Add support for Baro/Vario in CRSF #26880
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Is it possible for me to do some test? Hardware Kakute F7 Mini and SpeedyBee F405 Wing Mini. br Karl |
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With a SpeedyBee F405 Wing I would also like to have a look at this. I would just need the right firmware for it ... |
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If it is OK!? I build for the SpeedyBee F405 WING parameter list version: 4.6.0 dev FW Karl |
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No baro values on SpeedyBee F405 WING mini with FW 4.6.0 dev. FrSky X10S Express, EdgeTX 2.9.4, HiYounger TX module + BETAFPV 2.4GHz Nano RX ELRS 3.3.2, SppedyBee F405 Wing mini only with BT slave on Serial 6 for communication. No GPS connected. |
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Do you get any extra sensors if you search for them? I only did ID 9, not ID 7 (Baro only) |
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@andyp1per Can you please provide a firmware for SpeedyBee F405 Wing? |
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Deleted all sensor and searched again. That is, what I have here on the table
It is just a F405 WING Mini with RX and BT module, nothing else. The parameter list with your Version: 4.6.0 dev I posted before. No changes made. Here the radio telemetry screen and the companion telemetry screen -fresh-
No id 9 br Karl PS. If helpful, can post same pics with Kakute F7 mini. But there id 9 also did not show up .... |
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I think, there is an error on my side. I cloned your fork But checking, if your modifications like
are actually in the code I did build here I see that
My apologize for the confusion Best you provide a firmware for the SpeedyBee F405 Wing Karl |
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ID 9 shows up! Wrong value, but it is there .....
Values jumping between -xxxx m and +xxx m here |
Do you have a GPS? Worth checking this when armed and outside as it is relative alt above home position which needs to be set. I used the code from the CRSF spec, so it could be wrong - but not sure how I would tell. What about the vario data? |
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Try this one, I think I need to invert the sign since AP deals in down rather than up |
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GPS attached. FW changed. Have the FC here on the window sill
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With Ethos 1.5.6
I still have to test whether the values are correct ... |
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Ethos can evaluate the frame CRSF_FRAMETYPE_BARO_ALTITUDE with ID9 (Alt and VSpd). EdgeTX only evaluates CRSF_FRAMETYPE_VARIO with ID7 (VSpd). It would be an advantage for Ardupilot if we could use both. Possibly switchable with a flag in RC_OPTIONS or similar. This would cover all transmitter systems. As for the values themselves, the calculations used for the S.Port protocol can be found in AP_Frsky_Telem. Presumably you can see there which sign is used and adopt this in part for CRSF. |
andyp1per
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This includes ID 7 - please try it |
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EdgeTX 2.9.4 Ethos 1.5.6 |
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Alt and VSpd show up, but irregular values. 50' YT video showing first baro values on QGroundcontrol and then values on my radio. |
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So there was a bug in the new code where it was using absolute alt instead of relative. Should be fixed now. I think the errors in vspd are actually quantization errors since this is only an 8-bit int. We might have to special-case 0 to return 0; |
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VSpd id 7. moving up down in between +1xx.x m/s and -9x.x m/s ALT id 9. -1000.0 m fix, not moving at all ELRS |
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arduplane.zip - think there was a sign conversion issue. Can you send me a disarmed log of your vehicle? There is not a lot going on in these calculations, but there is some weird conversion. |
I am just a user and at the moment there is no vehicle. It is just the SpeedBee in the window sill. |
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VSpd - varying between -/+ xxx m/s What is that "disarmed log"?? MP or QG |
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I think, 'data log' in MP. I am on Linux here with QG, but I have a WIN with MP in a Vbox. So I'll try .... |
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Log 1: original 4.6.0 with ER8GV Vario RX You should be able to make a good comparison. |
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Hope, that is the right one. Good night, shut down now ;-) |
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I see on MP, that the FC is ARMED (ARM/DISARM on toggle switch) Alt here with me rock solid -4.5m. Putting a plastic bag over the FC and putting hand pressure on the bag, in MP see - 30 ... -40m, but value is 9 rock solid. For VSpd same. a little variation, but not a measurement as expected ... ELRS |
Do you have a GPS? Its the same code as FPort, will only work with GPS |
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Then the fault is on my side. I removed the GPS for the bag testing. So, ARMED, GPS has fix. Ratio VSpd 0.1, Alt Ratio 0.1 But how to verify those values? I used this here to simulate altitude changes with baro sensors some years ago, but this is to small to take it all inside.
Or I need a plane and record, but I don't have that at the moment. |
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Pete showed me perhaps a better way to determine the altitude which will not require GPS. I'll chat to Alex about using this. |
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The good thing is, ID 7 and ID 9 are on the radio and we do have values. |
Do this ... Alex has conjured up a quick Vario / VSpd for S.Port. I actually wanted to test your current solution against F.Port, but I should probably wait a little longer? |
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Can you try this? This adds better support for relative home, so baro on its own should work. |
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Looks the best so far. However, I still have to test it tomorrow outdoors with a GPS fix. |
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Works here without arming and without GPS. RATIO to 0.2 for quite reasonable values VSpd and Alt. x.x m/s and x.x m. But how to verify? |
So only 20% of the respective value would be displayed? Because according to the EdgeTX manual: Ratio: Specifies the ratio value to multiply with the sensor value as needed by some sensors.
I will compare with another Vario sensor. oXs would be a candidate or like here a Radiomaster ER8GV. |
vspd is an exponential value, so simple multiplication will not give you correct values. You really need EdgeTX to decode this properly.
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Alt (ID 9) is still strange here. Immediately after resetting the telemetry, -380 m is displayed here. Mostly values in the minus range. There is another Alt value (ID 2/4) which is approximately at the height of the location (27 m). |
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can be merged once testing passes |
For ID9 to be displayed correctly your TX needs to know how to decode it |
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Tested ok. Can be merged now. |
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I flashed my speedybee F405 wing is a test firmware. Vspd shows random values, although mission planner displays correctly in the status window. |
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I think there is still a little/big endian issue in the code. |
Fixes the CRSF part of #26699