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yaapuyaapu
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Horus version 1.9.5
- fixed terrain error in CRSF RF Mode 1 - added support for TURTLE flight mode - added support for BLIMP vehicle - added WIND rendering - added airspeed option on the hud above groundspeed FRSKY_OPTION = current value + 1 - added plotting page with selectable sensors to plot (configure as widget page 6)
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‎HORUS/SD/SCRIPTS/TOOLS/Yaapu Config.lua

Lines changed: 329 additions & 324 deletions
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‎HORUS/SD/SCRIPTS/TOOLS/Yaapu Debug CRSF.lua

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local CRSF_FRAME_CUSTOM_TELEM = 0x80
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local CRSF_FRAME_CUSTOM_TELEM_LEGACY = 0x7F
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local CRSF_CUSTOM_TELEM_PASSTHROUGH = 0xF0
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local CRSF_CUSTOM_TELEM_STATUS_TEXT = 0xF1
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local CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY = 0xF2
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local packetStats = {
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[0x5000] = {count = 0, avg = 0 , tot = 0},
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[0x5001] = {count = 0, avg = 0 , tot = 0},
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[0x5002] = {count = 0, avg = 0 , tot = 0},
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[0x5003] = {count = 0, avg = 0 , tot = 0},
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[0x5004] = {count = 0, avg = 0 , tot = 0},
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[0x5005] = {count = 0, avg = 0 , tot = 0},
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[0x5006] = {count = 0, avg = 0 , tot = 0},
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[0x5007] = {count = 0, avg = 0 , tot = 0},
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[0x5008] = {count = 0, avg = 0 , tot = 0},
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[0x5009] = {count = 0, avg = 0 , tot = 0},
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[0x500A] = {count = 0, avg = 0 , tot = 0},
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[0x500B] = {count = 0, avg = 0 , tot = 0},
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[0x500C] = {count = 0, avg = 0 , tot = 0},
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[0x500D] = {count = 0, avg = 0 , tot = 0},
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link_rate = 0
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}
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local logfilename
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local logfile
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local flushtime = getTime()
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local function processTelemetry(data_id, value)
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if packetStats[data_id] ~= nil then
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packetStats[data_id].tot = packetStats[data_id].tot + 1
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packetStats[data_id].count = packetStats[data_id].count + 1
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end
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io.write(logfile, getTime(), ";0;", data_id, ";", value, "\r\n")
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end
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local function crossfirePop()
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local command, data = crossfireTelemetryPop()
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-- command is 0x80 CRSF_FRAMETYPE_ARDUPILOT
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if (command == CRSF_FRAME_CUSTOM_TELEM or command == CRSF_FRAME_CUSTOM_TELEM_LEGACY) and data ~= nil then
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-- actual payload starts at data[2]
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if #data >= 7 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH then
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local app_id = bit32.lshift(data[3],8) + data[2]
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local value = bit32.lshift(data[7],24) + bit32.lshift(data[6],16) + bit32.lshift(data[5],8) + data[4]
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return 0x00, 0x10, app_id, value
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elseif #data > 4 and data[1] == CRSF_CUSTOM_TELEM_STATUS_TEXT then
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return 0x00, 0x10, 0x5000, 0x00000000
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elseif #data > 48 and data[1] == CRSF_CUSTOM_TELEM_PASSTHROUGH_ARRAY then
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-- passthrough array
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local app_id, value
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for i=0,data[2]-1
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do
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app_id = bit32.lshift(data[4+(6*i)],8) + data[3+(6*i)]
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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)]
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--pushMessage(7,string.format("CRSF:%d - %04X:%08X",i, app_id, value))
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processTelemetry(app_id, value)
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end
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end
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end
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return nil, nil ,nil ,nil
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end
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local function getLogFilename()
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local datenow = getDateTime()
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local info = model.getInfo()
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local modelName = string.lower(string.gsub(info.name, "[%c%p%s%z]", ""))
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return modelName..string.format("-crsf-%04d%02d%02d_%02d%02d%02d.plog", datenow.year, datenow.mon, datenow.day, datenow.hour, datenow.min, datenow.sec)
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end
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local last_refresh = getTime()
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local function background()
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for i=1,5
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do
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local success, sensor_id, frame_id, data_id, value = pcall(crossfirePop)
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if success and frame_id == 0x10 then
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processTelemetry(data_id, value)
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end
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local now = getTime()
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if now - last_refresh > 100 then
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local aggregate = 0
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for i=0x00,0x0D
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do
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aggregate = aggregate + packetStats[0x5000+i].count
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if packetStats[0x5000+i].avg == 0 then
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packetStats[0x5000+i].avg = packetStats[0x5000+i].count
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end
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packetStats[0x5000+i].avg = packetStats[0x5000+i].avg * 0.75 + packetStats[0x5000+i].count * 0.25
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packetStats[0x5000+i].count = 0
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end
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packetStats.link_rate = packetStats.link_rate * 0.75 + aggregate * 0.25
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last_refresh = now
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end
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end
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if getTime() - flushtime > 50 then
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-- flush
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pcall(io.close,logfile)
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logfile = io.open("/LOGS/"..logfilename,"a")
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flushtime = getTime()
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end
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end
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local function run(event)
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background()
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lcd.setColor(CUSTOM_COLOR, 0x0AB1)
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lcd.clear(CUSTOM_COLOR)
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lcd.setColor(CUSTOM_COLOR, WHITE)
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lcd.drawText(1,1,"YAAPU CRSF DEBUG 1.9.5", CUSTOM_COLOR)
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local link_rate = 0
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for i=0x00,0x0D
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do
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lcd.setColor(CUSTOM_COLOR, WHITE)
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if packetStats[0x5000+i].avg > 0 then
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lcd.setColor(CUSTOM_COLOR, lcd.RGB(0,255,0))
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end
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lcd.drawText(20,22+(i*16),string.format("0x50%02X: rate: %.01fHz, count: %d, ", i, packetStats[0x5000+i].avg, packetStats[0x5000+i].tot),CUSTOM_COLOR)
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end
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lcd.drawText(LCD_W-10, 1,string.format("link rate: %.01fHz", packetStats.link_rate), CUSTOM_COLOR+RIGHT)
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lcd.drawText(1,LCD_H-20,tostring("/LOGS/"..logfilename),CUSTOM_COLOR)
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collectgarbage()
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collectgarbage()
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return 0
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end
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local function init()
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logfilename = getLogFilename()
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logfile = io.open("/LOGS/"..logfilename,"a")
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io.write(logfile, "counter;f_time;data_id;value\r\n")
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end
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return {run=run, init=init}

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

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local packetStats = {
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[0x5000] = {count = 0, avg = 0 , tot = 0},
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[0x5001] = {count = 0, avg = 0 , tot = 0},
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[0x5002] = {count = 0, avg = 0 , tot = 0},
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[0x5003] = {count = 0, avg = 0 , tot = 0},
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[0x5004] = {count = 0, avg = 0 , tot = 0},
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[0x5005] = {count = 0, avg = 0 , tot = 0},
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[0x5006] = {count = 0, avg = 0 , tot = 0},
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[0x5007] = {count = 0, avg = 0 , tot = 0},
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[0x5008] = {count = 0, avg = 0 , tot = 0},
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[0x5009] = {count = 0, avg = 0 , tot = 0},
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[0x500A] = {count = 0, avg = 0 , tot = 0},
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[0x500B] = {count = 0, avg = 0 , tot = 0},
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[0x500C] = {count = 0, avg = 0 , tot = 0},
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[0x500D] = {count = 0, avg = 0 , tot = 0},
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link_rate = 0
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}
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local sensorIds = {}
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local logfilename
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local logfile
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local flushtime = getTime()
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local function processTelemetry(data_id, value)
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if packetStats[data_id] ~= nil then
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packetStats[data_id].tot = packetStats[data_id].tot + 1
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packetStats[data_id].count = packetStats[data_id].count + 1
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end
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io.write(logfile, getTime(), ";0;", data_id, ";", value, "\r\n")
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end
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local function getLogFilename()
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local datenow = getDateTime()
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local info = model.getInfo()
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local modelName = string.lower(string.gsub(info.name, "[%c%p%s%z]", ""))
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return modelName..string.format("-frsky-%04d%02d%02d_%02d%02d%02d.plog", datenow.year, datenow.mon, datenow.day, datenow.hour, datenow.min, datenow.sec)
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end
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local last_refresh = getTime()
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local function background()
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for i=1,5
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do
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local success,sensor_id,frame_id,data_id,value = pcall(sportTelemetryPop)
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if success and sensor_id ~= nil then
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sensorIds[sensor_id] = true
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processTelemetry(data_id, value)
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end
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local now = getTime()
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if now - last_refresh > 100 then
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local aggregate = 0
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for i=0x00,0x0D
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do
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aggregate = aggregate + packetStats[0x5000+i].count
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if packetStats[0x5000+i].avg == 0 then
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packetStats[0x5000+i].avg = packetStats[0x5000+i].count
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end
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packetStats[0x5000+i].avg = packetStats[0x5000+i].avg * 0.75 + packetStats[0x5000+i].count * 0.25
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packetStats[0x5000+i].count = 0
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end
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packetStats.link_rate = packetStats.link_rate * 0.75 + aggregate * 0.25
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last_refresh = now
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end
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end
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if getTime() - flushtime > 50 then
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-- flush
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pcall(io.close,logfile)
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logfile = io.open("/LOGS/"..logfilename,"a")
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flushtime = getTime()
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end
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end
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local function run(event)
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background()
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lcd.setColor(CUSTOM_COLOR, 0x0AB1)
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lcd.clear(CUSTOM_COLOR)
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lcd.setColor(CUSTOM_COLOR, WHITE)
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lcd.drawText(1,1,"YAAPU FRSKY DEBUG 1.9.5", CUSTOM_COLOR)
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local link_rate = 0
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for i=0x00,0x0D
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do
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lcd.setColor(CUSTOM_COLOR, WHITE)
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if packetStats[0x5000+i].avg > 0 then
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lcd.setColor(CUSTOM_COLOR, lcd.RGB(0,255,0))
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end
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lcd.drawText(20,22+(i*16),string.format("0x50%02X: rate: %.01fHz, count: %d, ", i, packetStats[0x5000+i].avg, packetStats[0x5000+i].tot),CUSTOM_COLOR)
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end
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lcd.drawText(LCD_W-10, 1,string.format("link rate: %.01fHz", packetStats.link_rate), CUSTOM_COLOR+RIGHT)
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lcd.drawText(1,LCD_H-20,tostring("/LOGS/"..logfilename),CUSTOM_COLOR)
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collectgarbage()
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collectgarbage()
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return 0
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end
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local function init()
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logfilename = getLogFilename()
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logfile = io.open("/LOGS/"..logfilename,"a")
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io.write(logfile, "counter;f_time;data_id;value\r\n")
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end
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return {run=run, init=init}

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

Lines changed: 0 additions & 74 deletions
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