[Feature Request] : Support AP flavour of CRSF telemetry

Question

[Feature Request] : Support AP flavour of CRSF telemetry

Closed this issue 2 years ago · 17 comments

Discussed in #132

^{Originally posted by timtuxworth January 29, 2023}
I just installed mwptools on a fresh install of Ubuntu 22.04 and connected my TX16 S running Open TX 2.3.15. I enabled Telemetry forwarding on the transmitter and wmptools can see the telemetry and displays vehicle attitude in the HUD and the GPS location in the applets, but the map doesn't move/reposition, even though the "follow" option is checked. I tried checking/unchecking the box.

Answer 1 · 2023-01-31T18:28:08.000Z

From #132, the user is using AP which is not supported firmware, however it might be interesting to support it. We'll see.

Answer 2 · 2023-01-31T19:09:51.000Z

Mapping FBWA to Angle (and FBWB to Horizon) means we get a location on the map.
(via ap-crsf branch).
More mappings to follow.

@timtuxworth , if you connect a battery it would be useful to know if the voltage is reported correctly. And if you move the model, does the AHI move?

The faint line to (0,0) is because we have (alas) 8.56s: GPS: 0.000000 0.000000 0m 0.0m/s 0.0° 5 sats

Answer 3 · 2023-01-31T19:50:12.000Z

all AP modes should now be handled (perhaps not correctly ....)

Answer 4 · 2023-01-31T20:19:37.000Z

I'll rebuild and test in a bit. Not sure if you got the "Q" options for QuadPlane/VTOL planes - in full they are here:
https://ardupilot.org/plane/docs/quadplane-flight-modes.html
Specifically:
QSTABILIZE (Mode 17)
QHOVER (Mode 18)
QLOITER (Mode 19)
QLAND (Mode 20)
QRTL (Mode 21)
QAUTOTUNE (Mode 22)
QACRO (Mode 23)
LOITER to QLAND (mode 25)

If its a multi-rotor (drone) - then there are a bunch of modes, but I don't have one of these to test:
https://ardupilot.org/copter/docs/flight-modes.html

Answer 5 · 2023-01-31T20:28:16.000Z

That's not a huge amount of help, as abbreviations will be used for the CRSF FM parameter. So I probably have most of them, but not all the MR items. Unless someone want's to volunteer a list of all AP flight modes mapped to the INAV modes exposed over CRSF, that's as good as it's likely to get for now; AP is not a priority.

Answer 6 · 2023-01-31T20:45:10.000Z

No worries. FYI - yes the artificial horizon moves. It worked great from the first time I connected. I'll do some more testing later, including the battery thing.

Answer 7 · 2023-01-31T20:48:30.000Z

Cool. I'll do the MR stuff sometime.

Answer 8 · 2023-02-02T03:18:43.000Z

I just connected a different plane with a battery monitor to get the battery. This works great, but the location doesn't display. Here is a raw-log.

https://www.dropbox.com/s/g16bbpezedsria9/mwp._dev_ttyACM0.2023-02-01T200833.raw?dl=0

Answer 9 · 2023-02-02T08:02:47.000Z

Here, the log shows the location (and a "Home" icon with > 6 satellites).

Location is shown
At c.30s, The mode icon briefly flashs green (POSHOLD) due to FM: CIRC
A bit later, the AHI moves, presumably the model was moved
Accumulated current consumption is shown
Elapsed time is shown (0:47s)
The only modes in the supplied log are FBWA, FBWB and CIRC. Your image shows Manual (aka FM: MAN )

Do you still have the mwp console log ~/mwp_stderr_2023-02-01.txt? If so, can I see it please?

Answer 10 · 2023-02-02T12:39:34.000Z

OTOH, if I play your log into a build off master branch (vice ap-crsf branch); then guess what, I see the same as you, including "Manual".

Answer 11 · 2023-02-02T14:56:43.000Z

Yes I picked up the plane and moved it around just to see if it would do anything. I guess the screenshot wasn't from the same connection as when I took the log. Here's that file. I think I did build from ap-crsf, but I might have been running the original version, not the new build. I have my current branch set to ap-crsf and then I run ./deb-install.sh -y
mwp_stderr_2023-02-01.txt

Answer 12 · 2023-02-02T16:09:40.000Z

Ok I see my problem. I can't use deb-install.sh to build from ap-crsf. So I used ninja install and it works immediately. Now I get home, vehicle icon and following. There seems too be some problem with he direction of the arrow not matching the vehicle compass heading, but I'll confirm that on a different plane with a better compass.

Answer 13 · 2023-02-02T16:25:35.000Z

Just a suggestion - the flight mode is very tiny. On the field, I'd like to see it nice and big, maybe a dock item (or a field in one of the existing dock items).

Answer 14 · 2023-02-02T16:45:43.000Z

The track colour (and sometimes an icon) indicate the flight mode. For use in the field, the audio output is by far the most useful as one is either wearing googles or looking at the vehicle.

For the direction, this is reported correctly by INAV ...

Answer 15 · 2023-02-02T16:50:33.000Z

Thanks Jonathan, this is looking great, I'm just about ready to try to fly it - if all goes well that might be on Saturday. Yes I usually connect a Bluetooth headset to my groundstation so I can listen to audio even if I get too far from it.

Answer 16 · 2023-02-02T16:57:57.000Z

Good luck. Please record a raw log, I'd love to see what happens in the air with AP (in particular the direction).
If you haven't seen it the myriad of configuration settings is described in the manual . Bit of a legacy mis-mash of command line options (which can be persisted in a file) and the gsettings registry.

Answer 17 · 2023-02-02T16:58:28.000Z

And I'll merge the ap-crsf branch into master this evening.