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KonradIT
2025-01-16 00:19:10 +01:00
parent 3907282309
commit 25c2147655
1 changed files with 30 additions and 10 deletions
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40
scripts/rpi-proxy-fc.py
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@@ -10,15 +10,20 @@ from yamspy import MSPy
## Constants
# INAV Konrad custom FW
# https://github.com/KonradIT/inav/tree/set-pilot-name-msp
INAV_KONRAD_MAX_NAME_LENGTH = 16
INAV_KONRAD_SET_PILOT_NAME = 0x5000
LORA_SA_PORT = "COM6"
DRONE_PORT = "COM4"
LORA_SA_PORT = "/dev/ttyS0"
DRONE_PORT = "/dev/ttyACM0"
# For testing on Windows:
# LORA_SA_PORT = "COM6"
# DRONE_PORT = "COM4"
# lifted from SpectrumScan.py
def parse_line(line):
"""Parse a JSON line from the serial input."""
@@ -39,12 +44,13 @@ def crc16(s, c):
return c ^ 0xffff
# use MSP to get the heading
def get_heading(board: MSPy) -> float:
board.fast_read_analog()
board.fast_read_attitude()
board.fast_read_imu()
return int(board.SENSOR_DATA["kinematics"][2]) # heading value
return int(board.SENSOR_DATA["kinematics"][2]) # heading (z) value
def str2osd(pilot_name):
@@ -54,8 +60,9 @@ def str2osd(pilot_name):
)
return pilot_name_bytes
# get the highest reading from the entire scan array
def get_candidates(data):
highest_rssi = -100
highest_rssi = -120
highest_freq = 100
for item in data:
if item[1] > highest_rssi:
@@ -69,8 +76,10 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
sys.exit(1)
else:
try:
# Attempt to connect to the Lora ESP SA over serial, use 115200 baudrate
lora = serial.Serial(LORA_SA_PORT, 115200, timeout=5)
except:
# just some basic error display with the FC OSD
for _ in range(10):
board.send_RAW_msg(
INAV_KONRAD_SET_PILOT_NAME, str2osd("err: lora board")
@@ -81,11 +90,21 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
)
time.sleep(2)
sys.exit(1)
# On to sending data:
board.send_RAW_msg(INAV_KONRAD_SET_PILOT_NAME, str2osd("! lora sa !"))
time.sleep(5)
time.sleep(20)
# Tell Lora ESP SA to start sending data over serial
lora.write(f"SCAN -1 -1\n".encode("utf-8"))
while True:
# read json data from lora sa:
# read incoming WRAP and CRC data from lora sa:
# how it looks:
"""
SCAN_RESULT 258 [ (830000, -110), (830449, -110), (830898, -110), (831347, -110),
(831796, -110), (832245, -110), (832694, -110), (833143, -110), (833592, -110),
(834041, -110), (834490, -110), ....
"""
try:
line = lora.readline().decode('utf-8')
except UnicodeDecodeError:
@@ -94,6 +113,7 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
if len(line) == 0:
continue
# Lifted from SpectrumScan.py
if 'WRAP ' in line:
try:
_, c, rest = line.split(' ', 2)
@@ -111,12 +131,12 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
continue
try:
count, data = parse_line(line)
except json.JSONDecodeError:
continue
finally:
data.sort()
candidate = get_candidates(data)
print(candidate)
osd_text = str2osd(f"{candidate[0]}: {candidate[1]}")
board.send_RAW_msg(INAV_KONRAD_SET_PILOT_NAME, osd_text)
heading = get_heading(board)
lora.write(f"HEADING {heading}\n".encode("utf-8"))
except json.JSONDecodeError:
continue