static void showBatteryPage(void)
{
uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
tfp_sprintf(lineBuffer, "Volts: %d.%1d Cells: %d", getBatteryVoltage() / 10, getBatteryVoltage() % 10, getBatteryCellCount());
padLineBuffer();
i2c_OLED_set_line(bus, rowIndex++);
i2c_OLED_send_string(bus, lineBuffer);
uint8_t batteryPercentage = calculateBatteryPercentageRemaining();
i2c_OLED_set_line(bus, rowIndex++);
drawHorizonalPercentageBar(SCREEN_CHARACTER_COLUMN_COUNT, batteryPercentage);
}
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
int32_t amperage = getAmperage();
tfp_sprintf(lineBuffer, "Amps: %d.%2d mAh: %d", amperage / 100, amperage % 100, getMAhDrawn());
padLineBuffer();
i2c_OLED_set_line(bus, rowIndex++);
i2c_OLED_send_string(bus, lineBuffer);
uint8_t capacityPercentage = calculateBatteryPercentageRemaining();
i2c_OLED_set_line(bus, rowIndex++);
drawHorizonalPercentageBar(SCREEN_CHARACTER_COLUMN_COUNT, capacityPercentage);
}
}
static void batteryUpdateConsumptionState(void)
{
if (batteryConfig()->useConsumptionAlerts && batteryConfig()->batteryCapacity > 0 && batteryCellCount > 0) {
uint8_t batteryPercentageRemaining = calculateBatteryPercentageRemaining();
if (batteryPercentageRemaining == 0) {
consumptionState = BATTERY_CRITICAL;
} else if (batteryPercentageRemaining <= batteryConfig()->consumptionWarningPercentage) {
consumptionState = BATTERY_WARNING;
} else {
consumptionState = BATTERY_OK;
}
}
}
void mavlinkSendSystemStatus(void)
{
uint16_t msgLength;
uint32_t onboardControlAndSensors = 35843;
/*
onboard_control_sensors_present Bitmask
fedcba9876543210
1000110000000011 For all = 35843
0001000000000100 With Mag = 4100
0010000000001000 With Baro = 8200
0100000000100000 With GPS = 16416
0000001111111111
*/
if (sensors(SENSOR_MAG)) onboardControlAndSensors |= 4100;
if (sensors(SENSOR_BARO)) onboardControlAndSensors |= 8200;
if (sensors(SENSOR_GPS)) onboardControlAndSensors |= 16416;
uint16_t batteryVoltage = 0;
int16_t batteryAmperage = -1;
int8_t batteryRemaining = 100;
if (getBatteryState() < BATTERY_NOT_PRESENT) {
batteryVoltage = isBatteryVoltageConfigured() ? getBatteryVoltage() * 100 : batteryVoltage;
batteryAmperage = isAmperageConfigured() ? getAmperage() : batteryAmperage;
batteryRemaining = isBatteryVoltageConfigured() ? calculateBatteryPercentageRemaining() : batteryRemaining;
}
mavlink_msg_sys_status_pack(0, 200, &mavMsg,
// onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present.
//Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure,
// 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position,
// 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization,
// 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
onboardControlAndSensors,
// onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled
onboardControlAndSensors,
// onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error.
onboardControlAndSensors & 1023,
// load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
0,
// voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
batteryVoltage,
// current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
batteryAmperage,
// battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
batteryRemaining,
// drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
0,
// errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
0,
// errors_count1 Autopilot-specific errors
0,
// errors_count2 Autopilot-specific errors
0,
// errors_count3 Autopilot-specific errors
0,
// errors_count4 Autopilot-specific errors
0);
msgLength = mavlink_msg_to_send_buffer(mavBuffer, &mavMsg);
mavlinkSerialWrite(mavBuffer, msgLength);
}
static void applyLedFixedLayers(void)
{
for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[ledIndex];
hsvColor_t color = *getSC(LED_SCOLOR_BACKGROUND);
int fn = ledGetFunction(ledConfig);
int hOffset = HSV_HUE_MAX + 1;
switch (fn) {
case LED_FUNCTION_COLOR:
color = ledStripConfig()->colors[ledGetColor(ledConfig)];
hsvColor_t nextColor = ledStripConfig()->colors[(ledGetColor(ledConfig) + 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT];
hsvColor_t previousColor = ledStripConfig()->colors[(ledGetColor(ledConfig) - 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT];
if (ledGetOverlayBit(ledConfig, LED_OVERLAY_THROTTLE)) { //smooth fade with selected Aux channel of all HSV values from previousColor through color to nextColor
int centerPWM = (PWM_RANGE_MIN + PWM_RANGE_MAX) / 2;
if (auxInput < centerPWM) {
color.h = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.h, color.h);
color.s = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.s, color.s);
color.v = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.v, color.v);
} else {
color.h = scaleRange(auxInput, centerPWM, PWM_RANGE_MAX, color.h, nextColor.h);
color.s = scaleRange(auxInput, centerPWM, PWM_RANGE_MAX, color.s, nextColor.s);
color.v = scaleRange(auxInput, centerPWM, PWM_RANGE_MAX, color.v, nextColor.v);
}
}
break;
case LED_FUNCTION_FLIGHT_MODE:
for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
const hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &ledStripConfig()->modeColors[flightModeToLed[i].ledMode]);
if (directionalColor) {
color = *directionalColor;
}
break; // stop on first match
}
break;
case LED_FUNCTION_ARM_STATE:
color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED);
break;
case LED_FUNCTION_BATTERY:
color = HSV(RED);
hOffset += scaleRange(calculateBatteryPercentageRemaining(), 0, 100, -30, 120);
break;
case LED_FUNCTION_RSSI:
color = HSV(RED);
hOffset += scaleRange(getRssi() * 100, 0, 1023, -30, 120);
break;
default:
break;
}
if ((fn != LED_FUNCTION_COLOR) && ledGetOverlayBit(ledConfig, LED_OVERLAY_THROTTLE)) {
hOffset += scaleRange(auxInput, PWM_RANGE_MIN, PWM_RANGE_MAX, 0, HSV_HUE_MAX + 1);
}
color.h = (color.h + hOffset) % (HSV_HUE_MAX + 1);
setLedHsv(ledIndex, &color);
}
}