Frsky D4R-II 8 channels receiver with telemetry part 3: testing

 I still have a set of DR4II with invert circuit and pixhawk, I pair it up with my jumper T18, and start some testing.

D port is set at serial 2 with 9600 and 3 for serial protocol.

OpenTX has decoded these sensors:

Tmp2 =93, means 9 sat in view, 3D fix, temp1 should be flight mode

https://github.com/moschotto/OpenTX_GPS_Telemetry

does what it should do.

Inav lua deocde, gps correctly, and Hdg, but the RSSI bar seems not correct, and it talks alot, I will setup pixhawk fully and try again.

after setup pixhawk, the flight mode does match inav setting.

the rssi is related to my elevator stick

but the battery voltage and fuel is the same as mission planner

Here is the flight mode for inav: https://github.com/iNavFlight/inav/blob/master/docs/INAV_Modes.pdf

-- Modes: t=text / f=flags for text / w=wave file

	local modes = {
	{ t = "! TELEM !", f = 3 },
	{ t = "HORIZON", f = 0, w = "hrznmd" },
	{ t = " ANGLE", f = 0, w = "anglmd" },
	{ t = " ACRO", f = 0, w = "acromd" },
	{ t = " NOT OK ", f = 3 },
	{ t = " READY", f = 0, w = "ready" },
	{ t = "POS HOLD", f = 0, w = "poshld" },
	{ t = "WAYPONT", f = 0, w = "waypt" },
	{ t = " MANUAL", f = 0, w = "manmd" },
	{ t = " RTH ", f = 3, w = "rtl" },
	{ t = "! FAIL !", f = 3, w = "fson" },
	{ t = "! THROT !", f = 3 },
	{ t = " CRUISE", f = 0, w = "cruzmd" }
	}

https://github.com/iNavFlight/OpenTX-Telemetry-Widget/blob/master/src/SCRIPTS/TELEMETRY/iNav/data.lua

mode_id = getTelemetryId("Tmp1"),

https://github.com/iNavFlight/OpenTX-Telemetry-Widget/blob/master/src/SCRIPTS/TELEMETRY/iNav.lua

data.mode = getValue(data.mode_id)

https://doc.open-tx.org/opentx-lua-reference-guide/part_iii_-_opentx_lua_api_reference/general_functions/getvalue

where is data.mode processed?

line 211

• Tmp1: Flight mode, sent as an integer: 18 - Manual, 23 - Altitude, 22 - Position, 27 - Mission, 26 - Hold, 28 - Return, 19 - Acro, 24 0 Offboard, 20 - Stabilized, 21 - Rattitude, 25 - Takeoff, 29 - Land, 30 - Follow Me.
• Tmp2: GPS information. Right-most digit is GPS fix type (0 = none, 2 = 2D, 3 = 3D). Other digits are number of satellites.

from http://shipow.github.io/cleanflight-web/docs/telemetry.html

Tmp1 : actual flight mode, sent as 4 digits. Number is sent as (1)1234. Please ignore the leading 1, it is just there to ensure the number as always 5 digits (the 1 + 4 digits of actual data) the numbers are aditives (for example, if first digit after the leading 1 is 6, it means GPS Home and Headfree are both active) :

1. 1 is GPS Hold, 2 is GPS Home, 4 is Headfree
2. 1 is mag enabled, 2 is baro enabled, 4 is sonar enabled
3. 1 is angle, 2 is horizon, 4 is passthrough
4. 1 is ok to arm, 2 is arming is prevented, 4 is armed

For arduplane flight modes: 

Mode	Roll	Pitch	Throttle	GPS	Need  TX	Summary
MANUAL	-	-	-		Y	Manual control surface movement, passthrough
FBWA	s	s	-		Y	Roll and pitch follow stick input, up to set limits
FBWB	s	A	SPD	Y	Y	like FBWA, but with automatic height and speed control
CRUISE	A	A	SPD	Y	Y	like FBWB, but with ground course tracking and terrain following
STABILIZE	+	+	-		Y	Wing-leveling on stick release
AUTOTUNE	s	s	-		Y	like FBWA, but learns attitude tuning while flying
TRAINING	+	+	-		Y	Manual control up to roll and pitch limits
ACRO	+	+	-		Y	rate controlled mode with no attitude limits
Q(Copter Modes)	s	s	A	Y	Y	Varies depending on mode. See quadplane documentation
AUTO	A	A	A	Y		Follows Mission
LOITER	A	A	A	Y		Circles point where mode switched
CIRCLE	A	A	A			Gently turns aircraft
GUIDED	A	A	A	Y		Circles user defined point from GCS
Return To Launch (RTL)	A	A	A	Y		Returns to and circles home or rally point
LAND (AUTO)	A	A	A	Y		Final part of automatic mission for touchdown
THERMAL	A	A	A	Y		Mode entered to search for thermal lift by SOARING feature or  manually if lift is encountered.

Symbol	Definition
-	Full manual control of flight surfaces
+	Manual control with stabilized limits or assistance
s	Stabilized control with limits
A	Automatic control
SPD	Controls speed

Now I have 2 ways to do with D port. 

1. modify inav script on the flight mode and RSSI stuff(some times it's correct, some times not)

2. take examples from the fly sky rx demo or gps lua and modify to what i need.

gps lua seems good, I only need flight modes on it.

Now, to find out what is my Dport send out when change flight mode with arduplane.

it's clearly not 4 digits.

Form setting of mission planner, the flight mode is set with these nr, seems correct from my reading of Temp1 in openTX sensor list

0:Manual 1:CIRCLE 2:STABILIZE 3:TRAINING 4:ACRO 5:FBWA 6:FBWB 7:CRUISE 8:AUTOTUNE 10:Auto 11:RTL 12:Loiter 13:TAKEOFF 14:AVOID_ADSB 15:Guided 17:QSTABILIZE 18:QHOVER 19:QLOITER 20:QLAND 21:QRTL 22:QAUTOTUNE 23:QACRO 24:THERMAL 25:Loiter to QLand

checking with my openTX and mission planner, in openTX RTL and auto are decoded the same as 11....this is not going to work....