Discussions

Hi,

I just bought the APM 2.5 together with the Remzibi OSD (not the minimOSD).

Now I try to get the connection from the APM to the OSD with the adapter calbe for telemetry

http://store.diydrones.com/Adapter_cable_for_APM_2_5_p/kt-apm25-cable.htm

EDIT:  I want to send a big thank you to Heino R. Pull who send me a lot of informations and the very good working code for the ardurino mini to start the telemetry link and bring the APM 2.5 to send data to the remzibi OSD 3DR.

The original code can be downloaded here: http://www.heino.com/

Use this original Code to use the ardurino pro mini with an XBee.

If you don`t want to use the XBee, you need to do the wiring and code below.

(Tested with APM 2.5,  Arduplane 2.6 and Remzibi OSD 3DR)

Here is the modification from the osdmavlink.pde (I assume he will update it on his page soon, but maybe someone is interested)

<code>

// Mavlink to Remzibi OSD converter
// Using Ardustation code written by psmitty
// Heino Pull (heyno@heino.com) httpwww.heino.com
// Mavlink to Remzibi OSD compatible with ACM 2.7.3/2.8
#define MAVLINK10

#include <FastSerial.h>
#include <GCS_MAVLink.h>
#include <avr/pgmspace.h>
#include <LiquidCrystal.h>
#include <EEPROM.h>
#include <AP_EEPROMB.h>         // ArduPilot Mega RC Library
//#include <Time.h>


#include <Servo.h>
//AP_EEPROMB ee;
#undef PROGMEM
#define PROGMEM __attribute__(( section(".progmem.data") ))

#undef PSTR
#define PSTR(s) (__extension__({static const char __c[] PROGMEM = (s); &__c[0];}))

#define SERIAL_BAUD 57600
//#define BUZZERON // is the buzzer on?
FastSerialPort0(Serial);

// data streams active and rates
#define MAV_DATA_STREAM_POSITION_ACTIVE 1
#define MAV_DATA_STREAM_RAW_SENSORS_ACTIVE 1
#define MAV_DATA_STREAM_EXTENDED_STATUS_ACTIVE 1
#define MAV_DATA_STREAM_RAW_CONTROLLER_ACTIVE 1
#define MAV_DATA_STREAM_EXTRA1_ACTIVE 1

// update rate is times per second (hz)
#define MAV_DATA_STREAM_POSITION_RATE 1
#define MAV_DATA_STREAM_RAW_SENSORS_RATE 1
#define MAV_DATA_STREAM_EXTENDED_STATUS_RATE 1
#define MAV_DATA_STREAM_RAW_CONTROLLER_RATE 1
#define MAV_DATA_STREAM_EXTRA1_RATE 1
#define GET_PARAMS_TIMEOUT 200 //(20 seconds)
#define TOTAL_PARAMS 37
#define toRad(x) (x*PI)/180.0
#define toDeg(x) (x*180.0)/PI

float altitude=0;
float pitch=0;
float roll=0;
float yaw=0;
float longitude=0;
float latitude=0;
float velocity = 0;
unsigned long gpstime = 0;
int numSats=0;
int battery=0;
int currentSMode=0;
int currentNMode=0;
int droneType;
int autoPilot;
uint32_t custom_mode;
 int tdfix = 0;
int callsignprint = 0;
int waitingAck=0;
int paramsRecv=0;
int beat=0;

int find_param(const char* key)
{
  char buffer[15];
  for (int i=0; i<TOTAL_PARAMS; i++)
  {
//    get_Param_Key(buffer, i);
    if (strcmp(buffer,(const char*)key) == 0)
      return i;    
  }
  return -1;  
}

void gcs_update()
{
    // receive new packets
    mavlink_message_t msg;
    mavlink_status_t status;

    // process received bytes
    while(Serial.available())
    {
        uint8_t c = Serial.read();
        // Try to get a new message
        if(mavlink_parse_char(0, c, &msg, &status)) gcs_handleMessage(&msg);
    }
}

uint8_t received_sysid=0; ///< ID of heartbeat sender
uint8_t received_compid=0; // component id of heartbeat sender

void gcs_handleMessage(mavlink_message_t* msg)
{
  switch (msg->msgid) {
    case MAVLINK_MSG_ID_HEARTBEAT:
    {
      mavlink_heartbeat_t packet;
      mavlink_msg_heartbeat_decode(msg, &packet);
      custom_mode = packet.custom_mode;
      droneType = packet.type; // Don't pick up from the heartbeat now since there is some weirdness when the Planner is running
                               // and ArduPlane is running (get packet with type = 1 and type =0 also - confused this logic)
                                  
      autoPilot = packet.autopilot;

      beat = 1;
      break;
    }

    case MAVLINK_MSG_ID_ATTITUDE:
    {
      // decode
      mavlink_attitude_t packet;
      mavlink_msg_attitude_decode(msg, &packet);
      pitch = toDeg(packet.pitch);
      yaw = toDeg(packet.yaw);
      roll = toDeg(packet.roll);
      break;
    }

  #ifdef MAVLINK10
      case MAVLINK_MSG_ID_GPS_RAW_INT:
          #else // MAVLINK10
 
      case MAVLINK_MSG_ID_GPS_RAW:
          #endif // MAVLINK10
          
              {
                // decode
          
          #ifdef MAVLINK10
                mavlink_gps_raw_int_t packet;
                mavlink_msg_gps_raw_int_decode(msg, &packet);
                velocity = packet.vel/100.0;
                latitude = packet.lat/1e7;
                longitude = packet.lon/1e7;
                altitude = packet.alt/1000.0;
                gpstime = packet.time_usec>>16;
          #else // MAVLINK10
                mavlink_gps_raw_t packet;
                mavlink_msg_gps_raw_decode(msg, &packet);
                velocity = packet.v;
                latitude = packet.lat;
                longitude = packet.lon;
                altitude = packet.alt;  
                gpstime = packet.usec >> 16;
          
          #endif // MAVLINK10
                tdfix = packet.fix_type;
                      numSats = packet.satellites_visible;
                create_Remzibi_output();
    
      break;
    }

    case MAVLINK_MSG_ID_GPS_STATUS:
    {
      mavlink_gps_status_t packet;
      mavlink_msg_gps_status_decode(msg, &packet);        
//      numSats = packet.satellites_visible;
//      Serial.print(numSats);
      break;
    }
    case MAVLINK_MSG_ID_RAW_PRESSURE:
    {
      // decode
      mavlink_raw_pressure_t packet;
      mavlink_msg_raw_pressure_decode(msg, &packet);
      break;
    }
     case MAVLINK_MSG_ID_SYS_STATUS:
    {

        mavlink_sys_status_t packet;
        mavlink_msg_sys_status_decode(msg, &packet);
    #ifdef MAVLINK10
        battery=packet.voltage_battery;  
    #else // MAVLINK10
      currentSMode = packet.mode;
      currentNMode = packet.nav_mode;
      battery = packet.vbat;
    #endif // MAVLINK10
      break;
    }
    case MAVLINK_MSG_ID_PARAM_VALUE:
    {
      // decode
      mavlink_param_value_t packet;
      mavlink_msg_param_value_decode(msg, &packet);
      const char * key = (const char*) packet.param_id;
      break;
    }
  }
}

void send_message(mavlink_message_t* msg)
{
  uint8_t buf[MAVLINK_MAX_PACKET_LEN];
  uint16_t len = mavlink_msg_to_send_buffer(buf, msg);

  for(uint16_t i = 0; i < len; i++)
  {
    Serial.write(buf[i]);
  }
}

void start_feeds()
{
  mavlink_message_t msg;
  mavlink_msg_request_data_stream_pack(127, 0, &msg, received_sysid, received_compid, MAV_DATA_STREAM_RAW_SENSORS, MAV_DATA_STREAM_RAW_SENSORS_RATE, MAV_DATA_STREAM_RAW_SENSORS_ACTIVE);
  send_message(&msg);
  delay(10);
  // mavlink_message_t msg3;
  mavlink_msg_request_data_stream_pack(127, 0, &msg, received_sysid, received_compid, MAV_DATA_STREAM_EXTENDED_STATUS, MAV_DATA_STREAM_EXTENDED_STATUS_RATE, MAV_DATA_STREAM_EXTENDED_STATUS_ACTIVE);
  send_message(&msg);
  delay(10);
  // mavlink_message_t msg4;
  mavlink_msg_request_data_stream_pack(127, 0, &msg, received_sysid, received_compid, MAV_DATA_STREAM_RAW_CONTROLLER, MAV_DATA_STREAM_RAW_CONTROLLER_RATE, MAV_DATA_STREAM_RAW_CONTROLLER_ACTIVE);
  send_message(&msg);
  delay(10);
  // mavlink_message_t msg1;
  mavlink_msg_request_data_stream_pack(127, 0, &msg, received_sysid, received_compid, MAV_DATA_STREAM_POSITION, MAV_DATA_STREAM_POSITION_RATE, MAV_DATA_STREAM_POSITION_ACTIVE);
  send_message(&msg);
  delay(10);
  // mavlink_message_t msg5;
  mavlink_msg_request_data_stream_pack(127, 0, &msg, received_sysid, received_compid, MAV_DATA_STREAM_EXTRA1, MAV_DATA_STREAM_EXTRA1_RATE, MAV_DATA_STREAM_EXTRA1_ACTIVE);
  send_message(&msg);
  delay(460);
}

void setup()
{
  Serial.begin(SERIAL_BAUD);
  delay(300);
}

int start_count = 0;

void loop()
{

  gcs_update();
 
  if ((start_count< 3) && (millis() >(3000+(start_count * 2000)))) //send start feed after 3 seconds of powerup - need time for heartbeat to be received - try 3 times with 2 seconds between each try
  {
    start_feeds();
    start_count++;
  }
}

void pids() // menu 2
{
}

void create_Remzibi_output()
{
//      Distance_Home=calc_dist(Latitude_Home, Longitud_Home, latitude, longitude);
//    Bearing_Home=calc_bearing(Latitude_Home, Longitud_Home, latitude, longitude);
//    SvBearingHome=Bearing_Home;
//    Angle_Home=ToDeg(atan((float)(altitude-Altitude_Home)/(float)Distance_Home));
//    Bearing_Home = 180-(Bearing_Home/2.0);
//    
//    // Offset for servo limit
//    Bearing_Home = Bearing_Home + offset;
//    if (Bearing_Home > 180.0)
//       Bearing_Home = Bearing_Home - 180.0;
//    else
//    {
//        if (Bearing_Home <0.0)
//           Bearing_Home = Bearing_Home + 180.0;
//    }

    print_GPGGA();
     delay(30);
    print_GPRMC();
     delay(30);
    print_sonar();
     delay(20);
     callsignprint++;
     if (callsignprint>100) {
      
       print_remzibi_mode();
       delay(20);
       callsignprint=0;
     }
}


int availableMemory() {
  int size = 2048;
  byte *buf;

  while ((buf = (byte *) malloc(--size)) == NULL)
    ;

  free(buf);
  return size;
}

</code>

wire_diagramm.png