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wvartywvarty
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MFD Crossbow tracker integration (#150)
* Add support for MFD Crossbow trackers as an ESPNOW receiver that converts CRSF to MAVLink
1 parent 9048f68 commit 77447c3

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9 files changed

+397
-12
lines changed

9 files changed

+397
-12
lines changed

‎hardware/targets.json‎

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Original file line numberDiff line numberDiff line change
@@ -548,5 +548,34 @@
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"platform": "esp8285"
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}
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}
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},
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"mfd-crossbow": {
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"name": "MFD Crossbow Antenna Tracker Backpack",
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"aat": {
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"esp82": {
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"product_name": "Generic ESP8285 / ESP8266 Receiver",
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"firmware": "MFD_Crossbow_ESP8285_Backpack",
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"upload_methods": ["uart", "wifi"],
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"platform": "esp8285"
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},
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"esp32": {
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"product_name": "Generic ESP32 Receiver",
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"firmware": "MFD_Crossbow_ESP32_Backpack",
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"upload_methods": ["uart", "wifi"],
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"platform": "esp32"
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},
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"esp32c3": {
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"product_name": "Generic ESP32C3 Receiver",
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"firmware": "MFD_Crossbow_ESP32C3_Backpack",
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"upload_methods": ["uart", "wifi"],
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"platform": "esp32-c3"
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},
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"esp32s3": {
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"product_name": "Generic ESP32S3 Receiver",
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"firmware": "MFD_Crossbow_ESP32S3_Backpack",
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"upload_methods": ["uart", "wifi"],
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"platform": "esp32-s3"
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}
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}
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}
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}

‎lib/LED/devLED.cpp‎

Lines changed: 8 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,13 @@ static uint8_t _pin_inverted = true;
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#else
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static uint8_t _pin_inverted = false;
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#endif
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#define UNDEF_PIN (-1)
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#ifndef PIN_LED
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#define PIN_LED UNDEF_PIN
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#endif
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static uint8_t _pin = -1;
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static const uint8_t *_durations;
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static uint8_t _count;
@@ -65,7 +72,7 @@ static int event()
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if (connectionState == running && blipLED)
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{
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digitalWrite(PIN_LED, LOW ^ _pin_inverted);
68-
return 200; // 200ms off
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return 50; // 50ms off
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}
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if (connectionState == binding)
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{

‎platformio.ini‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,3 +16,4 @@ extra_configs =
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targets/rapidfire.ini
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targets/rx5808.ini
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targets/skyzone.ini
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targets/mfd_crossbow.ini

‎src/Vrx_main.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -40,6 +40,8 @@
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#include "orqa.h"
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#elif defined(AAT_BACKPACK)
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#include "module_aat.h"
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#elif defined(CROSSBOW_BACKPACK)
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#include "mfd_crossbow.h"
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#endif
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/////////// DEFINES ///////////
@@ -116,6 +118,8 @@ VrxBackpackConfig config;
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Orqa vrxModule;
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#elif defined(AAT_BACKPACK)
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AatModule vrxModule(Serial);
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#elif defined(CROSSBOW_BACKPACK)
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MFDCrossbow vrxModule(&Serial);
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#endif
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/////////// FUNCTION DEFS ///////////
@@ -328,6 +332,7 @@ void SetSoftMACAddress()
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329333
void RequestVTXPacket()
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{
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#if !defined(AAT_BACKPACK) and !defined(CROSSBOW_BACKPACK)
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mspPacket_t packet;
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packet.reset();
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packet.makeCommand();
@@ -336,6 +341,7 @@ void RequestVTXPacket()
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blinkLED();
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sendMSPViaEspnow(&packet);
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#endif
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}
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341347
void sendMSPViaEspnow(mspPacket_t *packet)

‎src/mfd_crossbow.cpp‎

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@@ -0,0 +1,124 @@
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#include "mfd_crossbow.h"
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#include "common/mavlink.h"
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MFDCrossbow::MFDCrossbow(HardwareSerial *port) :
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m_port(port),
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gpsLastSent(0),
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gpsLastUpdated(0),
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heading(0),
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lat(0.0),
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lon(0.0),
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alt(0.0),
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groundspeed(0.0),
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gps_sats(0),
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gps_alt(0),
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gps_hdop(100),
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fixType(3)
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{
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}
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void
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MFDCrossbow::SendHeartbeat()
22+
{
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// Initialize the required buffers
24+
mavlink_message_t msg;
25+
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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// Pack the message
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mavlink_msg_heartbeat_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, MAVLINK_SYSTEM_TYPE, MAVLINK_AUTOPILOT_TYPE, MAVLINK_SYSTEM_MODE, MAVLINK_CUSTOM_MODE, MAVLINK_SYSTEM_STATE);
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// Copy the message to the send buffer
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uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
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// Send the message
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m_port->write(buf, len);
35+
}
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void
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MFDCrossbow::SendGpsRawInt()
39+
{
40+
// Initialize the required buffers
41+
mavlink_message_t msg;
42+
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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44+
const uint16_t eph = UINT16_MAX;
45+
const uint16_t epv = UINT16_MAX;
46+
const uint16_t cog = UINT16_MAX;
47+
const uint32_t alt_ellipsoid = 0;
48+
const uint32_t h_acc = 0;
49+
const uint32_t v_acc = 0;
50+
const uint32_t vel_acc = 0;
51+
const uint32_t hdg_acc = 0;
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// Pack the message
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mavlink_msg_gps_raw_int_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, MAVLINK_UPTIME, fixType, lat, lon, alt, eph, epv, groundspeed, cog, gps_sats, alt_ellipsoid, h_acc, v_acc, vel_acc, hdg_acc, heading);
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// Copy the message to the send buffer
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uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
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// Send the message
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m_port->write(buf, len);
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}
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void
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MFDCrossbow::SendGlobalPositionInt()
65+
{
66+
const int16_t velx = 0;
67+
const int16_t vely = 0;
68+
const int16_t velz = 0;
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70+
// Initialize the required buffers
71+
mavlink_message_t msg;
72+
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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// Pack the message
75+
mavlink_msg_global_position_int_pack(MAVLINK_SYSTEM_ID, MAVLINK_COMPONENT_ID, &msg, MAVLINK_UPTIME, lat, lon, gps_alt, alt, velx, vely, velz, heading);
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77+
// Copy the message to the send buffer
78+
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
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// Send the message
81+
m_port->write(buf, len);
82+
}
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void
85+
MFDCrossbow::SendGpsTelemetry(crsf_packet_gps_t *packet)
86+
{
87+
int32_t rawLat = be32toh(packet->p.lat); // Convert to host byte order
88+
int32_t rawLon = be32toh(packet->p.lon); // Convert to host byte order
89+
lat = static_cast<double>(rawLat);
90+
lon = static_cast<double>(rawLon);
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92+
// Convert from CRSF scales to mavlink scales
93+
groundspeed = be16toh(packet->p.speed) / 36.0 * 100.0;
94+
heading = be16toh(packet->p.heading);
95+
alt = (be16toh(packet->p.altitude) - 1000) * 1000.0;
96+
gps_alt = alt;
97+
gps_sats = packet->p.satcnt;
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99+
// Send heartbeat and GPS mavlink messages to the tracker
100+
SendHeartbeat();
101+
SendGpsRawInt();
102+
SendGlobalPositionInt();
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104+
// Log the last time we received new GPS coords
105+
gpsLastUpdated = millis();
106+
}
107+
108+
void
109+
MFDCrossbow::Loop(uint32_t now)
110+
{
111+
ModuleBase::Loop(now);
112+
113+
// If the GPS data is <= 10 seconds old, keep spamming it out at 10hz
114+
bool gpsIsValid = (now < gpsLastUpdated + 10000) && gps_sats > 0;
115+
116+
if (now > gpsLastSent + 100 && gpsIsValid)
117+
{
118+
SendHeartbeat();
119+
SendGpsRawInt();
120+
SendGlobalPositionInt();
121+
122+
gpsLastSent = now;
123+
}
124+
}

‎src/mfd_crossbow.h‎

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@@ -0,0 +1,42 @@
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#pragma once
2+
3+
#include "module_base.h"
4+
#include "msptypes.h"
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6+
#define VRX_UART_BAUD 115200
7+
8+
#define MAVLINK_SYSTEM_ID 1
9+
#define MAVLINK_COMPONENT_ID 1
10+
#define MAVLINK_SYSTEM_TYPE 1
11+
#define MAVLINK_AUTOPILOT_TYPE 3
12+
#define MAVLINK_SYSTEM_MODE 64
13+
#define MAVLINK_CUSTOM_MODE 0
14+
#define MAVLINK_SYSTEM_STATE 4
15+
#define MAVLINK_UPTIME 0
16+
17+
class MFDCrossbow : public ModuleBase
18+
{
19+
public:
20+
MFDCrossbow(HardwareSerial *port);
21+
void SendGpsTelemetry(crsf_packet_gps_t *packet);
22+
void Loop(uint32_t now);
23+
24+
private:
25+
void SendHeartbeat();
26+
void SendGpsRawInt();
27+
void SendGlobalPositionInt();
28+
29+
HardwareSerial *m_port;
30+
uint32_t gpsLastSent;
31+
uint32_t gpsLastUpdated;
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33+
int16_t heading; // Geographical heading angle in degrees
34+
float lat; // GPS latitude in degrees (example: 47.123456)
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float lon; // GPS longitude in degrees
36+
float alt; // Relative flight altitude in m
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float groundspeed; // Groundspeed in m/s
38+
int16_t gps_sats; // Number of visible GPS satellites
39+
int32_t gps_alt; // GPS altitude (Altitude above MSL)
40+
float gps_hdop; // GPS HDOP
41+
uint8_t fixType; // GPS fix type. 0-1: no fix, 2: 2D fix, 3: 3D fix
42+
};

‎targets/aat.ini‎

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@@ -22,7 +22,7 @@ lib_ignore = STM32UPDATE
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lib_deps =
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${env.lib_deps}
2424
adafruit/Adafruit SSD1306 @ 2.5.9
25-
build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<Timer_main.cpp>
25+
build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<Timer_main.cpp> -<mfd_crossbow.*>
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[env:AAT_ESP_Backpack_via_WIFI]
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extends = env:AAT_ESP_Backpack_via_UART

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