Horus version 1.9.6 dev

- better handling of status text messages
- added support CRSF telemetry packets with variable size
- tuned script for lower cpu with CRSF

Author: yaapu

HORUS/SD/SCRIPTS/TOOLS/Yaapu Config.lua

@@ -126,13 +126,13 @@ local plotSources = {
   {"HDOP", "gpsHdopC", 5, 0.1},
   {"Num Sats", "numSats", 5, 1},
   {"Pitch", "pitch", 5, 1 },
-  {"Rangefinder", "range", 5, 1 }, --cm
+  {"Rangefinder", "range", 5, 1 },
   {"Roll", "roll", 5, 1 },
   {"RPM[1]", "rpm1", 5, 1 },
   {"RPM[2]", "rpm2", 5, 1 },
   {"RSSI", "rssi", 5, 1 },
   {"RSSI CRSF", "rssiCRSF", 5, 1 },
-  {"Sonar", "range", 5, 1 }, --cm
+  {"Sonar", "range", 5, 1 },
   {"Throttle", "throttle", 5, 1 },
   {"Vertical Speed", "vSpeed", 4, 0.1},   -- dm
   {"Wind Speed", "trueWindSpeed", 3, 0.1 },
@@ -499,14 +499,14 @@ local function saveConfig(conf)
 end
 
 local function drawConfigMenuBars()
-  lcd.setColor(CUSTOM_COLOR,0x0000)
+  lcd.setColor(CUSTOM_COLOR,lcd.RGB(16,20,25))
   local itemIdx = string.format("%d/%d",menu.selectedItem,#menuItems)
   lcd.drawFilledRectangle(0,0, LCD_W, 20, CUSTOM_COLOR)
   lcd.drawRectangle(0, 0, LCD_W, 20, CUSTOM_COLOR)
   lcd.drawFilledRectangle(0,LCD_H-20, LCD_W, 20, CUSTOM_COLOR)
   lcd.drawRectangle(0, LCD_H-20, LCD_W, 20, CUSTOM_COLOR)
-  lcd.setColor(CUSTOM_COLOR,0xFFFF)
-  lcd.drawText(2,0,"Yaapu Telemetry Widget 1.9.5".." ("..'c47a1df'..")",CUSTOM_COLOR)
+  lcd.setColor(CUSTOM_COLOR,WHITE)
+  lcd.drawText(2,0,"Yaapu Telemetry Widget 1.9.6 dev".." ("..'4265d2f'..")",CUSTOM_COLOR)
   lcd.drawText(2,LCD_H-20+1,getConfigFilename(),CUSTOM_COLOR)
   lcd.drawText(LCD_W,LCD_H-20+1,itemIdx,CUSTOM_COLOR+RIGHT)
 end
@@ -540,7 +540,7 @@ local function decMenuItem(idx)
 end
 
 local function drawItem(idx,flags)
-  lcd.setColor(CUSTOM_COLOR,0xFFFF)
+  lcd.setColor(CUSTOM_COLOR,WHITE)
   if type(menuItems[idx][4]) == "table" then
     lcd.drawText(280,25 + (idx-menu.offset-1)*20, menuItems[idx][4][menuItems[idx][3]],flags+CUSTOM_COLOR)
   else
@@ -590,7 +590,7 @@ local function drawConfigMenu(event)
   end
   --
   for m=1+menu.offset,math.min(#menuItems,11+menu.offset) do
-    lcd.setColor(CUSTOM_COLOR,0xFFFF)
+    lcd.setColor(CUSTOM_COLOR,WHITE)
     lcd.drawText(2,25 + (m-menu.offset-1)*20, menuItems[m][1],CUSTOM_COLOR)
     if m == menu.selectedItem then
       if menu.editSelected then
@@ -609,7 +609,7 @@ end
 -- RUN
 --------------------------
 local function run(event)
-  lcd.setColor(CUSTOM_COLOR, 0x0AB1) -- hex 0x084c7b -- 073f66
+  lcd.setColor(CUSTOM_COLOR, lcd.RGB(8,84,136)) -- hex 0x084c7b -- 073f66
   lcd.clear(CUSTOM_COLOR)
   ---------------------
   -- CONFIG MENU

HORUS/SD/SCRIPTS/TOOLS/Yaapu Debug CRSF.lua

@@ -45,10 +45,10 @@ local function crossfirePop()
         return 0x00, 0x10, app_id, value
       elseif #data > 4 and data[1] == CRSF_CUSTOM_TELEM_STATUS_TEXT then
         return 0x00, 0x10, 0x5000, 0x00000000
-      elseif #data > 48 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY then
+      elseif #data >= 8 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY then
         -- passthrough array
         local app_id, value
-        for i=0,data[2]-1
+        for i=0,math.min(data[2]-1, 9)
         do
           app_id = bit32.lshift(data[4+(6*i)],8) + data[3+(6*i)]
           value =  bit32.lshift(data[8+(6*i)],24) + bit32.lshift(data[7+(6*i)],16) + bit32.lshift(data[6+(6*i)],8) + data[5+(6*i)]

HORUS/SD/SCRIPTS/YAAPU/LIB/blimp.lua

@@ -0,0 +1,19 @@
+    --[[
+    // Auto Pilot Modes enumeration
+    enum control_mode_t {
+        LAND =          0,  // currently just stops moving
+        MANUAL =        1,  // manual control
+        VELOCITY =      2,  // velocity mode
+        LOITER =        3,  // loiter mode (position hold)
+    };
+  --]]
+  local flightModes = {}
+
+  -- copter flight modes
+  flightModes[0]=""
+  flightModes[1]="Land"
+  flightModes[2]="Manual"
+  flightModes[3]="Velocity"
+  flightModes[4]="Loiter"
+
+return {flightModes=flightModes}

HORUS/SD/SCRIPTS/YAAPU/LIB/copter.lua

@@ -0,0 +1,66 @@
+    --[[
+    // Auto Pilot Modes enumeration
+    enum control_mode_t {
+        STABILIZE =     0,  // manual airframe angle with manual throttle
+        ACRO =          1,  // manual body-frame angular rate with manual throttle
+        ALT_HOLD =      2,  // manual airframe angle with automatic throttle
+        AUTO =          3,  // fully automatic waypoint control using mission commands
+        GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
+        LOITER =        5,  // automatic horizontal acceleration with automatic throttle
+        RTL =           6,  // automatic return to launching point
+        CIRCLE =        7,  // automatic circular flight with automatic throttle
+        LAND =          9,  // automatic landing with horizontal position control
+        DRIFT =        11,  // semi-automous position, yaw and throttle control
+        SPORT =        13,  // manual earth-frame angular rate control with manual throttle
+        FLIP =         14,  // automatically flip the vehicle on the roll axis
+        AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
+        POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
+        BRAKE =        17,  // full-brake using inertial/GPS system, no pilot input
+        THROW =        18,  // throw to launch mode using inertial/GPS system, no pilot input
+        AVOID_ADSB =   19,  // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
+        GUIDED_NOGPS = 20,  // guided mode but only accepts attitude and altitude
+        SMART_RTL =    21,  // SMART_RTL returns to home by retracing its steps
+        FLOWHOLD  =    22,  // FLOWHOLD holds position with optical flow without rangefinder
+        FOLLOW    =    23,  // follow attempts to follow another vehicle or ground station
+        ZIGZAG    =    24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
+        SYSTEMID  =    25,  // System ID mode produces automated system identification signals in the controllers
+        AUTOROTATE =   26,  // Autonomous autorotation
+        AUTO_RTL =     27,  // Auto RTL, this is not a true mode, AUTO will report as this mode if entered to perform a DO_LAND_START Landing sequence
+        TURTLE =       28,  // Flip over after crash
+    };
+  --]]
+  local flightModes = {}
+
+  -- copter flight modes
+  flightModes[0]=""
+  flightModes[1]="Stabilize"
+  flightModes[2]="Acro"
+  flightModes[3]="AltHold"
+  flightModes[4]="Auto"
+  flightModes[5]="Guided"
+  flightModes[6]="Loiter"
+  flightModes[7]="RTL"
+  flightModes[8]="Circle"
+  flightModes[9]=""
+  flightModes[10]="Land"
+  flightModes[11]=""
+  flightModes[12]="Drift"
+  flightModes[13]=""
+  flightModes[14]="Sport"
+  flightModes[15]="Flip"
+  flightModes[16]="AutoTune"
+  flightModes[17]="PosHold"
+  flightModes[18]="Brake"
+  flightModes[19]="Throw"
+  flightModes[20]="AvoidADSB"
+  flightModes[21]="GuidedNOGPS"
+  flightModes[22]="SmartRTL"
+  flightModes[23]="FlowHold"
+  flightModes[24]="Follow"
+  flightModes[25]="ZigZag"
+  flightModes[26]="SystemID"
+  flightModes[27]="Autorotate"
+  flightModes[28]="AutoRTL"
+  flightModes[29]="Turtle"
+
+return {flightModes=flightModes}

HORUS/SD/SCRIPTS/YAAPU/LIB/copter_px4.lua

@@ -0,0 +1,86 @@
+--[[
+ MavToPT 2.63
+ 
+ uint8_t PX4FlightModeNum(uint8_t main, uint8_t sub) {
+     switch(main) {
+        case 1:
+          return 0;  // MANUAL 
+        case 2:
+          return 1;  // ALTITUDE       
+        case 3:
+          return 2;  // POSCTL      
+        case 4:
+          switch(sub) {
+            case 1:
+              return 12;  // AUTO READY
+            case 2:
+              return 13;  // AUTO TAKEOFF 
+            case 3:
+              return 14;  // AUTO LOITER  
+            case 4:
+              return 15;  // AUTO MISSION 
+            case 5:
+              return 16;  // AUTO RTL 
+            case 6:
+              return 17;  // AUTO LAND 
+            case 7:
+              return 18;  //  AUTO RTGS 
+            case 8:
+              return 19;  // AUTO FOLLOW ME 
+            case 9:
+              return 20;  //  AUTO PRECLAND 
+            default:
+              return 31;  //  AUTO UNKNOWN   
+          } 
+        case 5:
+          return 3;  //  ACRO
+        case 6:
+          return 4;  //  OFFBOARD        
+        case 7:
+          return 5;  //  STABILIZED
+        case 8:
+          return 6;  //  RATTITUDE        
+        case 9:
+          return 7;  //  SIMPLE 
+        default:
+          return 11;  //  UNKNOWN                                        
+       }
+    }
+--]]
+local flightModes = {}
+-- plane flight modes
+flightModes[0]  = "Manual"
+flightModes[1]  = "AltCtl"     --px4 specific
+flightModes[2]  = "PosCtl"     --px4 specific
+flightModes[3]  = "Acro"
+flightModes[4]  = "OffBoard"   --px4 specific
+flightModes[5]  = "Stabilize"
+flightModes[6]  = "RAttitude"  --px4 specific
+flightModes[7]  = "Simple"     --px4 specific
+flightModes[8]  = ""
+flightModes[9]  = ""
+flightModes[10] = ""
+flightModes[11] = ""
+flightModes[12] = "Ready"     --px4 specific
+flightModes[13] = "Takeoff"   --px4 specific
+flightModes[14] = "Loiter"
+flightModes[15] = "Mission"   --px4 specific
+flightModes[16] = "RTL"
+flightModes[17] = "Land"
+flightModes[18] = ""
+flightModes[19] = "Follow"
+flightModes[20] = "PrecLand"  --px4 specific
+flightModes[21] = ""
+flightModes[22] = ""
+flightModes[23] = ""
+flightModes[24] = ""
+flightModes[25] = ""
+flightModes[26] = ""
+flightModes[27] = ""
+flightModes[28] = ""
+flightModes[29] = ""
+flightModes[30] = ""
+flightModes[31] = "Unknown"
+
+return {flightModes=flightModes}
+