CRSFTelemetry Class Reference

High-level class that handles sending of CRSF telemetry data. More...

#include <crsf_telemetry.h>

Collaboration diagram for CRSFTelemetry:

Public Member Functions
	CRSFTelemetry (int uart_fd)
	~CRSFTelemetry ()=default
bool	update (const hrt_abstime &now)
	Send telemetry data. More...

Private Member Functions
bool	send_battery ()
bool	send_gps ()
bool	send_attitude ()
bool	send_flight_mode ()

Private Attributes
uORB::Subscription	_vehicle_gps_position_sub {ORB_ID(vehicle_gps_position)}
uORB::Subscription	_battery_status_sub {ORB_ID(battery_status)}
uORB::Subscription	_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}
uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}
hrt_abstime	_last_update {0}
int	_next_type {0}
int	_uart_fd

Static Private Attributes
static constexpr int	num_data_types {4}
	number of different telemetry data types More...

Detailed Description

High-level class that handles sending of CRSF telemetry data.

Definition at line 57 of file crsf_telemetry.h.

Constructor & Destructor Documentation

CRSFTelemetry()

CRSFTelemetry::CRSFTelemetry

(

int

uart_fd

)

Parameters

uart_fd

file descriptor for the UART to use. It is expected to be configured already.

Definition at line 37 of file crsf_telemetry.cpp.

~CRSFTelemetry()

CRSFTelemetry::~CRSFTelemetry ( )

default

Member Function Documentation

send_attitude()

bool CRSFTelemetry::send_attitude ( )

private

Definition at line 110 of file crsf_telemetry.cpp.

References _uart_fd, _vehicle_attitude_sub, attitude, crsf_send_telemetry_attitude(), vehicle_attitude_s::q, and uORB::Subscription::update().

Referenced by update().

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send_battery()

bool CRSFTelemetry::send_battery ( )

private

Definition at line 76 of file crsf_telemetry.cpp.

References _battery_status_sub, _uart_fd, crsf_send_telemetry_battery(), battery_status_s::current_filtered_a, battery_status_s::discharged_mah, battery_status_s::remaining, uORB::Subscription::update(), and battery_status_s::voltage_filtered_v.

Referenced by update().

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send_flight_mode()

bool CRSFTelemetry::send_flight_mode ( )

private

Definition at line 125 of file crsf_telemetry.cpp.

References _uart_fd, _vehicle_status_sub, crsf_send_telemetry_flight_mode(), flight_mode, vehicle_status_s::nav_state, and uORB::Subscription::update().

Referenced by update().

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send_gps()

bool CRSFTelemetry::send_gps ( )

private

Definition at line 91 of file crsf_telemetry.cpp.

References _uart_fd, _vehicle_gps_position_sub, vehicle_gps_position_s::alt, vehicle_gps_position_s::cog_rad, crsf_send_telemetry_gps(), math::degrees(), vehicle_gps_position_s::lat, vehicle_gps_position_s::lon, vehicle_gps_position_s::satellites_used, uORB::Subscription::update(), and vehicle_gps_position_s::vel_d_m_s.

Referenced by update().

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update()

bool CRSFTelemetry::update

(

const hrt_abstime &

now

)

Send telemetry data.

Call this regularly (i.e. at 100Hz), it will automatically limit the sending rate.

Returns

true if new data sent

Definition at line 42 of file crsf_telemetry.cpp.

References _last_update, _next_type, num_data_types, send_attitude(), send_battery(), send_flight_mode(), and send_gps().

Referenced by RCInput::cycle().

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Member Data Documentation

_battery_status_sub

uORB::Subscription CRSFTelemetry::_battery_status_sub {ORB_ID(battery_status)}

private

Definition at line 82 of file crsf_telemetry.h.

Referenced by send_battery().

_last_update

hrt_abstime CRSFTelemetry::_last_update {0}

private

Definition at line 86 of file crsf_telemetry.h.

Referenced by update().

_next_type

int CRSFTelemetry::_next_type {0}

private

Definition at line 89 of file crsf_telemetry.h.

Referenced by update().

_uart_fd

int CRSFTelemetry::_uart_fd

private

Definition at line 91 of file crsf_telemetry.h.

Referenced by send_attitude(), send_battery(), send_flight_mode(), and send_gps().

_vehicle_attitude_sub

uORB::Subscription CRSFTelemetry::_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}

private

Definition at line 83 of file crsf_telemetry.h.

Referenced by send_attitude().

_vehicle_gps_position_sub

uORB::Subscription CRSFTelemetry::_vehicle_gps_position_sub {ORB_ID(vehicle_gps_position)}

private

Definition at line 81 of file crsf_telemetry.h.

Referenced by send_gps().

_vehicle_status_sub

uORB::Subscription CRSFTelemetry::_vehicle_status_sub {ORB_ID(vehicle_status)}

private

Definition at line 84 of file crsf_telemetry.h.

Referenced by send_flight_mode().

num_data_types

constexpr int CRSFTelemetry::num_data_types {4}

staticprivate

number of different telemetry data types

Definition at line 88 of file crsf_telemetry.h.

Referenced by update().

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The documentation for this class was generated from the following files:

• src/drivers/rc_input/crsf_telemetry.h
• src/drivers/rc_input/crsf_telemetry.cpp