Direct Frsky telemtry data from MW FC

martinito · Post by **martinito** » Wed Sep 26, 2012 11:30 am

Hi IceWind, this sounds like a good solution :-)

When you get the chance, could you please post your code?

Cheers,
Martin

IceWind · Post by **IceWind** » Wed Sep 26, 2012 2:06 pm

Sure, if you're hosting this somewhere I won't mind committing the changes for approval.

Main .ino file in the end of the annexCode()

Code: Select all

  
  #if defined(TELEMETRY_FRSKY)
   if (f.ARMED) {  
     telemetry_frsky();
   }
  #endif

(It only starts sending when armed, It also allows to know when the FC is armed as the FrSky telemetry data starts to populate right away.)

In the FrSkyTelemetry.ino I added the following to make the setting of the port more automatic. (would be best to move to the config file
for the ones that have a MEGA board and want to select the precise serial port)

Code: Select all

// Serial config datas
  #if defined(MEGA)
    #define TELEMETRY_FRSKY_SERIAL 1
  #else
    #define TELEMETRY_FRSKY_SERIAL 0
  #endif
  #define TELEMETRY_FRSKY_BAUD 9600

Like I said I'll now update the main code so that it swaps from 115200 <> 9600 so the Mwc UI apps aren't affected.
(I want to keep using my own android app.

)

Sebbi · Post by **Sebbi** » Wed Sep 26, 2012 4:20 pm

martinito wrote:Hi all,

Although it is probably slightly slower, Software serial might be an interresting option:
[*] Since Arduino 1.0 software serial supports inverted signaling (info http://arduino.cc/en/Reference/SoftwareSerial)
[*] Since we are only writing but not reading, we can probably save some extra time.

Has anybody tried this?

Some other thoughts for non-mega boards: we could add a co-processor reading interface data from the serial port and translating it to the Frsky module.

What are your opinions?

Cheers

I have tried SoftwareSerial ... it adds about 2500 bytes to the binary, so if you have enough bytes left that would work. You'll also wont need any kind of hardware between the used bin and the FrSky RX as inverted logic is supported.

However, the write-function is blocking. This means that the cycle time will increase ... if you have no problem with that, I guess it's doable.

In my case - I have a Leonardo - I access the GUI via the USB-port, will use a I2C-GPS and have the FrSky on serial1 ...

P.S.: You could possibly save some bytes if you reimplement SoftwareSerial (basically write your own function that outputs a byte at 9600 baud inverted on a pin). You could also use a timer interrupt and do it in a none blocking way (it will still use the same amount of cpu cycles, but evenly spread out instead of huge junks every time data needs to be sent).

P.P.S.: You can use a 9600 baud GPS and FrSky telemetry on the same serial port, btw ;-)

martinito · Post by **martinito** » Fri Sep 28, 2012 2:24 pm

Hello Sebi & IceWind,

Thanks for your inputs.

I'll first strip the SoftwareSerial library to reduce
1. remove all un-necessary code (the entire RX part)
2. Hard-code the 9600 baud and 'inverse_logic' to avoid un-necessary tests and variables
This should work without too many problems.

I'll then (try to) re-engineer the SoftwareSerial::write function to use timers instead of the tunedDelay() function.
This way we should be able to replace the serial write.
For the sake of compatibility I'm thinking about keeping empty functions (e.g. to set the baud rate) to keep the code easy integrate.

What do you think?

janekx · Post by **janekx** » Sat Sep 29, 2012 4:36 pm

Hi,
I tryed the telemetry code and converter but looks that not recieve data.
From Crius AIOP use TX3 to TTL side of converter TX (arrow in) and power it with +5V on side RS232 I use only GND and TX (Arrow out) to reciever GND and Rx

In 1143 build I have

Code: Select all

/******                Serial com speed    *********************************/
    /* 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 9600 //telemetry
    
    #define TELEMETRY_FRSKY

in Multiwii void annexCode() before end } of this function

Code: Select all

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

and Frskytelemetry

Code: Select all

// ****************************************************************
// FrSky telemetry
// Version: 0.2.1
// Date 20/09/2012
// Changes: V0.2.1: - make it work with 2.1 (shared dev)
// Date: 14/08/2012
// Changes: V0.2: - Byte stuffing added
//                - vBat will be send, if "#define FAS_100" is comment out
//                V0.1: - First release
// ****************************************************************

#if defined(TELEMETRY_FRSKY)
  // user defines
  //#define FAS_100  //if commment out, MultiWii vBat voltage will be send instead of FrSky FAS 100 voltage


  // Serial config datas
  #define TELEMETRY_FRSKY_SERIAL 3 
  #define TELEMETRY_FRSKY_BAUD 9600  

  // Timing
  #define Time_telemetry_send 125000 
  static uint8_t cycleCounter = 0;
  static uint32_t FrSkyTime  = 0;

  // Frame protocol
  #define Protocol_Header   0x5E
  #define Protocol_Tail      0x5E
  
  
  // Data Ids  (bp = before point; af = after point)
  // Official data IDs
  #define ID_GPS_altidute_bp    0x01
  #define ID_GPS_altidute_ap    0x09
  #define ID_Temprature1        0x02
  #define ID_RPM                0x03
  #define ID_Fuel_level         0x04
  #define ID_Temprature2        0x05
  #define ID_Volt               0x06
  #define ID_Altitude_bp        0x10
  #define ID_Altitude_ap        0x21
  #define ID_GPS_speed_bp       0x11
  #define ID_GPS_speed_ap       0x19
  #define ID_Longitude_bp       0x12
  #define ID_Longitude_ap       0x1A
  #define ID_E_W                0x22
  #define ID_Latitude_bp        0x13
  #define ID_Latitude_ap        0x1B
  #define ID_N_S                0x23
  #define ID_Course_bp          0x14
  #define ID_Course_ap          0x24
  #define ID_Date_Month         0x15
  #define ID_Year               0x16
  #define ID_Hour_Minute        0x17
  #define ID_Second             0x18
  #define ID_Acc_X              0x24
  #define ID_Acc_Y              0x25
  #define ID_Acc_Z              0x26
  #define ID_Voltage_Amp_bp     0x3A
  #define ID_Voltage_Amp_ap     0x3B
  #define ID_Current            0x28
  // User defined data IDs
  #define ID_Gyro_X             0x40
  #define ID_Gyro_Y             0x41
  #define ID_Gyro_Z             0x42

   // Main function FrSky telemetry
    void telemetry_frsky() 
   {         
      if (currentTime > FrSkyTime ) // 
      {          
         FrSkyTime = currentTime + Time_telemetry_send;
         cycleCounter++;
         // Datas sent every 125 ms
            send_Accel();
            sendDataTail();   

         if ((cycleCounter % 4) == 0) 
         {      
            // Datas sent every 500ms
            send_Altitude();
            send_RPM();
            send_Course();
            send_GPS_speed();
            //send_Cell_volt();       todo
            sendDataTail();   

         }
         if ((cycleCounter % 8) == 0) 
         {      
            // Datas sent every 1s            
            //send_Time();
            send_GPS_position();
            send_GPS_altitude();
            send_Temperature2();  // Distance_to_home
            //send_Fuel_level();
            send_Voltage_ampere();
            send_Temperature1();  // num of Sats
            sendDataTail();            
         }

         if (cycleCounter == 40) 
         {
            // Datas sent every 5s
            cycleCounter = 0;       
         }
      }
   }

   void write_FrSky8(uint8_t Data)
   {
      SerialWrite(TELEMETRY_FRSKY_SERIAL, Data);
   }

   void write_FrSky16(uint16_t Data)
   {
      uint8_t Data_send;
      Data_send = Data;      
      check_FrSky_stuffing(Data_send);
      Data_send = Data >> 8 & 0xff;
      check_FrSky_stuffing(Data_send);
   }
   
   void check_FrSky_stuffing(uint8_t Data) //byte stuffing
   {
      if (Data == 0x5E)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3E);
      }
      else if (Data == 0x5D)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3D);
      }
      else
      {
         write_FrSky8(Data);         
      }
   }

   static void sendDataHead(uint8_t Data_id)
   {
      write_FrSky8(Protocol_Header);
      write_FrSky8(Data_id);
   }

   static void sendDataTail(void)
   {
      write_FrSky8(Protocol_Tail);      
   }


   //*********************************************************************************
   //-----------------   Telemetrie Datas   ------------------------------------------   
   //*********************************************************************************

   // GPS altitude
   void send_GPS_altitude(void)
   {          
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {
         int16_t Datas_GPS_altidute_bp;
         uint16_t Datas_GPS_altidute_ap;

         Datas_GPS_altidute_bp = GPS_altitude;
         Datas_GPS_altidute_ap = 0;

         sendDataHead(ID_GPS_altidute_bp);
         write_FrSky16(Datas_GPS_altidute_bp);
         sendDataHead(ID_GPS_altidute_ap);
         write_FrSky16(Datas_GPS_altidute_ap);
      }
   }
   
   // Temperature
   void send_Temperature1(void)
   {
      int16_t Datas_Temprature1;

      Datas_Temprature1 = GPS_numSat;  // Number of Satalits alias Temp1

      sendDataHead(ID_Temprature1);
      write_FrSky16(Datas_Temprature1); 
   }

   // RPM
   void send_RPM(void)
   {
      uint16_t Datas_RPM = 0;      
      for (uint8_t i=0;i<NUMBER_MOTOR;i++)
      {
         Datas_RPM += motor[i];
      } 
      Datas_RPM = (Datas_RPM / NUMBER_MOTOR) / 30;   // RPM 

      sendDataHead(ID_RPM);
      write_FrSky16(Datas_RPM);
   }

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

      Datas_Fuel_level = 0; 

      sendDataHead(ID_Fuel_level);
      write_FrSky16(Datas_Fuel_level); 
   }

   // Temperature 2
   void send_Temperature2(void)
   {
      if (f.GPS_FIX_HOME)
      {
         int16_t Datas_Temprature2;

         Datas_Temprature2 = GPS_distanceToHome; // Distance to home alias Temp2

         sendDataHead(ID_Temprature2);
         write_FrSky16(Datas_Temprature2);  
      }      
   }

   // Cell voltage  todo !!!!!!!!!!!!!!!!!!
   void send_Cell_volt(void) // Datas FrSky FLVS-01 voltage sensor
   {
      uint16_t Datas_Volt;
      uint8_t number_of_cells = 0;   // LiPo 3S = 3; LiPo 4S = 4 ...
      static uint8_t cell = 0;
      if (cell >= number_of_cells); cell = 0;
      
      Datas_Volt = 0; // 0.01v / 0 ~ 4.2v

      sendDataHead(ID_Volt);
      write_FrSky16(Datas_Volt); 
   }

   // Altitude
   void send_Altitude(void)
   {
      uint16_t Datas_altitude_bp;
      uint16_t Datas_altitude_ap;
      static uint16_t Start_altitude;

      if (!f.ARMED)
      {
         Start_altitude = EstAlt / 100;
      }

      Datas_altitude_bp = (EstAlt / 100) - Start_altitude;
      Datas_altitude_ap = (EstAlt % 100);

      sendDataHead(ID_Altitude_bp);
      write_FrSky16(Datas_altitude_bp);
      sendDataHead(ID_Altitude_ap);
      write_FrSky16(Datas_altitude_ap);
   }

   // GPS speed
   void send_GPS_speed(void)
   {
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {            
         uint16_t Datas_GPS_speed_bp;
         uint16_t Datas_GPS_speed_ap;
         
         Datas_GPS_speed_bp = GPS_speed * 0.036;
         Datas_GPS_speed_ap = 0;
      
         sendDataHead(ID_GPS_speed_bp);
         write_FrSky16(Datas_GPS_speed_bp);
         sendDataHead(ID_GPS_speed_ap);
         write_FrSky16(Datas_GPS_speed_ap);
      }
   }

   // GPS position
   void send_GPS_position(void)
   {
   
         uint16_t Datas_Longitude_bp;
         uint16_t Datas_Longitude_ap;
         uint16_t Datas_E_W;
         uint16_t Datas_Latitude_bp;
         uint16_t Datas_Latitude_ap;
         uint16_t Datas_N_S;
         Datas_Longitude_bp = abs(GPS_coord[LON]) / 100000;
         Datas_Longitude_ap = abs((GPS_coord[LON])/10)  % 10000;
         Datas_E_W = GPS_coord[LON] < 0 ? 'W' : 'E';
         Datas_Latitude_bp = abs(GPS_coord[LAT]) / 100000;
         Datas_Latitude_ap = abs((GPS_coord[LAT])/10) % 10000;
         Datas_N_S = GPS_coord[LAT] < 0 ? 'S' : 'N';

         sendDataHead(ID_Longitude_bp);
         write_FrSky16(Datas_Longitude_bp);
         sendDataHead(ID_Longitude_ap);
         write_FrSky16(Datas_Longitude_ap);
         sendDataHead(ID_E_W);
         write_FrSky16(Datas_E_W);

         sendDataHead(ID_Latitude_bp);
         write_FrSky16(Datas_Latitude_bp);
         sendDataHead(ID_Latitude_ap);
         write_FrSky16(Datas_Latitude_ap);
         sendDataHead(ID_N_S);
         write_FrSky16(Datas_N_S);
      
   }

   // Course
   void send_Course(void)
   {
      uint16_t Datas_Course_bp;
      uint16_t Datas_Course_ap;

      Datas_Course_bp = heading;
      Datas_Course_ap = 0;

      sendDataHead(ID_Course_bp);
      write_FrSky16(Datas_Course_bp);
      sendDataHead(ID_Course_ap);
      write_FrSky16(Datas_Course_ap);
   }

   // Time
   void send_Time(void)
   {
      uint32_t seconds_since_start = millis() / 1000;
            
      uint16_t Datas_Date_month;
      uint16_t Datas_Year;
      uint16_t Datas_Minutes_hours;
      uint16_t Datas_seconds;
            
      Datas_Date_month = 0;
      Datas_Year = 12;
      Datas_Minutes_hours = (seconds_since_start / 60) % 60;
      Datas_seconds = seconds_since_start % 60;      
      
      sendDataHead(ID_Hour_Minute);
      write_FrSky16(Datas_Minutes_hours);
      sendDataHead(ID_Second);
      write_FrSky16(Datas_seconds);
   }

   // ACC
   void send_Accel(void)
   {
      int16_t Datas_Acc_X;
      int16_t Datas_Acc_Y;
      int16_t Datas_Acc_Z;

      Datas_Acc_X = ((float)accSmooth[0] / acc_1G) * 1000;
      Datas_Acc_Y = ((float)accSmooth[1] / acc_1G) * 1000;
      Datas_Acc_Z = ((float)accSmooth[2] / acc_1G) * 1000;

      sendDataHead(ID_Acc_X);
      write_FrSky16(Datas_Acc_X);
      sendDataHead(ID_Acc_Y);
      write_FrSky16(Datas_Acc_Y);
      sendDataHead(ID_Acc_Z);
      write_FrSky16(Datas_Acc_Z);      
   }

   // Voltage (Ampere Sensor)  
   void send_Voltage_ampere(void)
   {
   
      #if defined (FAS_100)   // todo   !!!!!!!!!!!!!!!!!
      {
         uint16_t Datas_Voltage_Amp_bp;
         uint16_t Datas_Voltage_Amp_ap;
         uint16_t Datas_Current;   

         Datas_Voltage_Amp_bp = 0;
         Datas_Voltage_Amp_ap = 0;   
         Datas_Current = 0;

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_Amp_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_Amp_ap);   
         sendDataHead(ID_Current);
         write_FrSky16(Datas_Current);
      }
      #else   // use vBat
      {
         uint16_t Datas_Voltage_vBat_bp;
         uint16_t Datas_Voltage_vBat_ap;   
         uint16_t voltage;
         voltage = (vbat * 110) / 21;          
         Datas_Voltage_vBat_bp = voltage / 100;
         Datas_Voltage_vBat_ap = ((voltage % 100) + 5) / 10;         

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_vBat_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_vBat_ap);   
      }
      #endif
   }

#endif

I thing all is have right, but not get any data, for sure is Serial3 TX3 in Crius AIOP right?

Please some idea?

Thanks

janekx · Post by **janekx** » Sat Sep 29, 2012 4:43 pm

Looks that ACC X/Y/Z values +-0.1 and around it transfer but not any alt baro and so, have not connecter GPS, I hoped that alt will catch from baro ....

Sebbi · Post by **Sebbi** » Sat Sep 29, 2012 11:49 pm

janekx wrote:Looks that ACC X/Y/Z values +-0.1 and around it transfer but not any alt baro and so, have not connecter GPS, I hoped that alt will catch from baro ....

So it transfers something ... what hardware do you use on the receiving end? FrSky directly, the T9X or an Android/PC application?

janekx · Post by **janekx** » Sat Sep 29, 2012 11:55 pm

Frsky DHT DIY module in T9x and open9x one from lattest source codes.

janekx · Post by **janekx** » Sun Sep 30, 2012 8:50 am

Alt start showing in armed only logicaly because count meters from armed position.

Sebbi · Post by **Sebbi** » Sun Sep 30, 2012 1:13 pm

janekx wrote:Alt start showing in armed only logicaly because count meters from armed position.

So it does work, but the code obviously needs improvement to support all the functions of the protocol (and ammend it with yaw/pitch/roll angles).

Mis · Post by **Mis** » Mon Oct 01, 2012 12:12 am

Interrupt driven software UART:
http://www.atmel.com/images/doc0941.pdf
http://www.atmel.com/Images/avr304.zip
This can be easly adapt and shrinked because (big) receive part is not needed. And you simple can send inverted data.
BUT IMHO the mega328p is at end of available resources, and this feature should be added only for mega1280 and mega2560 CPU's with lot of hardware uarts and codespace :-)

janekx · Post by **janekx** » Mon Oct 01, 2012 3:43 pm

If will look on this mod in sum

What is working and todo

#define ID_GPS_altidute_bp 0x01 - yes
#define ID_GPS_altidute_ap 0x09 - yes
#define ID_Temprature1 0x02- no of satelites
#define ID_RPM 0x03 - yes
#define ID_Fuel_level 0x04 - need todo
#define ID_Temprature2 0x05 - GPS distance to home
#define ID_Volt 0x06 - todo FrSky FLVS-01 voltage sensor - cells voltage
#define ID_Altitude_bp 0x10 - yes
#define ID_Altitude_ap 0x21 - yes
#define ID_GPS_speed_bp 0x11 - yes
#define ID_GPS_speed_ap 0x19 - yes
#define ID_Longitude_bp 0x12 - yes
#define ID_Longitude_ap 0x1A - yes
#define ID_E_W 0x22 - yes
#define ID_Latitude_bp 0x13 - yes
#define ID_Latitude_ap 0x1B - yes
#define ID_N_S 0x23 - yes
#define ID_Course_bp 0x14 - yes
#define ID_Course_ap 0x24 - 0 need todo ???
#define ID_Date_Month 0x15 - neded ???
#define ID_Year 0x16 - needed ???
#define ID_Hour_Minute 0x17 - yes since start
#define ID_Second 0x18 - yes since start
#define ID_Acc_X 0x24 - yes Gs
#define ID_Acc_Y 0x25 - yes Gs
#define ID_Acc_Z 0x26 - yes Gs
#define ID_Voltage_Amp_bp 0x3A - yes - FAS_100 todo
#define ID_Voltage_Amp_ap 0x3B - yes -FAS_100 todo
#define ID_Current 0x28 - FAS_100 todo

I thing that this mod can be added to trunk because what is not working is
Fuel level
Volt of cells
Current

and less important
year
month and date

suggestions
alt and Galt in format 1.2m not only meters would be nice.

Sebbi · Post by **Sebbi** » Mon Oct 01, 2012 7:31 pm

Shouldn't Temperature 1 & 2 be temperature values? Number of satellites is nice to know, but when is this needed and is it compatible with standard FrSky hardware?

Month/Year/Hour/Minute/Second normaly transmits the GPS time. Using it for armed time should be a compile option.

Voltage and Current can come from Vbat and Powermeter functions of MultiWii or am I missing something. My FrSky transmitter has an aditional analog input to measure one external voltage. What frame ID does this use? 0x06?

I am all for extending the protocol

I am trying to build a ground based OSD that gets drawn with the FrSky telemetry data ... so having pitch and roll in addition to course would be nice (they can be estimated from the acceleration, but hey). Also some of the states, like "armed", "gyro mode on", "angle mode on", etc ...

janekx · Post by **janekx** » Mon Oct 01, 2012 8:01 pm

I thing we should use the datas from board then from some additional hardware no metter protocol Or we can use hub as before....
If someone will like use frsky current senzor, fuel and cells how to connect to board? Not enought ports even some are pass thrue and needs more integration, takes more memory ...

You mention OSD that will be perfect what hw it will use?

Sebbi · Post by **Sebbi** » Mon Oct 01, 2012 10:26 pm

Current and voltage sensing only need two I/O ports on MultiWii side and is already integrated. No need to use FrSky sensors for that. I think MultiWii should emulate a complete sensor hub, maybe with the option to use software serial so no additional hardware (inverter circuit) is needed.

OSD: i am using an arduino and the MX7456 chip to display an OSD ... should work similar to Rushduino OSD, except parsing the MultiWii protocol, it will parse FrSky telemetry and works on the ground. I hope this enables me to still have control over the airplane/copter even if the videolink is lost (I don't know if video or rx signal will be the first to break up, yet *g*)

janekx · Post by **janekx** » Mon Oct 01, 2012 10:45 pm

Interesting that fas100 can be chained to flvs01 and then to hub so will need only one I/O i2c port. And tx for data out to RX or OSD;)

Sebbi · Post by **Sebbi** » Mon Oct 01, 2012 11:12 pm

janekx wrote:Interesting that fas100 can be chained to flvs01 and then to hub so will need only one I/O i2c port. And tx for data out to RX or OSD;)

Yeah, but I want to have my OSD on the groundstation not on the plane/copter ... I'll connect it to the FrSky module and receive the telemetry this way. That's the plan ... will see how that works in the next weeks.

janekx · Post by **janekx** » Mon Oct 01, 2012 11:20 pm

Interesting concept lets talk about your osd in own thread. Have you?

Back to direct frsky data..

What the problem to add it to main thrunk ? There will be bigger chance that someone will complete that a few parts not finished....

ezio · Post by **ezio** » Sun Oct 07, 2012 2:14 am

janekx wrote:If will look on this mod in sum

What is working and todo

#define ID_GPS_altidute_bp 0x01 - yes
#define ID_GPS_altidute_ap 0x09 - yes
#define ID_Temprature1 0x02- no of satelites
#define ID_RPM 0x03 - yes
#define ID_Fuel_level 0x04 - need todo
#define ID_Temprature2 0x05 - GPS distance to home
#define ID_Volt 0x06 - todo FrSky FLVS-01 voltage sensor - cells voltage
#define ID_Altitude_bp 0x10 - yes
#define ID_Altitude_ap 0x21 - yes
#define ID_GPS_speed_bp 0x11 - yes
#define ID_GPS_speed_ap 0x19 - yes
#define ID_Longitude_bp 0x12 - yes
#define ID_Longitude_ap 0x1A - yes
#define ID_E_W 0x22 - yes
#define ID_Latitude_bp 0x13 - yes
#define ID_Latitude_ap 0x1B - yes
#define ID_N_S 0x23 - yes
#define ID_Course_bp 0x14 - yes
#define ID_Course_ap 0x24 - 0 need todo ???
#define ID_Date_Month 0x15 - neded ???
#define ID_Year 0x16 - needed ???
#define ID_Hour_Minute 0x17 - yes since start
#define ID_Second 0x18 - yes since start
#define ID_Acc_X 0x24 - yes Gs
#define ID_Acc_Y 0x25 - yes Gs
#define ID_Acc_Z 0x26 - yes Gs
#define ID_Voltage_Amp_bp 0x3A - yes - FAS_100 todo
#define ID_Voltage_Amp_ap 0x3B - yes -FAS_100 todo
#define ID_Current 0x28 - FAS_100 todo

I thing that this mod can be added to trunk because what is not working is
Fuel level
Volt of cells
Current

and less important
year
month and date

suggestions
alt and Galt in format 1.2m not only meters would be nice.

I think there is a bug
it should be #define ID_Course_ap 0x1C
instead of #define ID_Course_ap 0x24

0x24 is used in #define ID_Acc_X 0x24

janekx · Post by **janekx** » Sun Oct 07, 2012 1:42 pm

Yes you right protocol says 0x14+8 is 0x1C so I repair it

Code: Select all

// ****************************************************************
// FrSky telemetry
// Version: 0.2.2
// Date 7/10/2012
// Changes: V0.2.2: - corrected ID_Course_ap is 0x1C not 0x24 protocol says 0x14+8
// Date 20/09/2012
// Changes: V0.2.1: - make it work with 2.1 (shared dev)
// Date: 14/08/2012
// Changes: V0.2: - Byte stuffing added
//                - vBat will be send, if "#define FAS_100" is comment out
//                V0.1: - First release
// ****************************************************************

#if defined(TELEMETRY_FRSKY)
  // user defines
  //#define FAS_100  //if commment out, MultiWii vBat voltage will be send instead of FrSky FAS 100 voltage


  // Serial config datas
  #define TELEMETRY_FRSKY_SERIAL 3 
  #define TELEMETRY_FRSKY_BAUD 9600  

  // Timing
  #define Time_telemetry_send 125000 
  static uint8_t cycleCounter = 0;
  static uint32_t FrSkyTime  = 0;

  // Frame protocol
  #define Protocol_Header   0x5E
  #define Protocol_Tail      0x5E
  
  
  // Data Ids  (bp = before point; af = after point)
  // Official data IDs
  #define ID_GPS_altidute_bp    0x01
  #define ID_GPS_altidute_ap    0x09
  #define ID_Temprature1        0x02
  #define ID_RPM                0x03
  #define ID_Fuel_level         0x04
  #define ID_Temprature2        0x05
  #define ID_Volt               0x06
  #define ID_Altitude_bp        0x10
  #define ID_Altitude_ap        0x21
  #define ID_GPS_speed_bp       0x11
  #define ID_GPS_speed_ap       0x19
  #define ID_Longitude_bp       0x12
  #define ID_Longitude_ap       0x1A
  #define ID_E_W                0x22
  #define ID_Latitude_bp        0x13
  #define ID_Latitude_ap        0x1B
  #define ID_N_S                0x23
  #define ID_Course_bp          0x14
  #define ID_Course_ap          0x1C
  #define ID_Date_Month         0x15
  #define ID_Year               0x16
  #define ID_Hour_Minute        0x17
  #define ID_Second             0x18
  #define ID_Acc_X              0x24
  #define ID_Acc_Y              0x25
  #define ID_Acc_Z              0x26
  #define ID_Voltage_Amp_bp     0x3A
  #define ID_Voltage_Amp_ap     0x3B
  #define ID_Current            0x28
  // User defined data IDs
  #define ID_Gyro_X             0x40
  #define ID_Gyro_Y             0x41
  #define ID_Gyro_Z             0x42

   // Main function FrSky telemetry
    void telemetry_frsky() 
   {         
      if (currentTime > FrSkyTime ) // 
      {          
         FrSkyTime = currentTime + Time_telemetry_send;
         cycleCounter++;
         // Datas sent every 125 ms
            send_Accel();
            sendDataTail();   

         if ((cycleCounter % 4) == 0) 
         {      
            // Datas sent every 500ms
            send_Altitude();
            send_RPM();
            send_Course();
            send_GPS_speed();
            //send_Cell_volt();       todo
            sendDataTail();   

         }
         if ((cycleCounter % 8) == 0) 
         {      
            // Datas sent every 1s            
            //send_Time();
            send_GPS_position();
            send_GPS_altitude();
            send_Temperature2();  // Distance_to_home
            //send_Fuel_level();
            send_Voltage_ampere();
            send_Temperature1();  // num of Sats
            sendDataTail();            
         }

         if (cycleCounter == 40) 
         {
            // Datas sent every 5s
            cycleCounter = 0;       
         }
      }
   }

   void write_FrSky8(uint8_t Data)
   {
      SerialWrite(TELEMETRY_FRSKY_SERIAL, Data);
   }

   void write_FrSky16(uint16_t Data)
   {
      uint8_t Data_send;
      Data_send = Data;      
      check_FrSky_stuffing(Data_send);
      Data_send = Data >> 8 & 0xff;
      check_FrSky_stuffing(Data_send);
   }
   
   void check_FrSky_stuffing(uint8_t Data) //byte stuffing
   {
      if (Data == 0x5E)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3E);
      }
      else if (Data == 0x5D)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3D);
      }
      else
      {
         write_FrSky8(Data);         
      }
   }

   static void sendDataHead(uint8_t Data_id)
   {
      write_FrSky8(Protocol_Header);
      write_FrSky8(Data_id);
   }

   static void sendDataTail(void)
   {
      write_FrSky8(Protocol_Tail);      
   }


   //*********************************************************************************
   //-----------------   Telemetrie Datas   ------------------------------------------   
   //*********************************************************************************

   // GPS altitude
   void send_GPS_altitude(void)
   {          
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {
         int16_t Datas_GPS_altidute_bp;
         uint16_t Datas_GPS_altidute_ap;

         Datas_GPS_altidute_bp = GPS_altitude;
         Datas_GPS_altidute_ap = 0;

         sendDataHead(ID_GPS_altidute_bp);
         write_FrSky16(Datas_GPS_altidute_bp);
         sendDataHead(ID_GPS_altidute_ap);
         write_FrSky16(Datas_GPS_altidute_ap);
      }
   }
   
   // Temperature
   void send_Temperature1(void)
   {
      int16_t Datas_Temprature1;

      Datas_Temprature1 = GPS_numSat;  // Number of Satalits alias Temp1

      sendDataHead(ID_Temprature1);
      write_FrSky16(Datas_Temprature1); 
   }

   // RPM
   void send_RPM(void)
   {
      uint16_t Datas_RPM = 0;      
      for (uint8_t i=0;i<NUMBER_MOTOR;i++)
      {
         Datas_RPM += motor[i];
      } 
      Datas_RPM = (Datas_RPM / NUMBER_MOTOR) / 30;   // RPM 

      sendDataHead(ID_RPM);
      write_FrSky16(Datas_RPM);
   }

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

      Datas_Fuel_level = 0; 

      sendDataHead(ID_Fuel_level);
      write_FrSky16(Datas_Fuel_level); 
   }

   // Temperature 2
   void send_Temperature2(void)
   {
      if (f.GPS_FIX_HOME)
      {
         int16_t Datas_Temprature2;

         Datas_Temprature2 = GPS_distanceToHome; // Distance to home alias Temp2

         sendDataHead(ID_Temprature2);
         write_FrSky16(Datas_Temprature2);  
      }      
   }

   // Cell voltage  todo !!!!!!!!!!!!!!!!!!
   void send_Cell_volt(void) // Datas FrSky FLVS-01 voltage sensor
   {
      uint16_t Datas_Volt;
      uint8_t number_of_cells = 0;   // LiPo 3S = 3; LiPo 4S = 4 ...
      static uint8_t cell = 0;
      if (cell >= number_of_cells); cell = 0;
      
      Datas_Volt = 0; // 0.01v / 0 ~ 4.2v

      sendDataHead(ID_Volt);
      write_FrSky16(Datas_Volt); 
   }

   // Altitude
   void send_Altitude(void)
   {
      uint16_t Datas_altitude_bp;
      uint16_t Datas_altitude_ap;
      static uint16_t Start_altitude;

      if (!f.ARMED)
      {
         Start_altitude = EstAlt / 100;
      }

      Datas_altitude_bp = (EstAlt / 100) - Start_altitude;
      Datas_altitude_ap = (EstAlt % 100);

      sendDataHead(ID_Altitude_bp);
      write_FrSky16(Datas_altitude_bp);
      sendDataHead(ID_Altitude_ap);
      write_FrSky16(Datas_altitude_ap);
   }

   // GPS speed
   void send_GPS_speed(void)
   {
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {            
         uint16_t Datas_GPS_speed_bp;
         uint16_t Datas_GPS_speed_ap;
         
         Datas_GPS_speed_bp = GPS_speed * 0.036;
         Datas_GPS_speed_ap = 0;
      
         sendDataHead(ID_GPS_speed_bp);
         write_FrSky16(Datas_GPS_speed_bp);
         sendDataHead(ID_GPS_speed_ap);
         write_FrSky16(Datas_GPS_speed_ap);
      }
   }

   // GPS position
   void send_GPS_position(void)
   {
   
         uint16_t Datas_Longitude_bp;
         uint16_t Datas_Longitude_ap;
         uint16_t Datas_E_W;
         uint16_t Datas_Latitude_bp;
         uint16_t Datas_Latitude_ap;
         uint16_t Datas_N_S;
         Datas_Longitude_bp = abs(GPS_coord[LON]) / 100000;
         Datas_Longitude_ap = abs((GPS_coord[LON])/10)  % 10000;
         Datas_E_W = GPS_coord[LON] < 0 ? 'W' : 'E';
         Datas_Latitude_bp = abs(GPS_coord[LAT]) / 100000;
         Datas_Latitude_ap = abs((GPS_coord[LAT])/10) % 10000;
         Datas_N_S = GPS_coord[LAT] < 0 ? 'S' : 'N';

         sendDataHead(ID_Longitude_bp);
         write_FrSky16(Datas_Longitude_bp);
         sendDataHead(ID_Longitude_ap);
         write_FrSky16(Datas_Longitude_ap);
         sendDataHead(ID_E_W);
         write_FrSky16(Datas_E_W);

         sendDataHead(ID_Latitude_bp);
         write_FrSky16(Datas_Latitude_bp);
         sendDataHead(ID_Latitude_ap);
         write_FrSky16(Datas_Latitude_ap);
         sendDataHead(ID_N_S);
         write_FrSky16(Datas_N_S);
      
   }

   // Course
   void send_Course(void)
   {
      uint16_t Datas_Course_bp;
      uint16_t Datas_Course_ap;

      Datas_Course_bp = heading;
      Datas_Course_ap = 0;

      sendDataHead(ID_Course_bp);
      write_FrSky16(Datas_Course_bp);
      sendDataHead(ID_Course_ap);
      write_FrSky16(Datas_Course_ap);
   }

   // Time
   void send_Time(void)
   {
      uint32_t seconds_since_start = millis() / 1000;
            
      uint16_t Datas_Date_month;
      uint16_t Datas_Year;
      uint16_t Datas_Minutes_hours;
      uint16_t Datas_seconds;
            
      Datas_Date_month = 0;
      Datas_Year = 12;
      Datas_Minutes_hours = (seconds_since_start / 60) % 60;
      Datas_seconds = seconds_since_start % 60;      
      
      sendDataHead(ID_Hour_Minute);
      write_FrSky16(Datas_Minutes_hours);
      sendDataHead(ID_Second);
      write_FrSky16(Datas_seconds);
   }

   // ACC
   void send_Accel(void)
   {
      int16_t Datas_Acc_X;
      int16_t Datas_Acc_Y;
      int16_t Datas_Acc_Z;

      Datas_Acc_X = ((float)accSmooth[0] / acc_1G) * 1000;
      Datas_Acc_Y = ((float)accSmooth[1] / acc_1G) * 1000;
      Datas_Acc_Z = ((float)accSmooth[2] / acc_1G) * 1000;

      sendDataHead(ID_Acc_X);
      write_FrSky16(Datas_Acc_X);
      sendDataHead(ID_Acc_Y);
      write_FrSky16(Datas_Acc_Y);
      sendDataHead(ID_Acc_Z);
      write_FrSky16(Datas_Acc_Z);      
   }

   // Voltage (Ampere Sensor)  
   void send_Voltage_ampere(void)
   {
   
      #if defined (FAS_100)   // todo   !!!!!!!!!!!!!!!!!
      {
         uint16_t Datas_Voltage_Amp_bp;
         uint16_t Datas_Voltage_Amp_ap;
         uint16_t Datas_Current;   

         Datas_Voltage_Amp_bp = 0;
         Datas_Voltage_Amp_ap = 0;   
         Datas_Current = 0;

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_Amp_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_Amp_ap);   
         sendDataHead(ID_Current);
         write_FrSky16(Datas_Current);
      }
      #else   // use vBat
      {
         uint16_t Datas_Voltage_vBat_bp;
         uint16_t Datas_Voltage_vBat_ap;   
         uint16_t voltage;
         voltage = (vbat * 110) / 21;          
         Datas_Voltage_vBat_bp = voltage / 100;
         Datas_Voltage_vBat_ap = ((voltage % 100) + 5) / 10;         

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_vBat_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_vBat_ap);   
      }
      #endif
   }

#endif

ezio · Post by **ezio** » Tue Oct 09, 2012 11:38 pm

Hi
it is save if I use it with ATMega324 and I have changed serial speed to 9600 ?
it doesn't make longer main loop intervals ?

ezio · Post by **ezio** » Sat Oct 13, 2012 2:55 am

I have modified frsky telemetry a little bit to be compatible with my android app.
file is here https://github.com/eziosoft/MultiWii_EZ ... lemtry.ino

janekx · Post by **janekx** » Sat Oct 13, 2012 11:05 am

This change brake the Acc X/Y/Z telemetry data sended to Frsky modules.

kataventos · Post by **kataventos** » Mon Oct 22, 2012 1:26 pm

wilco1967 wrote:

Thanks for this great idea/code

I have made this inverter for other project and seems to me that this work either, but I wanted to ask for a second opinion, sorry for the hi tec hand draw

:

: Inverter

Thanks

vpb · Post by **vpb** » Wed Oct 31, 2012 2:48 pm

Here is my telemetry test with r1177, latest frskytelemetry.ino from janekx, level converter from wilco1967 it works very well, thank you all!!!
https://www.youtube.com/watch?v=MeIb-4KfoqI

Commander1024 · Post by **Commander1024** » Thu Nov 01, 2012 5:09 pm

Hi, I modified the scematic above to do both: level converting and inverting

UPDATED: fixed misplaced resistors

kataventos · Post by **kataventos** » Thu Nov 01, 2012 8:07 pm

Commander1024 wrote:Hi, I modified the scematic above to do both: level converting and inverting

thanks and welcome, you are right!

djrm · Post by **djrm** » Thu Nov 01, 2012 8:10 pm

Here is a simple way to use both a Bluetooth transmitter and Er9x transmitter LCD together using an RS232 Bluetooth adapter, the adapter has pins for the ttl level and the inverted RS232 level serial signals, so combining both a level translator for the RC and the Bluetooth transmitter, they both seem to work together without problems.

The HC-05-D RS232 bluetooth adapter is listed to buy online, mine came from China for $19.90 including some cables and carriage. The default settings did not need changing, it is supplied working at 9600 bps.

The Bluetooth module connects to both the USBasp programming port and the Frsky transmitter modules using these pin assignments:
1 +5v from usbasp pin 2
2 no connection
3 Rx ttl to usbasp pin 1
4 Tx ttl to usbasp pin 9
5 no connection
6 RX RS232 to Frsky Txd
7 TX RS232 to Frsky Rxd
8 Gnd to usbasp pin 10

The connections to the usbasp programming port are the ttl serial data connections needed by the Er9x - Frsky modified RC transmitter to show the telemetry data on the RC screen. with this setup I could view the telemetry on the Er9x screen as well as with my mobile Bluetooth application for logging.

Its early days for this at present, I'm waiting for a chance to fly my new Naze32 quad with this gear.
hth David

kataventos · Post by **kataventos** » Thu Nov 01, 2012 11:53 pm

OK, downlink done... it´s just tweaking and work together with the ER9x team for more "options"!

What about Alex idea of using Frsky on an uplink without disturb the 8 ch we have?
This is something usefull for way point nav, and our modules have good range for all of that! It´s this possible? any ideas?

IceWind · Post by **IceWind** » Fri Nov 02, 2012 12:13 am

For simple operations yes, for waypoints could be tricky as it would easier to have a map to select/edit points rather than the radio.

Btw I made a different connection involving less cables.

Straight into a RS232<>TTL converter.

Still need to reduce the cables size a bit.

copterrichie · Post by **copterrichie** » Fri Nov 02, 2012 1:49 am

Hey guys, this is a little off topic but it is about Bluetooth hacking. I have done it but have not fully validated the range. I read, it works best if both ends are modified.

http://www.youtube.com/watch?v=mddqIHH24TU

http://www.instructables.com/id/Increas ... uetooth-d/

postaL · Post by **postaL** » Fri Nov 02, 2012 1:59 am

copterrichie wrote:Hey guys, this is a little off topic but...

You should start all your posts with this.

ps. the CLAN is WATCHING.

copterrichie · Post by **copterrichie** » Fri Nov 02, 2012 2:07 am

postaL wrote:
ps. the CLAN is WATCHING.

Good, maybe you might learn something. As if I cared. Ha!

kataventos · Post by **kataventos** » Fri Nov 02, 2012 3:59 am

copterrichie wrote:Hey guys, this is a little off topic but it is about Bluetooth hacking. I have done it but have not fully validated the range. I read, it works best if both ends are modified.

http://www.youtube.com/watch?v=mddqIHH24TU

If we could avoid more parts... and you will never have the power you need on FPV, would be awesome to use just the Frsky TX<->RX

:mrgreen:

I like the end of the video, I will try that gain antenna with my cat :lol:

kataventos · Post by **kataventos** » Thu Nov 15, 2012 3:03 am

Sebbi wrote:It's not 2.1 compatible ... or at least not compatible with the current _shared branch. I haven't tested it yet, but my changes so the code compiles again were:

FrSkyTelemtry.ino (write_FrSky8 just uses SerialWrite() now):

Code: Select all

// ****************************************************************
// FrSky telemetry
// Version: 0.2.1
// Date 20/09/2012
// Changes: V0.2.1: - make it work with 2.1 (shared dev)
// Date: 14/08/2012
// Changes: V0.2: - Byte stuffing added
//                - vBat will be send, if "#define FAS_100" is comment out
//                V0.1: - First release
// ****************************************************************

#if defined(TELEMETRY_FRSKY)
  // user defines
  //#define FAS_100  //if commment out, MultiWii vBat voltage will be send instead of FrSky FAS 100 voltage


  // Serial config datas
  #define TELEMETRY_FRSKY_SERIAL 1
  #define TELEMETRY_FRSKY_BAUD 9600  

  // Timing
  #define Time_telemetry_send 125000 
  static uint8_t cycleCounter = 0;
  static uint32_t FrSkyTime  = 0;

  // Frame protocol
  #define Protocol_Header   0x5E
  #define Protocol_Tail      0x5E
  
  
  // Data Ids  (bp = before point; af = after point)
  // Official data IDs
  #define ID_GPS_altidute_bp    0x01
  #define ID_GPS_altidute_ap    0x09
  #define ID_Temprature1        0x02
  #define ID_RPM                0x03
  #define ID_Fuel_level         0x04
  #define ID_Temprature2        0x05
  #define ID_Volt               0x06
  #define ID_Altitude_bp        0x10
  #define ID_Altitude_ap        0x21
  #define ID_GPS_speed_bp       0x11
  #define ID_GPS_speed_ap       0x19
  #define ID_Longitude_bp       0x12
  #define ID_Longitude_ap       0x1A
  #define ID_E_W                0x22
  #define ID_Latitude_bp        0x13
  #define ID_Latitude_ap        0x1B
  #define ID_N_S                0x23
  #define ID_Course_bp          0x14
  #define ID_Course_ap          0x24
  #define ID_Date_Month         0x15
  #define ID_Year               0x16
  #define ID_Hour_Minute        0x17
  #define ID_Second             0x18
  #define ID_Acc_X              0x24
  #define ID_Acc_Y              0x25
  #define ID_Acc_Z              0x26
  #define ID_Voltage_Amp_bp     0x3A
  #define ID_Voltage_Amp_ap     0x3B
  #define ID_Current            0x28
  // User defined data IDs
  #define ID_Gyro_X             0x40
  #define ID_Gyro_Y             0x41
  #define ID_Gyro_Z             0x42

   // Main function FrSky telemetry
    void telemetry_frsky() 
   {         
      if (currentTime > FrSkyTime ) // 
      {          
         FrSkyTime = currentTime + Time_telemetry_send;
         cycleCounter++;
         // Datas sent every 125 ms
            send_Accel();
            sendDataTail();   

         if ((cycleCounter % 4) == 0) 
         {      
            // Datas sent every 500ms
            send_Altitude();
            send_RPM();
            send_Course();
            send_GPS_speed();
            //send_Cell_volt();       todo
            sendDataTail();   

         }
         if ((cycleCounter % 8) == 0) 
         {      
            // Datas sent every 1s            
            //send_Time();
            send_GPS_position();
            send_GPS_altitude();
            send_Temperature2();  // Distance_to_home
            //send_Fuel_level();
            send_Voltage_ampere();
            send_Temperature1();  // num of Sats
            sendDataTail();            
         }

         if (cycleCounter == 40) 
         {
            // Datas sent every 5s
            cycleCounter = 0;       
         }
      }
   }

   void write_FrSky8(uint8_t Data)
   {
      SerialWrite(TELEMETRY_FRSKY_SERIAL, Data);
   }

   void write_FrSky16(uint16_t Data)
   {
      uint8_t Data_send;
      Data_send = Data;      
      check_FrSky_stuffing(Data_send);
      Data_send = Data >> 8 & 0xff;
      check_FrSky_stuffing(Data_send);
   }
   
   void check_FrSky_stuffing(uint8_t Data) //byte stuffing
   {
      if (Data == 0x5E)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3E);
      }
      else if (Data == 0x5D)   
      {
         write_FrSky8(0x5D);
         write_FrSky8(0x3D);
      }
      else
      {
         write_FrSky8(Data);         
      }
   }

   static void sendDataHead(uint8_t Data_id)
   {
      write_FrSky8(Protocol_Header);
      write_FrSky8(Data_id);
   }

   static void sendDataTail(void)
   {
      write_FrSky8(Protocol_Tail);      
   }


   //*********************************************************************************
   //-----------------   Telemetrie Datas   ------------------------------------------   
   //*********************************************************************************

   // GPS altitude
   void send_GPS_altitude(void)
   {          
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {
         int16_t Datas_GPS_altidute_bp;
         uint16_t Datas_GPS_altidute_ap;

         Datas_GPS_altidute_bp = GPS_altitude;
         Datas_GPS_altidute_ap = 0;

         sendDataHead(ID_GPS_altidute_bp);
         write_FrSky16(Datas_GPS_altidute_bp);
         sendDataHead(ID_GPS_altidute_ap);
         write_FrSky16(Datas_GPS_altidute_ap);
      }
   }
   
   // Temperature
   void send_Temperature1(void)
   {
      int16_t Datas_Temprature1;

      Datas_Temprature1 = GPS_numSat;  // Number of Satalits alias Temp1

      sendDataHead(ID_Temprature1);
      write_FrSky16(Datas_Temprature1); 
   }

   // RPM
   void send_RPM(void)
   {
      uint16_t Datas_RPM = 0;      
      for (uint8_t i=0;i<NUMBER_MOTOR;i++)
      {
         Datas_RPM += motor[i];
      } 
      Datas_RPM = (Datas_RPM / NUMBER_MOTOR) / 30;   // RPM 

      sendDataHead(ID_RPM);
      write_FrSky16(Datas_RPM);
   }

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

      Datas_Fuel_level = 0; 

      sendDataHead(ID_Fuel_level);
      write_FrSky16(Datas_Fuel_level); 
   }

   // Temperature 2
   void send_Temperature2(void)
   {
      if (f.GPS_FIX_HOME)
      {
         int16_t Datas_Temprature2;

         Datas_Temprature2 = GPS_distanceToHome; // Distance to home alias Temp2

         sendDataHead(ID_Temprature2);
         write_FrSky16(Datas_Temprature2);  
      }      
   }

   // Cell voltage  todo !!!!!!!!!!!!!!!!!!
   void send_Cell_volt(void) // Datas FrSky FLVS-01 voltage sensor
   {
      uint16_t Datas_Volt;
      uint8_t number_of_cells = 0;   // LiPo 3S = 3; LiPo 4S = 4 ...
      static uint8_t cell = 0;
      if (cell >= number_of_cells); cell = 0;
      
      Datas_Volt = 0; // 0.01v / 0 ~ 4.2v

      sendDataHead(ID_Volt);
      write_FrSky16(Datas_Volt); 
   }

   // Altitude
   void send_Altitude(void)
   {
      uint16_t Datas_altitude_bp;
      uint16_t Datas_altitude_ap;
      static uint16_t Start_altitude;

      if (!f.ARMED)
      {
         Start_altitude = EstAlt / 100;
      }

      Datas_altitude_bp = (EstAlt / 100) - Start_altitude;
      Datas_altitude_ap = (EstAlt % 100);

      sendDataHead(ID_Altitude_bp);
      write_FrSky16(Datas_altitude_bp);
      sendDataHead(ID_Altitude_ap);
      write_FrSky16(Datas_altitude_ap);
   }

   // GPS speed
   void send_GPS_speed(void)
   {
      if (f.GPS_FIX && GPS_numSat >= 4) 
      {            
         uint16_t Datas_GPS_speed_bp;
         uint16_t Datas_GPS_speed_ap;
         
         Datas_GPS_speed_bp = GPS_speed * 0.036;
         Datas_GPS_speed_ap = 0;
      
         sendDataHead(ID_GPS_speed_bp);
         write_FrSky16(Datas_GPS_speed_bp);
         sendDataHead(ID_GPS_speed_ap);
         write_FrSky16(Datas_GPS_speed_ap);
      }
   }

   // GPS position
   void send_GPS_position(void)
   {
   
         uint16_t Datas_Longitude_bp;
         uint16_t Datas_Longitude_ap;
         uint16_t Datas_E_W;
         uint16_t Datas_Latitude_bp;
         uint16_t Datas_Latitude_ap;
         uint16_t Datas_N_S;
         Datas_Longitude_bp = abs(GPS_coord[LON]) / 100000;
         Datas_Longitude_ap = abs((GPS_coord[LON])/10)  % 10000;
         Datas_E_W = GPS_coord[LON] < 0 ? 'W' : 'E';
         Datas_Latitude_bp = abs(GPS_coord[LAT]) / 100000;
         Datas_Latitude_ap = abs((GPS_coord[LAT])/10) % 10000;
         Datas_N_S = GPS_coord[LAT] < 0 ? 'S' : 'N';

         sendDataHead(ID_Longitude_bp);
         write_FrSky16(Datas_Longitude_bp);
         sendDataHead(ID_Longitude_ap);
         write_FrSky16(Datas_Longitude_ap);
         sendDataHead(ID_E_W);
         write_FrSky16(Datas_E_W);

         sendDataHead(ID_Latitude_bp);
         write_FrSky16(Datas_Latitude_bp);
         sendDataHead(ID_Latitude_ap);
         write_FrSky16(Datas_Latitude_ap);
         sendDataHead(ID_N_S);
         write_FrSky16(Datas_N_S);
      
   }

   // Course
   void send_Course(void)
   {
      uint16_t Datas_Course_bp;
      uint16_t Datas_Course_ap;

      Datas_Course_bp = heading;
      Datas_Course_ap = 0;

      sendDataHead(ID_Course_bp);
      write_FrSky16(Datas_Course_bp);
      sendDataHead(ID_Course_ap);
      write_FrSky16(Datas_Course_ap);
   }

   // Time
   void send_Time(void)
   {
      uint32_t seconds_since_start = millis() / 1000;
            
      uint16_t Datas_Date_month;
      uint16_t Datas_Year;
      uint16_t Datas_Minutes_hours;
      uint16_t Datas_seconds;
            
      Datas_Date_month = 0;
      Datas_Year = 12;
      Datas_Minutes_hours = (seconds_since_start / 60) % 60;
      Datas_seconds = seconds_since_start % 60;      
      
      sendDataHead(ID_Hour_Minute);
      write_FrSky16(Datas_Minutes_hours);
      sendDataHead(ID_Second);
      write_FrSky16(Datas_seconds);
   }

   // ACC
   void send_Accel(void)
   {
      int16_t Datas_Acc_X;
      int16_t Datas_Acc_Y;
      int16_t Datas_Acc_Z;

      Datas_Acc_X = ((float)accSmooth[0] / acc_1G) * 1000;
      Datas_Acc_Y = ((float)accSmooth[1] / acc_1G) * 1000;
      Datas_Acc_Z = ((float)accSmooth[2] / acc_1G) * 1000;

      sendDataHead(ID_Acc_X);
      write_FrSky16(Datas_Acc_X);
      sendDataHead(ID_Acc_Y);
      write_FrSky16(Datas_Acc_Y);
      sendDataHead(ID_Acc_Z);
      write_FrSky16(Datas_Acc_Z);      
   }

   // Voltage (Ampere Sensor)  
   void send_Voltage_ampere(void)
   {
   
      #if defined (FAS_100)   // todo   !!!!!!!!!!!!!!!!!
      {
         uint16_t Datas_Voltage_Amp_bp;
         uint16_t Datas_Voltage_Amp_ap;
         uint16_t Datas_Current;   

         Datas_Voltage_Amp_bp = 0;
         Datas_Voltage_Amp_ap = 0;   
         Datas_Current = 0;

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_Amp_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_Amp_ap);   
         sendDataHead(ID_Current);
         write_FrSky16(Datas_Current);
      }
      #else   // use vBat
      {
         uint16_t Datas_Voltage_vBat_bp;
         uint16_t Datas_Voltage_vBat_ap;   
         uint16_t voltage;
         voltage = (vbat * 110) / 21;          
         Datas_Voltage_vBat_bp = voltage / 100;
         Datas_Voltage_vBat_ap = ((voltage % 100) + 5) / 10;         

         sendDataHead(ID_Voltage_Amp_bp);
         write_FrSky16(Datas_Voltage_vBat_bp);
         sendDataHead(ID_Voltage_Amp_ap);
         write_FrSky16(Datas_Voltage_vBat_ap);   
      }
      #endif
   }

#endif

Init isn't needed anymore, but you need to place this somewhere in the annexCode() function:

Code: Select all

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

Last, but not least in config.h ... add/change:

Code: Select all

#define TELEMETRY_FRSKY

    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 9600 // it's on serial 1 for me ... so set this to 9600 baud 
    #define SERIAL2_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 115200

That's it ... most of the functions in FrSkyTelemetry.ino don't send useful information yet. Feel free to change that ... I'd like to see a more complete version of this included in MultiWii ;-)

This changes from Sebbi are working just great as told before with r1240, any news on this about the usefull info, and about integration on the MWC? I think that this downlink have potential...

Cheers

vpb · Post by **vpb** » Thu Nov 15, 2012 11:29 am

i use it with r1268 without any problem.

mysku82 · Post by **mysku82** » Tue Nov 27, 2012 12:12 am

I can send someone ready assembled code. I tried to assemble it but I do not show anything on the station and I want to remove the software problem.
PS : We solved. The code was ok. I used MAX232 and I do not connect well with him.
Now where it can bind FAS-100 or FLVS-01
Thank you

kataventos · Post by **kataventos** » Sat Dec 15, 2012 6:10 pm

Can we get telemetry info on the tx pin of the receiver, since we are just using RX?
I was thinking on getting digital data like the RSSI and other readings into the FC, without using PPMSUM

R_Lefebvre · Post by **R_Lefebvre** » Mon Jan 07, 2013 11:30 pm

Hi guys, I'm a dev on Arducopter. Do you mind if I use this code? Who do I credit?

monkey · Post by **monkey** » Thu Jan 10, 2013 5:15 pm

R_Lefebvre wrote:Hi guys, I'm a dev on Arducopter. Do you mind if I use this code? Who do I credit?

It looks like this has been a serious group effort with a few key producers. I would say the best bet is to link to this forum run. ie.

Code credit to those contributors here : "Link to forum"

Just an idea, I had no parts in any of this, and am more than grateful you guys have been working on this, I am waiting on a few parts to make it work and look forward to trying to use your code. Thank you for all those posting and contributing to this.

I too have a flyduino mega and cant wait to give this info a try.

Any ideas if this will be implemented in next release of multiwii (2.2)?

larsm · Post by **larsm** » Sun Jan 13, 2013 4:05 pm

I wrote some instructions to do the mod: klick

imcoref · Post by **imcoref** » Sun Jan 13, 2013 4:13 pm

will check it out! and thank you very much!

Danke!

monkey · Post by **monkey** » Wed Jan 23, 2013 8:37 pm

Thank you larsm for the write up, it was a little hard for me to follow but the 2nd or 3rd time I read it I got it worked out.

Here is my setup:

I got two mini rs232 to ttl adapters off ebay http://www.ebay.com/itm/251103811631?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l2649 one used to hookup serial 3 on flyduino mega to D8R-XP frsky rx and one is used on Frsky DJT module to the bluetooth atapter, (I am using a 9x with er9x firmware)

I got a Sirus Bluetooth Adapter off ebay http://www.ebay.com/itm/MWC-Multiwii-SE-Flight-Control-Bluetooth-Parameter-Debug-Module-Adapter-/261138423472?_trksid=p5197.m1992&_trkparms=aid%3D111000%26algo%3DREC.CURRENT%26ao%3D1%26asc%3D14%26meid%3D5084054663530866329%26pid%3D100015%26prg%3D1006%26rk%3D1%26sd%3D261138423472%26
It does work but I had to use Arduino Serial Monitor and AT Commands to change the default baud rate to 9600.

I am using multwii Ez-Gui on my android phone to display the info. It all seems to be working great. The only issue I have, is that the longitude shows a Positive value and where I am at it should be negative, so I can not use the GUI map. Anyone know how to correct this?

If I connect to multiwii config on my PC it shows the GPS value correctly, so I know its not the multiwii software or the GPS module, unless there is something the FrskyTelemetry.ino.

copterrichie · Post by **copterrichie** » Wed Jan 23, 2013 8:45 pm

Question: Is it possible to use the Direct Telemetry data with a 433mhz Transceiver?

monkey · Post by **monkey** » Wed Jan 23, 2013 8:58 pm

Yes on a serial port. Here is the kit I have:
http://rctimer.com/index.php?gOo=goods_details.dwt&goodsid=834&productname=

They also have a 915mhz kit.

Naturally this would done with Multiwii Confic, or Multiwii WinGUI on a PC, however it should be hard to adapt and program these to work together and transmit data to a bluetooth module..

copterrichie · Post by **copterrichie** » Wed Jan 23, 2013 9:25 pm

Awesome and thank you.

monkey · Post by **monkey** » Wed Jan 23, 2013 9:41 pm

copterrichie wrote:Awesome and thank you.

No problem, also ment to note that it is 2-way communication, so you can program with Arduino or multwii config as well. Sometimes I use the kit just to hook up and benchtest everything without having a cable going to my pc, makes calibration test and checking my power system setup much easier...

I may look at hooking up the USB side, to my bluetooth module that way I can program and get telemetry to multiwii EZ-GUI out in the field without the need of a computer.

copterrichie · Post by **copterrichie** » Thu Jan 24, 2013 3:55 am

Did this patch/code make it into one of the development release? I looked for it and could not find it in the R1311 release.

monkey · Post by **monkey** » Thu Jan 24, 2013 4:16 am

No the code is not in R1311, I had to add it in.

Sebbi · Post by **Sebbi** » Mon Jan 28, 2013 4:17 pm

Anyone interested in a more complete version with support for using a pin to directly connect to the FrSky receiver (inverted logic / soft serial)?