An Open Source Frsky Telemetry Script for the Horus X10,X12 and Taranis X9D,X9E and QX7 radios

yaapu · May 1, 2019, 9:52pm

Hi Anthony,
that particular messagge is sent only by the telemetry library, take a look here, it is forged and sent as a text message after checking the healthy bit of your gps.

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp#L504


      
          /*
          
             Inspired by work done here
             https://github.com/PX4/Firmware/tree/master/src/drivers/frsky_telemetry from Stefan Rado <px4@sradonia.net>
             https://github.com/opentx/opentx/tree/2.3/radio/src/telemetry from the OpenTX team
          
             This program is free software: you can redistribute it and/or modify
             it under the terms of the GNU General Public License as published by
             the Free Software Foundation, either version 3 of the License, or
             (at your option) any later version.
          
             This program is distributed in the hope that it will be useful,
             but WITHOUT ANY WARRANTY; without even the implied warranty of
             MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
             GNU General Public License for more details.
          
             You should have received a copy of the GNU General Public License
             along with this program.  If not, see <http://www.gnu.org/licenses/>.
          */
          
          /* 
             FRSKY Telemetry library
          */
          
          #include "AP_Frsky_config.h"
          
          #if AP_FRSKY_TELEM_ENABLED
          
          #include "AP_Frsky_Telem.h"
          #include "AP_Frsky_Parameters.h"
          
          #include <AP_SerialManager/AP_SerialManager.h>
          
          #include <AP_Vehicle/AP_Vehicle.h>
          
          #include "AP_Frsky_D.h"
          #include "AP_Frsky_SPort.h"
          #include "AP_Frsky_SPort_Passthrough.h"
          
          extern const AP_HAL::HAL& hal;
          
          AP_Frsky_Telem *AP_Frsky_Telem::singleton;
          
          AP_Frsky_Telem::AP_Frsky_Telem()
          {
              singleton = this;
          #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
              _frsky_parameters = &AP::vehicle()->frsky_parameters;
          #endif //HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
          }
          
          
          AP_Frsky_Telem::~AP_Frsky_Telem(void)
          {
              singleton = nullptr;
          }
          
          /*
           * init - perform required initialisation
           */
          bool AP_Frsky_Telem::init(bool use_external_data)
          {
              const AP_SerialManager &serial_manager = AP::serialmanager();
          
              // check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
              AP_HAL::UARTDriver *port;
              if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
          #if AP_FRSKY_D_TELEM_ENABLED
                  _backend = new AP_Frsky_D(port);
          #endif
              } else if ((port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
          #if AP_FRSKY_SPORT_TELEM_ENABLED
                  _backend = new AP_Frsky_SPort(port);
          #endif
              } else if (use_external_data || (port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
          #if AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
                  _backend = new AP_Frsky_SPort_Passthrough(port, use_external_data, _frsky_parameters);
          #endif
              }
          
              if (_backend == nullptr) {
                  return false;
              }
          
              if (!_backend->init()) {
                  delete _backend;
                  _backend = nullptr;
                  return false;
              }
          
              return true;
          }
          
          bool AP_Frsky_Telem::_get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size)
          {
              if (_backend == nullptr) {
                  return false;
              }
              if (packet_array == nullptr) {
                  return false;
              }
              return _backend->get_telem_data(packet_array, packet_count, max_size);
          }
          
          #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
          bool AP_Frsky_Telem::_set_telem_data(uint8_t frame, uint16_t appid, uint32_t data)
          {
              if (_backend == nullptr) {
                  return false;
              }
              return _backend->set_telem_data(frame, appid, data);
          }
          #endif
          
          void AP_Frsky_Telem::try_create_singleton_for_external_data()
          {
              // try to allocate an AP_Frsky_Telem object only if we are disarmed
              if (!singleton && !hal.util->get_soft_armed()) {
                  new AP_Frsky_Telem();
                  // initialize the passthrough scheduler
                  if (singleton) {
                      singleton->init(true);
                  }
              }
          }
          
          /*
            fetch Sport data for an external transport, such as FPort
           */
          bool AP_Frsky_Telem::get_telem_data(AP_Frsky_Backend::sport_packet_t* packet_array, uint8_t &packet_count, const uint8_t max_size)
          {
              try_create_singleton_for_external_data();
              if (singleton == nullptr) {
                  return false;
              }
              return singleton->_get_telem_data(packet_array, packet_count, max_size);
          }
          
          #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
          /*
            allow external transports (e.g. FPort), to supply telemetry data
           */
          bool AP_Frsky_Telem::set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
          {
              try_create_singleton_for_external_data();
              if (singleton == nullptr) {
                  return false;
              }
              return singleton->_set_telem_data(frame, appid, data);
          }
          #endif
          
          namespace AP
          {
          AP_Frsky_Telem *frsky_telem()
          {
              return AP_Frsky_Telem::get_singleton();
          }
          };
          
          #endif  // AP_FRSKY_TELEM_ENABLED

This file has been truncated. show original

You’re not seeing it on your OSD because mavlink sends it as a status bit mask not as a text message and OSDs usually ignore it.

Maybe a duplicate of these?

github.com/ArduPilot/ardupilot

Arducopter 3.6 Issue: Prearm failure GPS

opened 04:09PM - 28 Oct 18 UTC

closed 11:53PM - 29 Oct 18 UTC

mtbsteve

### Bug report **Issue details** As soon as the number of sats locked increa…ses beyond somewhere 20-22 sats with my UBLOX m8n, I get a "Prearm GPS not healthy" message in my GCS and can't arm. It continues to flicker on and off within seconds. When the error disappears for a split second and I then press the arming switch fast enough, I can fly w/o problems. As long as the sat count is lower, the prearm check is passed. _Please describe the problem_ It must be a problem with AC 3.6, since it was working fine all the time in 3.5 and earlier. With my m8n GPS, I usually receive between 22 and 28 sats at HDOP down to 0.47 and never had any issues with Arducopter 3.3, 3.4, 3.5 in the same setup and parameter settings. My other copter with an UBLOX m8p RTK chip runs fine with AC3.6 (however the m8p never exceeds 18 sats) **Version** _What version was the issue encountered with_ Arducopter 3.6.0 **Platform** [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine **Airframe type** _What type of airframe (flying wing, glider, hex, Y6, octa etc)_ Quad **Hardware type** _What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)_ Pixhawk 2, Drotek m8n GPS **Logs** _Please provide a link to any relevant logs that show the issue_ https://1drv.ms/u/s!AnKeW8KMoCcymAWipx8Cj3CaFZO6