 0 or c4 == 0) then
583 severity = (bit32.extract(VALUE,15,1) * 4) + (bit32.extract(VALUE,23,1) * 2) + (bit32.extract(VALUE,30,1) * 1)
584 pushMessage( severity, messageBuffer)
585 messageBuffer = ""
586 end
587 end
588 elseif ( DATA_ID == 0x5007) then -- PARAMS
589 paramId = bit32.extract(VALUE,24,4)
590 paramValue = bit32.extract(VALUE,0,24)
591 if paramId == 1 then
592 frameType = paramValue
593 elseif paramId == 2 then
594 battFailsafeVoltage = paramValue
595 elseif paramId == 3 then
596 battFailsafeCapacity = paramValue
597 elseif paramId == 4 then
598 battCapacity = paramValue
599 end
600 end
601 end
602 end
603
604 local function telemetryEnabled()
605 if getValue("RxBt") == 0 then
606 noTelemetryData = 1
607 end
608 --return true
609 return noTelemetryData == 0
610 end
611
612 local battSource = "na"
613
614 local function calcBattery()
615 local battA2 = 0
616 local cellCount = 3;
617 --
618 cellmin = cellfull
619 cellResult = getValue("Cels")
620
621 if type(cellResult) == "table" then
622 battSource="vs"
623 cellsum = 0
624 for i = 1, #cell do cell[i] = 0 end
625 cellsumtype = #cellResult
626 for i, v in pairs(cellResult) do
627 cellsum = cellsum + v
628 cell[i] = v
629 if cellmin > v then
630 cellmin = v
631 end
632 end -- end for
633 else
634 -- cels is not defined let's check if A2 is defined
635 cellmin = 0
636 battA2 = getValue("A2")
637 --
638 if battA2 > 0 then
639 battSource="a2"
640 if battA2 > 21 then
641 cellCount = 6
642 elseif battA2 > 17 then
643 cellCount = 5
644 elseif battA2 > 13 then
645 cellCount = 4
646 else
647 cellCount = 3
648 end
649 --
650 cellmin = battA2/cellCount
651 cellsum = battA2
652 else
653 -- A2 is not defined, last chance is battVolt
654 if battVolt > 0 then
655 battSource="fc"
656 cellsum = battVolt*0.1
657 if cellsum > 21 then
658 cellCount = 6
659 elseif cellsum > 17 then
660 cellCount = 5
661 elseif cellsum > 13 then
662 cellCount = 4
663 else
664 cellCount = 3
665 end
666 --
667 cellmin = cellsum/cellCount
668 end
669 end
670 end -- end if
671 --
672 LIPOcelm = cellmin*100
673 LIPObatt = cellsum*100
674 end
675
676 local function drawBattery()
677 if (battCapacity > 0) then
678 LIPOperc = (1 - (battMah/battCapacity))*100
679 else
680 LIPOperc = 0
681 end
682 lcd.drawRectangle(maxX+1,17,28,16,SOLID)
683 lcd.drawFilledRectangle(maxX+1,17,28,16,SOLID)
684 -- display battery voltage
685 lcd.drawText(maxX + 28, 19, "v", SMLSIZE+RIGHT+INVERS)
686 lcd.drawNumber(lcd.getLastLeftPos(), 18, LIPObatt, PREC2+RIGHT+INVERS)
687 -- display battery current
688 lcd.drawText(maxX + 28, 26, "A", SMLSIZE+RIGHT+INVERS)
689 lcd.drawNumber(lcd.getLastLeftPos(), 26, battCurrent, SMLSIZE+PREC1+RIGHT+INVERS)
690
691 -- display lowest cell voltage
692 if LIPOcelm < 350 then
693 lcd.drawNumber(maxX + 30, 16, LIPOcelm, DBLSIZE+BLINK+PREC2)
694 else
695 lcd.drawNumber(maxX + 30, 16, LIPOcelm, DBLSIZE+PREC2)
696 end
697 lcd.drawText(lcd.getLastRightPos(), 17, "v", SMLSIZE)
698 lcd.drawText(128, 25, battSource, SMLSIZE+RIGHT)
699
700 -- display capacity %
701 local yy = 48
702 lcd.drawText(128, yy, "Ah", SMLSIZE+RIGHT)
703 lcd.drawNumber(lcd.getLastLeftPos(), yy, battCapacity/100, SMLSIZE+PREC1+RIGHT)
704 lcd.drawText(lcd.getLastLeftPos(), yy, "/", SMLSIZE+RIGHT)
705 lcd.drawNumber(lcd.getLastLeftPos(), yy, battMah/100, SMLSIZE+PREC1+RIGHT)
706 --
707 lcd.drawRectangle(maxX +1,yy-2,17,12,SOLID)
708 lcd.drawFilledRectangle(maxX +1,yy-2,17,12,SOLID)
709 --
710 lcd.drawText(maxX+17, yy, "%", SMLSIZE+INVERS+RIGHT)
711 lcd.drawNumber(lcd.getLastLeftPos(), yy-1, LIPOperc, INVERS+RIGHT)
712 end
713
714 local function drawFlightMode()
715 lcd.drawFilledRectangle(0,0, 128, 9, SOLID)
716 lcd.drawRectangle(0, 0, 128, 9, SOLID)
717
718 if (not telemetryEnabled()) then
719 lcd.drawFilledRectangle((128-100)/2,18, 100, 30, SOLID)
720 lcd.drawText(17, 29, "no telemetry data", INVERS)
721 return
722 end
723
724 local strMode = flightModes[frameTypes[frameType]][flightMode]
725 --
726 lcd.drawText(1, 1, strMode, SMLSIZE+INVERS)
727
728 if ( simpleMode == 1) then
729 lcd.drawText(lcd.getLastRightPos(), 1, "(S)", SMLSIZE+INVERS)
730 end
731
732 if (statusArmed == 1) then
733 lcd.drawText(18, 47, "ARMED", SMLSIZE+INVERS)
734 else
735 lcd.drawText(12, 47, "DISARMED", SMLSIZE+INVERS+BLINK)
736 end
737 end
738
739 local function drawHome()
740 local xx = maxX + 2
741 local yy = 10
742 --
743 lcd.drawLine(xx,13,xx + 8,13, SOLID, 0)
744 -- left arrow
745 lcd.drawLine(xx+1,12,xx + 2,11, SOLID, 0)
746 lcd.drawLine(xx+1,14,xx + 2,15, SOLID, 0)
747 -- right arrow
748 lcd.drawLine(xx+7,12,xx + 6,11, SOLID, 0)
749 lcd.drawLine(xx+7,14,xx + 6,15, SOLID, 0)
750
751 lcd.drawNumber(xx + 11, yy, homeDist, SMLSIZE)
752 lcd.drawText(lcd.getLastRightPos(), yy, "m",SMLSIZE)
753 end
754
755 local function drawMessage()
756 lcd.drawFilledRectangle(0,55, 212, 9, SOLID)
757 lcd.drawRectangle(0, 55, 212, 9, SOLID)
758 local now = getTime()
759 if (now - lastMessageTime ) > 300 then
760 lcd.drawText(1, 56, messageHistory[messageIdx-1],SMLSIZE+INVERS)
761 else
762 lcd.drawText(1, 56, messageHistory[messageIdx-1],SMLSIZE+INVERS+BLINK)
763 end
764 end
765
766 local function drawAllMessages()
767 local idx = 1
768 if (messageIdx <= 6) then
769 for i = 1, messageIdx - 1 do
770 lcd.drawText(1, 1+10*(idx - 1), messageHistory[i],SMLSIZE)
771 idx = idx+1
772 end
773 else
774 for i = messageIdx - 6,messageIdx - 1 do
775 lcd.drawText(1, 1+10*(idx-1), messageHistory[i],SMLSIZE)
776 idx = idx+1
777 end
778 end
779 end
780
781 local function drawGPSStatus()
782 local xx = 89
783 local yy = 33
784 --
785 lcd.drawRectangle(xx,yy - 1,50,15,SOLID)
786 --
787 local strStatus = gpsStatuses[gpsStatus]
788 --
789 local flags = BLINK
790 if gpsStatus > 2 then
791 lcd.drawFilledRectangle(xx,yy - 1,50,15,SOLID)
792 if homeAngle ~= -1 then
793 flags = 0
794 end
795
796 lcd.drawText(xx + 2, yy, strStatus, SMLSIZE+INVERS)
797 lcd.drawNumber(128, yy, numSats, SMLSIZE+INVERS+RIGHT)
798 lcd.drawText(xx + 2, yy + 7, "Hdop ", SMLSIZE+INVERS)
799 --
800 if gpsHdopC > 100 then
801 lcd.drawText(128, yy + 7, "10+", SMLSIZE+INVERS+RIGHT+flags)
802 else
803 lcd.drawNumber(128, yy + 7, gpsHdopC , SMLSIZE+INVERS+RIGHT+PREC1+flags)
804 end
805 else
806 lcd.drawText(xx + 5, yy + 3, strStatus, BLINK)
807 end
808 end
809
810 local function drawGrid()
811 lcd.drawLine(maxX, 0, maxX, 63, SOLID, 0)
812 end
813
814 local timerRunning = 0
815
816 local function checkLandingStatus()
817 if ( timerRunning == 0 and landComplete == 1 and lastTimerStart == 0) then
818 startTimer()
819 end
820 if (timerRunning == 1 and landComplete == 0 and lastTimerStart ~= 0) then
821 stopTimer()
822 playSound("landing")
823 end
824 timerRunning = landComplete
825 end
826 local flightTime = 0
827
828 local function calcFlightTime()
829 local elapsed = 0
830 if ( lastTimerStart ~= 0) then
831 elapsed = getTime()/100 - lastTimerStart
832 end
833 flightTime = elapsed + seconds
834 end
835
836 -- draws a line centered at ox,oy with given angle and length W/O CROPPING
837 local function drawLine(ox,oy,angle,len,style,maxX,maxY)
838 local xx = math.cos(math.rad(angle)) * len * 0.5
839 local yy = math.sin(math.rad(angle)) * len * 0.5
840
841 local x1 = ox - xx
842 local x2 = ox + xx
843 local y1 = oy - yy
844 local y2 = oy + yy
845 --
846 lcd.drawLine(x1,y1,x2,y2, style,0)
847 end
848
849 -- draws a line centered at ox,oy with given angle and length WITH CROPPING
850 local function drawCroppedLine(ox,oy,angle,len,style,maxX,maxY)
851 --
852 local xx = math.cos(math.rad(angle)) * len * 0.5
853 local yy = math.sin(math.rad(angle)) * len * 0.5
854 --
855 local x1 = ox - xx
856 local x2 = ox + xx
857 local y1 = oy - yy
858 local y2 = oy + yy
859 --
860 if (x1 >= maxX and x2 >= maxX) then
861 return
862 end
863 if (x1 >= maxX) then
864 y1 = y1 - math.tan(math.rad(angle)) * (maxX - x1)
865 x1 = maxX - 1
866 end
867 if (x2 >= maxX) then
868 y2 = y2 + math.tan(math.rad(angle)) * (maxX - x2)
869 x2 = maxX - 1
870 end
871 lcd.drawLine(x1,y1,x2,y2, style,0)
872 end
873
874 local function drawFailsafe()
875 if ekfFailsafe > 0 then
876 if lastEkfFailsafe == 0 then
877 playSound("ekf")
878 end
879 lcd.drawText(maxX/2 - 28, 47, "EKF FAILSAFE", SMLSIZE+INVERS+BLINK)
880 end
881 if batteryFailsafe > 0 then
882 if lastBatteryFailsafe == 0 then
883 playSound("lowbat")
884 end
885 lcd.drawText(maxX/2 - 28, 47, "BAT FAILSAFE", SMLSIZE+INVERS+BLINK)
886 end
887 lastEkfFailsafe = ekfFailsafe
888 lastBatteryFailsafe = batteryFailsafe
889 end
890
891 local function drawPitch()
892 local y = 0
893 local p = pitch
894 -- horizon min max +/- 30°
895 if ( pitch > 0) then
896 if (pitch > 30) then
897 p = 30
898 end
899 else
900 if (pitch < -30) then
901 p = -30
902 end
903 end
904 -- y normalized at 32 +/-20 (0.75 = 20/32)
905 y = 32 + 0.75*p
906 -- horizon, lower half of HUD filled in grey
907 --lcd.drawFilledRectangle(minX,y,maxX-minX,maxY-y + 1,GREY_DEFAULT)
908 --
909 -- center indicators for vSpeed and alt
910 local width = 17
911 lcd.drawLine(minX,32 - 5,minX + width,32 - 5, SOLID, 0)
912 lcd.drawLine(minX,32 + 4,minX + width,32 + 4, SOLID, 0)
913 lcd.drawLine(minX + width + 1,32 + 4,minX + width + 5,32, SOLID, 0)
914 lcd.drawLine(minX + width + 1,32 - 4,minX + width + 5,32, SOLID, 0)
915 lcd.drawPoint(minX + width + 5,32)
916 --
917 lcd.drawLine(maxX - width - 1,32 - 5,maxX - 1,32 - 5,SOLID,0)
918 lcd.drawLine(maxX - width - 1,32 + 4,maxX - 1,32 + 4,SOLID,0)
919 lcd.drawLine(maxX - width - 2,32 + 4,maxX - width - 6,32, SOLID, 0)
920 lcd.drawLine(maxX - width - 2,32 - 4,maxX - width - 6,32, SOLID, 0)
921 lcd.drawPoint(maxX - width - 6,32)
922 -- center value based on char count
923 if homeAlt > 0 then
924 if homeAlt < 10 then -- 2 digits with decimal
925 lcd.drawNumber(maxX - 1,32 - 3,homeAlt * 10,SMLSIZE+PREC1+RIGHT)
926 else -- 3 digits
927 lcd.drawNumber(maxX - 1 + 2,32 - 3,homeAlt,SMLSIZE+RIGHT)
928 end
929 else
930 if homeAlt > -10 then -- 1 digit with sign
931 lcd.drawNumber(maxX - 1,32 - 3,homeAlt * 10,SMLSIZE+PREC1+RIGHT)
932 else -- 3 digits with sign
933 lcd.drawNumber(maxX - 1,32 - 3,homeAlt,SMLSIZE+RIGHT)
934 end
935 end
936 --
937 if (vSpeed > 999) then
938 lcd.drawNumber(minX + 1,32 - 3,vSpeed*0.1,SMLSIZE)
939 elseif (vSpeed < -99) then
940 lcd.drawNumber(minX + 1,32 - 3,vSpeed * 0.1,SMLSIZE)
941 else
942 lcd.drawNumber(minX + 1,32 - 3,vSpeed,SMLSIZE+PREC1)
943 end
944 -- up pointing center arrow
945 local x = math.floor(maxX/2)
946 lcd.drawLine(x-10,34 + 5,x ,34 ,SOLID,0)
947 lcd.drawLine(x+1 ,34 ,x + 10, 34 + 5,SOLID,0)
948 end
949
950 local function drawRoll()
951 local r = -roll
952 local r2 = 10 --vertical distance between roll horiz segments
953 local cx,cy,dx,dy,ccx,ccy,cccx,cccy
954 -- no roll ==> segments are vertical, offsets are multiples of r2
955 if ( roll == 0) then
956 dx=0
957 dy=pitch
958 cx=0
959 cy=r2
960 ccx=0
961 ccy=2*r2
962 cccx=0
963 cccy=3*r2
964 else
965 -- center line offsets
966 dx = math.cos(math.rad(90 - r)) * -pitch
967 dy = math.sin(math.rad(90 - r)) * pitch
968 -- 1st line offsets
969 cx = math.cos(math.rad(90 - r)) * r2
970 cy = math.sin(math.rad(90 - r)) * r2
971 -- 2nd line offsets
972 ccx = math.cos(math.rad(90 - r)) * 2 * r2
973 ccy = math.sin(math.rad(90 - r)) * 2 * r2
974 -- 3rd line offsets
975 cccx = math.cos(math.rad(90 - r)) * 3 * r2
976 cccy = math.sin(math.rad(90 - r)) * 3 * r2
977 end
978 local x = math.floor(maxX/2)
979 drawCroppedLine(dx + x - cccx,dy + 32 + cccy,r,4,DOTTED,maxX,maxY)
980 drawCroppedLine(dx + x - ccx,dy + 32 + ccy,r,6,DOTTED,maxX,maxY)
981 drawCroppedLine(dx + x - cx,dy + 32 + cy,r,9,DOTTED,maxX,maxY)
982 drawCroppedLine(dx + x,dy + 32,r,16,SOLID,maxX,maxY)
983 drawCroppedLine(dx + x + cx,dy + 32 - cy,r,9,DOTTED,maxX,maxY)
984 drawCroppedLine(dx + x + ccx,dy + 32 - ccy,r,6,DOTTED,maxX,maxY)
985 drawCroppedLine(dx + x + cccx,dy + 32 - cccy,r,4,DOTTED,maxX,maxY)
986 end
987
988 local function roundTo(val,int)
989 return math.floor(val/int) * int
990 end
991
992 local function drawYaw()
993 local northX = math.floor(maxX/2) - 2
994 local offset = northX - 4
995 local yawRounded = math.floor(yaw)
996 local yawWindow = roundTo(yaw,10)
997 local maxXHalf = math.floor(maxX/2)
998 local yawWindowOn = false
999 local flags = SMLSIZE
1000 if (not(yawWindow == 0 or yawWindow == 90 or yawWindow == 180 or yawWindow == 270 or yawWindow == 360)) then
1001 yawWindowOn = true
1002 end
1003 --
1004 if (yawRounded == 0 or yawRounded == 360) then
1005 lcd.drawText(northX - offset, minY+1, "W", SMLSIZE)
1006 lcd.drawText(northX, minY+1, "N", flags)
1007 lcd.drawText(northX + offset, minY+1, "E", SMLSIZE)
1008 elseif (yawRounded == 90) then
1009 lcd.drawText(northX - offset, minY+1, "N", SMLSIZE)
1010 lcd.drawText(northX, minY+1, "E", flags)
1011 lcd.drawText(northX + offset, minY+1, "S", SMLSIZE)
1012 elseif (yawRounded == 180) then
1013 lcd.drawText(northX - offset, minY+1, "W", SMLSIZE)
1014 lcd.drawText(northX, minY+1, "S", flags)
1015 lcd.drawText(northX + offset, minY+1, "E", SMLSIZE)
1016 elseif (yawRounded == 270) then
1017 lcd.drawText(northX - offset, minY+1, "S", SMLSIZE)
1018 lcd.drawText(northX, minY+1, "W", flags)
1019 lcd.drawText(northX + offset, minY+1, "N", SMLSIZE)
1020 elseif ( yaw > 0 and yaw < 90) then
1021 northX = (maxXHalf - 2) - 0.3*yaw
1022 lcd.drawText(northX, minY+1, "N", flags)
1023 lcd.drawText(northX + offset, minY+1, "E", SMLSIZE)
1024 if (yaw > 75) then
1025 lcd.drawText(northX + offset + offset, minY+1, "S", SMLSIZE)
1026 end
1027 elseif ( yaw > 90 and yaw < 180) then
1028 northX = (maxXHalf - 2) - 0.3*(yaw - 180)
1029 lcd.drawText(northX - offset, minY+1, "E", SMLSIZE)
1030 lcd.drawText(northX, minY+1, "S", flags)
1031 if (yaw > 170) then
1032 lcd.drawText(northX + offset, minY+1, "W", SMLSIZE)
1033 end
1034 elseif ( yaw > 180 and yaw < 270) then
1035 northX = (maxXHalf - 2) - 0.3*(yaw - 270)
1036 lcd.drawText(northX, minY+1, "W", SMLSIZE)
1037 lcd.drawText(northX - offset, minY+1, "S", flags)
1038 if (yaw < 190) then
1039 lcd.drawText(northX - offset - offset, minY+1, "E", SMLSIZE)
1040 end
1041 elseif ( yaw > 270 and yaw < 360) then
1042 northX = (maxXHalf - 2) - 0.3*(yaw - 360)
1043 lcd.drawText(northX, minY+1, "N", SMLSIZE)
1044 lcd.drawText(northX - offset, minY+1, "W", flags)
1045 if (yaw < 290) then
1046 lcd.drawText(northX - offset - offset, minY+1, "S", SMLSIZE)
1047 end
1048 if (yaw > 345) then
1049 lcd.drawText(northX + offset, minY+1, "E", SMLSIZE)
1050 end
1051 end
1052 lcd.drawLine(minX, minY +7, maxX, minY+7, SOLID, 0)
1053 --
1054 local xx = 0
1055 if ( yaw < 10) then
1056 xx = 3
1057 elseif (yaw < 100) then
1058 xx = 0
1059 else
1060 xx = -3
1061 end
1062 lcd.drawNumber(minX + offset + xx, minY, yaw, MIDSIZE+INVERS)
1063 end
1064
1065 local function drawHud()
1066 drawPitch()
1067 drawRoll()
1068 drawYaw()
1069 end
1070
1071 local function drawHomeDirection()
1072 local ox = maxX + 14
1073 local oy = 41
1074 local angle = math.floor( yaw - homeAngle)
1075 if ( math.abs(angle) > 45 and math.abs(angle) < 315) then
1076 oy = 39
1077 end
1078
1079 local r1 = 8
1080 local r2 = 5
1081 local x1 = ox + r1 * math.cos(math.rad(angle - 90))
1082 local y1 = oy + r1 * math.sin(math.rad(angle - 90))
1083 local x2 = ox + r2 * math.cos(math.rad(angle - 90 + 120))
1084 local y2 = oy + r2 * math.sin(math.rad(angle - 90 + 120))
1085 local x3 = ox + r2 * math.cos(math.rad(angle - 90 - 120))
1086 local y3 = oy + r2 * math.sin(math.rad(angle - 90 - 120))
1087 --
1088 lcd.drawLine(x1,y1,x2,y2,SOLID,1)
1089 lcd.drawLine(x1,y1,x3,y3,SOLID,1)
1090 lcd.drawLine(ox,oy,x2,y2,SOLID,1)
1091 lcd.drawLine(ox,oy,x3,y3,SOLID,1)
1092 end
1093
1094 local function drawFlightTime()
1095 lcd.drawText(maxX, 1, "T:", SMLSIZE+INVERS)
1096 lcd.drawTimer(lcd.getLastRightPos(), 1, flightTime, SMLSIZE+INVERS)
1097 end
1098
1099 local function drawRSSI()
1100 local rssi = getRSSI()
1101 lcd.drawText(128, 1, rssi, SMLSIZE+INVERS+RIGHT)
1102 lcd.drawText(lcd.getLastLeftPos(), 1, "Rssi:", SMLSIZE+INVERS+RIGHT)
1103 end
1104
1105 local function drawTxVoltage()
1106 txVId=getFieldInfo("tx-voltage").id
1107 txV = getValue(txVId)*10
1108
1109 lcd.drawText(128, 10, "v", SMLSIZE+RIGHT)
1110 lcd.drawNumber(lcd.getLastLeftPos(), 10, txV, SMLSIZE+PREC1+RIGHT)
1111 lcd.drawText(lcd.getLastLeftPos(), 10, "Tx:", SMLSIZE+RIGHT)
1112 end
1113 --
1114
1115 local lastStatusArmed = 0
1116 local lastGpsStatus = 0
1117 local lastFlightMode = 0
1118 local lastBattLevel = 0
1119 local batLevel = 99
1120 local batLevels = {}
1121 batLevels[12]=0
1122 batLevels[11]=5
1123 batLevels[10]=10
1124 batLevels[9]=15
1125 batLevels[8]=20
1126 batLevels[7]=25
1127 batLevels[6]=30
1128 batLevels[5]=40
1129 batLevels[4]=50
1130 batLevels[3]=60
1131 batLevels[2]=70
1132 batLevels[1]=80
1133 batLevels[0]=90
1134
1135 local function checkSoundEvents()
1136 if (battCapacity > 0) then
1137 batLevel = (1 - (battMah/battCapacity))*100
1138 else
1139 batLevel = 99
1140 end
1141
1142 if batLevel < (batLevels[lastBattLevel] + 1) and lastBattLevel <= 11 then
1143 playSound("bat"..batLevels[lastBattLevel])
1144 lastBattLevel = lastBattLevel + 1
1145 end
1146
1147 if statusArmed == 1 and lastStatusArmed == 0 then
1148 lastStatusArmed = statusArmed
1149 playSound("armed")
1150 elseif statusArmed == 0 and lastStatusArmed == 1 then
1151 lastStatusArmed = statusArmed
1152 playSound("disarmed")
1153 end
1154
1155 if gpsStatus > 2 and lastGpsStatus <= 2 then
1156 lastGpsStatus = gpsStatus
1157 playSound("gpsfix")
1158 elseif gpsStatus <= 2 and lastGpsStatus > 2 then
1159 lastGpsStatus = gpsStatus
1160 playSound("gpsnofix")
1161 end
1162
1163 if flightMode ~= lastFlightMode then
1164 lastFlightMode = flightMode
1165 playSoundByFrameTypeAndFlightMode(frameType,flightMode)
1166 end
1167 end
1168 --------------------------------------------------------------------------------
1169 -- loop FUNCTIONS
1170 --------------------------------------------------------------------------------
1171 local showMessages = false
1172 local showConfig = false
1173 --
1174 local function background()
1175 processTelemetry()
1176 end
1177 --
1178 local clock = 0
1179 --
1180 local function symMode()
1181 symAttitude()
1182 symTimer()
1183 symHome()
1184 symGPS()
1185 symBatt()
1186 symFrameType()
1187 end
1188 --
1189 local function run(event)
1190 processTelemetry()
1191 if event == EVT_ENTER_BREAK then
1192 showMessages = not showMessages
1193 end
1194 --
1195 if (clock % 8 == 0) then
1196 calcBattery()
1197 calcFlightTime()
1198 checkSoundEvents()
1199 clock = 0
1200 end
1201 lcd.clear()
1202 if showMessages then
1203 processTelemetry()
1204 drawAllMessages()
1205 else
1206 for r=1,3
1207 do
1208 processTelemetry()
1209 lcd.clear()
1210 --symMode()
1211 drawHud()
1212 drawGrid()
1213 drawBattery()
1214 drawGPSStatus()
1215 checkLandingStatus()
1216 drawMessage()
1217 drawHomeDirection()
1218 drawHome()
1219 drawFlightMode()
1220 drawFailsafe()
1221 drawFlightTime()
1222 drawTxVoltage()
1223 drawRSSI()
1224 end
1225 end
1226 clock = clock + 1
1227 end
1228
1229 local function init()
1230 pushMessage(6,"Yaapu X7 script v1.1")
1231 playSound("yaapu")
1232 end
1233
1234 --------------------------------------------------------------------------------
1235 -- SCRIPT END
1236 --------------------------------------------------------------------------------
1237 return {run=run, background=background, init=init}