From 3587d7f2536822de15fb56f731781d37482f20c0 Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Mon, 21 Aug 2017 14:31:51 -0600
Subject: [PATCH] AP_SerialManager: add SBUS1 serial output support

---
 libraries/AP_SerialManager/AP_SerialManager.cpp | 10 +++++++++-
 libraries/AP_SerialManager/AP_SerialManager.h   |  6 ++++++
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index a569fe3c65..ff8c3b6052 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -225,7 +225,6 @@ void AP_SerialManager::init()
                                          AP_SERIALMANAGER_ULANDING_BUFSIZE_RX,
                                          AP_SERIALMANAGER_ULANDING_BUFSIZE_TX);
                     break;
-
                 case SerialProtocol_Volz:
                                     // Note baudrate is hardcoded to 115200
                                     state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD;   // update baud param in case user looks at it
@@ -233,6 +232,15 @@ void AP_SerialManager::init()
                                     		AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
 											AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
                                     break;
+                case SerialProtocol_Sbus1:
+                    state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000;   // update baud param in case user looks at it
+                    state[i].uart->begin(map_baudrate(state[i].baud),
+                                         AP_SERIALMANAGER_SBUS1_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_SBUS1_BUFSIZE_TX);
+                    state[i].uart->configure_parity(2);    // enable even parity
+                    state[i].uart->set_stop_bits(2);
+                    state[i].uart->set_unbuffered_writes(true);
+                    break;
             }
         }
     }
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index aaba1800e5..8c9d34fdef 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -73,6 +73,11 @@
 #define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX     128
 #define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX     128
 
+// SBUS servo outputs
+#define AP_SERIALMANAGER_SBUS1_BAUD           100000
+#define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX     16
+#define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX     32
+
 
 class AP_SerialManager {
 public:
@@ -93,6 +98,7 @@ public:
         SerialProtocol_Aerotenna_uLanding      = 12, // Ulanding support
         SerialProtocol_Beacon = 13,
         SerialProtocol_Volz = 14,                    // Volz servo protocol
+        SerialProtocol_Sbus1 = 15
     };
 
     // get singleton instance