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AP_RCProtocol: rescan at CRSFv3 baud rates to avoid RX loss on soft reboot

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This commit is contained in:
Andy Piper 2023-07-01 14:58:32 +01:00 committed by Randy Mackay
parent 7a6065940d
commit 15047ddfc7
2 changed files with 8 additions and 2 deletions
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4
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -293,8 +293,12 @@ static const AP_RCProtocol::SerialConfig serial_configs[] {
// FastSBUS: // FastSBUS:
{ 200000, 2, 2, true }, { 200000, 2, 2, true },
#endif #endif
#if AP_RCPROTOCOL_CRSF_ENABLED
// CrossFire: // CrossFire:
{ 416666, 0, 1, false }, { 416666, 0, 1, false },
// CRSFv3 can negotiate higher rates which are sticky on soft reboot
{ 2000000, 0, 1, false },
#endif
}; };
static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config"); static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config");

6
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
View File

@ -155,6 +155,8 @@ static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
#define CRSF_DIGITAL_CHANNEL_MIN 172 #define CRSF_DIGITAL_CHANNEL_MIN 172
#define CRSF_DIGITAL_CHANNEL_MAX 1811 #define CRSF_DIGITAL_CHANNEL_MAX 1811
#define CRSF_BAUDRATE_1MBIT 1000000U
#define CRSF_BAUDRATE_2MBIT 2000000U
const uint16_t AP_RCProtocol_CRSF::RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES] = { const uint16_t AP_RCProtocol_CRSF::RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES] = {
4, 50, 150, 250, // CRSF 4, 50, 150, 250, // CRSF
@ -568,7 +570,7 @@ void AP_RCProtocol_CRSF::process_link_stats_tx_frame(const void* data)
void AP_RCProtocol_CRSF::process_byte(uint8_t byte, uint32_t baudrate) void AP_RCProtocol_CRSF::process_byte(uint8_t byte, uint32_t baudrate)
{ {
// reject RC data if we have been configured for standalone mode // reject RC data if we have been configured for standalone mode
if (baudrate != CRSF_BAUDRATE || _uart) { if ((baudrate != CRSF_BAUDRATE && baudrate != CRSF_BAUDRATE_1MBIT && baudrate != CRSF_BAUDRATE_2MBIT) || _uart) {
return; return;
} }
_process_byte(AP_HAL::micros(), byte); _process_byte(AP_HAL::micros(), byte);
@ -596,7 +598,7 @@ bool AP_RCProtocol_CRSF::change_baud_rate(uint32_t baudrate)
return false; return false;
} }
#endif #endif
if (baudrate > 2000000) { if (baudrate > CRSF_BAUDRATE_2MBIT) {
return false; return false;
} }