Direct Frsky telemtry data from MW FC

vpb · Post by **vpb** » Thu Nov 14, 2013 12:49 pm

As Multiwii 2.3 is completely changed in code structure, Frsky Telemetry cant work with MW 2.3 (it can work with 2.2). I make some changes to the FrskyTelemetry.ino, now it turns into 2 files FrskyTelemetry.cpp & FrskyTelemetry.h. Those just need to be copied to MultiWii folder.

In MultiWii.cpp,
line 28, add this line

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#include "FrskyTelemetry.h"

line 556 (at the end of annexCode function) add those lines

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  #if defined(TELEMETRY_FRSKY)
     telemetry_frsky();
  #endif

In config.h, line 462

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  /******                Serial com speed    *********************************/
    #define TELEMETRY_FRSKY
  
    /* This is the speed of the serial interfaces */
    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 115200
    #define SERIAL2_COM_SPEED 115200
    //#define SERIAL3_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 9600

I also made small changes that will send the distance-to-home & number of satellites in the temp1 & temp2 boxes.

baco3000 · Post by **baco3000** » Sun Dec 15, 2013 4:26 am

But this code work multiwii 2.3?

haydent · Post by **haydent** » Tue Dec 31, 2013 4:54 am

baco3000 wrote:But this code work multiwii 2.3?

i believe vpb points this out in the post b4 yours.

do i need to use an inverter with this ?

i have x8r, will this code work with it

baco3000 · Post by **baco3000** » Tue Dec 31, 2013 6:35 am

Por supuesto que has de utilizar un conversor RS232 / TTL para que funcione.
------------------------------------
Of course you have to use a RS232 / TTL converter to work.

bob195558 · Post by **bob195558** » Tue Dec 31, 2013 6:41 pm

Hi

I have built a Quad using the MultiWii Pro V3 Flight controller board from WiteSpyQuad (Ready To Fly Quads)
and I use a 9x Radio with erSky9x firmware with FrSky XJT Transmitter Telemetry Module with the FrSky D8R-XP Receiver w/ Telemetry.

Is there a way to see the Sensor Readings on the MultiWii Pro V3 Flight Controller Board through the FrSky Telemetry System to my Sky9x Radio telemetry screens?

Bob

scf · Post by **scf** » Mon Jan 06, 2014 11:35 pm

I have a Multiwii Pro 3.0 board, D8R-XP receiver and 9x TX with opentx firmware. The problem here is that 9x shows invalid GPS position. For my current position first part of lat/long is correct (degrees), but minutes for lat is 92' which is invalid due to the format. Minutes for long is 8', but should be 5'. What could be broken? Multiwii code (I use https://github.com/disq/multiwii-firmware) or opentx?

Johnnynunes · Post by **Johnnynunes** » Sat Jan 18, 2014 9:10 pm

Anyone got it working on Multiwii 2.3?

wilco1967 · Post by **wilco1967** » Sun Jan 19, 2014 7:56 pm

yes, works fine with MW 2.3 ....
no problem.

mgros · Post by **mgros** » Sun Jan 19, 2014 9:35 pm

me too.

1eleven · Post by **1eleven** » Sun Jan 19, 2014 11:54 pm

Can someone clarify exactly where this goes?

vpb wrote:line 556 (at the end of annexCode function) add those lines
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  #if defined(TELEMETRY_FRSKY)
     telemetry_frsky();
  #endif

Line 556 in my download of MW2.3 is

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  #if !defined(GPS_PROMINI)

Guessing that if this goes at the end of annexCode, then line 551 - 558 should be

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    #endif
  }
    #if defined(TELEMETRY_FRSKY)
     telemetry_frsky();
    #endif
}

void setup() {

haydent · Post by **haydent** » Mon Feb 10, 2014 12:06 pm

just a little x8r update, its s.port (smart port) uses 57600 baud rate . also the sensor ids are different i believe. i posted here the id's requsted by the x8r: viewtopic.php?p=46710#p46710

also the "header" is "126" (0x7e)

ie code in this thread will not work with x8r

more: http://code.google.com/p/telemetry-conv ... rtProtocol

1eleven · Post by **1eleven** » Wed Feb 12, 2014 4:17 am

Using the files that vpb posted, everything works until using vbat.
I am trying to send sensed voltage. VBAT is defined in Config.h. The following is commented out

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//#define FAS_100

When compiling, I get 'vbat' was not declared in this scope
I'm at a loss of where to look. I see that vbat is declared in types.h, so I added

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#include "types.h"

with no change.
I'm using the released version of MultiWii 2.3 from the downloads. Is there a different version of Telemetry or MultiWii files I should be using?

UPDATE - vbat is part of a typedef struct from types.h. Use "analog.vbat" and it now compiles.

Anyone know if A1 and A2 voltages can be manipulated through this code?

QuadBow · Post by **QuadBow** » Wed Feb 12, 2014 5:37 pm

In my view, the Frsky telemetry integration is suffering from being excluded from the official release.
That leads to several Frsky implementations with small, but significant differences leading to the errors described.
The integration into the next offcial release would be the better solution - the code is stable enough.

Why has the Frsky telemetry not been taken into account by multiwii developers right now?

1eleven · Post by **1eleven** » Thu Feb 13, 2014 1:21 am

If it made it into the main trunk, would everyone download Fryskytelemetry files with standard MultiWii downloads? If so, I can understand why people may not want it in the main distribution. If there were a separate branch or repository for just FrSky telemetry, that would be great.

I worked out most of the bugs in the latest post and even added a fuel bar functionality. For those interested, I'll share....
using vpb's post on Thu Nov 14, 2013 7:49 am, I changed "VBAT" to "analog.vbat" in order for the sketch to compile correctly. This is due to VBAT being part of a "typedef struct" definition in types.h named "analog".

Since it seems like A1 and A2 cannot be overridden, I want to get some sort of use of my fuel bar on my FLD-02 to indicate my battery pack capacity. The fuel bar only accepts values of 0, 25, 50, 75, and 100, so we need a little if, else if, else routine to indicate the battery capacity. Changing the send_Fuel_Level routine worked really nicely:

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   // Fuel level
   void send_Fuel_level(void)
   {
      uint16_t Datas_Fuel_level;

      Datas_Fuel_level = int((analog.vbat-136)*(100/32));
      
      if (Datas_Fuel_level > 75) {
   Datas_Fuel_level = 100; }
      else if ((Datas_Fuel_level <= 75) && (Datas_Fuel_level > 50)) {
   Datas_Fuel_level = 75; }
      else if ((Datas_Fuel_level <= 50) && (Datas_Fuel_level > 25)) {
   Datas_Fuel_level = 50; }
      else if ((Datas_Fuel_level <= 25) && (Datas_Fuel_level > 0)) {
   Datas_Fuel_level = 25; }
      else {Datas_Fuel_level = 0;}

      sendDataHead(ID_Fuel_level);
      write_FrSky16(Datas_Fuel_level);
   }

136 signifies 13.6 volts as empty. Knowing 4s is 16.8 at full charge, 168 - 136 = 32. We want that difference of 32 to scale over 100, so the formula becomes
Datas_Fuel_level = int((analog.vbat-136)*(100/32))
I'm not a programmer, but I figured if Datas_Fuel_level is an integer type, I better do the int() operation on that formula to be safe.

Took this up today and it worked great! The fuel bar finally gives me an indication of my electric "fuel".

Thanks to everyone that made this happen. It is really nice to have this data coming back natively from the FC.
The # Satellites and DFH on the 1st screen is an awesome mod.
**Disclaimer - I'm using a ReadyToFlyQuads Ez3 FC which is a Mega 2560. I'm not sure how many processor cycles this fuel bar mod takes, so I have no idea if this could adversely affect less powerful FCs.

QuadBow · Post by **QuadBow** » Thu Feb 13, 2014 9:29 pm

Hi 1eleven,

I'm afraid your approach is a bit dangerous, since the characteristic curve of the accu is rather non-linear.
Thus, it doesn't give you a good feeling of the remnant energy.

Firstly, the Frsky devices like FLD-02 calculate the total amount of energy if a current sensor is attached.

If not, a better solution would be to make use of the powermeter since this estimates (powermeter soft) or calculates (powermeter hard) the energy which is a better indication for the "fuel" status.

1eleven · Post by **1eleven** » Thu Feb 13, 2014 9:45 pm

I learn something new every day. I had no idea this feature existed. Grasshopper now has more research to do. Thank you, Quadbow!

Quick question - the wiki says to set DIV values to 5000, but in 2.3, the values are way different. Also, I see these values changing all over the forum. Any insight into what values work?

From 2.3:

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  #define PLEVELDIVSOFT 100000
  #define PLEVELDIV 36000

scf · Post by **scf** » Mon Feb 17, 2014 10:24 pm

Hey haydent!

Do you have some progress with telemetry via x8r smart port?

I've done some reading and if I understand right current implementation doesn't wait for start byte (probably not needed by old protocol) and just sends the telemetry data? Smart port implementation should only send it when the magic byte is received. Is adding that, changing the data ids, change the code to send 32 bits should be enough to make it work? Also after value the checksum byte should follow. Is this what check_FrSky_stuffing() does? How the sensor tells that there is no more data values available?

haydent · Post by **haydent** » Mon Feb 17, 2014 10:28 pm

hi scf, im going well with it but cant say much due to nda. not that im working on what this thread is mainly about anyway.

these links will help you hopefully:
https://code.google.com/p/telemetry-con ... rtProtocol
https://code.google.com/p/opentx/source ... _sport.cpp
http://projects.onomato.biz/projects/an ... rameFormat

scf · Post by **scf** » Mon Feb 17, 2014 10:39 pm

haydent wrote:hi scf, im going well with it but cant say much due to nda. not that im working on what this thread is mainly about anyway.

these links will help you hopefully:
https://code.google.com/p/telemetry-con ... rtProtocol
https://code.google.com/p/opentx/source ... _sport.cpp
http://projects.onomato.biz/projects/an ... rameFormat

Thanks haydent! I've seen first two links but the last one is new for me.

haydent · Post by **haydent** » Mon Feb 17, 2014 10:42 pm

i overlooked the second one thinking it was not compatible with arduino, but you can literally copy paste the code into arduino as its all C

scf · Post by **scf** » Mon Feb 17, 2014 10:44 pm

I should receive my taranis tomorrow - will have some coding try/trial session

haydent · Post by **haydent** » Mon Feb 17, 2014 10:51 pm

also if you dont have a serial inverter yet, you can use the software serial library without one

haydent · Post by **haydent** » Mon Feb 17, 2014 10:54 pm

also theres this
Frame Protocol of FrSky Telemetry Hub System (V2.0)
[removed]

scf · Post by **scf** » Mon Feb 17, 2014 11:03 pm

haydent wrote:also if you dont have a serial inverter yet, you can use the software serial library without one

I have one, use it with D8R-XP

haydent · Post by **haydent** » Mon Feb 17, 2014 11:06 pm

cool, im not sure how compatible softwareserial is with multiwii, particularly sending, as that is blocking...

scf · Post by **scf** » Mon Feb 17, 2014 11:09 pm

haydent wrote:also theres this
Frame Protocol of FrSky Telemetry Hub System (V2.0)
http://www.rcgroups.com/forums/attachme ... id=6266364

I guess this is old protocol?

haydent · Post by **haydent** » Mon Feb 17, 2014 11:11 pm

yes sorry, removed. try this one attached

haydent · Post by **haydent** » Mon Feb 17, 2014 11:13 pm

though its not latest, as sport runs at higher speed and theres more too it, alot i looks more similar than the old protocol

Rangarid · Post by **Rangarid** » Fri Mar 07, 2014 10:44 am

vpb wrote:As Multiwii 2.3 is completely changed in code structure, Frsky Telemetry cant work with MW 2.3 (it can work with 2.2). I make some changes to the FrskyTelemetry.ino, now it turns into 2 files FrskyTelemetry.cpp & FrskyTelemetry.h. Those just need to be copied to MultiWii folder.

In MultiWii.cpp,
line 28, add this line
Code: Select all
#include "FrskyTelemetry.h"
line 556 (at the end of annexCode function) add those lines
Code: Select all
  #if defined(TELEMETRY_FRSKY)
     telemetry_frsky();
  #endif
In config.h, line 462
Code: Select all
  /******                Serial com speed    *********************************/
    #define TELEMETRY_FRSKY
  
    /* This is the speed of the serial interfaces */
    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 115200
    #define SERIAL2_COM_SPEED 115200
    //#define SERIAL3_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 9600
I also made small changes that will send the distance-to-home & number of satellites in the temp1 & temp2 boxes.

I get ACC_1G missing and when i deselct FAS_100 i get vbat was not declared. Fixed this by including "Sensors.h" for ACC_G1 and vbat should be analog.vbat

Oh and BTW, you should use

Code: Select all

#if defined (FAS_100){
...
} #elif defined (VBAT)
...
}

Instead of just else. if you dont use the FAS_100 it does not mean you have VBAT declared.

Rangarid · Post by **Rangarid** » Mon Mar 10, 2014 9:43 pm

Tested it today. Works great:

Here are my settings:

Pro Mini TX <-> RX Frsky Receiver
GPS TX <-> RX Pro Mini

You need a small RS232<->TTL converter. Costs about 2$ from china on ebay.

Settings in Multiwii:
#define GPS_PROMINI_SERIAL
#define GPS_BAUD 9600
#define NMEA

#define TELEMETRY_FRSKY

In FrskyTelemetry.cpp
// Serial config datas
#define TELEMETRY_FRSKY_SERIAL 1

szakacs · Post by **szakacs** » Wed Mar 12, 2014 6:53 am

I am just getting into this C++ so please bare with me.
I am wishing to extract the time from the GPS nmea. In the current MW 2.3 is there a variable I can get a source from i.e. in GPS.cpp ??

QuadBow · Post by **QuadBow** » Thu Mar 13, 2014 7:17 am

szakacs wrote:I am wishing to extract the time from the GPS nmea

No, that is not foreseen in the current implementation of MW.
However, it can be easily implemented by adding a line to gps.ino dealing with the time.
But, for what purpose do you need the UTC time? In my view it is better to have the time of arming available in order to estimate the remnant accu capacitv.

szakacs · Post by **szakacs** » Fri Mar 14, 2014 3:00 am

QuadBow wrote:
szakacs wrote:I am wishing to extract the time from the GPS nmea

No, that is not foreseen in the current implementation of MW.
However, it can be easily implemented by adding a line to gps.ino dealing with the time.
But, for what purpose do you need the UTC time? In my view it is better to have the time of arming available in order to estimate the remnant accu capacitv.

Curiosity and learning curve ...
My Turnigy 9x is flashed with er9x, so it does a timing based a throttle use.
I have been playing with a FrSky FLD-02 Telemetry Display Screen and FrSky FSH-01 Telemetry Sensor Hub through a FrSky D8R-II PLUS and XJT module. I seen that the hub sends a utc time to the display and I was looking at doing the same using the MW FC as the source. I have been able to modify some of data to suit me. i.e. RPM -- instead of motor revolutions I display a stick value between min throttle and max throttle.
So any hints and pointers with the gps stuff would be appreciated ..

QuadBow · Post by **QuadBow** » Fri Mar 14, 2014 4:13 pm

szakacs wrote:So any hints and pointers with the gps stuff would be appreciated ..

Assuming that you are using a gps device running NMEA code (#define NMEA in config.h and not UBLOX or MTK_BINARY) and that you got a mega based board (without an additional i2c_gps_nav module required) you can add one line in the two existing lines in gps.ino:

Code: Select all

      } else if (frame == FRAME_GGA) {
        if      (param == 1)                     {GPS_time = (uint32_t) grab_fields(string,0);}
        if      (param == 2)                     {GPS_coord[LAT] = GPS_coord_to_degrees(string);}

Firstly, you have to declare GPS_time as uint32_t.
Lastly, you have to calculate hours, minutes and seconds of local time out of it.

PS: the code has not been tested yet.

szakacs · Post by **szakacs** » Fri Mar 21, 2014 5:33 am

Thank you for your time. It is appreciated.. Using your pointers I have been able to achieve what I was after.
I can now display either utc or local time on the FrSky FLD-02 Telemetry Display Screen.

wilco1967 · Post by **wilco1967** » Sat Mar 22, 2014 10:01 pm

I finally got hold of a Taranis to replace my 9X

Taranis works exellent, but now I have some small issues with the Frsky telemetry from multiwii.

All was working fine with my old 9X running openTX.
Using the same receiver (D4R-II / D8R-II), the telemetry data is visible on the Taranis, however some of the values are odd...

For example, Alt seems to move alright, but often the value turns negative (approx minus 655 meters, with the copter on the ground, and after I reset the alt to 0 using reset telemetry).
Also Hdg rolls over to 65536 whenever the actual heading becomes negative (-1 .. -179).

Also Spd seems to have another unit.... I was getting km/h correctly on the 9X (with some correction factor in the Frsky telemetry to convert cm/s to knots, which is than shown as km/h, at least on 9X). With the Taranis, the Spd value I'm getting is a lot higher.... still have to investigate how much, but something like 2...3x...

Is there anything that needs to be done on the MW side, or is this purely a openTX issue?
Seems like there is a difference between openTX for 9X and Taranis...

Nothing was changed on the MW side.
I've tried the original firmware the Taranis arrived with (opentx-x9d-v1.1.02), as well as the most recent openTX (R2940), both having the same issue.

haydent · Post by **haydent** » Sat Mar 22, 2014 10:38 pm

as ive pointed out in previous posts, taranis uses different telemetry code (hub vs hubless) and is not compatible with this mod currently

haydent · Post by **haydent** » Sun Mar 30, 2014 12:04 am

also in case it hasnt been pointed out, you can use this as an inverter: https://www.hobbyking.com/hobbyking/sto ... Cable.html
it does not convert the logic voltage level, but it still works

QuadBow · Post by **QuadBow** » Sun Mar 30, 2014 7:57 am

haydent wrote:it does not convert the logic voltage level

It would be strange if this inverter did not convert the voltage level (Vcc <=> Gnd).
Otherwise it wouldn't happen to work...
Thus, it is most problably not only a cable, but a cable with integrated converter in the middle.

Quentin · Post by **Quentin** » Mon Mar 31, 2014 4:56 pm

Hi everyone,

First, thanks for the work done here !

I've read as carefully as i could this thread, but still can't get the FrSky telemetry working.

I use QuadBow code. Telemetry is sent on serial 1.

I've a DIY QuadX 450, with MWii 2.2
- Crius AIOP v2
- AIOPIO extension board which, if i believe this schema, have an inverter for frsky telemetry
- a Voltage / current sensor (rctimer) plugged on A1 / A3 on AIOPIO
- GPS - ublox cn-06, on serial 2 (AIOPIO)
- a D8r-II plus receiver and it's mate transmitter on a 9xR
- a FLD-02 LCD beautifully taped on the 9xR

All sensors look ok in MWiiConfig (gps and Vol/Curr).
On the AIOPIO, the select jumper for FrSky telemetry is soldered, in order to link serial 1 and the telemetry output ( ground and Tx pins are plugged on D8R-II).

and... still nothing on the FLD-02. If I plug the Volt/Current sensor directly on the D8R-II, on A1/A2 pins, I've the results on the LCD.
I've measured variable signal on the AIOPIO telemetry output.

I'm not using Mwii 2.3 cause I can't keep the quad in air. After takeoff, the FC continuously lower the thrust signal on ESC.

Any suggestion ?

QuadBow · Post by **QuadBow** » Mon Mar 31, 2014 9:30 pm

Hi Quentin,

Actually, it should run in this configuration.
Most problably it is just a simple mistake.

1. Have you set in config.h
#define SERIAL1_COM_SPEED 9600 ?
and
#define TELEMETRY_FRSKY ?
and
#define TELEMETRY_FRSKY_SERIAL 1 ?

2. Have you connected
- GND and VCC to the receiver's servo outputs (not to the side pins which are only for telemetry) ?
- the output of the extension board to the RX pin at the telemetry side ?

3. Have you soldered the jumper SJ4 at the extension board ?

haydent · Post by **haydent** » Mon Mar 31, 2014 10:46 pm

QuadBow wrote:
haydent wrote:it does not convert the logic voltage level

It would be strange if this inverter did not convert the voltage level (Vcc <=> Gnd).
Otherwise it wouldn't happen to work...
Thus, it is most problably not only a cable, but a cable with integrated converter in the middle.

as i said, i have measured it and it does not, and i have also successfully used it both for sbus and x8r s.port communication with mega. here is a photo of its guts:

QuadBow · Post by **QuadBow** » Tue Apr 01, 2014 6:10 am

haydent wrote:i have measured it and it does not

Haydent,
The hardware you are presenting shows 2 direct connections betweeen the ground (black) and vcc cables (red).
Between the white signal cables is no direct connection, but a transistor acting as a converter.
Thus, it will convert/invert the voltage level...otherwise there were a malfunction.

haydent · Post by **haydent** » Tue Apr 01, 2014 6:35 am

ok well you put some doubt in my mind, so i will have to test it again

haydent · Post by **haydent** » Tue Apr 01, 2014 10:21 am

haydent wrote:ok well you put some doubt in my mind, so i will have to test it again

well i just hooked it up to my scope again and it measures 3.4v peak to peak

i would take a photo, but my camera couldnt focus on the lcd writing

so that seems to support my point :idea:

Gartenflieger · Post by **Gartenflieger** » Tue Apr 01, 2014 3:31 pm

i'd guess an INVERTER will swap the low and high levels of the signal, whereas a LEVEL CONVERTER will shift the high level to a different voltage. Am I right ?

Gartenflieger

Quentin · Post by **Quentin** » Tue Apr 01, 2014 6:53 pm

QuadBow wrote:Hi Quentin,

Actually, it should run in this configuration.
Most problably it is just a simple mistake.

1. Have you set in config.h
#define SERIAL1_COM_SPEED 9600 ?
and
#define TELEMETRY_FRSKY ?
and
#define TELEMETRY_FRSKY_SERIAL 1 ?

Yes

QuadBow wrote:2. Have you connected
- GND and VCC to the receiver's servo outputs (not to the side pins which are only for telemetry) ?
- the output of the extension board to the RX pin at the telemetry side ?

Yes

QuadBow wrote:3. Have you soldered the jumper SJ4 at the extension board ?

and yes

I've a steady 4.51 V on telemetry output (after the inverter) and a moving 3.9~4.3V on Tx (Serial 1, before the inverter). Besides, I'v just noticed that i've 4.51V on the +5V.
So Frsky out = +5v . Should i look around the SJ4 one more time ?

QuadBow · Post by **QuadBow** » Tue Apr 01, 2014 9:26 pm

Hi Quentin,

Quentin wrote:Should i look around the SJ4 one more time ?

Yes, your measurements indicate that the signal does not reach the transistor in the upper right corner of the schematics.
So, the output signal is bent to +5V via the 1k-resistor and remains at +5V without input signal at the transistors basis.
The connecting element SJ4 could be the problem - or a bad soldering.

haydent · Post by **haydent** » Tue Apr 01, 2014 9:53 pm

Gartenflieger wrote:i'd guess an INVERTER will swap the low and high levels of the signal, whereas a LEVEL CONVERTER will shift the high level to a different voltage. Am I right ?

Gartenflieger

a level converter will just convert the voltage
an inverter will just invert it

and a rs232 to ttl (which i believe you guys are using) does both

Abbe · Post by **Abbe** » Sat Apr 05, 2014 7:33 am

Hi!

Going nuts trying to clarify some stuff here.

I got:

dji flamewheel f450

turnigy 9x diy dht with fld-02 screen coonected to pins on the module (original FW, waiting for my solderless board)

HK Multiwii 328p FC

d8r-II plus reciver

Edit: when binded i get readings in page 1 the two top squares show voltage. but thats it no arm time or anything else

What if any readings can i get to the fld with this setup? soft serial?

I want to know step by step what to do and connect?

What code do i have to edit in arduino?

The setup now so far works i conected everything but nothing done or connected between the a1/a2 sideports except the jumper.

(I do not want telemetry on the built in screen)

Last thing if i want to by some sensors in the future wich should i get?